public void TestTake()
{
List <SubscriptionBuiltinTopicData> data = new List <SubscriptionBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode ret = _dr.Take(data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
Assert.AreEqual(0, data.Count);
Assert.AreEqual(0, infos.Count);
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
var topic = otherParticipant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(topic);
var subscriber = otherParticipant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = TestHelper.CreateNonDefaultDataReaderQos();
DataReader dataReader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(dataReader);
Thread.Sleep(500);
ret = _dr.Take(data, infos);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
TestHelper.TestNonDefaultSubscriptionData(data.First());
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestInitialize()
{
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
_topic = _participant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(_topic);
Assert.IsNull(_topic.GetListener());
Assert.AreEqual(TestContext.TestName, _topic.Name);
Assert.AreEqual(typeName, _topic.TypeName);
SubscriberQos sQos = new SubscriberQos();
sQos.EntityFactory.AutoenableCreatedEntities = false;
sQos.Presentation.OrderedAccess = true;
sQos.Presentation.CoherentAccess = true;
sQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.InstancePresentationQos;
_subscriber = _participant.CreateSubscriber(sQos);
Assert.IsNotNull(_subscriber);
PublisherQos pQos = new PublisherQos();
pQos.EntityFactory.AutoenableCreatedEntities = false;
pQos.Presentation.OrderedAccess = true;
pQos.Presentation.CoherentAccess = true;
pQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.InstancePresentationQos;
_publisher = _participant.CreatePublisher(pQos);
Assert.IsNotNull(_publisher);
_listener = new MyDataWriterListener();
_writer = _publisher.CreateDataWriter(_topic, _listener);
Assert.IsNotNull(_writer);
_dataWriter = new TestStructDataWriter(_writer);
DataReaderQos qos = new DataReaderQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
_reader = _subscriber.CreateDataReader(_topic, qos);
Assert.IsNotNull(_reader);
}
public void TestLookupInstance()
{
SubscriptionBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
var topic = otherParticipant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(topic);
var subscriber = otherParticipant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = TestHelper.CreateNonDefaultDataReaderQos();
DataReader dataReader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(dataReader);
Thread.Sleep(500);
ReturnCode ret = _dr.ReadNextSample(ref data, info);
Assert.AreEqual(ReturnCode.Ok, ret);
TestHelper.TestNonDefaultSubscriptionData(data);
// Lookup for an existing instance
var handle = _dr.LookupInstance(data);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestTakeNextSample()
{
PublicationBuiltinTopicData data = default;
SampleInfo infos = new SampleInfo();
ReturnCode ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
var topic = otherParticipant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(topic);
var publisher = otherParticipant.CreatePublisher();
Assert.IsNotNull(publisher);
DataWriterQos dwQos = TestHelper.CreateNonDefaultDataWriterQos();
dwQos.Ownership.Kind = OwnershipQosPolicyKind.SharedOwnershipQos;
DataWriter dataWriter = publisher.CreateDataWriter(topic, dwQos);
Assert.IsNotNull(dataWriter);
Thread.Sleep(500);
ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.Ok, ret);
TestHelper.TestNonDefaultPublicationData(data);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestTakeInstance()
{
List <ParticipantBuiltinTopicData> data = new List <ParticipantBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode ret = _dr.Read(data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
Assert.AreEqual(0, data.Count);
Assert.AreEqual(0, infos.Count);
DomainParticipantQos qos = new DomainParticipantQos();
qos.UserData.Value = new byte[] { 0x42 };
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
Thread.Sleep(500);
ret = _dr.ReadNextInstance(data, infos, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
Assert.AreEqual(1, data.First().UserData.Value.Count());
Assert.AreEqual(0x42, data.First().UserData.Value.First());
var handle = infos.First().InstanceHandle;
data = new List <ParticipantBuiltinTopicData>();
infos = new List <SampleInfo>();
ret = _dr.TakeInstance(data, infos, handle);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
Assert.AreEqual(1, data.First().UserData.Value.Count());
Assert.AreEqual(0x42, data.First().UserData.Value.First());
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestGetKeyValue()
{
// Call GetKeyValue with HandleNil
ParticipantBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
ReturnCode ret = _dr.GetKeyValue(ref data, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.BadParameter, ret);
DomainParticipantQos qos = new DomainParticipantQos();
qos.UserData.Value = new byte[] { 0x42 };
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
Assert.IsTrue(_participant.WaitForParticipants(1, 20_000));
Assert.IsTrue(otherParticipant.WaitForParticipants(1, 20_000));
// Get the for an existing instance
ret = _dr.ReadNextSample(ref data, info);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.UserData.Value.Count);
