private static DDS.TypeCode type_w_sequence_get_typecode( DDS.TypeCodeFactory tcf) { DDS.StructMemberSeq members = new DDS.StructMemberSeq(); try { DDS.TypeCode sequence_tc = sequence_get_typecode(tcf); if (sequence_tc == null) { Console.WriteLine("Error to create sequence_get_typecode"); return(null); } /* We create the typeCode for struct which contains the sequence */ DDS.TypeCode tc = tcf.create_struct_tc("TypeWithSequence", members); tc.add_member(sequence_member_name, DDS.TypeCode.MEMBER_ID_INVALID, sequence_tc, DDS.TypeCode.NONKEY_MEMBER); return(tc); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return(null); } }
private static DDS.TypeCode create_type_code(DDS.TypeCodeFactory tcf) { DDS.UnionMemberSeq members = new DDS.UnionMemberSeq(); /* First, we create the typeCode for a union */ /* Default-member index refers to which member of the union * will be the default one. In this example index = 1 refers * to the the member 'aLong'. Take into account that index * starts in 0 */ try { DDS.TypeCode unionTC = tcf.create_union_tc("Foo", DDS.ExtensibilityKind.MUTABLE_EXTENSIBILITY, DDS.TypeCode.TC_LONG, 1, /* default-member index */ members); /* For now, it does not have any member */ /* Case 1 will be a short named aShort */ unionTC.add_member("aShort", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, DDS.TypeCode.TC_SHORT, DDS.TypeCode.NONKEY_MEMBER); /* Case 2, the default, will be a long named aLong */ unionTC.add_member("aLong", 2, DDS.TypeCode.TC_LONG, DDS.TypeCode.NONKEY_MEMBER); /* Case 3 will be a double named aDouble */ unionTC.add_member("aDouble", 3, DDS.TypeCode.TC_DOUBLE, DDS.TypeCode.NONKEY_MEMBER); return(unionTC); } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return(null); } }
public static void Main(string[] args) { DDS.TypeCodeFactory tcf = DDS.TypeCodeFactory.get_instance(); DDS.TypeCode w_sequence_tc = type_w_sequence_get_typecode(tcf); if (w_sequence_tc == null) { Console.WriteLine("Error to create type_w_sequence_get_typecode"); return; } try { DDS.DynamicData sample = new DDS.DynamicData(w_sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); Console.WriteLine("***** Writing a sample *****"); write_data(sample, tcf); Console.WriteLine("***** Reading a sample *****"); read_data(sample, tcf); /* Delete the created TC */ if (w_sequence_tc != null) { tcf.delete_tc(w_sequence_tc); } } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
private static DDS.TypeCode sequence_element_get_typecode( DDS.TypeCodeFactory tcf) { DDS.StructMemberSeq members = new DDS.StructMemberSeq(); try { /* First, we create the typeCode for the simple struct */ DDS.TypeCode tc = tcf.create_struct_tc("SimpleStruct", members); tc.add_member("a_member", DDS.TypeCode.MEMBER_ID_INVALID, DDS.TypeCode.TC_LONG, DDS.TypeCode.NONKEY_MEMBER); return(tc); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return(null); } }
public static void Main(string[] args) { try { /* Creating the union typeCode */ DDS.TypeCodeFactory tcf = DDS.TypeCodeFactory.get_instance(); DDS.TypeCode unionTC = create_type_code(tcf); DDS.DynamicDataMemberInfo info = new DDS.DynamicDataMemberInfo(); DDS.DynamicDataProperty_t myProperty = DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT; short valueTestShort = 0; /* Creating a new dynamicData instance based on the union * type code */ DDS.DynamicData data = new DDS.DynamicData(unionTC, myProperty); /* If we get the current discriminator, it will be the default one * (not the first added) */ data.get_member_info_by_index(info, 0); Console.WriteLine("The member selected is {0}", info.member_name); /* When we set a value in one of the members of the union, * the discriminator updates automatically to point that member. */ data.set_short("aShort", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 42); /* The discriminator should now reflect the new situation */ data.get_member_info_by_index(info, 0); Console.WriteLine("The member selected is {0}", info.member_name); /* Getting the value of the target member */ valueTestShort = data.get_short("aShort", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("The member selected is {0} with value: {1}", info.member_name, valueTestShort); return; } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
