public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass; string expResult = "type is registered."; DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; mod.tstTypeSupport typesupport; DDS.ReturnCode returnCode; factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised." , expVerdict, Test.Framework.TestVerdict.Fail); return(result); } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved." , expVerdict, Test.Framework.TestVerdict.Fail); return(result); } participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0); if (participant == null) { result = new Test.Framework.TestResult(expResult, "Creation of DomainParticipant failed." , expVerdict, Test.Framework.TestVerdict.Fail); return(result); } typesupport = new mod.tstTypeSupport(); if (typesupport == null) { result = new Test.Framework.TestResult(expResult, "TypeSupport is not constructed." , expVerdict, Test.Framework.TestVerdict.Fail); return(result); } returnCode = typesupport.RegisterType(participant, "mod::tst"); if (returnCode != DDS.ReturnCode.Ok) { result = new Test.Framework.TestResult(expResult, "TypeSupport is not registered." , expVerdict, Test.Framework.TestVerdict.Fail); return(result); } returnCode = factory.DeleteParticipant(participant); if (returnCode != DDS.ReturnCode.Ok) { result = new Test.Framework.TestResult(expResult, "Deletion of DomainParticipant failed." , expVerdict, Test.Framework.TestVerdict.Fail); return(result); } result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict ); return(result); }
public virtual Test.Framework.TestResult Init() { DDS.ReturnCode rc; string name; string typeName; Test.Framework.TestResult result = new Test.Framework.TestResult("Initialization success" , string.Empty, TestVerdict.Pass, TestVerdict.Fail ); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return(result); } name = "my_topic"; typeName = "my_type"; rc = typeSupport.RegisterType(participant, typeName); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return(result); } topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return(result); } result.Result = "Initialization success."; result.Verdict = TestVerdict.Pass; return(null); }
public virtual Test.Framework.TestResult Init() { DDS.ReturnCode rc; string name; string typeName; Test.Framework.TestResult result = new Test.Framework.TestResult("Initialization success" , string.Empty, TestVerdict.Pass, TestVerdict.Fail ); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return result; } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return result; } participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return result; } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return result; } name = "my_topic"; typeName = "my_type"; rc = typeSupport.RegisterType(participant, typeName); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return result; } topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return result; } result.Result = "Initialization success."; result.Verdict = TestVerdict.Pass; return null; }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; Test.Framework.TestVerdict expVerdict = Test.Framework.TestVerdict.Pass; string expResult = "type is registered."; DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; mod.tstTypeSupport typesupport; DDS.ReturnCode returnCode; factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result = new Test.Framework.TestResult(expResult, "DomainParticipantFactory could not be initialised." , expVerdict, Test.Framework.TestVerdict.Fail); return result; } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result = new Test.Framework.TestResult(expResult, "Default DomainParticipantQos could not be resolved." , expVerdict, Test.Framework.TestVerdict.Fail); return result; } participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0); if (participant == null) { result = new Test.Framework.TestResult(expResult, "Creation of DomainParticipant failed." , expVerdict, Test.Framework.TestVerdict.Fail); return result; } typesupport = new mod.tstTypeSupport(); if (typesupport == null) { result = new Test.Framework.TestResult(expResult, "TypeSupport is not constructed." , expVerdict, Test.Framework.TestVerdict.Fail); return result; } returnCode = typesupport.RegisterType(participant, "mod::tst"); if (returnCode != DDS.ReturnCode.Ok) { result = new Test.Framework.TestResult(expResult, "TypeSupport is not registered." , expVerdict, Test.Framework.TestVerdict.Fail); return result; } returnCode = factory.DeleteParticipant(participant); if (returnCode != DDS.ReturnCode.Ok) { result = new Test.Framework.TestResult(expResult, "Deletion of DomainParticipant failed." , expVerdict, Test.Framework.TestVerdict.Fail); return result; } result = new Test.Framework.TestResult(expResult, expResult, expVerdict, expVerdict ); return result; }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.IDomainParticipant participant; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; mod.tstTypeSupport typeSupport = null; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); participant = (DDS.IDomainParticipant)testCase.ResolveObject("participant"); typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return(result); } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return(result); } topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return(result); } testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", topQosHolder); testCase.RegisterObject("typeSupport", typeSupport); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; DDS.ReturnCode