public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "Received 3 samples.";
DDS.ReturnCode ddsReturnCode;
mod.tst data = new mod.tst();
data.long_1 = 1;
data.long_2 = 2;
data.long_3 = 3;
mod.tstDataWriter writer;
mod.tstDataReader reader;
DDS.DataReaderQos drQos;
DDS.ISubscriber subscriber;
DDS.ITopic topic;
DDS.ResourceLimitsQosPolicy resource;
DDS.Duration maxWait;
DDS.Time maxSourceTime;
DDS.Time minSourceTime;
string[] @params;
DDS.IDomainParticipant participant;
DDS.Time tHolder = new DDS.Time();
mod.tst[] dataList;
DDS.SampleInfo[] infoList;
ddsReturnCode = DDS.ReturnCode.Ok;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
drQos = (DDS.DataReaderQos) this.ResolveObject("datareaderQos");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic = (DDS.ITopic) this.ResolveObject("topic");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
ddsReturnCode = DDS.ReturnCode.Ok;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
writer = (mod.tstDataWriter) this.ResolveObject("datawriter");
for (int i = 0; (i < 10) && (ddsReturnCode == DDS.ReturnCode.Ok); i++)
{
data.long_1 = i;
data.long_2 = data.long_1 + 1;
data.long_3 = data.long_1 + 2;
System.Console.Out.WriteLine("Write: " + data.long_1 + ", " + data.long_2 + ", "
+ data.long_3);
ddsReturnCode = writer.Write(data, DDS.InstanceHandle.Nil);
}
if (ddsReturnCode != DDS.ReturnCode.Ok)
{
result.Result = "Writing data failed.";
return(result);
}
drQos = (DDS.DataReaderQos) this.ResolveObject("datareaderQos");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic = (DDS.ITopic) this.ResolveObject("topic");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
reader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQos);//, null, 0);
if (reader == null)
{
result.Result = "creating datareader failed.";
return(result);
}
resource = new DDS.ResourceLimitsQosPolicy();
resource.MaxInstances = 3;
resource.MaxSamples = -1;
resource.MaxSamplesPerInstance = -1;
maxWait = new DDS.Duration(10, 0);
minSourceTime = new DDS.Time(0, 0);
participant.GetCurrentTime(out tHolder);
maxSourceTime = tHolder;
@params = new string[2];
@params[0] = "5";
@params[1] = "6";
// TODO: JLS, WaitForHistoricalDataWithCondition is missing
// ddsReturnCode = reader.WaitForHistoricalDataWithCondition("long_1 < %0 AND long_2 < %1"
// , @params, minSourceTime, maxSourceTime, resource, maxWait);
if (ddsReturnCode != DDS.ReturnCode.Ok)
{
result.Result = "wait_for_historical_data_w_condition failed";
subscriber.DeleteDataReader(reader);
return(result);
}
dataList = null;
infoList = null;
ddsReturnCode = reader.Take(ref dataList, ref infoList, 10, DDS.SampleStateKind.Any, DDS.ViewStateKind.Any,
DDS.InstanceStateKind.Any);
if (ddsReturnCode != DDS.ReturnCode.Ok)
{
result.Result = "datareader.take failed " + ddsReturnCode + " (" + dataList.Length + " samples taken)";
this.testFramework.TestMessage(Test.Framework.TestMessage.Note, "waitForHistoricalDataWithCondition not implemented yet.");
result.ExpectedVerdict = Test.Framework.TestVerdict.Fail; subscriber.DeleteDataReader(reader);
subscriber.DeleteDataReader(reader);
return(result);
}
for (int i = 0; i < dataList.Length; i++)
{
System.Console.Out.WriteLine("Read sample [" + dataList[i].long_1 + ", " +
dataList[i].long_2 + ", " + dataList[i].long_3 + "]");
}
if (dataList.Length != 3)
{
result.Result = "Unexpected number of samples received.";
subscriber.DeleteDataReader(reader);
return(result);
}
reader.ReturnLoan(ref dataList, ref infoList);
subscriber.DeleteDataReader(reader);
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks && !terminate; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
System.Threading.Thread.Sleep(1000);
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
System.Threading.Thread.Sleep(1000);
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
if (result == DDS.ReturnCode.Ok || result == DDS.ReturnCode.NoData || result == DDS.ReturnCode.Timeout)
