/* Called to handle relevant data samples */
public void handle_data(keysDataReader keys_reader,
DDS.SampleInfo info,
keys msg)
{
Console.WriteLine("code: {0}, x: {1}, y: {2}",
msg.code, msg.x, msg.y);
}
public void instance_lost_writers(keysDataReader keys_reader,
DDS.SampleInfo info,
keys msg)
{
Console.WriteLine("Instance has no writers; code = {0}", msg.code);
states[msg.code] = Instance_State.no_writers;
}
public void instance_disposed(keysDataReader keys_reader,
DDS.SampleInfo info,
keys msg)
{
Console.WriteLine("Instance disposed; code = {0}", msg.code);
states[msg.code] = Instance_State.disposed;
}
public override void on_data_available(DataReader reader)
{
var bytes = new Bytes();
var info = new SampleInfo();
reader.take_next_sample_untyped(bytes, info);
if (bytes.value != null)
{
var args = new DataReceivedArgs
{
Data = new ArraySegment<byte>(bytes.value, bytes.offset, bytes.length),
SessionID = info.instance_handle
};
Received.Invoke(this, args);
}
}
/* These are not called by DDS. on_data_available() calls
* the appropriate function when it gets updates about
* an instances' status
*/
public void new_instance_found(keysDataReader keys_reader,
DDS.SampleInfo info,
keys msg)
{
/* There are really three cases here:
* 1.) truly new instance
* 2.) instance lost all writers, but now we're getting data again
* 3.) instance was disposed, but a new one has been created
*
* We distinguish these cases by examining generation counts, BUT
* note that if the instance resources have been reclaimed, the
* generation counts may be reset to 0.
*
* Instances are eligible for resource cleanup if there are no
* active writers and all samples have been taken. To reliably
* determine which case a 'new' instance falls into, the application
* must store state information on a per-instance basis.
*
* Note that this example assumes that state changes only occur via
* explicit register_instance(), unregister_instance() and dispose()
* calls from the datawriter. In reality, these changes could also
* occur due to lost liveliness or missed deadlines, so those
* listeners would also need to update the instance state.
*/
switch (states[msg.code])
{
case Instance_State.inactive:
Console.WriteLine("New instance found; code = {0}", msg.code);
break;
case Instance_State.active:
/* An active instance should never be interpreted as new */
Console.WriteLine("Error, 'new' already-active instance found; code = {0}", msg.code);
break;
case Instance_State.no_writers:
Console.WriteLine("Found writer for instance; code = {0}", msg.code);
break;
case Instance_State.disposed:
Console.WriteLine("Found reborn instance; code = {0}", msg.code);
break;
}
states[msg.code] = Instance_State.active;
}
// This gets called when a new subscriber has been discovered
public override void on_data_available(DDS.DataReader reader)
{
DDS.SubscriptionBuiltinTopicDataDataReader builtin_reader =
(DDS.SubscriptionBuiltinTopicDataDataReader)reader;
DDS.SubscriptionBuiltinTopicData
cur_subscription_builtin_topic_data;
try {
//We only process newly seen subscribers
builtin_reader.take(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.NEW_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
for (int i = 0; i < data_seq.length; ++i)
{
DDS.SampleInfo info = (DDS.SampleInfo)info_seq.get_at(i);
if (info.valid_data)
{
cur_subscription_builtin_topic_data =
(DDS.SubscriptionBuiltinTopicData)
data_seq.get_at(i);
Console.WriteLine("Built-in Reader: found subscriber");
Console.WriteLine("\tparticipant_key->'" +
cur_subscription_builtin_topic_data.
participant_key.GetHashCode() + "'\n\tkey-> '" +
cur_subscription_builtin_topic_data.