rc; Test.Framework.TestResult result; participant = (DDS.IDomainParticipant)testCase.ResolveObject("participant"); typeSupport = new mod.tstTypeSupport(); result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return result; } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return result; } topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return result; } testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", topQosHolder); testCase.RegisterObject("typeSupport", typeSupport); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run() { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; mod.tstTypeSupport typeSupport = null; mod.tstDataReader datareader; test.sacs.MyDataReaderListener listener; DDS.ISubscriber subscriber; DDS.SubscriberQos sqosHolder = null; DDS.DataReaderQos dqosHolder = null; DDS.IPublisher publisher; DDS.PublisherQos pubQosHolder = null; mod.tstDataWriter datawriter; DDS.DataWriterQos wqosHolder = null; Test.Framework.TestResult result; DDS.ReturnCode rc; string expResult = "DataReaderListener test succeeded."; semaphores = new Dictionary <DDS.StatusKind, Semaphore>(); semaphores.Add(DDS.StatusKind.DataAvailable, new Semaphore(0, 1)); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; this.Cleanup(factory, participant); return(result); } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; this.Cleanup(factory, participant); return(result); } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; this.Cleanup(factory, participant); return(result); } topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null, //0); if (topic == null) { result.Result = "Topic could not be created."; this.Cleanup(factory, participant); return(result); } if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; this.Cleanup(factory, participant); return(result); } subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; this.Cleanup(factory, participant); return(result); } if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; this.Cleanup(factory, participant); return(result); } datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder);//, null, 0); if (datareader == null) { result.Result = "DataReader could not be created."; this.Cleanup(factory, participant); return(result); } if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; this.Cleanup(factory, participant); return(result); } publisher = participant.CreatePublisher(pubQosHolder);//, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; this.Cleanup(factory, participant); return(result); } if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; this.Cleanup(factory, participant); return(result); } datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0); if (datawriter == null) { result.Result = "DataWriter could not be created."; this.Cleanup(factory, participant); return(result); } listener = new test.sacs.MyDataReaderListener(semaphores); rc = datareader.SetListener(listener, DDS.StatusKind.LivelinessChanged | DDS.StatusKind.DataAvailable); if (rc != DDS.ReturnCode.Ok) { result.Result = "Set listener failed."; return(result); } mod.tst t = new mod.tst(); t.long_1 = 1; t.long_2 = 2; t.long_3 = 3; rc = datawriter.Write(t, DDS.InstanceHandle.Nil); if (rc != DDS.ReturnCode.Ok) { result.Result = "Data could not be written."; this.Cleanup(factory, participant); return(result); } if (semaphores[DDS.StatusKind.DataAvailable].WaitOne(10000)) { if (!listener.onDataAvailableCalled) { result.Result = "on_data_available does not work properly."; this.Cleanup(factory, participant); return(result); } } else { result.Result = "on_data_available did not trigger"; this.Cleanup(factory, participant); return(result); } listener.Reset(); rc = publisher.DeleteDataWriter(datawriter); if (rc != DDS.ReturnCode.Ok) { result.Result = "DataWriter could not be deleted."; this.Cleanup(factory, participant); return(result); } rc = participant.DeleteContainedEntities(); if (rc != DDS.ReturnCode.Ok) { result.Result = "Delete contained entities failed."; this.Cleanup(factory, participant); return(result); } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "Delete DomainParticipant failed."; this.Cleanup(factory, participant); return(result); } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; mod.tstTypeSupport typeSupport = null; Test.Framework.TestResult result; string name; string typeName; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return(result); } name = "my_topic"; typeName = "my_type"; rc = typeSupport.RegisterType(participant, typeName); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return(result); } topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return(result); } testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqosHolder); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", topQosHolder); testCase.RegisterObject("typeSupport", typeSupport); testCase.RegisterObject("topicName", name); testCase.RegisterObject("topicTypeName", typeName); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { string expResult = "register_typesupport tests pass"; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos participantQosHolder = null; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)"; return(result); } if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok) { result.Result = "factory.get_default_participant_qos() did not return a qos (2)"; return(result); } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant (2)"; return(result); } typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(null, null); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a null participant and with a null name (3)"; return(result); } rc = typeSupport.RegisterType(participant, null); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type with a null name (4)"; return(result); } rc = typeSupport.RegisterType(participant, string.Empty); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type with an empty name (5)"; return(result); } rc = typeSupport.RegisterType(null, "type_name6"); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a null participant (6)"; return(result); } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a participant (7)"; return(result); } rc = typeSupport.RegisterType(null, "type_name8"); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a null participant (8)"; return(result); } rc = typeSupport.RegisterType(participant, "type_name9"); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a deleted participant (9)"; return(result); } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant (10)"; return(result); } rc = typeSupport.RegisterType(participant, " "); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type with all spaces (11)"; return(result); } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "participant could not be deleted (12)"; return(result); } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; mod.tstTypeSupport typeSupport = null; mod.tstDataReader datareader; test.sacs.MyDataReaderListener listener; DDS.ISubscriber subscriber; DDS.SubscriberQos sqosHolder = null; DDS.DataReaderQos dqosHolder = null; DDS.IPublisher publisher; DDS.PublisherQos pubQosHolder = null; mod.tstDataWriter datawriter; DDS.DataWriterQos wqosHolder = null; Test.Framework.TestResult result; DDS.ReturnCode rc; string expResult = "DataReaderListener test succeeded."; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; this.Cleanup(factory, participant); return(result); } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; this.Cleanup(factory, participant); return(result); } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; this.Cleanup(factory, participant); return(result); } topQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; topic = participant.CreateTopic("my_topic_t", "my_type", topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; this.Cleanup(factory, participant); return(result); } if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; this.Cleanup(factory, participant); return(result); } publisher = participant.CreatePublisher(pubQosHolder);//, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; this.Cleanup(factory, participant); return(result); } if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; this.Cleanup(factory, participant); return(result); } wqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0); if (datawriter == null) { result.Result = "DataWriter could not be created."; this.Cleanup(factory, participant); return(result); } mod.tst t = new mod.tst(); t.long_1 = 1; t.long_2 = 2; t.long_3 = 3; rc = datawriter.Write(t, DDS.InstanceHandle.Nil); if (rc != DDS.ReturnCode.Ok) { result.Result = "Data could not be written."; this.Cleanup(factory, participant); return(result); } if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; this.Cleanup(factory, participant); return(result); } subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; this.Cleanup(factory, participant); return(result); } if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; this.Cleanup(factory, participant); return(result); } dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; listener = new test.sacs.MyDataReaderListener(); datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener, DDS.StatusKind.Any); if (datareader == null) { result.Result = "DataReader could not be created."; this.Cleanup(factory, participant); return(result); } try { System.Threading.Thread.Sleep(3000); } catch (System.Exception e) { System.Console.WriteLine(e); } if (!listener.onLivelinessChangedCalled) { result.Result = "on_liveliness_changed does not work properly."; this.Cleanup(factory, participant); return(result); } if (!listener.onDataAvailableCalled) { result.Result = "on_data_available does not work properly."; this.Cleanup(factory, participant); return(result); } rc = participant.DeleteContainedEntities(); if (rc != DDS.ReturnCode.Ok) { result.Result = "Delete contained entities failed."; this.Cleanup(factory, participant); return(result); } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "Delete DomainParticipant failed."; return(result); } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { string expResult = "get_type_name returns the correct name"; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos participantQosHolder = null; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory.get_instance() did not return a factory"; return(result); } if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok) { result.Result = "factory.get_default_participant_qos() did not return a qos"; return(result); } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant"; return(result); } typeSupport = new mod.tstTypeSupport(); string typeName = typeSupport.TypeName; if (typeName == null) { result.Result = "get_type_name returned null (1)"; return(result); } if (!typeName.Equals("mod::tst")) { result.Result = "get_type_name returned incorrect typename (1)"; return(result); } rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type"; return(result); } typeName = typeSupport.TypeName; if (typeName == null) { result.Result = "get_type_name returned null (2)"; return(result); } if (!typeName.Equals("mod::tst")) { result.Result = "get_type_name returned incorrect typename (2)"; return(result); } mod.otherTypeTypeSupport typeSupport2 = new mod.otherTypeTypeSupport(); typeName = typeSupport2.TypeName; if (typeName == null) { result.Result = "get_type_name returned null (3)"; return(result); } if (!typeName.Equals("mod::otherType")) { result.Result = "get_type_name returned incorrect typename (3)"; return(result); } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "participant could not be deleted (12)"; return(result); } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { DDS.IDomainParticipant participant; DDS.IPublisher publisher; DDS.IPublisher publisher2; DDS.PublisherQos qos = null; DDS.IDataWriter writer; DDS.IDataWriter writer2; DDS.DataWriterQos dataWriterQosHolder = null; DDS.DataWriterQos dataWriterQos = null; DDS.ITopic topic; DDS.ITopic topic2; DDS.TopicQos defaultTopicQos = null; mod.tstTypeSupport typeSupport; string expResult = "Successful creation and deletion of DataWriters"; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); participant = (DDS.IDomainParticipant) this.ResolveObject("participant"); publisher = (DDS.IPublisher) this.ResolveObject("publisher"); qos = (DDS.PublisherQos) this.ResolveObject("publisherQos"); topic = (DDS.ITopic) this.ResolveObject("topic"); defaultTopicQos = (DDS.TopicQos) this.ResolveObject("topicQos"); publisher.GetDefaultDataWriterQos(ref dataWriterQosHolder); writer = publisher.CreateDataWriter(topic, dataWriterQosHolder);//, null, 0); if (writer == null) { result.Result = "could not create a writer (1)."; return(result); } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (2)."; return(result); } try { writer = publisher.CreateDataWriter(null, dataWriterQosHolder);//, null, 0); } catch (System.NullReferenceException) { writer = null; } if (writer != null) { result.Result = "could create a writer with invalid topic (3)."; return(result); } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return(result); } rc = typeSupport.RegisterType(participant, "my_other_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } publisher2 = participant.CreatePublisher(qos);//, null, 0); if (publisher2 == null) { result.Result = "creation of a second publisher failed."; return(result); } topic2 = participant.CreateTopic("my_other_topic", "my_other_type", defaultTopicQos);//, null, 0); if (topic2 == null) { result.Result = "Topic2 could not be created."; return(result); } writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0); if (writer == null) { result.Result = "could not create a writer with another topic (4)."; return(result); } writer2 = publisher.LookupDataWriter("my_other_topic"); if (writer2 == null) { result.Result = "could not lookup writer (5)."; return(result); } if (writer2 != writer) { result.Result = "looked-up writer != initial writer (6)."; return(result); } writer2 = null; writer2 = publisher.LookupDataWriter("unknown_topic_name"); if (writer2 != null) { result.Result = "could lookup writer with unknown topic name (7)."; return(result); } rc = publisher2.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.PreconditionNotMet) { result.Result = "Expected returncode PRECONDITION_NOT_MET instead of " + rc + " after deleting a writer on wrong publisher (8)."; return(result); } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (9)."; return(result); } rc = participant.DeleteTopic(topic2); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a topic (10)."; return(result); } writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0); if (writer != null) { result.Result = "could create a writer with an already deleted topic (11)."; return(result); } dataWriterQos = dataWriterQosHolder; dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; dataWriterQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos; writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0); if (writer == null) { result.Result = "could not create a writer with TRANSIENT durabilityQosPolicy (12)."; return(result); } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (13)."; return(result); } dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.PersistentDurabilityQos; writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0); if (writer == null) { result.Result = "could not create a writer with PERSISTENT durabilityQosPolicy (14)."; return(result); } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (15)."; return(result); } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { DDS.IDomainParticipant participant; DDS.IPublisher publisher; DDS.IPublisher publisher2; DDS.PublisherQos