Assert.AreEqual(0x42, data.UserData.Value.First());
ParticipantBuiltinTopicData aux = default;
ret = _dr.GetKeyValue(ref aux, info.InstanceHandle);
Assert.AreEqual(ReturnCode.Ok, ret);
for (int i = 0; i < 3; i++)
{
Assert.AreEqual(data.Key.Value[i], aux.Key.Value[i]);
}
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestInitialize()
{
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
_topic = _participant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(_topic);
Assert.IsNull(_topic.Listener);
Assert.AreEqual(TestContext.TestName, _topic.Name);
Assert.AreEqual(typeName, _topic.TypeName);
_publisher = _participant.CreatePublisher();
Assert.IsNotNull(_publisher);
}
public void TestDeleteParticipant()
{
DomainParticipant participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(participant);
participant.BindRtpsUdpTransportConfig();
Subscriber subscriber = participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
ReturnCode result = AssemblyInitializer.Factory.DeleteParticipant(participant);
Assert.AreEqual(ReturnCode.PreconditionNotMet, result);
result = participant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(participant);
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(null);
Assert.AreEqual(ReturnCode.Ok, result);
}
public void TestInitialize()
{
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
}
public void TestGetKeyValue()
{
ReturnCode ret;
DomainParticipant otherParticipant = null;
Topic topic = null;
try
{
// Call GetKeyValue with HandleNil
TopicBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
ret = _dr.GetKeyValue(ref data, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.BadParameter, ret);
otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.INFOREPO_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
TopicQos qos = TestHelper.CreateNonDefaultTopicQos();
topic = otherParticipant.CreateTopic(TestContext.TestName, typeName, qos);
Assert.IsNotNull(topic);
int count = 200;
ret = ReturnCode.NoData;
while (ret != ReturnCode.Ok && count > 0)
{
Thread.Sleep(100);
// Get the for an existing instance
ret = _dr.ReadNextSample(ref data, info);
count--;
}
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(typeName, data.TypeName);
Assert.IsNotNull(data.Key);
TestHelper.TestNonDefaultTopicData(data);
TopicBuiltinTopicData aux = default;
ret = _dr.GetKeyValue(ref aux, info.InstanceHandle);
Assert.AreEqual(ReturnCode.Ok, ret);
for (int i = 0; i < 16; i++)
{
Assert.AreEqual(data.Key.Value[i], aux.Key.Value[i]);
}
}
finally
{
ret = otherParticipant.DeleteTopic(topic);
Assert.AreEqual(ReturnCode.Ok, ret);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
}
public void TestTakeInstance()
{
ReturnCode ret;
DomainParticipant otherParticipant = null;
Topic topic = null;
try
{
List <TopicBuiltinTopicData> data = new List <TopicBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ret = _dr.Read(data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
Assert.AreEqual(0, data.Count);
Assert.AreEqual(0, infos.Count);
otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.INFOREPO_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
TopicQos qos = TestHelper.CreateNonDefaultTopicQos();
topic = otherParticipant.CreateTopic(TestContext.TestName, typeName, qos);
Assert.IsNotNull(topic);
int count = 200;
ret = ReturnCode.NoData;
while (ret != ReturnCode.Ok && count > 0)
{
Thread.Sleep(100);
ret = _dr.ReadNextInstance(data, infos, InstanceHandle.HandleNil);
count--;
}
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
Assert.AreEqual(typeName, data.First().TypeName);
Assert.IsNotNull(data.First().Key);
TestHelper.TestNonDefaultTopicData(data.First());
var handle = infos.First().InstanceHandle;
data = new List <TopicBuiltinTopicData>();
infos = new List <SampleInfo>();
ret = _dr.TakeInstance(data, infos, handle);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
Assert.AreEqual(typeName, data.First().TypeName);
Assert.IsNotNull(data.First().Key);
TestHelper.TestNonDefaultTopicData(data.First());
}
finally
{
ret = otherParticipant.DeleteTopic(topic);
Assert.AreEqual(ReturnCode.Ok, ret);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
}
public void TestGetMatchedSubscriptionData()
{
// Initialize entities
DataWriterQos dwQos = TestHelper.CreateNonDefaultDataWriterQos();
dwQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
DataWriter writer = _publisher.CreateDataWriter(_topic, dwQos);
Assert.IsNotNull(writer);
// DCPSInfoRepo-based discovery generates Built-In Topic data once (inside the
// info repo process) and therefore all known entities in the domain are
// reflected in the Built-In Topics. RTPS discovery, on the other hand, follows
// the DDS specification and omits "local" entities from the Built-In Topics.
// The definition of "local" means those entities belonging to the same Domain
// Participant as the given Built-In Topic Subscriber.
// https://github.com/objectcomputing/OpenDDS/blob/master/docs/design/RTPS
// OPENDDS ISSUE: GetMatchedSubscriptions returns local entities but GetMatchedSubscriptionData doesn't
// because is looking in the Built-in topic. If not found in the built-in, shouldn't try to look locally?
// WORKAROUND: Create another particpant for the DataReader.