key.GetHashCode());
Console.WriteLine(
"instance_handle: " + info.instance_handle);
}
}
} catch (DDS.Retcode_NoData) {
// No data to process
return;
} finally {
builtin_reader.return_loan(data_seq, info_seq);
}
}
public ReturnCode Take(out ByteData data, out SampleInfo info)
{
data = new ByteData();
object dataObjs = data;
info = new SampleInfo();
return FooDataReader.TakeNextSample(this, ref dataObjs, ref info);
}
private bool checkReceivedInstanceSample (tst[] data, SampleInfo[] info, int len)
{
SampleData sampleData = null;
bool noError = true;
for ( int i = 0; noError && (i < len); i++ ) {
int x = data[i].long_1;
if ( x < MAX_INSTANCE ) {
if ( instanceDataList[x].expected != null) {
foreach (SampleData index in instanceDataList[x].expected) {
if (sampleCompare(index.data, data[i]) == C_EQ) {
sampleData = index;
break;
}
}
if ( sampleData != null) {
sampleData.seen = true;
noError = checkSampleInfo(info[i], sampleData);
} else {
noError = false;
}
} else {
noError = false;
}
} else {
noError = false;
}
}
if ( noError ) {
noError = allSamplesReceived();
}
return noError;
}
private bool checkSampleInfo (SampleInfo info, SampleData reference)
{
bool equal = true;
if ( info.SampleState != reference.SampleState ) {
Console.Write(string.Format(" : " +
"received info.SampleState = {0} " +
"expected reference.SampleState = {1}\n",
info.SampleState,
reference.SampleState));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: SampleState incorrect");
equal = false;
}
if ( info.ViewState != reference.ViewState ) {
Console.Write(string.Format(" : " +
"received info.ViewState = {0} " +
"expected reference.ViewState = {1}\n",
info.ViewState,
reference.ViewState));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: ViewState incorrect");
equal = false;
}
if ( info.InstanceState != reference.InstanceState ) {
Console.Write(string.Format(" : " +
"received info.InstanceState = {0} " +
"expected reference.InstanceState = {1}\n",
info.InstanceState,
reference.InstanceState));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: InstanceState incorrect");
equal = false;
}
if ( info.DisposedGenerationCount != reference.DisposedGenerationCount ) {
Console.Write(string.Format(" : " +
"received info.DisposedGenerationCount = {0} " +
"expected reference.DisposedGenerationCount = {1}\n",
info.DisposedGenerationCount,
reference.DisposedGenerationCount));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: DisposedGenerationCount incorrect");
equal = false;
}
if ( info.NoWritersGenerationCount != reference.NoWritersGenerationCount ) {
Console.Write(string.Format(" : " +
"received info.NoWritersGenerationCount = {0} " +
"expected reference.NoWritersGenerationCount = {1}\n",
info.NoWritersGenerationCount,
reference.NoWritersGenerationCount));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: NoWritersGenerationCount incorrect");
equal = false;
}
if ( info.SampleRank != reference.SampleRank ) {
Console.Write(string.Format(" : " +
"received info.SampleRank = {0} " +
"expected reference.SampleRank = {1}\n",
info.SampleRank,
reference.SampleRank));
tfw.TestMessage(TestMessage.Note, "SampleInfo: SampleRank incorrect");
equal = false;
}
if ( info.GenerationRank != reference.GenerationRank ) {
Console.Write(string.Format(" : " +
"received info.GenerationRank = {0} " +
"expected reference.GenerationRank = {1}\n",
info.GenerationRank,
reference.GenerationRank));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: GenerationRank incorrect");
equal = false;
}
if ( info.AbsoluteGenerationRank != reference.AbsoluteGenerationRank ) {
Console.Write(string.Format(" : " +
"received info.AbsoluteGenerationRank = {0} " +
"expected reference.AbsoluteGenerationRank = {1}\n",
info.AbsoluteGenerationRank,
reference.AbsoluteGenerationRank));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: AbsoluteGenerationRank incorrect");
equal = false;
}
if (timeCompare(info.SourceTimestamp, info.ReceptionTimestamp) == C_GT) {
Console.Write(string.Format(" : " +
"received info.SourceTimestamp = {0}.{1:D9} " +
"received info.ReceptionTimestamp = {2}.{3:D9})\n",
info.SourceTimestamp.Sec, info.SourceTimestamp.NanoSec,
info.ReceptionTimestamp.Sec, info.ReceptionTimestamp.NanoSec));
tfw.TestMessage(TestMessage.Note,
"SampleInfo: SourceTimestamp > ReceptionTimestamp");
equal = false;
}
return equal;
}
// This gets called when a participant has been discovered
public override void on_data_available(DDS.DataReader reader)
{
DDS.ParticipantBuiltinTopicDataDataReader builtin_reader =
(DDS.ParticipantBuiltinTopicDataDataReader)reader;
string participant_data;
DDS.ParticipantBuiltinTopicData cur_participant_builtin_topic_data;
try {
// We only process newly seen participants
builtin_reader.take(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.NEW_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
for (int i = 0; i < data_seq.length; ++i)
{
DDS.SampleInfo info = (DDS.SampleInfo)info_seq.get_at(i);
if (info.valid_data)
{
participant_data = "nil";
bool is_auth = false;
cur_participant_builtin_topic_data =
(DDS.ParticipantBuiltinTopicData)
data_seq.get_at(i);
// see if there is any participant_data
if (cur_participant_builtin_topic_data.
user_data.value.length > 0)
{
participant_data =
System.Text.Encoding.ASCII.GetString(
cur_participant_builtin_topic_data.
user_data.value.buffer,
0,
cur_participant_builtin_topic_data.
user_data.value.length);
is_auth = (participant_data == auth);
}
Console.WriteLine(
"Built-in Reader: found participant \n\tkey->'" +
cur_participant_builtin_topic_data.key.GetHashCode()
+ "'\n\tuser_data->'" + participant_data + "'");
Console.WriteLine(
"instance_handle: " + info.instance_handle);
if (!is_auth)
{
Console.WriteLine(
"Bad authorization, ignoring participant");
DDS.DomainParticipant participant =
reader.get_subscriber().get_participant();
DDS.InstanceHandle_t temp = info.instance_handle;
participant.ignore_participant(ref temp);
info.instance_handle = temp;
}
}
}
} catch (DDS.Retcode_NoData) {
// No data to process
// This happens when we get announcements from participants we
// already know about
return;
} finally {
builtin_reader.return_loan(data_seq, info_seq);
}
}
