public void TestInitialize()
{
_listener = new MyParticipantListener();
_participant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, _listener);
Assert.IsNotNull(_participant);
_participant.BindRtpsUdpTransportConfig();
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
_topic = _participant.CreateTopic(TestContext.TestName, typeName);
Assert.IsNotNull(_topic);
Assert.IsNull(_topic.GetListener());
Assert.AreEqual(TestContext.TestName, _topic.Name);
Assert.AreEqual(typeName, _topic.TypeName);
SubscriberQos sQos = new SubscriberQos();
sQos.EntityFactory.AutoenableCreatedEntities = false;
sQos.Presentation.OrderedAccess = true;
sQos.Presentation.CoherentAccess = true;
sQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.InstancePresentationQos;
_subscriber = _participant.CreateSubscriber(sQos);
Assert.IsNotNull(_subscriber);
PublisherQos pQos = new PublisherQos();
pQos.EntityFactory.AutoenableCreatedEntities = false;
pQos.Presentation.OrderedAccess = true;
pQos.Presentation.CoherentAccess = true;
pQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.InstancePresentationQos;
_publisher = _participant.CreatePublisher(pQos);
Assert.IsNotNull(_publisher);
_writer = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(_writer);
_dataWriter = new TestStructDataWriter(_writer);
DataReaderQos qos = new DataReaderQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
_reader = _subscriber.CreateDataReader(_topic, qos);
Assert.IsNotNull(_reader);
}
public void TestCreateParticipant()
{
// Test simplest overload
DomainParticipant domainParticipant0 = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN);
Assert.IsNotNull(domainParticipant0);
Assert.AreEqual(AssemblyInitializer.RTPS_DOMAIN, domainParticipant0.DomainId);
Assert.IsNull(domainParticipant0.GetListener());
DomainParticipantQos qos = new DomainParticipantQos();
ReturnCode result = domainParticipant0.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDomainParticipantQos(qos);
// Test overload with QoS parameter
qos = TestHelper.CreateNonDefaultDomainParticipantQos();
DomainParticipant domainParticipant1 = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos);
Assert.IsNotNull(domainParticipant1);
Assert.AreEqual(AssemblyInitializer.RTPS_DOMAIN, domainParticipant1.DomainId);
Assert.IsNull(domainParticipant1.GetListener());
qos = new DomainParticipantQos();
result = domainParticipant1.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultDomainParticipantQos(qos);
// Test overload with listener parameter
MyParticipantListener listener = new MyParticipantListener();
DomainParticipant domainParticipant2 = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, listener);
Assert.IsNotNull(domainParticipant2);
Assert.AreEqual(AssemblyInitializer.RTPS_DOMAIN, domainParticipant2.DomainId);
Assert.IsNotNull(domainParticipant2.GetListener());
result = domainParticipant2.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDomainParticipantQos(qos);
// Test overload with listener and StatusMask parameters
DomainParticipant domainParticipant3 = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, listener, StatusMask.NoStatusMask);
Assert.IsNotNull(domainParticipant3);
Assert.AreEqual(AssemblyInitializer.RTPS_DOMAIN, domainParticipant3.DomainId);
Assert.IsNotNull(domainParticipant3.GetListener());
result = domainParticipant2.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDomainParticipantQos(qos);
// Test overload with QoS and listener parameters
qos = new DomainParticipantQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.UserData.Value = new List <byte> {
0x42
};
DomainParticipant domainParticipant4 = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos, listener);
Assert.IsNotNull(domainParticipant4);
Assert.AreEqual(AssemblyInitializer.RTPS_DOMAIN, domainParticipant4.DomainId);
result = domainParticipant4.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultDomainParticipantQos(qos);
// Test full call overload
qos = new DomainParticipantQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.UserData.Value = new List <byte> {
0x42
};
DomainParticipant domainParticipant5 = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos, listener, StatusMask.NoStatusMask);
Assert.IsNotNull(domainParticipant5);
Assert.AreEqual(AssemblyInitializer.RTPS_DOMAIN, domainParticipant5.DomainId);
result = domainParticipant5.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestNonDefaultDomainParticipantQos(qos);
// Delete all participants
result = AssemblyInitializer.Factory.DeleteParticipant(domainParticipant0);
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(domainParticipant1);
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(domainParticipant2);
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(domainParticipant3);
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(domainParticipant4);
Assert.AreEqual(ReturnCode.Ok, result);
result = AssemblyInitializer.Factory.DeleteParticipant(domainParticipant5);
Assert.AreEqual(ReturnCode.Ok, result);
}
