static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* Start - modifying the generated example to showcase the usage of
* the get_publishers API
*/
/* We create 2 publishers */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* We use the publisher.GetHashCode() to identify the publisher ID */
Console.WriteLine("The first publishers is " + publisher.GetHashCode());
DDS.Publisher publisher2 = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher2 == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher2 error");
}
Console.WriteLine("The second publishers is " + publisher2.GetHashCode());
Console.WriteLine("Let's call get_publisher() now and check if " +
"I get all my publishers...");
DDS.PublisherSeq publisherSeq = new DDS.PublisherSeq();
participant.get_publishers(publisherSeq);
for (int count = 0; count < publisherSeq.length; ++count)
{
DDS.Publisher tmp = publisherSeq.get_at(count);
Console.WriteLine("The {0} publisher I found is: {1}",
count, tmp.GetHashCode());
}
/*
* try {
* Foo_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}