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic otherTopic = otherParticipant.CreateTopic(nameof(TestGetMatchedSubscriptionData), typeName);
Assert.IsNotNull(otherTopic);
Subscriber subscriber = otherParticipant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = TestHelper.CreateNonDefaultDataReaderQos();
DataReader reader = subscriber.CreateDataReader(otherTopic, drQos);
Assert.IsNotNull(reader);
// Wait for subscriptions
bool found = writer.WaitForSubscriptions(1, 5000);
Assert.IsTrue(found);
// Get the matched subscriptions
List <InstanceHandle> list = new List <InstanceHandle>();
result = writer.GetMatchedSubscriptions(list);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(1, list.Count);
// Get the matched subscription data
SubscriptionBuiltinTopicData data = default;
result = writer.GetMatchedSubscriptionData(list.First(), ref data);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultSubscriptionData(data);
// Destroy the other participant
result = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, result);
}
public void TestTakeInstance()
{
List <PublicationBuiltinTopicData> data = new List <PublicationBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode ret = _dr.Read(data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
Assert.AreEqual(0, data.Count);
Assert.AreEqual(0, infos.Count);
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
var topic = otherParticipant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(topic);
var publisher = otherParticipant.CreatePublisher();
Assert.IsNotNull(publisher);
DataWriterQos dwQos = TestHelper.CreateNonDefaultDataWriterQos();
dwQos.Ownership.Kind = OwnershipQosPolicyKind.SharedOwnershipQos;
DataWriter dataWriter = publisher.CreateDataWriter(topic, dwQos);
Assert.IsNotNull(dataWriter);
Thread.Sleep(500);
ret = _dr.ReadNextInstance(data, infos, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
TestHelper.TestNonDefaultPublicationData(data.First());
var handle = infos.First().InstanceHandle;
data = new List <PublicationBuiltinTopicData>();
infos = new List <SampleInfo>();
ret = _dr.TakeInstance(data, infos, handle);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.Count);
Assert.AreEqual(1, infos.Count);
TestHelper.TestNonDefaultPublicationData(data.First());
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestBindConfig()
{
// Create a domain participant
DomainParticipant participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_OTHER_DOMAIN);
Assert.IsNotNull(participant);
participant.BindRtpsUdpTransportConfig();
// Create a transport config
TransportConfig config = TransportRegistry.Instance.CreateConfig(nameof(TestBindConfig));
Assert.IsNotNull(config);
// Bind the participant using the name
bool exception = false;
try
{
TransportRegistry.Instance.BindConfig(nameof(TestBindConfig), participant);
}
catch
{
exception = true;
}
Assert.IsFalse(exception);
// Bind the participant using the transport config
exception = false;
try
{
TransportRegistry.Instance.BindConfig(config, participant);
}
catch
{
exception = true;
}
Assert.IsFalse(exception);
// Test parameters guards
exception = false;
try
{
TransportRegistry.Instance.BindConfig((string)null, participant);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
exception = false;
try
{
TransportRegistry.Instance.BindConfig(string.Empty, participant);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
exception = false;
try
{
TransportRegistry.Instance.BindConfig(" ", participant);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
exception = false;
try
{
TransportRegistry.Instance.BindConfig(nameof(TestBindConfig), null);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
exception = false;
try
{
TransportRegistry.Instance.BindConfig((TransportConfig)null, participant);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
exception = false;
try
{
TransportRegistry.Instance.BindConfig(config, null);
}
catch (Exception ex)
{
exception = true;
Assert.IsTrue(ex.GetType() == typeof(ArgumentNullException));
}
Assert.IsTrue(exception);
ReturnCode ret = AssemblyInitializer.Factory.DeleteParticipant(participant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestGetKeyValue()
{
// Call GetKeyValue with HandleNil
PublicationBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
ReturnCode ret = _dr.GetKeyValue(ref data, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.BadParameter, ret);
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
Assert.IsTrue(_participant.WaitForParticipants(1, 20_000));
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
var topic = otherParticipant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(topic);
var publisher = otherParticipant.CreatePublisher();
Assert.IsNotNull(publisher);
DataWriterQos dwQos = TestHelper.CreateNonDefaultDataWriterQos();
dwQos.Ownership.Kind = OwnershipQosPolicyKind.SharedOwnershipQos;
DataWriter dataWriter = publisher.CreateDataWriter(topic, dwQos);
Assert.IsNotNull(dataWriter);
int count = 200;
ret = ReturnCode.NoData;
while (ret != ReturnCode.Ok && count > 0)
{
Thread.Sleep(100);
// Get an existing instance
ret = _dr.ReadNextSample(ref data, info);
count--;
}
Assert.AreEqual(ReturnCode.Ok, ret);
TestHelper.TestNonDefaultPublicationData(data);
PublicationBuiltinTopicData aux = default;
ret = _dr.GetKeyValue(ref aux, info.InstanceHandle);
Assert.AreEqual(ReturnCode.Ok, ret);
for (int i = 0; i < 16; i++)
{
Assert.AreEqual(data.Key.Value[i], aux.Key.Value[i]);
}
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
