/// <summary>
/// Creates a DomainParticipant, Topic, Publisher and DataWriter<HelloWorld>.
/// </summary>
public HelloWorldPublisher(int domainId)
{
// Enable network capture.
// This must be called before any other network capture function, and
// before creating any participant for which we want to capture traffic.
NetworkCapture.Enable();
// Start communicating in a domain, usually one participant per application
// Load QoS profile from USER_QOS_PROFILES.xml file
participant = DomainParticipantFactory.Instance.CreateParticipant(domainId);
// A Topic has a name and a datatype.
Topic <HelloWorld> topic = participant.CreateTopic <HelloWorld>(
"Network capture shared memory example");
// Create a Publisher
Publisher publisher = participant.CreatePublisher();
// Create a DataWriter, loading QoS profile from USER_QOS_PROFILES.xml, and
writer = publisher.CreateDataWriter(topic);
}
private void InitializeDDS()
{
//string id = usuario.Id;
string id = "0";
int.TryParse(id, out domainId);
// Create the DomainFactory
factory = DomainParticipantFactory.GetInstance(Bootstrap.CreateInstance());
// Create the DomainParticipant with reference to the configuration file with the domain ID
dp = factory.CreateParticipant(domainId);
// Console.WriteLine("Domain ID = {0} has been created", domainId);
// Implicitly create TypeSupport and register type:
tp = dp.CreateTopic <ChatMessage>("Greetings Topic");
// Create the subscriber
sub = dp.CreateSubscriber();
// Create a Listener for the publishing data
ls = new MyListener(backgroundWorker1, backgroundWorker2, backgroundWorker3, backgroundWorker4, backgroundWorker5,
backgroundWorker6);
ls2 = new MyListener2();
// Create the DataReader using the topic, politics of QoS for DataReader and implemented listener
dr = sub.CreateDataReader <ChatMessage>(tp,
sub.GetDefaultDataReaderQos(),
ls,
null);
// Create the publisher
pub = dp.CreatePublisher();
// Create the DataWriter using the topic specified
//dw = pub.CreateDataWriter(tp);
dw = pub.CreateDataWriter <ChatMessage>(tp,
pub.GetDefaultDataWriterQos(),
ls2,
null);
}
/// <summary>
/// Creates a DomainParticipant, Topic, Subscriber and DataReader<HelloWorld>.
/// </summary>
public HelloWorldSubscriber(int domainId, string password, string topicName)
{
// Configure the DomainParticipantQos add the UserData policy to it.
// We're simply converting the input string into bytes, assuming
// that only ASCII characters are used to keep the example simple.
// We also set the maximum user data length.
DomainParticipantQos participantQos =
DomainParticipantFactory.Instance.DefaultParticipantQos
.WithUserData(new UserData(password.Select(c => (byte)c)))
.WithResourceLimits(policy => policy.ParticipantUserDataMaxLength = 1024);
// Create the participant with the QoS
participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId, participantQos);
Topic <HelloWorld> topic = participant.CreateTopic <HelloWorld>(topicName);
// Create a subscriber and a DataReader
Subscriber subscriber = participant.CreateSubscriber();
reader = subscriber.CreateDataReader(topic);
}
public void TestTakeNextSample()
{
TopicBuiltinTopicData data = default;
SampleInfo infos = new SampleInfo();
ReturnCode ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.INFOREPO_DOMAIN);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindTcpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(otherParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
TopicQos qos = TestHelper.CreateNonDefaultTopicQos();
var topic = otherParticipant.CreateTopic(TestContext.TestName, typeName, qos);
Assert.IsNotNull(topic);
Thread.Sleep(500);
ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(typeName, data.TypeName);
Assert.IsNotNull(data.Key);
TestHelper.TestNonDefaultTopicData(data);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
/// <summary>
/// Runs the publisher example.
/// </summary>
public static void RunPublisher(int domainId, int sampleCount)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
//
// A participant needs to be Disposed to release middleware resources.
// The 'using' keyword indicates that it will be Disposed when this
// scope ends.
using DomainParticipant participant = DomainParticipantFactory.Instance.CreateParticipant(domainId);
// A Topic has a name and a datatype.
Topic <HelloWorld> topic = participant.CreateTopic <HelloWorld>("Example PartitionsExample_HelloWorld");
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// This DataWriter will write data on Topic "Example HelloWorld"
// DataWriter QoS is configured in USER_QOS_PROFILES.xml
DataWriter <HelloWorld> writer = publisher.CreateDataWriter(topic);
var sample = new HelloWorld();
for (int count = 0; count < sampleCount; count++)
{
// Modify the data to be sent here
sample.x = count;
Console.WriteLine($"Writing HelloWorld, count {count}");
writer.Write(sample);
// Every 5 samples we will change the partition name.
// These are the partition expressions we are going to try:
// "bar", "A*", "A?C", "X*Z", "zzz" and "A*C".
string[] newPartitions = null;
if ((count + 1) % 25 == 0)
{
// Matches "ABC", name[1] here can match name[0] there,
// as long as there is some overlapping name.
newPartitions = new string[] { "zzz", "A*C" };
}
else if ((count + 1) % 25 == 20)
{
// Strings that are regular expressions aren't tested for
// literal matches, so this won't match "X*Z".
newPartitions = new string[] { "X*Z" };
}
else if ((count + 1) % 25 == 15)
{
// Matches "ABC".
newPartitions = new string[] { "A?C" };
}
else if ((count + 1) % 25 == 10)
{
// Matches "ABC".
newPartitions = new string[] { "A*" };
}
else if ((count + 1) % 25 == 5)
{
// No literal match for "bar".
// For the next iterations we are using only one partition.
newPartitions = new string[] { "bar" };
}
if (newPartitions != null)
{
// Update the publisher QoS with the new partitions
publisher.Qos = publisher.Qos.WithPartition(currentPartition =>
{
currentPartition.Clear(); // remove previous partitions
currentPartition.AddRange(newPartitions); // add new partitions
});
Console.WriteLine(
"Publisher partition set to: "
+ string.Join(separator: ",", values: publisher.Qos.Partition.Name));
}
Thread.Sleep(1000);
}
}
/// <summary>
/// Creates a DomainParticipant, Topic, Subscriber and DataReader<Temperature>.
