public void TestRead()
{
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.Read(data, infos);
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 TestTakeNextInstance()
{
List <ParticipantBuiltinTopicData> data = new List <ParticipantBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode ret = _dr.TakeNextInstance(data, infos, InstanceHandle.HandleNil);
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();
Assert.IsTrue(_participant.WaitForParticipants(1, 20_000));
ret = _dr.TakeNextInstance(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());
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestTakeNextSample()
{
ParticipantBuiltinTopicData data = default;
SampleInfo infos = new SampleInfo();
ReturnCode ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.NoData, 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));
ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.UserData.Value.Count);
Assert.AreEqual(0x42, data.UserData.Value.First());
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestLookupInstance()
{
ParticipantBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
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);
ReturnCode 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());
// 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 Dispose()
{
if (!_disposed)
{
foreach (ShapeWaitSet waitSet in _shapeWaitSets)
{
waitSet.Dispose();
}
_shapeWaitSets.Clear();
foreach (ShapeDynamic shape in _shapeDynamics)
{
shape.Dispose();
}
_shapeDynamics.Clear();
if (_participant != null)
{
_participant.DeleteContainedEntities();
_domainFactory.DeleteParticipant(_participant);
}
TransportRegistry.Instance.Release();
TransportRegistry.Close();
ParticipantService.Instance.Shutdown();
_disposed = true;
}
}
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);
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.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 TestTakeNextInstance()
{
List <PublicationBuiltinTopicData> data = new List <PublicationBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode ret = _dr.TakeNextInstance(data, infos, InstanceHandle.HandleNil);
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();
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);
ret = _dr.TakeNextInstance(data, infos, InstanceHandle.HandleNil);
count--;
}
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 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();
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);
// Get the for an existing instance
ret = _dr.ReadNextSample(ref data, info);
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 < 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 TestTakeNextInstance()
{
ReturnCode ret;
DomainParticipant otherParticipant = null;
Topic topic = null;
try
{
List <TopicBuiltinTopicData> data = new List <TopicBuiltinTopicData>();
List <SampleInfo> infos = new List <SampleInfo>();
ret = _dr.TakeNextInstance(data, infos, InstanceHandle.HandleNil);
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.TakeNextInstance(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());
}
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 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);
int count = 200;
ReturnCode 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);
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 TestLookupInstance()
{
ReturnCode ret;
DomainParticipant otherParticipant = null;
Topic topic = null;
try
{
TopicBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
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.ReadNextSample(ref data, info);
count--;
}
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(typeName, data.TypeName);
Assert.IsNotNull(data.Key);
TestHelper.TestNonDefaultTopicData(data);
// Lookup for an existing instance
var handle = _dr.LookupInstance(data);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
}
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 TestCleanup()
{
if (_participant != null)
{
ReturnCode result = _participant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, result);
}
if (AssemblyInitializer.Factory != null)
{
ReturnCode result = AssemblyInitializer.Factory.DeleteParticipant(_participant);
Assert.AreEqual(ReturnCode.Ok, result);
}
}
public void TestLookupInstance()
{
PublicationBuiltinTopicData 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 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);
ReturnCode ret = _dr.ReadNextSample(ref data, info);
Assert.AreEqual(ReturnCode.Ok, ret);
// Lookup for an existing instance
var handle = _dr.LookupInstance(data);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
TestHelper.TestNonDefaultPublicationData(data);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestGetKeyValue()
{
// Call GetKeyValue with HandleNil
TopicBuiltinTopicData 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.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);
// Get the for an existing instance
ret = _dr.ReadNextSample(ref data, info);
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 < 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 TestTakeNextSample()
{
SubscriptionBuiltinTopicData 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 subscriber = otherParticipant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = TestHelper.CreateNonDefaultDataReaderQos();
DataReader dataReader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(dataReader);
Thread.Sleep(500);
ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.Ok, ret);
TestHelper.TestNonDefaultSubscriptionData(data);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestRead()
{
List <TopicBuiltinTopicData> data = new List <TopicBuiltinTopicData>();
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.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.Read(data, infos);
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());
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");
}
// Include your program here
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
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);
}
static void Main(string[] args)
{
bool isPublisher = true;
if (args != null && args.Length > 0)
{
isPublisher = !args[0].ToLowerInvariant().Equals("--sub") && !args[0].ToLowerInvariant().Equals("--subscriber");
}
Ace.Init();
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSConfigFile", "rtps.ini", "-DCPSDebugLevel", "10", "-ORBLogFile", "LogFile.log", "-ORBDebugLevel", "10");
if (dpf == null)
{
throw new ApplicationException("Domain participant factory could not be created.");
}
DomainParticipant participant = dpf.CreateParticipant(42);
if (dpf == null)
{
throw new ApplicationException("Domain participant could not be created.");
}
if (isPublisher)
{
TestPublisher(participant);
}
else
{
TestSubscriber(participant);
}
Console.WriteLine("Shutting down... that's enough for today.");
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
public void TestCleanup()
{
if (_participant != null)
{
ReturnCode result = _participant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, result);
}
if (AssemblyInitializer.Factory != null)
{
ReturnCode result = AssemblyInitializer.Factory.DeleteParticipant(_participant);
Assert.AreEqual(ReturnCode.Ok, result);
}
_participant = null;
_publisher = null;
_subscriber = null;
_topic = null;
_writer = null;
_dataWriter = null;
_reader = null;
}
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);
}
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");
}
Publisher publisher = participant.CreatePublisher();
if (publisher == null)
{
throw new Exception("Could not create the publisher");
}
DataWriter writer = publisher.CreateDataWriter(topic);
if (writer == null)
{
throw new Exception("Could not create the data writer");
}
MessageDataWriter messageWriter = new MessageDataWriter(writer);
Console.WriteLine("Waiting for a subscriber...");
PublicationMatchedStatus status = new PublicationMatchedStatus();
do
{
result = messageWriter.GetPublicationMatchedStatus(ref status);
System.Threading.Thread.Sleep(500);
}while (status.CurrentCount < 1);
Console.WriteLine("Subscriber found, writting data....");
messageWriter.Write(new Message
{
Content = "Hello, I love you, won't you tell me your name?"
});
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
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();
}
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();
}
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);
}
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();
}
