예제 #1
0
    static void subscribe(int domain_id, int sample_count)
    {
        // --- Create participant --- //

        /* To customize the participant QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.DomainParticipant participant =
            DDS.DomainParticipantFactory.get_instance().create_participant(
                domain_id,
                DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
                null /* listener */,
                DDS.StatusMask.STATUS_MASK_NONE);
        if (participant == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_participant error");
        }

        // --- Create subscriber --- //

        /* To customize the subscriber QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.Subscriber subscriber = participant.create_subscriber(
            DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (subscriber == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_subscriber error");
        }

        // --- Create topic --- //

        /* Register the type before creating the topic */
        System.String type_name = ccfTypeSupport.get_type_name();
        try {
            ccfTypeSupport.register_type(
                participant, type_name);
        }
        catch (DDS.Exception e) {
            Console.WriteLine("register_type error {0}", e);
            shutdown(participant);
            throw e;
        }

        /* To customize the topic QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.Topic topic = participant.create_topic(
            "Example ccf",
            type_name,
            DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (topic == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_topic error");
        }

        /* Start changes for Custom Content Filter */
        /* Create and register custom filter */
        custom_filter_type custom_filter = new custom_filter_type();

        try {
            participant.register_contentfilter("CustomFilter", custom_filter);
        }
        catch (DDS.Exception e) {
            Console.WriteLine("write error {0}", e);
        }

        DDS.StringSeq       parameters = new DDS.StringSeq(2);
        DDS.StringWrapper[] param_list = { "2", "divides" };

        parameters.from_array(param_list);

        /* Create content filtered topic */
        DDS.ContentFilteredTopic cft =
            participant.create_contentfilteredtopic_with_filter(
                "ContentFilteredTopic", topic, "%0 %1 x", parameters,
                "CustomFilter"); // custom filter name
        if (cft == null)
        {
            shutdown(participant);
            throw new ApplicationException(
                      "create_contentfilteredtopic_with_filter error");
        }

        Console.WriteLine("Filter: 2 divides x");

        /* Also note that we pass 'cft' rather than 'topic' to the
         * datareader below
         */

        /* End changes for Custom Contet Filter */

        // --- Create reader --- //

        /* Create a data reader listener */
        ccfListener reader_listener =
            new ccfListener();


        /*
         * NOTE THAT WE USE THE PREVIOUSLY CREATED CUSTOM FILTERED
         * TOPIC TO READ NEW SAMPLES
         */
        /* To customize the data reader QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.DataReader reader = subscriber.create_datareader(
            cft,
            DDS.Subscriber.DATAREADER_QOS_DEFAULT,
            reader_listener,
            DDS.StatusMask.STATUS_MASK_ALL);
        if (reader == null)
        {
            shutdown(participant);
            reader_listener = null;
            throw new ApplicationException("create_datareader error");
        }

        // --- Wait for data --- //

        /* Main loop */
        const System.Int32 receive_period = 1000; // milliseconds

        for (int count = 0;
             (sample_count == 0) || (count < sample_count);
             ++count)
        {
            if (count == 10)
            {
                Console.WriteLine("changing filter parameters");
                Console.WriteLine("Filter: 15 greater-than x");
                parameters.set_at(0, "15");
                parameters.set_at(1, "greater-than");
                cft.set_expression_parameters(parameters);
            }
            else if (count == 20)
            {
                Console.WriteLine("changing filter parameters");
                Console.WriteLine("Filter: 3 divides x");
                DDS.StringSeq old_parameters = new DDS.StringSeq();
                cft.get_expression_parameters(old_parameters);

                old_parameters.set_at(0, "3");
                old_parameters.set_at(1, "divides");
                cft.set_expression_parameters(old_parameters);
            }

            System.Threading.Thread.Sleep(receive_period);
        }

        // --- Shutdown --- //

        /* Delete all entities */
        shutdown(participant);
        reader_listener = null;
    }
예제 #2
0
    static void publish(int domain_id, int sample_count)
    {
        // --- Create participant --- //

        /* To customize participant QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.DomainParticipant participant =
            DDS.DomainParticipantFactory.get_instance().create_participant(
                domain_id,
                DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
                null /* listener */,
                DDS.StatusMask.STATUS_MASK_NONE);
        if (participant == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_participant error");
        }

        // --- Create publisher --- //

        /* To customize publisher QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.Publisher publisher = participant.create_publisher(
            DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (publisher == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_publisher error");
        }

        // --- Create topic --- //

        /* Register type before creating topic */
        System.String type_name = ccfTypeSupport.get_type_name();
        try {
            ccfTypeSupport.register_type(
                participant, type_name);
        }
        catch (DDS.Exception e) {
            Console.WriteLine("register_type error {0}", e);
            shutdown(participant);
            throw e;
        }

        /* To customize topic QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.Topic topic = participant.create_topic(
            "Example ccf",
            type_name,
            DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (topic == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_topic error");
        }

        /* Start changes for Custom_Content_Filter */
        /* Create and register custom filter */
        custom_filter_type custom_filter = new custom_filter_type();

        try {
            participant.register_contentfilter("Customfilter", custom_filter);
        }
        catch (DDS.Exception e) {
            Console.WriteLine("write error {0}", e);
        }
        /* End changes for Custom_Content_Filter */

        // --- Create writer --- //

        /* To customize data writer QoS, use
         * the configuration file USER_QOS_PROFILES.xml */
        DDS.DataWriter writer = publisher.create_datawriter(
            topic,
            DDS.Publisher.DATAWRITER_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (writer == null)
        {
            shutdown(participant);
            throw new ApplicationException("create_datawriter error");
        }
        ccfDataWriter ccf_writer =
            (ccfDataWriter)writer;

        // --- Write --- //

        /* Create data sample for writing */
        ccf instance = ccfTypeSupport.create_data();

        if (instance == null)
        {
            shutdown(participant);
            throw new ApplicationException(
                      "ccfTypeSupport.create_data error");
        }

        /* For a data type that has a key, if the same instance is going to be
         * written multiple times, initialize the key here
         * and register the keyed instance prior to writing */
        DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;

        /*
         * instance_handle = ccf_writer.register_instance(instance);
         */

        /* Main loop */
        const System.Int32 send_period = 1000; // milliseconds

        for (int count = 0;
             (sample_count == 0) || (count < sample_count);
             ++count)
        {
            Console.WriteLine("Writing ccf, count {0}", count);

            /* Modify the data to be sent here */
            instance.x = count;

            try {
                ccf_writer.write(instance, ref instance_handle);
            }
            catch (DDS.Exception e) {
                Console.WriteLine("write error {0}", e);
            }

            System.Threading.Thread.Sleep(send_period);
        }

        /*
         * try {
         *  ccf_writer.unregister_instance(
         *      instance, ref instance_handle);
         * } catch(DDS.Exception e) {
         *  Console.WriteLine("unregister instance error: {0}", e);
         * }
         */

        // --- Shutdown --- //

        /* Delete data sample */
        try {
            ccfTypeSupport.delete_data(instance);
        } catch (DDS.Exception e) {
            Console.WriteLine(
                "ccfTypeSupport.delete_data error: {0}", e);
        }

        /* Delete all entities */
        shutdown(participant);
    }