{
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: Waitset wait failed (code " + result + "), terminating");
finish_flag = true;
terminate = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block, roundtrip.count, roundtrip.average, roundtrip.min, roundtrip.max, write_access.count,
write_access.average, write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos qosHolder = null;
DDS.TopicQos topicQos = null;
string expResult = "copy_from_topic_qos test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber)this.ResolveObject("subscriber");
topicQos = (DDS.TopicQos)this.ResolveObject("topicQos");
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return result;
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return result;
}
byte[] bytes = new byte[] { 1, 2, 3 };
DDS.Duration duration = new DDS.Duration(10, 9);
DDS.UserDataQosPolicy udp = new DDS.UserDataQosPolicy();
udp.Value = bytes;
qosHolder.UserData.Value = bytes;
DDS.TimeBasedFilterQosPolicy tfp = new DDS.TimeBasedFilterQosPolicy();
tfp.MinimumSeparation = duration;
qosHolder.TimeBasedFilter.MinimumSeparation = duration;
DDS.ReaderDataLifecycleQosPolicy rlp = new DDS.ReaderDataLifecycleQosPolicy();
rlp.AutopurgeDisposedSamplesDelay = duration;
rlp.AutopurgeNowriterSamplesDelay = duration;
rlp.EnableInvalidSamples = true;
qosHolder.ReaderDataLifecycle.AutopurgeDisposedSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeNowriterSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.EnableInvalidSamples = true;
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return result;
}
if (!test.sacs.QosComparer.UserDataQosPolicyEquals(qosHolder.UserData, udp))
{
result.Result = "userDataQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.TimeBasedFilterQosPolicyEquals(qosHolder.TimeBasedFilter, tfp))
{
result.Result = "timeBasedFilterQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.ReaderDataLifecycleQosPolicyEquals(qosHolder.ReaderDataLifecycle, rlp))
{
result.Result = "readerDataLifecycleQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return result;
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return result;
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block,roundtrip.count,roundtrip.average,roundtrip.min, roundtrip.max,write_access.count,
write_access.average,write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public void run(String[] args)
{
String myDomain = null;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic,drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "Received 5 samples.";
DDS.ReturnCode ddsReturnCode;
mod.tst data = new mod.tst();
data.long_1 = 1;
data.long_2 = 2;
data.long_3 = 3;
mod.tstDataWriter writer;
mod.tstDataReader reader;
DDS.DataReaderQos drQos;
DDS.ISubscriber subscriber;
DDS.ITopic topic;
DDS.ResourceLimitsQosPolicy resource;
DDS.Duration maxWait;
DDS.Time maxSourceTime;
DDS.Time minSourceTime;
string[] @params;
DDS.IDomainParticipant participant;
DDS.Time tHolder = new DDS.Time();
mod.tst[] dataList;
DDS.SampleInfo[] infoList;
ddsReturnCode = DDS.ReturnCode.Ok;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
drQos = (DDS.DataReaderQos)this.ResolveObject("datareaderQos");
subscriber = (DDS.ISubscriber)this.ResolveObject("subscriber");
topic = (DDS.ITopic)this.ResolveObject("topic");
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
ddsReturnCode = DDS.ReturnCode.Ok;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
writer = (mod.tstDataWriter)this.ResolveObject("datawriter");
for (int i = 0; (i < 10) && (ddsReturnCode == DDS.ReturnCode.Ok); i++)
{
data.long_1 = i;
data.long_2 = data.long_1 + 1;
data.long_3 = data.long_1 + 2;
System.Console.Out.WriteLine("Write: " + data.long_1 + ", " + data.long_2 + ", "
+ data.long_3);
ddsReturnCode = writer.Write(data, DDS.InstanceHandle.Nil);
}
if (ddsReturnCode != DDS.ReturnCode.Ok)
{
result.Result = "Writing data failed.";
return result;
}