private static DDS.TypeCode sequence_get_typecode( DDS.TypeCodeFactory tcf) { try { DDS.TypeCode seq_element_tc = sequence_element_get_typecode(tcf); if (seq_element_tc == null) { Console.WriteLine("Error to create " + "sequence_element_get_typecode"); return(null); } /* We create the typeCode for the sequence */ DDS.TypeCode tc = tcf.create_sequence_tc(MAX_SEQ_LEN, seq_element_tc); return(tc); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return(null); } }
private static DDS.TypeCode outer_struct_get_type_code( DDS.TypeCodeFactory tcf) { DDS.StructMemberSeq members = new DDS.StructMemberSeq(); try { /* First, we create the typeCode for a struct */ DDS.TypeCode tc = tcf.create_struct_tc("OuterStruct", members); DDS.TypeCode inner_tc = inner_struct_get_type_code(tcf); /* Member 1 of outer struct will be a struct of type inner_struct * called inner*/ tc.add_member("inner", DDS.TypeCode.MEMBER_ID_INVALID, inner_tc, DDS.TypeCode.NONKEY_MEMBER); return(tc); } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return(null); } }
private static DDS.TypeCode inner_struct_get_type_code( DDS.TypeCodeFactory tcf) { DDS.StructMemberSeq members = new DDS.StructMemberSeq(); /* First, we create the typeCode for a struct */ try { DDS.TypeCode tc = tcf.create_struct_tc("InnerStruct", members); /* Member 1 will be a double named x */ tc.add_member("x", DDS.TypeCode.MEMBER_ID_INVALID, DDS.TypeCode.TC_DOUBLE, DDS.TypeCode.NONKEY_MEMBER); /* Member 2 will be a double named y */ tc.add_member("y", DDS.TypeCode.MEMBER_ID_INVALID, DDS.TypeCode.TC_DOUBLE, DDS.TypeCode.NONKEY_MEMBER); return(tc); } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return(null); } }
public static void Main(string[] args) { try { /* Creating the union typeCode */ DDS.TypeCodeFactory tcf = DDS.TypeCodeFactory.get_instance(); /* Creating the typeCode of the inner_struct */ DDS.TypeCode inner_tc = inner_struct_get_type_code(tcf); /* Creating the typeCode of the outer_struct that contains * an inner_struct */ DDS.TypeCode outer_tc = outer_struct_get_type_code(tcf); /* Now, we create a dynamicData instance for each type */ DDS.DynamicData outer_data = new DDS.DynamicData( outer_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData inner_data = new DDS.DynamicData( inner_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData bounded_data = new DDS.DynamicData( null, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); Console.WriteLine(" Connext Dynamic Data Nested Struct Example"); Console.WriteLine("--------------------------------------------"); Console.WriteLine(" Data Types"); Console.WriteLine("------------"); inner_tc.print_IDL(0); outer_tc.print_IDL(0); /* Setting the inner data */ inner_data.set_double("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 3.14159); inner_data.set_double("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 2.71828); Console.WriteLine("\n\n get/set_complex_member API"); Console.WriteLine("----------------------------"); /* Using set_complex_member, we copy inner_data values in * inner_struct of outer_data */ Console.WriteLine("Setting the initial values of struct with " + "set_complex_member()"); outer_data.set_complex_member("inner", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, inner_data); outer_data.print(1); inner_data.clear_all_members(); Console.WriteLine("\n + get_complex_member() called"); outer_data.get_complex_member(inner_data, "inner", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("\n + inner_data value"); inner_data.print(1); /* get_complex_member made a copy of the inner_struct. If we modify * inner_data values, outer_data inner_struct WILL NOT be modified. */ Console.WriteLine("\n + setting new values to inner_data"); inner_data.set_double("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 1.00000); inner_data.set_double("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 0.00001); /* Current value of outer_data * outer: * inner: * x: 3.141590 * y: 2.718280 * inner_data: * x: 1.000000 * y: 0.000010 */ Console.WriteLine("\n + current outer_data value "); outer_data.print(1); /* Bind/Unbind member API */ Console.WriteLine("\n\nbind/unbind API"); Console.WriteLine("-----------------"); /* Using bind_complex_member, we do not copy inner_struct, but bind * it. So, if we modify bounded_data, the inner member inside * outer_data WILL also be modified */ Console.WriteLine("\n + bind complex member called"); outer_data.bind_complex_member(bounded_data, "inner", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); bounded_data.print(1); Console.WriteLine("\n + setting new values to bounded_data"); bounded_data.set_double("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 1.00000); bounded_data.set_double("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 0.00001); /* Current value of outer data * outer: * inner: * x: 1.000000 * y: 0.000010 */ bounded_data.print(1); outer_data.unbind_complex_member(bounded_data); Console.WriteLine("\n + current outer_data value "); outer_data.print(1); return; } catch (Exception e) { Console.WriteLine("register_type error {0}", e); return; } }