/// </summary>
public SubscriberApplication(int domainId, bool useXmlQos = true)
{
// Start communicating in a domain, usually one participant per application
// Load QoS profile from USER_QOS_PROFILES.xml file
participant = DomainParticipantFactory.Instance.CreateParticipant(domainId);
// Create the topics
var alarmTopic = participant.CreateTopic <Alarm>("Alarm");
var heartRateTopic = participant.CreateTopic <HeartRate>("HeartRate");
var temperatureTopic = participant.CreateTopic <Temperature>("Temperature");
// Create a subscriber
SubscriberQos subscriberQos = null;
if (useXmlQos)
{
// Retrieve the Subscriber QoS, from USER_QOS_PROFILES.xml
subscriberQos = QosProvider.Default.GetSubscriberQos();
}
else
{
// Set the Subscriber QoS programatically, to the same effect
subscriberQos = participant.DefaultSubscriberQos
.WithPresentation(policy =>
{
policy.AccessScope = PresentationAccessScopeKind.Group;
policy.CoherentAccess = true;
policy.OrderedAccess = true;
// Uncomment this line to keep and deliver incomplete
// coherent sets to the application
// policy.DropIncompleteCoherentSet = false;
});
}
subscriber = participant.CreateSubscriber(subscriberQos);
// Create a DataReader for each topic
DataReaderQos readerQos = null;
if (useXmlQos)
{
// Retrieve the DataReader QoS, from USER_QOS_PROFILES.xml
readerQos = QosProvider.Default.GetDataReaderQos();
}
else
{
// Set the DataReader QoS programatically, to the same effect
readerQos = subscriber.DefaultDataReaderQos
.WithReliability(policy => policy.Kind = ReliabilityKind.Reliable)
.WithHistory(policy => policy.Kind = HistoryKind.KeepAll);
}
alarmReader = subscriber.CreateDataReader(alarmTopic, readerQos);
heartRateReader = subscriber.CreateDataReader(heartRateTopic, readerQos);
temperatureReader = subscriber.CreateDataReader(temperatureTopic, readerQos);
// We are monitoring the sample lost status in case an
// incomplete coherent set is received and dropped (assuming the
// Presentation.DropIncompleteCoherentSet is true (the default))
alarmReader.SampleLost += OnSampleLost;
heartRateReader.SampleLost += OnSampleLost;
temperatureReader.SampleLost += OnSampleLost;
}
public void TestGetDefaultDataReaderQos()
{
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestGetDefaultDataReaderQos), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestGetDefaultDataReaderQos), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Subscriber subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
// Create a non-default DataReader Qos, call GetDefaultDataReaderQos and check the default values
DataReaderQos qos = TestHelper.CreateNonDefaultDataReaderQos();
result = subscriber.GetDefaultDataReaderQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDataReaderQos(qos);
// Test GetDefaultDataReaderQos with null parametr
result = subscriber.GetDefaultDataReaderQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
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);
}
}
/// <summary>
/// Runs the publisher example.
/// </summary>
public static void RunPublisher(
int domainId,
int sampleCount,
CancellationToken cancellationToken,
bool useXmlQos = false)
{
// Start communicating in a domain, usually one participant per application
// Load default QoS profile from USER_QOS_PROFILES.xml file
using DomainParticipant participant =
DomainParticipantFactory.Instance.CreateParticipant(domainId);
// A Topic has a name and a datatype.
Topic <HelloWorld> topic =
participant.CreateTopic <HelloWorld>("Example async");
// Create a Publisher
Publisher publisher = participant.CreatePublisher();
DataWriterQos writerQos;
if (useXmlQos)
{
// Retrieve the DataWriterQos from the default profile in
// USER_QOS_PROFILES.xml
writerQos = QosProvider.Default.GetDataWriterQos();
}
else
{
// Configure the DataWriterQos in code, to the same effect as
// the XML file.
writerQos = publisher.DefaultDataWriterQos
.WithReliability(policy =>
{
policy.Kind = ReliabilityKind.Reliable;
policy.MaxBlockingTime = Duration.FromSeconds(60);
})
.WithHistory(policy =>
{
policy.Kind = HistoryKind.KeepLast;
policy.Depth = 12;
})
.WithProtocol(policy =>
{
policy.RtpsReliableWriter.MinSendWindowSize = 50;
policy.RtpsReliableWriter.MaxSendWindowSize = 50;
})
.WithPublishMode(policy =>
{
policy.Kind = PublishModeKind.Asynchronous;
// The built-in fixed-rate flow controller publishes
// all written samples once per second
policy.FlowControllerName = PublishMode.FixedRateFlowControllerName;
});
}
DataWriter <HelloWorld> writer =
publisher.CreateDataWriter(topic, writerQos);
var sample = new HelloWorld();
for (int count = 0;
count < sampleCount && !cancellationToken.IsCancellationRequested;
count++)
{
// Modify the data to be sent here
sample.x = count;
Console.WriteLine($"Writing x={sample.x}");
// With asynchronous publish mode, the Write() puts the sample
// in the queue but doesn't send it until the flow controller
// indicates so.
writer.Write(sample);
Thread.Sleep(100);
}
// You can wait until all written samples have been actually published
// (note that this doesn't ensure that they have actually been received
// if the sample required retransmission)
writer.WaitForAsynchronousPublishing(Duration.FromSeconds(10));
}
static void Main(string[] args)
{
bool useListener = true;
OpenDDSharp.Ace.Init();
ParticipantService participantService = ParticipantService.Instance;
DomainParticipantFactory domainFactory = participantService.GetDomainParticipantFactory(args);
DomainParticipantQos qos = new DomainParticipantQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.UserData.Value = Encoding.UTF8.GetBytes("sometext");
DomainParticipant participant = domainFactory.CreateParticipant(42, qos);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
DomainParticipantQos aux = new DomainParticipantQos();
ReturnCode ret = participant.GetQos(aux);
aux.EntityFactory.AutoenableCreatedEntities = true;
ret = participant.SetQos(aux);
if (participant != null)
{
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(participant, typeName);
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register the type");
}
Topic topic = participant.CreateTopic("TopicName", typeName);
Publisher publisher = participant.CreatePublisher();
if (publisher == null)
{
throw new Exception("Could not create the publisher");
}
DataWriter dw = publisher.CreateDataWriter(topic);
if (dw == null)
{
throw new Exception("Could not create the datawriter");
}
TestStructDataWriter dataWriter = new TestStructDataWriter(dw);
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new Exception("Could not create the subscribre");
}
MyDataListener listener = null;
if (useListener)
{
listener = new MyDataListener();
}
DataReader dataReader = subscriber.CreateDataReader(topic, listener, StatusKind.DataAvailableStatus);
if (dataReader == null)
{
throw new Exception("Could not create the datareader");
}
WaitSet waitSet = null;
StatusCondition statusCondition = null;
if (!useListener)
{
waitSet = new WaitSet();
statusCondition = dataReader.StatusCondition;
waitSet.AttachCondition(statusCondition);
statusCondition.EnabledStatuses = StatusKind.DataAvailableStatus;
new System.Threading.Thread(delegate()
{
ICollection <Condition> conditions = new List <Condition>();
Duration duration = new Duration
{
Seconds = Duration.InfiniteSeconds
};
waitSet.Wait(conditions, duration);
foreach (Condition cond in conditions)
{
if (cond == statusCondition && cond.TriggerValue)
{
StatusCondition sCond = (StatusCondition)cond;
StatusMask mask = sCond.EnabledStatuses;
if ((mask & StatusKind.DataAvailableStatus) != 0)
{
DataAvailable(dataReader);
}
}
}
}).Start();
}
TestStruct test = new TestStruct
{
RawData = "Hello, I love you, won't you tell me your name?"
