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 = keysTypeSupport.get_type_name(); try { keysTypeSupport.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 keys", 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"); } // --- Create reader --- // /* Create a data reader listener */ keysListener reader_listener = new keysListener(); /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( topic, 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) { //Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000); System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
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 = keysTypeSupport.get_type_name(); try { keysTypeSupport.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 keys", 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"); } // --- Create reader --- // /* Create a data reader listener */ keysListener reader_listener = new keysListener(); /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( topic, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); /* If you want to set the QoS settings programmatically rather than * using the XML, you will need to add the following lines to your code * and comment out the create_datareader call above. */ /* * DDS.DataReaderQos readerQos = new DDS.DataReaderQos(); * subscriber.get_default_datareader_qos(readerQos); * * readerQos.ownership.kind = DDS.OwnershipQosPolicyKind.EXCLUSIVE_OWNERSHIP_QOS; * * DDS.DataReader reader = subscriber.create_datareader( * topic, * readerQos, * 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) { //Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000); System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
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 = keysTypeSupport.get_type_name(); try { keysTypeSupport.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 keys", 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"); } // --- Create reader --- // /* Create a data reader listener */ keysListener reader_listener = new keysListener(); /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( topic, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); /* If you want to set the QoS settings programmatically rather than * using the XML, you will need to add the following lines to your code * and comment out the create_datareader call above. */ /* DDS.DataReaderQos readerQos = new DDS.DataReaderQos(); subscriber.get_default_datareader_qos(readerQos); readerQos.ownership.kind = DDS.OwnershipQosPolicyKind.EXCLUSIVE_OWNERSHIP_QOS; DDS.DataReader reader = subscriber.create_datareader( topic, readerQos, 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) { //Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000); System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }
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 = keysTypeSupport.get_type_name(); try { keysTypeSupport.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 keys", 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"); } // --- Create reader --- // /* Create a data reader listener */ keysListener reader_listener = new keysListener(); /* To customize the data reader QoS, use * the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader reader = subscriber.create_datareader( topic, 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) { //Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000); System.Threading.Thread.Sleep(receive_period); } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; }