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();
Assert.IsTrue(_participant.WaitForParticipants(1, 20_000));
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 TestRead()
{
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();
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.Read(data, infos);
count--;
}
Assert.AreEqual(ret, ReturnCode.Ok);
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
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);
}