qos = null; DDS.IDataWriter writer; DDS.IDataWriter writer2; DDS.DataWriterQos dataWriterQosHolder = null; DDS.DataWriterQos dataWriterQos = null; DDS.ITopic topic; DDS.ITopic topic2; DDS.TopicQos defaultTopicQos = null; mod.tstTypeSupport typeSupport; string expResult = "Successful creation and deletion of DataWriters"; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); participant = (DDS.IDomainParticipant)this.ResolveObject("participant"); publisher = (DDS.IPublisher)this.ResolveObject("publisher"); qos = (DDS.PublisherQos)this.ResolveObject("publisherQos"); topic = (DDS.ITopic)this.ResolveObject("topic"); defaultTopicQos = (DDS.TopicQos)this.ResolveObject("topicQos"); publisher.GetDefaultDataWriterQos(ref dataWriterQosHolder); writer = publisher.CreateDataWriter(topic, dataWriterQosHolder);//, null, 0); if (writer == null) { result.Result = "could not create a writer (1)."; return result; } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (2)."; return result; } try { writer = publisher.CreateDataWriter(null, dataWriterQosHolder);//, null, 0); } catch (System.NullReferenceException) { writer = null; } if (writer != null) { result.Result = "could create a writer with invalid topic (3)."; return result; } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return result; } rc = typeSupport.RegisterType(participant, "my_other_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } publisher2 = participant.CreatePublisher(qos);//, null, 0); if (publisher2 == null) { result.Result = "creation of a second publisher failed."; return result; } topic2 = participant.CreateTopic("my_other_topic", "my_other_type", defaultTopicQos);//, null, 0); if (topic2 == null) { result.Result = "Topic2 could not be created."; return result; } writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0); if (writer == null) { result.Result = "could not create a writer with another topic (4)."; return result; } writer2 = publisher.LookupDataWriter("my_other_topic"); if (writer2 == null) { result.Result = "could not lookup writer (5)."; return result; } if (writer2 != writer) { result.Result = "looked-up writer != initial writer (6)."; return result; } writer2 = null; writer2 = publisher.LookupDataWriter("unknown_topic_name"); if (writer2 != null) { result.Result = "could lookup writer with unknown topic name (7)."; return result; } rc = publisher2.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.PreconditionNotMet) { result.Result = "Expected returncode PRECONDITION_NOT_MET instead of " + rc + " after deleting a writer on wrong publisher (8)."; return result; } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (9)."; return result; } rc = participant.DeleteTopic(topic2); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a topic (10)."; return result; } writer = publisher.CreateDataWriter(topic2, dataWriterQosHolder);//, null, 0); if (writer != null) { result.Result = "could create a writer with an already deleted topic (11)."; return result; } dataWriterQos = dataWriterQosHolder; dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; dataWriterQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos; writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0); if (writer == null) { result.Result = "could not create a writer with TRANSIENT durabilityQosPolicy (12)."; return result; } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (13)."; return result; } dataWriterQos.Durability.Kind = DDS.DurabilityQosPolicyKind.PersistentDurabilityQos; writer = publisher.CreateDataWriter(topic, dataWriterQos);//, null, 0); if (writer == null) { result.Result = "could not create a writer with PERSISTENT durabilityQosPolicy (14)."; return result; } rc = publisher.DeleteDataWriter(writer); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a writer (15)."; return result; } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.TopicQos topicQos = null; DDS.ITopic topic; DDS.DomainParticipantQos pqos = null; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return result; } if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return result; } participant = factory.CreateParticipant(string.Empty, pqos);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return result; } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return result; } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "register_type failed."; return result; } if (participant.GetDefaultTopicQos(ref topicQos) != DDS.ReturnCode.Ok) { result.Result = "participant.get_default_topic_qos failed."; return result; } topic = participant.CreateTopic("my_topic", "my_type", topicQos);//, null, 0); if (topic == null) { result.Result = "participant.create_topic failed."; return result; } testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqos); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run() { string expResult = "register_typesupport tests pass"; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos participantQosHolder = null; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; mod.otherTypeTypeSupport otherTypeTypeSupport; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)"; return(result); } if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok) { result.Result = "factory.get_default_participant_qos() did not return a qos (2)"; return(result); } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant (2)"; return(result); } typeSupport = new mod.tstTypeSupport(); otherTypeTypeSupport = new mod.otherTypeTypeSupport(); rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type (3)"; return(result); } rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register the same type a second time (4)"; return(result); } rc = otherTypeTypeSupport.RegisterType(participant, "type2"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could register a different type (5)"; return(result); } rc = otherTypeTypeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.PreconditionNotMet) { result.Result = "Expected RETCODE_PRECONDITION_NOT_MET but recieved " + rc + " after calling register_type using an already used name for a different type (6)"; return(result); } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a participant (7)"; return(result); } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { string expResult = "register_typesupport tests pass"; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos participantQosHolder = null; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)"; return result; } if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok) { result.Result = "factory.get_default_participant_qos() did not return a qos (2)"; return result; } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant (2)"; return result; } typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(null, null); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a null participant and with a null name (3)"; return result; } rc = typeSupport.RegisterType(participant, null); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type with a null name (4)"; return result; } rc = typeSupport.RegisterType(participant, string.Empty); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type with an empty name (5)"; return result; } rc = typeSupport.RegisterType(null, "type_name6"); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a null participant (6)"; return result; } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a participant (7)"; return result; } rc = typeSupport.RegisterType(null, "type_name8"); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a null participant (8)"; return result; } rc = typeSupport.RegisterType(participant, "type_name9"); if (rc == DDS.ReturnCode.Ok) { result.Result = "could register a type on a deleted participant (9)"; return result; } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant (10)"; return result; } rc = typeSupport.RegisterType(participant, " "); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type with all spaces (11)"; return result; } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "participant could not be deleted (12)"; return result; } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run() { string expResult = "get_type_name returns the correct name"; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos participantQosHolder = null; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory.get_instance() did not return a factory"; return result; } if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok) { result.Result = "factory.get_default_participant_qos() did not return a qos"; return result; } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant"; return result; } typeSupport = new mod.tstTypeSupport(); string typeName = typeSupport.TypeName; if (typeName == null) { result.Result = "get_type_name returned null (1)"; return result; } if (!typeName.Equals("mod::tst")) { result.Result = "get_type_name returned incorrect typename (1)"; return result; } rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type"; return result; } typeName = typeSupport.TypeName; if (typeName == null) { result.Result = "get_type_name returned null (2)"; return result; } if (!typeName.Equals("mod::tst")) { result.Result = "get_type_name returned incorrect typename (2)"; return result; } mod.otherTypeTypeSupport typeSupport2 = new mod.otherTypeTypeSupport(); typeName = typeSupport2.TypeName; if (typeName == null) { result.Result = "get_type_name returned null (3)"; return result; } if (!typeName.Equals("mod::otherType")) { result.Result = "get_type_name returned incorrect typename (3)"; return result; } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "participant could not be deleted (12)"; return result; } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.SubscriberQos subQosHolder = null; DDS.DataReaderQos drQosHolder = null; DDS.ISubscriber subscriber; DDS.PublisherQos pubQosHolder = null; DDS.IPublisher publisher; mod.tstTypeSupport typeSupport; DDS.TopicQos tQosHolder = null; DDS.ITopic topic; DDS.DataWriterQos dwQosHolder = null; mod.tstDataWriter datawriter; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; return(result); } subQosHolder.Partition.Name = new string[1]; subQosHolder.Partition.Name[0] = "testPartition"; subscriber = participant.CreateSubscriber(subQosHolder);//, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; return(result); } typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(participant, "tstType"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Typesupport could not be registered."; return(result); } if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return(result); } tQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; tQosHolder.