};
test.LongSequence.Add(20);
test.LongSequence.Add(10);
test.LongSequence.Add(0);
test.StringSequence.Add("Hello,");
test.StringSequence.Add("I love you");
test.StringSequence.Add("won't you tell me your name?");
test.LongDoubleType = 1.1;
test.LongDoubleSequence.Add(1.1);
test.LongDoubleSequence.Add(2.2);
test.LongDoubleSequence.Add(3.3);
test.LongArray[0, 0] = 1;
test.LongArray[0, 1] = 2;
test.LongArray[0, 2] = 3;
test.LongArray[0, 3] = 4;
test.LongArray[1, 0] = 1;
test.LongArray[1, 1] = 2;
test.LongArray[1, 2] = 3;
test.LongArray[1, 3] = 4;
test.LongArray[2, 0] = 1;
test.LongArray[2, 1] = 2;
test.LongArray[2, 2] = 3;
test.LongArray[2, 3] = 4;
test.StringArray[0, 0] = "Hello,";
test.StringArray[0, 1] = "I love you,";
test.StringArray[1, 0] = "won't you tell me";
test.StringArray[1, 1] = "your name?";
test.StructArray[0, 0] = new BasicTestStruct()
{
Id = 0
};
test.StructArray[0, 1] = new BasicTestStruct()
{
Id = 1
};
test.StructArray[1, 0] = new BasicTestStruct()
{
Id = 2
};
test.StructArray[1, 1] = new BasicTestStruct()
{
Id = 3
};
test.LongDoubleArray[0, 0] = 1.1;
test.LongDoubleArray[0, 1] = 2.2;
test.LongDoubleArray[1, 0] = 3.3;
test.LongDoubleArray[1, 1] = 4.4;
test.StructSequence.Add(new BasicTestStruct()
{
Id = 1
});
test.StructSequence.Add(new BasicTestStruct()
{
Id = 2
});
test.StructSequence.Add(new BasicTestStruct()
{
Id = 3
});
result = dataWriter.Write(test);
System.Threading.Thread.Sleep(1000);
if (!useListener)
{
waitSet.DetachCondition(statusCondition);
}
participant.DeleteContainedEntities();
domainFactory.DeleteParticipant(participant);
}
participantService.Shutdown();
OpenDDSharp.Ace.Fini();
Console.WriteLine("Press ENTER to finish the test.");
Console.ReadLine();
}
/// <summary>
/// Runs the subscriber example.
/// </summary>
public static async Task RunSubscriber(int domainId = 0, int sampleCount = int.MaxValue, bool useXmlQos = true)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
//
// A participant needs to be Disposed to release middleware resources.
// The 'using' keyword indicates that it will be Disposed when this
// scope ends.
using DomainParticipant participant = DomainParticipantFactory.Instance.CreateParticipant(domainId);
// A Topic has a name and a datatype.
Topic <HelloWorld> topic = participant.CreateTopic <HelloWorld>("Example PartitionsExample_HelloWorld");
// Configure the Subscriber's Partition QoS policy.
SubscriberQos subscriberQos;
if (useXmlQos)
{
// Retrieve the default Subscriber QoS, from USER_QOS_PROFILES.xml
subscriberQos = QosProvider.Default.GetSubscriberQos();
}
else
{
subscriberQos = participant.DefaultSubscriberQos.WithPartition(p =>
{
p.Add("ABC");
p.Add("X*Z");
});
}
Subscriber subscriber = participant.CreateSubscriber(subscriberQos);
Console.WriteLine(
"Subscriber partition set to: "
+ string.Join(separator: ",", values: subscriber.Qos.Partition.Name));
DataReaderQos readerQos;
if (useXmlQos)
{
// Retrieve the default DataReader QoS, from USER_QOS_PROFILES.xml
readerQos = QosProvider.Default.GetDataReaderQos();
}
else
{
readerQos = subscriber.DefaultDataReaderQos
.WithReliability(policy => policy.Kind = ReliabilityKind.Reliable)
.WithHistory(policy => policy.Kind = HistoryKind.KeepAll)
.WithDurability(policy => policy.Kind = DurabilityKind.TransientLocal);
}
DataReader <HelloWorld> reader = subscriber.CreateDataReader(topic, readerQos);
// Take all samples as they are received. Stop after taking sampleCount samples.
await foreach (var sample in reader.TakeAsync().Take(sampleCount))
{
if (sample.Info.ValidData)
{
if (sample.Info.State.View == ViewState.New)
{
// When we receive a new instance because a partition
// update made it possible, the View state is
// ViewState.New
Console.WriteLine("Found new instance");
}
Console.WriteLine(sample.Data);
}
}
}
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);
}
/// <summary>
/// Runs the publisher example.
/// </summary>
public static void RunPublisher(
int domainId,
int sampleCount,
uint tokenBucketPeriodMs,
CancellationToken cancellationToken)
{
// Create a custom flow controller configuration
DomainParticipantQos participantQos = ConfigureFlowController(
tokenBucketPeriodMs);
// Start communicating in a domain, usually one participant per application
using DomainParticipant participant =
DomainParticipantFactory.Instance.CreateParticipant(domainId, participantQos);
// A Topic has a name and a datatype.
