public void TestSetQos()
{
// Create a new Topic using the default QoS
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestSetQos), typeName);
Assert.IsNotNull(topic);
Assert.AreEqual(nameof(TestSetQos), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Assert.AreEqual(_participant, topic.Participant);
// Get the qos to ensure that is using the default properties
TopicQos getQos = new TopicQos();
result = topic.GetQos(getQos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultTopicQos(getQos);
// Try to change an immutable property
TopicQos qos = new TopicQos();
qos.DestinationOrder.Kind = DestinationOrderQosPolicyKind.BySourceTimestampDestinationOrderQos;
result = topic.SetQos(qos);
Assert.AreEqual(ReturnCode.ImmutablePolicy, result);
// Change some mutable properties and check them
qos = new TopicQos();
qos.Deadline.Period = new Duration
{
Seconds = 5,
NanoSeconds = 0
};
qos.LatencyBudget.Duration = new Duration
{
Seconds = 5,
NanoSeconds = 5
};
qos.Lifespan.Duration = new Duration
{
Seconds = 5,
NanoSeconds = 5
};
qos.TopicData.Value = new List <byte> {
0x5
};
result = topic.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
result = topic.GetQos(getQos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.IsNotNull(qos);
Assert.IsNotNull(qos.Deadline);
Assert.IsNotNull(qos.DestinationOrder);
Assert.IsNotNull(qos.Durability);
Assert.IsNotNull(qos.DurabilityService);
Assert.IsNotNull(qos.History);
Assert.IsNotNull(qos.LatencyBudget);
Assert.IsNotNull(qos.Lifespan);
Assert.IsNotNull(qos.Liveliness);
Assert.IsNotNull(qos.Ownership);
Assert.IsNotNull(qos.Reliability);
Assert.IsNotNull(qos.ResourceLimits);
Assert.IsNotNull(qos.TopicData);
Assert.IsNotNull(qos.TransportPriority);
Assert.AreEqual(5, qos.Deadline.Period.Seconds);
Assert.AreEqual(Duration.ZeroNanoseconds, qos.Deadline.Period.NanoSeconds);
Assert.AreEqual(5, qos.LatencyBudget.Duration.Seconds);
Assert.AreEqual((uint)5, qos.LatencyBudget.Duration.NanoSeconds);
Assert.AreEqual(5, qos.Lifespan.Duration.Seconds);
Assert.AreEqual((uint)5, qos.Lifespan.Duration.NanoSeconds);
Assert.AreEqual(1, qos.TopicData.Value.Count());
Assert.AreEqual(0x5, qos.TopicData.Value.First());
// Create a disabled topic and try to set an inconsistent qos
DomainParticipantQos pQos = new DomainParticipantQos();
pQos.EntityFactory.AutoenableCreatedEntities = false;
_participant.SetQos(pQos);
Assert.AreEqual(ReturnCode.Ok, result);
Topic otherTopic = _participant.CreateTopic("Other" + nameof(TestSetQos), typeName);
Assert.IsNotNull(otherTopic);
Assert.AreEqual("Other" + nameof(TestSetQos), otherTopic.Name);
Assert.AreEqual(typeName, otherTopic.TypeName);
Assert.AreEqual(_participant, otherTopic.Participant);
qos = new TopicQos();
qos.History.Kind = HistoryQosPolicyKind.KeepLastHistoryQos;
qos.History.Depth = 200;
qos.ResourceLimits.MaxSamplesPerInstance = 1;
result = otherTopic.SetQos(qos);
Assert.AreEqual(ReturnCode.InconsistentPolicy, result);
// Test SetQos with null parameter
result = topic.SetQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
public void TestSetQos()
{
// Create a new Subscriber using the default QoS
Subscriber subscriber = _participant.CreateSubscriber();
// Get the qos to ensure that is using the default properties
SubscriberQos qos = new SubscriberQos();
ReturnCode result = subscriber.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultSubscriberQos(qos);
// Try to change an immutable property
qos.Presentation.CoherentAccess = true;
qos.Presentation.OrderedAccess = true;
qos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
result = subscriber.SetQos(qos);
Assert.AreEqual(ReturnCode.ImmutablePolicy, result);
// Change some mutable properties and check them
qos = new SubscriberQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.GroupData.Value = new List <byte> {
0x42
};
qos.Partition.Name = new List <string> {
"TestPartition"
};
result = subscriber.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new SubscriberQos();
result = subscriber.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.IsNotNull(qos.EntityFactory);
Assert.IsNotNull(qos.GroupData);
Assert.IsNotNull(qos.Partition);
Assert.IsNotNull(qos.Presentation);
Assert.IsFalse(qos.EntityFactory.AutoenableCreatedEntities);
Assert.IsNotNull(qos.GroupData.Value);
Assert.AreEqual(1, qos.GroupData.Value.Count());
Assert.AreEqual(0x42, qos.GroupData.Value.First());
Assert.IsNotNull(qos.Partition.Name);
Assert.AreEqual(1, qos.Partition.Name.Count());
Assert.AreEqual("TestPartition", qos.Partition.Name.First());
Assert.IsFalse(qos.Presentation.CoherentAccess);
Assert.IsFalse(qos.Presentation.OrderedAccess);
Assert.AreEqual(PresentationQosPolicyAccessScopeKind.InstancePresentationQos, qos.Presentation.AccessScope);
// Try to set immutable QoS properties before enable the publisher
DomainParticipantQos pQos = new DomainParticipantQos();
pQos.EntityFactory.AutoenableCreatedEntities = false;
result = _participant.SetQos(pQos);
Assert.AreEqual(ReturnCode.Ok, result);
Subscriber otherSubscriber = _participant.CreateSubscriber();
qos = new SubscriberQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.GroupData.Value = new List <byte> {
0x42
};
qos.Partition.Name = new List <string> {
"TestPartition"
};
qos.Presentation.CoherentAccess = true;
qos.Presentation.OrderedAccess = true;
qos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
result = otherSubscriber.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new SubscriberQos();
result = otherSubscriber.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.IsNotNull(qos.EntityFactory);
Assert.IsNotNull(qos.GroupData);
Assert.IsNotNull(qos.Partition);
Assert.IsNotNull(qos.Presentation);
Assert.IsFalse(qos.EntityFactory.AutoenableCreatedEntities);
Assert.IsNotNull(qos.GroupData.Value);
Assert.AreEqual(1, qos.GroupData.Value.Count());
Assert.AreEqual(0x42, qos.GroupData.Value.First());
Assert.IsNotNull(qos.Partition.Name);
Assert.AreEqual(1, qos.Partition.Name.Count());
Assert.AreEqual("TestPartition", qos.Partition.Name.First());
Assert.IsTrue(qos.Presentation.CoherentAccess);
Assert.IsTrue(qos.Presentation.OrderedAccess);
Assert.AreEqual(PresentationQosPolicyAccessScopeKind.GroupPresentationQos, qos.Presentation.AccessScope);
// Test SetQos with null parameter
result = subscriber.SetQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
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();
}