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos; topic = participant.CreateTopic("tst", "tstType", tQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return(result); } if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; return(result); } pubQosHolder.Partition.Name = new string[1]; pubQosHolder.Partition.Name[0] = "testPartition"; publisher = participant.CreatePublisher(pubQosHolder);//, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; return(result); } if (publisher.CopyFromTopicQos(ref dwQosHolder, tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; return(result); } dwQosHolder.WriterDataLifecycle.AutodisposeUnregisteredInstances = true; datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder);//, null, 0); if (datawriter == null) { result.Result = "DataWriter could not be created."; return(result); } if (subscriber.CopyFromTopicQos(ref drQosHolder, tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; return(result); } drQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos; testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqosHolder); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", tQosHolder); testCase.RegisterObject("subscriber", subscriber); testCase.RegisterObject("subscriberQos", subQosHolder); testCase.RegisterObject("datareaderQos", drQosHolder); testCase.RegisterObject("publisher", publisher); testCase.RegisterObject("publisherQos", pubQosHolder); testCase.RegisterObject("datawriter", datawriter); testCase.RegisterObject("datawriterQos", dwQosHolder); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; string expResult = "contains_entity returns the correct result"; DDS.IDomainParticipant participant; DDS.DomainParticipantFactory factory; DDS.TopicQos tHolder = new DDS.TopicQos(); DDS.PublisherQos pHolder = new DDS.PublisherQos(); DDS.SubscriberQos sHolder = new DDS.SubscriberQos(); DDS.DataWriterQos wHolder = new DDS.DataWriterQos(); DDS.DataReaderQos rHolder = new DDS.DataReaderQos(); DDS.ITopic topic; DDS.IPublisher publisher; DDS.ISubscriber subscriber; mod.tstDataWriter writer; mod.tstDataReader reader; long handle; DDS.ReturnCode rc; participant = (DDS.IDomainParticipant)this.ResolveObject("participant"); factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory"); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); if (participant.ContainsEntity(0)) { result.Result = "contains_entity with nil handle incorrect"; return result; } if (participant.ContainsEntity(100)) { result.Result = "contains_entity with incorrect handle incorrect"; return result; } handle = participant.InstanceHandle; if (handle == DDS.InstanceHandle.Nil) { result.Result = "get_instance_handle returned 0"; return result; } if (participant.ContainsEntity(handle)) { result.Result = "contains_entity with own handle incorrect"; return result; } mod.tstTypeSupport typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } participant.GetDefaultTopicQos(ref tHolder); topic = participant.CreateTopic("TestTopic", "type1", tHolder);//, null, 0); if (topic == null) { result.Result = "Create Topic failed."; return result; } participant.GetDefaultPublisherQos(ref pHolder); publisher = participant.CreatePublisher(pHolder);//, null, 0); if (publisher == null) { result.Result = "Create Publisher failed."; return result; } participant.GetDefaultSubscriberQos(ref sHolder); subscriber = participant.CreateSubscriber(sHolder);//, null, 0); if (subscriber == null) { result.Result = "Create Subscriber failed."; return result; } publisher.GetDefaultDataWriterQos(ref wHolder); writer = publisher.CreateDataWriter(topic, wHolder) as mod.tstDataWriter; if (writer == null) { result.Result = "Create Writer failed."; return result; } subscriber.GetDefaultDataReaderQos(ref rHolder); reader = subscriber.CreateDataReader(topic, rHolder) as mod.tstDataReader; if (reader == null) { result.Result = "Create Reader failed."; return result; } handle = topic.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (topic) returned 0"; return result; } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with topic handle incorrect"; return result; } handle = publisher.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (publisher) returned != 0"; return result; } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with publisher handle incorrect"; return result; } handle = subscriber.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (subscriber) returned != 0"; return result; } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with subscriber handle incorrect"; return result; } handle = writer.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (writer) returned 0"; return result; } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with writer handle incorrect"; return result; } handle = reader.