Topic <HelloWorld> topic =
participant.CreateTopic <HelloWorld>("Example cfc");
// Create a Publisher
Publisher publisher = participant.CreatePublisher();
// Create a writer with the QoS specified in the default profile
// in USER_QOS_PROFILES.xml, which sets up the publish mode policy
DataWriter <HelloWorld> writer = publisher.CreateDataWriter(topic);
// Create a sample to write with a long payload
var sample = new HelloWorld {
str = new string('a', 999)
};
for (int count = 0;
count < sampleCount && !cancellationToken.IsCancellationRequested;
count++)
{
// Simulate a bursty writer by sending 10 samples at a time,
// after sleeping for a period
if (count % 10 == 0)
{
Thread.Sleep(1000);
}
// Modify the data to be sent here
sample.x = count;
Console.WriteLine($"Writing x={sample.x}");
// With asynchronous publish mode, the Write() puts the sample
// in the queue but doesn't send it until the flow controller
// indicates so.
writer.Write(sample);
}
try
{
// Wait until all written samples have been actually published
writer.WaitForAsynchronousPublishing(maxWait: Duration.FromSeconds(10));
// And wait until the DataReader has acknowledged them
writer.WaitForAcknowledgments(maxWait: Duration.FromSeconds(10));
}
catch (TimeoutException)
{
Console.WriteLine("Timed out waiting to publish all samples");
}
}
private void RunExample(int domainId, string sensorId)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Uses TemperingApplication QoS profile to set participant name.
var qosProvider = new QosProvider("./qos_profiles.xml");
var participantQos = qosProvider.GetDomainParticipantQos(
"ChocolateFactoryLibrary::TemperingApplication");
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId, participantQos);
// Create the topics
Topic <Temperature> temperatureTopic =
participant.CreateTopic <Temperature>("ChocolateTemperature");
Topic <ChocolateLotState> lotStateTopic =
participant.CreateTopic <ChocolateLotState>("ChocolateLotState");
// Exercise #1.1: Create a Content-Filtered Topic that filters out
// chocolate lot state unless the next_station = TEMPERING_CONTROLLER
// A Publisher allows an application to create one or more DataWriters
// Create Publisher with default QoS.
Publisher publisher = participant.CreatePublisher();
// Create DataWriter of Topic "ChocolateTemperature"
// using ChocolateTemperatureProfile QoS profile for Streaming Data
DataWriter <Temperature> temperatureWriter = publisher.CreateDataWriter(
temperatureTopic,
qos: qosProvider.GetDataWriterQos("ChocolateFactoryLibrary::ChocolateTemperatureProfile"));
// Create DataWriter of Topic "ChocolateLotState"
// using ChocolateLotStateProfile QoS profile for State Data
DataWriter <ChocolateLotState> lotStateWriter = publisher.CreateDataWriter(
lotStateTopic,
qos: qosProvider.GetDataWriterQos("ChocolateFactoryLibrary::ChocolateLotStateProfile"));
// A Subscriber allows an application to create one or more DataReaders
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState".
// using ChocolateLotStateProfile QoS profile for State Data
// Exercise #1.2: Change the DataReader's Topic to use a
// Content-Filtered Topic
DataReader <ChocolateLotState> lotStateReader = subscriber.CreateDataReader(
lotStateTopic,
qos: qosProvider.GetDataReaderQos("ChocolateFactoryLibrary::ChocolateLotStateProfile"),
preEnableAction: reader => reader.RequestedIncompatibleQos += OnRequestedIncompatibleQos);
// Obtain the DataReader's Status Condition
StatusCondition statusCondition = lotStateReader.StatusCondition;
// Enable the 'data available' status.
statusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate an event handler with the status condition.
// This will run when the condition is triggered, in the context of
// the dispatch call (see below)
statusCondition.Triggered +=
_ => ProcessLot(lotStateReader, lotStateWriter);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(statusCondition);
// Create a thread to periodically publish the temperature
Console.WriteLine($"ChocolateTemperature Sensor with ID: {sensorId} starting");
var temperatureTask = Task.Run(
() => PublishTemperature(temperatureWriter, sensorId));
while (!shutdownRequested)
{
// Wait for ChocolateLotState
Console.WriteLine("Waiting for lot");
waitset.Dispatch(Duration.FromSeconds(10));
}
temperatureTask.Wait();
}
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);
}
static void Main(string[] args)
{
Ace.Init();
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSConfigFile", "rtps.ini");
DomainParticipant participant = dpf.CreateParticipant(42);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
MessageTypeSupport support = new MessageTypeSupport();
ReturnCode result = support.RegisterType(participant, support.GetTypeName());
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
Topic topic = participant.CreateTopic("MessageTopic", support.GetTypeName());
if (topic == null)
{
throw new Exception("Could not create the message topic");
}
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new Exception("Could not create the subscriber");
}
DataReader reader = subscriber.CreateDataReader(topic);
if (reader == null)
{
throw new Exception("Could not create the message data reader");
}
MessageDataReader messageReader = new MessageDataReader(reader);
while (true)
{
StatusMask mask = messageReader.StatusChanges;
if ((mask & StatusKind.DataAvailableStatus) != 0)
{
List <Message> receivedData = new List <Message>();
List <SampleInfo> receivedInfo = new List <SampleInfo>();
result = messageReader.Take(receivedData, receivedInfo);
if (result == ReturnCode.Ok)
{
bool messageReceived = false;
for (int i = 0; i < receivedData.Count; i++)
{
if (receivedInfo[i].ValidData)
{
Console.WriteLine(receivedData[i].Content);
messageReceived = true;
}
}
if (messageReceived)
{
break;
}
}
}
System.Threading.Thread.Sleep(100);
}
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
public void TestReadInstance()
{
List <SubscriptionBuiltinTopicData> data = new List <SubscriptionBuiltinTopicData>();
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 subscriber = otherParticipant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = TestHelper.CreateNonDefaultDataReaderQos();
DataReader dataReader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(dataReader);
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);
TestHelper.TestNonDefaultSubscriptionData(data.First());
var handle = infos.First().InstanceHandle;
data = new List <SubscriptionBuiltinTopicData>();
infos = new List <SampleInfo>();
ret = _dr.ReadInstance(data, infos, handle);