private static void read_data(DDS.DynamicData sample, DDS.TypeCodeFactory tcf) { /* Creating typecodes */ DDS.TypeCode sequence_tc = sequence_get_typecode(tcf); if (sequence_tc == null) { Console.WriteLine("Error to create sequence_get_typecode in " + "reading_data"); return; } /* Creating DynamicData */ DDS.DynamicData seq_member = new DDS.DynamicData(sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData seq_element = new DDS.DynamicData(null, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicDataInfo info = new DDS.DynamicDataInfo(); sample.get_complex_member(seq_member, sequence_member_name, DDS.DynamicData.MEMBER_ID_UNSPECIFIED); /* Now we get the total amount of elements contained in the array * by accessing the dynamic data info */ Console.WriteLine("* Getting sequence member info...."); seq_member.get_info(info); Console.WriteLine("* Sequence contains {0} elements", info.member_count); for (int i = 0; i < info.member_count; ++i) { /* * The same results can be obtained using * bind_complex_member method. The main difference, is that * in that case the members are not copied, just referenced */ #if (USE_BIND_API) try { seq_member.bind_complex_member(seq_element, null, i + 1); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #else try { seq_member.get_complex_member(seq_element, null, i + 1); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #endif long value = seq_element.get_long("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED); Console.WriteLine("Reading sequence element #{0} : ", i + 1); seq_element.print(1); #if (USE_BIND_API) try { seq_member.unbind_complex_member(seq_element); } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } #endif } /* Delete the created TC */ if (sequence_tc != null) { tcf.delete_tc(sequence_tc); } return; }
private static void write_data(DDS.DynamicData sample, DDS.TypeCodeFactory tcf) { /* Creating typecodes */ DDS.TypeCode sequence_tc = sequence_get_typecode(tcf); if (sequence_tc == null) { Console.WriteLine("Error to create sequence_get_typecode in " + "writing_data"); return; } DDS.TypeCode sequence_element_tc = sequence_element_get_typecode(tcf); if (sequence_element_tc == null) { Console.WriteLine("Error to create sequence_element_get_typecode " + "in writing_data"); return; } try { /* Creating DynamicData */ DDS.DynamicData seq_member = new DDS.DynamicData(sequence_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); DDS.DynamicData seq_element = new DDS.DynamicData(sequence_element_tc, DDS.DynamicData.DYNAMIC_DATA_PROPERTY_DEFAULT); for (int i = 0; i < MAX_SEQ_LEN; ++i) { /* To access the elements of a sequence it is necessary * to use their id. This parameter allows accessing to every * element of the sequence using a 1-based index. * There are two ways of doing this: bind API and get API. * See the NestedStructExample for further details about the * differences between these two APIs. */ #if (USE_BIND_API) seq_member.bind_complex_member(seq_element, null, i + 1); seq_element.set_int("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, i); Console.WriteLine("Writing sequence elemente #{0} : ", i + 1); seq_element.print(1); seq_member.unbind_complex_member(seq_element); #else seq_element.set_int("a_member", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, i); Console.WriteLine("Writing sequence element #{0}", i + 1); seq_element.print(1); seq_member.set_complex_member(null, i + 1, seq_element); #endif } sample.set_complex_member(sequence_member_name, DDS.DynamicData.MEMBER_ID_UNSPECIFIED, seq_member); /* Delete the created TC */ if (sequence_element_tc != null) { tcf.delete_tc(sequence_element_tc); } if (sequence_tc != null) { tcf.delete_tc(sequence_tc); } return; } catch (DDS.Exception e) { Console.WriteLine("register_type error {0}", e); return; } }