public static DDS.TypedDataWriter <T> CreateDataWriter <T>(string topicName,
string typeName)
{
DDS.DomainParticipant participant = Instance;
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
throw new ApplicationException("create_publisher error");
}
DDS.Topic topic = participant.create_topic(
topicName,
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
/* DDS.DataWriterQos dw_qos = new DDS.DataWriterQos();
* participant.get_default_datawriter_qos(dw_qos);
* dw_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* dw_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;*/
DDS.DataWriterQos dw_qos = new DDS.DataWriterQos();
participant.get_default_datawriter_qos(dw_qos);
//Console.WriteLine("LIB CODE DW QOS: " + dw_qos.history.kind);
//Console.WriteLine("LIB CODE DW QOS: " + dw_qos.reliability.kind);
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
throw new ApplicationException("create_datawriter error");
}
return((DDS.TypedDataWriter <T>)writer);
}