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 TestCreateDataWriter()
{
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestCreateDataWriter), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestCreateDataWriter), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Publisher publisher = _participant.CreatePublisher();
Assert.IsNotNull(publisher);
// Test simplest overload
DataWriter datawriter1 = publisher.CreateDataWriter(topic);
Assert.IsNotNull(datawriter1);
Assert.AreEqual(publisher, datawriter1.Publisher);
Assert.IsNull(datawriter1.GetListener());
DataWriterQos qos = new DataWriterQos();
result = datawriter1.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDataWriterQos(qos);
// Test overload with QoS parameter
qos = TestHelper.CreateNonDefaultDataWriterQos();
DataWriter datawriter2 = publisher.CreateDataWriter(topic, qos);
Assert.IsNotNull(datawriter2);
Assert.AreEqual(publisher, datawriter2.Publisher);
Assert.IsNull(datawriter2.GetListener());
qos = new DataWriterQos();
result = datawriter2.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultDataWriterQos(qos);
// Test overload with listener parameter
MyDataWriterListener listener = new MyDataWriterListener();
DataWriter datawriter3 = publisher.CreateDataWriter(topic, listener);
Assert.IsNotNull(datawriter3);
Assert.AreEqual(publisher, datawriter3.Publisher);
MyDataWriterListener received = (MyDataWriterListener)datawriter3.GetListener();
Assert.IsNotNull(received);
Assert.AreEqual(listener, received);
qos = new DataWriterQos();
result = datawriter3.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDataWriterQos(qos);
// Test overload with listener and StatusMask parameters
listener = new MyDataWriterListener();
DataWriter datawriter4 = publisher.CreateDataWriter(topic, listener, StatusMask.AllStatusMask);
Assert.IsNotNull(datawriter4);
Assert.AreEqual(publisher, datawriter4.Publisher);
received = (MyDataWriterListener)datawriter4.GetListener();
Assert.IsNotNull(received);
Assert.AreEqual(listener, received);
qos = new DataWriterQos();
result = datawriter4.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDataWriterQos(qos);
// Test overload with QoS and listener parameters
qos = TestHelper.CreateNonDefaultDataWriterQos();
listener = new MyDataWriterListener();
DataWriter datawriter5 = publisher.CreateDataWriter(topic, qos, listener);
Assert.IsNotNull(datawriter5);
Assert.AreEqual(publisher, datawriter5.Publisher);
received = (MyDataWriterListener)datawriter5.GetListener();
Assert.IsNotNull(received);
Assert.AreEqual(listener, received);
qos = new DataWriterQos();
result = datawriter5.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultDataWriterQos(qos);
// Test full call overload
qos = TestHelper.CreateNonDefaultDataWriterQos();
listener = new MyDataWriterListener();
DataWriter datawriter6 = publisher.CreateDataWriter(topic, qos, listener, StatusMask.AllStatusMask);
Assert.IsNotNull(datawriter6);
Assert.AreEqual(publisher, datawriter6.Publisher);
received = (MyDataWriterListener)datawriter6.GetListener();
Assert.IsNotNull(received);
Assert.AreEqual(listener, received);
qos = new DataWriterQos();
result = datawriter6.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultDataWriterQos(qos);
// Test with null parameter
DataWriter nullDataWriter = publisher.CreateDataWriter(null);
Assert.IsNull(nullDataWriter);
// Test with wrong qos
DataWriterQos dwQos = new DataWriterQos();
dwQos.ResourceLimits.MaxSamples = 1;
dwQos.ResourceLimits.MaxSamplesPerInstance = 2;
nullDataWriter = publisher.CreateDataWriter(topic, dwQos);
Assert.IsNull(nullDataWriter);
}
private void RunExample(
int domainId,
int sampleCount,
string sensorId)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId);
// A Topic has a name and a datatype. Create a Topic named
// "ChocolateTemperature" with type Temperature
// In this example we use a DynamicType defined in XML, which creates
// a DynamicData topic.
var provider = new QosProvider("../chocolate_factory.xml");
Topic <DynamicData> topic = participant.CreateTopic(
"ChocolateTemperature",
provider.GetType("Temperature"));
// Exercise #2.1: Add new Topic
Topic <DynamicData> lotStateTopic = participant.CreateTopic(
"ChocolateLotState",
provider.GetType("ChocolateLotState"));
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// This DataWriter writes data on Topic "ChocolateTemperature"
// DataWriter QoS is configured in USER_QOS_PROFILES.xml
DataWriter <DynamicData> writer = publisher.CreateDataWriter(topic);
// Create a DynamicData sample for writing
DynamicData sample = writer.CreateData();
// Exercise #2.2: Add new DataWriter and data sample
DataWriter <DynamicData> lotStateWriter =
publisher.CreateDataWriter(lotStateTopic);
DynamicData lotStateSample = lotStateWriter.CreateData();
Random rand = new Random();
for (int count = 0; count < sampleCount && !shutdownRequested; count++)
{
// Modify the data to be written here
sample.SetValue("sensor_id", sensorId);
sample.SetValue("degrees", rand.Next(30, 33));
Console.WriteLine($"Writing ChocolateTemperature, count {count}");
writer.Write(sample);
// Exercise #2.3 Write data with new ChocolateLotState DataWriter
lotStateWriter.SetValue("lot_id", count % 100);
// SetAnyValue performs type conversions. In this case it can
// translate a string to the corresponding enumerator.
lotStateWriter.SetAnyValue("lot_status", "WAITING");
lotStateWriter.Write(lotStateSample);
// Exercise #1.1: Change this to sleep 100 ms in between writing temperatures
Thread.Sleep(4000);
}
}
private void RunExample(
int domainId = 0,
uint lotsToProcess = 10)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId);
// A Topic has a name and a datatype. Create a Topic named
// "ChocolateLotState" with type ChocolateLotState
// In this example we use a DynamicType defined in XML, which creates
// a DynamicData topic.
Topic <ChocolateLotState> lotStateTopic = participant.CreateTopic(
"ChocolateLotState",
types.ChocolateLotState);
// Exercise #4.1: Add a Topic for Temperature to this application
Topic <Temperature> temperatureTopic = participant.CreateTopic(
"ChocolateTemperature",
types.Temperature);
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// This DataWriter writes data on Topic "ChocolateLotState"
// DataWriter QoS is configured in USER_QOS_PROFILES.xml
DataWriter <ChocolateLotState> lotStateWriter =
publisher.CreateDataWriter(lotStateTopic);
// A Subscriber allows an application to create one or more DataReaders
// Subscriber QoS is configured in USER_QOS_PROFILES.xml
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState".