drQos = (DDS.DataReaderQos)this.ResolveObject("datareaderQos");
subscriber = (DDS.ISubscriber)this.ResolveObject("subscriber");
topic = (DDS.ITopic)this.ResolveObject("topic");
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
reader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQos);//, null, 0);
if (reader == null)
{
result.Result = "creating datareader failed.";
return result;
}
resource = new DDS.ResourceLimitsQosPolicy();
resource.MaxInstances = -1;
resource.MaxSamples = -1;
resource.MaxSamplesPerInstance = -1;
maxWait = new DDS.Duration(10, 0);
minSourceTime = new DDS.Time(0, 0);
participant.GetCurrentTime(out tHolder);
maxSourceTime = tHolder;
@params = new string[2];
@params[0] = "5";
@params[1] = "6";
// TODO: JLS, WaitForHistoricalDataWithCondition is missing
// ddsReturnCode = reader.WaitForHistoricalDataWithCondition("long_1 < %0 AND long_2 < %1"
// , @params, minSourceTime, maxSourceTime, resource, maxWait);
if (ddsReturnCode != DDS.ReturnCode.Ok)
{
result.Result = "wait_for_historical_data_w_condition failed";
subscriber.DeleteDataReader(reader);
return result;
}
dataList = null;
infoList = null;
ddsReturnCode = reader.Take(ref dataList, ref infoList, 10, DDS.SampleStateKind.Any, DDS.ViewStateKind.Any,
DDS.InstanceStateKind.Any);
if (ddsReturnCode != DDS.ReturnCode.Ok)
{
result.Result = "datareader.take failed " + ddsReturnCode + " (" + dataList.Length + " samples taken)";
this.testFramework.TestMessage(Test.Framework.TestMessage.Note, "waitForHistoricalDataWithCondition not implemented yet.");
result.ExpectedVerdict = Test.Framework.TestVerdict.Fail; subscriber.DeleteDataReader(reader);
subscriber.DeleteDataReader(reader);
return result;
}
for (int i = 0; i < dataList.Length; i++)
{
System.Console.Out.WriteLine("Read sample [" + dataList[i].long_1 + ", " +
dataList[i].long_2 + ", " + dataList[i].long_3 + "]");
}
if (dataList.Length != 5)
{
result.Result = "Unexpected number of samples received.";
subscriber.DeleteDataReader(reader);
return result;
}
reader.ReturnLoan(ref dataList, ref infoList);
subscriber.DeleteDataReader(reader);
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return result;
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos qosHolder = null;
DDS.TopicQos topicQos = null;
string expResult = "copy_from_topic_qos test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
byte[] bytes = new byte[] { 1, 2, 3 };
DDS.Duration duration = new DDS.Duration(10, 9);
DDS.UserDataQosPolicy udp = new DDS.UserDataQosPolicy();
udp.Value = bytes;
qosHolder.UserData.Value = bytes;
DDS.TimeBasedFilterQosPolicy tfp = new DDS.TimeBasedFilterQosPolicy();
tfp.MinimumSeparation = duration;
qosHolder.TimeBasedFilter.MinimumSeparation = duration;
DDS.ReaderDataLifecycleQosPolicy rlp = new DDS.ReaderDataLifecycleQosPolicy();
rlp.AutopurgeDisposedSamplesDelay = duration;
rlp.AutopurgeNowriterSamplesDelay = duration;
rlp.AutopurgeDisposeAll = false;
rlp.EnableInvalidSamples = true;
qosHolder.ReaderDataLifecycle.AutopurgeDisposedSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeNowriterSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeDisposeAll = false;
qosHolder.ReaderDataLifecycle.EnableInvalidSamples = true;
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.UserDataQosPolicyEquals(qosHolder.UserData, udp))
{
result.Result = "userDataQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.TimeBasedFilterQosPolicyEquals(qosHolder.TimeBasedFilter, tfp))
{
result.Result = "timeBasedFilterQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReaderDataLifecycleQosPolicyEquals(qosHolder.ReaderDataLifecycle, rlp))
{
result.Result = "readerDataLifecycleQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public void run(String[] args)
{
int myDomain = DDS.DomainId.Default;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public static bool DurationEqual(DDS.Duration t1, DDS.Duration t2)
{
return(t1 == t2);
}