// DataReader QoS is configured in USER_QOS_PROFILES.xml
DataReader <ChocolateLotState> lotStateReader =
subscriber.CreateDataReader(lotStateTopic);
// Exercise #4.2: Add a DataReader for Temperature to this application
DataReader <Temperature> temperatureReader =
subscriber.CreateDataReader(temperatureTopic);
// Obtain the DataReader's Status Condition
StatusCondition temperatureStatusCondition = temperatureReader.StatusCondition;
temperatureStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate a handler with the status condition. This will run when the
// condition is triggered, in the context of the dispatch call (see below)
temperatureStatusCondition.Triggered += _ => MonitorTemperature(temperatureReader);
// Do the same with the lotStateReader's StatusCondition
StatusCondition lotStateStatusCondition = lotStateReader.StatusCondition;
lotStateStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
int lotsProcessed = 0;
lotStateStatusCondition.Triggered +=
_ => lotsProcessed += MonitorLotState(lotStateReader);
// Create a WaitSet and attach the StatusCondition
WaitSet waitset = new WaitSet();
waitset.AttachCondition(lotStateStatusCondition);
// Exercise #4.3: Add the new DataReader's StatusCondition to the Waitset
waitset.AttachCondition(temperatureStatusCondition);
var startLotTask = Task.Run(() => PublishStartLot(lotStateWriter, lotsToProcess));
while (!shutdownRequested && lotsProcessed < lotsToProcess)
{
waitset.Dispatch(Duration.FromSeconds(4));
}
startLotTask.Wait();
}
public void TestOnPublicationLost()
{
ManualResetEventSlim evt = new ManualResetEventSlim(false);
DomainParticipant domainParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.INFOREPO_DOMAIN);
Assert.IsNotNull(domainParticipant);
domainParticipant.BindTcpTransportConfig();
Publisher publisher = domainParticipant.CreatePublisher();
Assert.IsNotNull(publisher);
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(domainParticipant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = domainParticipant.CreateTopic("TestOnPublicationLostDisconnected", typeName);
Assert.IsNotNull(topic);
MyDataWriterListener listener = new MyDataWriterListener();
DataWriter writer = publisher.CreateDataWriter(topic, listener);
int count = 0;
listener.PublicationLost += (w, s) =>
{
Assert.AreEqual(writer, w);
Assert.AreEqual(1, s.SubscriptionHandles.Count());
Assert.AreNotEqual(InstanceHandle.HandleNil, s.SubscriptionHandles.First());
count++;
evt.Set();
};
SupportProcessHelper supportProcess = new SupportProcessHelper(TestContext);
Process process = supportProcess.SpawnSupportProcess(SupportTestKind.PublicationLostTest);
try
{
// Wait for discovery
bool found = writer.WaitForSubscriptions(1, 20000);
Assert.IsTrue(found);
}
finally
{
supportProcess.KillProcess(process);
}
bool resp = evt.Wait(20000);
Assert.IsTrue(resp);
Assert.AreEqual(1, count);
// Remove the listener to avoid extra messages
result = writer.SetListener(null);
Assert.AreEqual(ReturnCode.Ok, result);
domainParticipant.DeleteContainedEntities();
AssemblyInitializer.Factory.DeleteParticipant(domainParticipant);
evt.Dispose();
}
private void RunExample(
int domainId = 0,
uint lotsToProcess = 10)
{
// Loads the QoS from the qos_profiles.xml file.
var qosProvider = new QosProvider("./qos_profiles.xml");
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Load DomainParticipant QoS profile
var participantQos = qosProvider.GetDomainParticipantQos(
"ChocolateFactoryLibrary::MonitoringControlApplication");
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId, participantQos);
// A Topic has a name and a datatype. Create a Topic with type
// ChocolateLotState. Topic name is a constant defined in the IDL file.
Topic <ChocolateLotState> lotStateTopic =
participant.CreateTopic <ChocolateLotState>("ChocolateLotState");
// Add a Topic for Temperature to this application
Topic <Temperature> temperatureTopic =
participant.CreateTopic <Temperature>("ChocolateTemperature");
ContentFilteredTopic <Temperature> filteredTemperatureTopic =
participant.CreateContentFilteredTopic(
name: "FilteredTemperature",
relatedTopic: temperatureTopic,
filter: new Filter(
expression: "degrees > %0 or degrees < %1",
parameters: new string[] { "32", "30" }));
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// This DataWriter writes data on Topic "ChocolateLotState"
var writerQos = qosProvider.GetDataWriterQos(
"ChocolateFactoryLibrary::ChocolateLotStateProfile");
DataWriter <ChocolateLotState> lotStateWriter =
publisher.CreateDataWriter(lotStateTopic, writerQos);
// A Subscriber allows an application to create one or more DataReaders
// Subscriber QoS is configured in USER_QOS_PROFILES.xml
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState".
// DataReader QoS is configured in USER_QOS_PROFILES.xml
var readerQos = qosProvider.GetDataReaderQos(
"ChocolateFactoryLibrary::ChocolateLotStateProfile");
DataReader <ChocolateLotState> lotStateReader =
subscriber.CreateDataReader(lotStateTopic, readerQos);
// Add a DataReader for Temperature to this application
readerQos = qosProvider.GetDataReaderQos(
"ChocolateFactoryLibrary::ChocolateTemperatureProfile");
DataReader <Temperature> temperatureReader =
subscriber.CreateDataReader(filteredTemperatureTopic, readerQos);
// Obtain the DataReader's Status Condition
StatusCondition temperatureStatusCondition = temperatureReader.StatusCondition;
temperatureStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate a handler with the status condition. This will run when the
// condition is triggered, in the context of the dispatch call (see below)
temperatureStatusCondition.Triggered +=
_ => MonitorTemperature(temperatureReader);
// Do the same with the lotStateReader's StatusCondition
StatusCondition lotStateStatusCondition = lotStateReader.StatusCondition;
lotStateStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
int lotsProcessed = 0;
lotStateStatusCondition.Triggered +=
_ => lotsProcessed += MonitorLotState(lotStateReader);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(lotStateStatusCondition);
// Add the new DataReader's StatusCondition to the Waitset
waitset.AttachCondition(temperatureStatusCondition);
// Start publishing in a separate thread
var startLotTask = Task.Run(() => PublishStartLot(lotStateWriter, lotsToProcess));
while (!shutdownRequested && lotsProcessed < lotsToProcess)
{
waitset.Dispatch(Duration.FromSeconds(4));
}
startLotTask.Wait();
}
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 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);
}
private void RunExample(int domainId, string sensorId)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId);
// A Topic has a name and a datatype. Create Topics using the types
// defined in chocolate_factory.xml
var provider = new QosProvider("../chocolate_factory.xml");
Topic <Temperature> temperatureTopic = participant.CreateTopic(
"ChocolateTemperature",
types.Temperature);
Topic <ChocolateLotState> lotStateTopic = participant.CreateTopic(
"ChocolateLotState",
types.ChocolateLotState);
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// Create DataWriters of Topics "ChocolateTemperature" & "ChocolateLotState"
// DataWriter QoS is configured in USER_QOS_PROFILES.xml
DataWriter <Temperature> temperatureWriter =
publisher.CreateDataWriter(temperatureTopic);
DataWriter <ChocolateLotState> lotStateWriter =
publisher.CreateDataWriter(lotStateTopic);
// A Subscriber allows an application to create one or more DataReaders
// Subscriber QoS is configured in USER_QOS_PROFILES.xml
Subscriber subscriber = participant.CreateSubscriber();
// This DataReader reads data of type Temperature on Topic
// "ChocolateTemperature". DataReader QoS is configured in
// USER_QOS_PROFILES.xml
DataReader <ChocolateLotState> lotStateReader =
subscriber.CreateDataReader(lotStateTopic);
// Obtain the DataReader's Status Condition
StatusCondition statusCondition = lotStateReader.StatusCondition;
// Enable the 'data available' status.
statusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate an event handler with the status condition.
// This will run when the condition is triggered, in the context of
// the dispatch call (see below)
statusCondition.Triggered +=
_ => ProcessLot(lotStateReader, lotStateWriter);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(statusCondition);
// Create a thread to periodically publish the temperature
Console.WriteLine($"ChocolateTemperature Sensor with ID: {sensorId} starting");
var temperatureTask = Task.Run(
() => PublishTemperature(temperatureWriter, sensorId));
while (!shutdownRequested)
{
// Wait for ChocolateLotState
Console.WriteLine("Waiting for lot");
waitset.Dispatch(Duration.FromSeconds(4));
}
temperatureTask.Wait();
}
/// <summary>
/// Runs the subscriber example.
/// </summary>
public static async Task RunSubscriber(
int domainId,
int sampleCount,
CancellationToken cancellationToken,
bool useXmlQos = false)
{
// Start communicating in a domain, usually one participant per application
// Load default QoS profile from USER_QOS_PROFILES.xml file
using DomainParticipant participant =
DomainParticipantFactory.Instance.CreateParticipant(domainId);
// A Topic has a name and a datatype.
Topic <HelloWorld> topic =
participant.CreateTopic <HelloWorld>("Example async");
// Create a subscriber
Subscriber subscriber = participant.CreateSubscriber();
DataReaderQos readerQos;
if (useXmlQos)
{
// Retrieve the DataReaderQos from the default profile in
// USER_QOS_PROFILES.xml
readerQos = QosProvider.Default.GetDataReaderQos();
}
else
{
// Configure the DataReaderQos in code, to the same effect as
// the XML file.
readerQos = subscriber.DefaultDataReaderQos
.WithReliability(policy => policy.Kind = ReliabilityKind.Reliable)
.WithHistory(policy => policy.Kind = HistoryKind.KeepAll);
}
DataReader <HelloWorld> reader =
subscriber.CreateDataReader(topic, readerQos);
var beginTime = DateTime.Now;
// TakeAsync provides an IAsyncEnumerable that returns new data
// samples when they are available, awaiting as necessary. The
// cancellation token allows stopping the loop.
int samplesRead = 0;
await foreach (var sample in reader
.TakeAsync()
.WithCancellation(cancellationToken))
{
if (sample.Info.ValidData)
{
samplesRead++;
var elapsedTime = (DateTime.Now - beginTime).TotalSeconds;
Console.WriteLine($"At t={elapsedTime}s, got x={sample.Data.x}");
if (samplesRead == sampleCount)
{
break;
}
}
}
}
private void RunExample(int domainId, string stationKind)
{
if (!Enum.TryParse <StationKind>(stationKind, out var currentStation))
{
throw new ArgumentException("Invalid station");
}
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Uses TemperingApplication QoS profile to set participant name.
var qosProvider = new QosProvider("./qos_profiles.xml");
// By specifying a default library, we can later refer to the
// profiles without the library name
qosProvider.DefaultLibrary = "ChocolateFactoryLibrary";
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(
domainId,
qosProvider.GetDomainParticipantQos("IngredientApplication"));
Topic <Temperature> temperatureTopic =
participant.CreateTopic <Temperature>("ChocolateTemperature");
Topic <ChocolateLotState> lotStateTopic =
participant.CreateTopic <ChocolateLotState>("ChocolateLotState");
ContentFilteredTopic <ChocolateLotState> filteredLotStateTopic =
participant.CreateContentFilteredTopic(
name: "FilteredLot",
relatedTopic: lotStateTopic,
filter: new Filter(
expression: "next_station = %0",
parameters: new string[] { $"'{stationKind}'" }));
Publisher publisher = participant.CreatePublisher();
// Create DataWriter of Topic "ChocolateLotState"
// using ChocolateLotStateProfile QoS profile for State Data
DataWriter <ChocolateLotState> lotStateWriter = publisher.CreateDataWriter(
lotStateTopic,
qosProvider.GetDataWriterQos("ChocolateLotStateProfile"));
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState", filtered by
// next_station, and using ChocolateLotStateProfile QoS profile for
// State Data.
DataReader <ChocolateLotState> lotStateReader = subscriber.CreateDataReader(
filteredLotStateTopic,
qosProvider.GetDataReaderQos("ChocolateLotStateProfile"));
// Monitor the DataAvailable status
StatusCondition statusCondition = lotStateReader.StatusCondition;
statusCondition.EnabledStatuses = StatusMask.DataAvailable;
statusCondition.Triggered +=
_ => ProcessLot(currentStation, lotStateReader, lotStateWriter);
var waitset = new WaitSet();
waitset.AttachCondition(statusCondition);
while (!shutdownRequested)
{
// Wait for ChocolateLotState
Console.WriteLine("Waiting for lot");
waitset.Dispatch(Duration.FromSeconds(10));
}
}
public OpenDDSharpService()
{
_config = ServiceLocator.Current.GetInstance <IConfigurationService>();
_disc = new RtpsDiscovery(RTPS_DISCOVERY)
{
ResendPeriod = new TimeValue {
Seconds = 1
},
SedpMulticast = true
};
ParticipantService.Instance.AddDiscovery(_disc);
ParticipantService.Instance.DefaultDiscovery = RTPS_DISCOVERY;
long ticks = DateTime.Now.Ticks;
string configName = "openddsharp_rtps_interop_" + ticks.ToString();;
string instName = "internal_openddsharp_rtps_transport_" + ticks.ToString();;
_tConfig = TransportRegistry.Instance.CreateConfig(configName);
_inst = TransportRegistry.Instance.CreateInst(instName, "rtps_udp");
_rui = new RtpsUdpInst(_inst);
_tConfig.Insert(_inst);
TransportRegistry.Instance.GlobalConfig = _tConfig;
ParticipantService.Instance.SetRepoDomain(0, RTPS_DISCOVERY);
_domainFactory = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSDebugLevel", "10", "-ORBLogFile", "LogFile.log", "-ORBDebugLevel", "10");
_participant = _domainFactory.CreateParticipant(0);
if (_participant == null)
{
throw new Exception("Could not create the participant");
}
ShapeTypeTypeSupport support = new ShapeTypeTypeSupport();
ReturnCode result = support.RegisterType(_participant, TYPE_NAME);
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
_squareTopic = _participant.CreateTopic(SQUARE_TOPIC_NAME, TYPE_NAME);
if (_squareTopic == null)
{
throw new Exception("Could not create square topic");
}
_circleTopic = _participant.CreateTopic(CIRCLE_TOPIC_NAME, TYPE_NAME);
if (_circleTopic == null)
{
throw new Exception("Could not create circle topic");
}
_triangleTopic = _participant.CreateTopic(TRIANGLE_TOPIC_NAME, TYPE_NAME);
if (_triangleTopic == null)
{
throw new Exception("Could not create triangle topic");
}
_publisher = _participant.CreatePublisher();
if (_publisher == null)
{
throw new Exception("Could not create publisher");
}
_subscriber = _participant.CreateSubscriber();
if (_subscriber == null)
{
throw new Exception("Could not create subscriber");
}
_shapeWaitSets = new List <ShapeWaitSet>();
_shapeDynamics = new List <ShapeDynamic>();
_cfCircleCount = 0;
_cfSquareCount = 0;
_cfTriangleCount = 0;
}
/// <summary>
/// Runs the subscriber example.
/// </summary>
public static void RunSubscriber(
int domainId = 0,
int sampleCount = int.MaxValue)
{
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
//
// A participant needs to be Disposed to release middleware resources.
// The 'using' keyword indicates that it will be Disposed when this
// scope ends.
using DomainParticipant participant = DomainParticipantFactory.Instance.CreateParticipant(domainId);
// A Topic has a name and a datatype.
Topic <StockPrice> topic = participant.CreateTopic <StockPrice>("Example market_data");
// A Subscriber allows an application to create one or more DataReaders
// Subscriber QoS is configured in USER_QOS_PROFILES.xml
Subscriber subscriber = participant.CreateSubscriber();
// Create a ContentFiltered Topic and specify the STRINGMATCH filter name
// to use a built-in filter for matching multiple strings.
// More information can be found in the example
var symbolFilter = new Filter(
expression: "Symbol MATCH 'A'",
parameters: Array.Empty <string>(),
name: Filter.StringMatchFilterName);
ContentFilteredTopic <StockPrice> filteredTopic =
participant.CreateContentFilteredTopic(
name: "Filtered Example market_data",
relatedTopic: topic,
filter: symbolFilter);
// Create a reader for the content-filtered topic, and set a
// handler for the DataAvailable event that simply prints the data.
DataReader <StockPrice> reader = subscriber.CreateDataReader(
filteredTopic,
preEnableAction: reader =>
{
reader.DataAvailable += _ => PrintData(reader);
});
int t = 0;
while (receivedSamples < sampleCount)
{
if (t == 3)
{
// On t = 3 we add the symbol 'D' to the filter parameter
// to match 'A' and 'D'.
filteredTopic.AppendToExpressionParameter(0, "D");
Console.WriteLine("Changed filter to Symbol MATCH 'A,D'");
}
else if (t == 6)
{
// On t = 6 we remove the symbol 'A' to the filter parameter
// to match only 'D'.
filteredTopic.RemoveFromExpressionParameter(0, "A");
Console.WriteLine("Changed filter to Symbol MATCH 'D'");
}
Thread.Sleep(4000);
t++;
}
}
private void RunExample(
int domainId = 0,
uint lotsToProcess = 10)
{
// Exercise #1.1: Add QoS provider
// A DomainParticipant allows an application to begin communicating in
// a DDS domain. Typically there is one DomainParticipant per application.
// Exercise #1.2: Load DomainParticipant QoS profile
DomainParticipant participant = DomainParticipantFactory.Instance
.CreateParticipant(domainId);
// A Topic has a name and a datatype. Create a Topic named
// "ChocolateLotState" with type ChocolateLotState.
Topic <ChocolateLotState> lotStateTopic = participant.CreateTopic <ChocolateLotState>(
CHOCOLATE_LOT_STATE_TOPIC.Value);
// Add a Topic for Temperature to this application
Topic <Temperature> temperatureTopic = participant.CreateTopic <Temperature>(
CHOCOLATE_TEMPERATURE_TOPIC.Value);
// A Publisher allows an application to create one or more DataWriters
// Publisher QoS is configured in USER_QOS_PROFILES.xml
Publisher publisher = participant.CreatePublisher();
// This DataWriter writes data on Topic "ChocolateLotState"
// Exercise #4.1: Load ChocolateLotState DataWriter QoS profile after
// debugging incompatible QoS
DataWriter <ChocolateLotState> lotStateWriter =
publisher.CreateDataWriter(lotStateTopic);
// A Subscriber allows an application to create one or more DataReaders
// Subscriber QoS is configured in USER_QOS_PROFILES.xml
Subscriber subscriber = participant.CreateSubscriber();
// Create DataReader of Topic "ChocolateLotState".
// Exercise #1.3: Update the lotStateReader and temperatureReader
// to use correct QoS
DataReader <ChocolateLotState> lotStateReader =
subscriber.CreateDataReader(lotStateTopic);
// Add a DataReader for Temperature to this application
DataReader <Temperature> temperatureReader =
subscriber.CreateDataReader(temperatureTopic);
// Obtain the DataReader's Status Condition
StatusCondition temperatureStatusCondition = temperatureReader.StatusCondition;
temperatureStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
// Associate a handler with the status condition. This will run when the
// condition is triggered, in the context of the dispatch call (see below)
temperatureStatusCondition.Triggered += _ => MonitorTemperature(temperatureReader);
// Do the same with the lotStateReader's StatusCondition
StatusCondition lotStateStatusCondition = lotStateReader.StatusCondition;
lotStateStatusCondition.EnabledStatuses = StatusMask.DataAvailable;
int lotsProcessed = 0;
lotStateStatusCondition.Triggered +=
_ => lotsProcessed += MonitorLotState(lotStateReader);
// Create a WaitSet and attach the StatusCondition
var waitset = new WaitSet();
waitset.AttachCondition(lotStateStatusCondition);
// Add the new DataReader's StatusCondition to the Waitset
waitset.AttachCondition(temperatureStatusCondition);
// Start publishing in a separate thread
var startLotTask = Task.Run(() => PublishStartLot(lotStateWriter, lotsToProcess));
while (!shutdownRequested && lotsProcessed < lotsToProcess)
{
waitset.Dispatch(Duration.FromSeconds(4));
}
startLotTask.Wait();
}