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (reader) returned 0"; return result; } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with reader handle incorrect"; return result; } rc = participant.DeleteContainedEntities(); if (rc != DDS.ReturnCode.Ok) { result.Result = "delete_contained_entities failed."; return result; } if (participant.ContainsEntity(handle)) { result.Result = "contains_entity of deleted reader incorrect"; return result; } result.Verdict = Test.Framework.TestVerdict.Pass; result.Result = expResult; return result; }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; DDS.IDomainParticipant participant; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos qos; string expResult = "Default topicQos is used when TOPIC_QOS_DEFAULT is specified."; DDS.TopicQos topQosHolder1; DDS.TopicQos topQosHolder2; mod.tstTypeSupport typeSupport; DDS.ITopic topic; DDS.ReturnCode returnCode; factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory"); qos = (DDS.DomainParticipantQos) this.ResolveObject("participantQos"); participant = (DDS.IDomainParticipant) this.ResolveObject("participant"); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); typeSupport = new mod.tstTypeSupport(); topQosHolder1 = new DDS.TopicQos(); topQosHolder2 = new DDS.TopicQos(); typeSupport.RegisterType(participant, "My_Type"); if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok) { result.Result = "Get default TopicQos failed (1)."; return(result); } topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos; topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos; topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos; topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos; topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos; participant.SetDefaultTopicQos(topQosHolder1); typeSupport = new mod.tstTypeSupport(); returnCode = typeSupport.RegisterType(participant, "myTopicType"); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } topic = participant.CreateTopic("MyDCPSTopic", "myTopicType"); if (topic == null) { result.Result = "Create topic failed."; return(result); } topic.GetQos(ref topQosHolder2); if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2)) { result.Result = "Default topicQos is not used when TOPIC_QOS_DEFAULT is specified."; return(result); } returnCode = participant.DeleteTopic(topic); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Topic failed."; return(result); } result.Verdict = Test.Framework.TestVerdict.Pass; result.Result = expResult; return(result); }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.SubscriberQos subQosHolder = null; DDS.ISubscriber subscriber; DDS.PublisherQos pubQosHolder = null; DDS.IPublisher publisher; mod.tstTypeSupport typeSupport; DDS.TopicQos tQosHolder = null; DDS.ITopic topic; DDS.DataReaderQos drQosHolder = null; mod.tstDataReader datareader; DDS.DataWriterQos dwQosHolder = null; mod.tstDataWriter datawriter; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return result; } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return result; } participant = factory.CreateParticipant(string.Empty, pqosHolder, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return result; } if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; return result; } subscriber = participant.CreateSubscriber(subQosHolder, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; return result; } typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(participant, "tstType"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Typesupport could not be registered."; return result; } if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return result; } topic = participant.CreateTopic("tst", "tstType", tQosHolder, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return result; } if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; return result; } publisher = participant.CreatePublisher(pubQosHolder, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; return result; } if (publisher.GetDefaultDataWriterQos(ref dwQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; return result; } datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder, null, 0); if (subscriber.GetDefaultDataReaderQos(ref drQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; return result; } datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQosHolder, null, 0); if (datareader == null) { result.Result = "DataReader could not be created."; return result; } testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqosHolder); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", tQosHolder); testCase.RegisterObject("subscriber", subscriber); testCase.RegisterObject("subscriberQos", subQosHolder); testCase.RegisterObject("datareader", datareader); testCase.RegisterObject("datareaderQos", drQosHolder); testCase.RegisterObject("publisher", publisher); testCase.RegisterObject("publisherQos", pubQosHolder); testCase.RegisterObject("datawriter", datawriter); testCase.RegisterObject("datawriterQos", dwQosHolder); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.SubscriberQos subQosHolder = null; DDS.DataReaderQos drQosHolder = null; DDS.ISubscriber subscriber; DDS.PublisherQos pubQosHolder = null; DDS.IPublisher publisher; mod.tstTypeSupport typeSupport; DDS.TopicQos tQosHolder = null; DDS.ITopic topic; DDS.DataWriterQos dwQosHolder = null; mod.tstDataWriter datawriter; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return result; } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return result; } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return result; } if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; return result; } subQosHolder.Partition.Name = new string[1]; subQosHolder.Partition.Name[0] = "testPartition"; subscriber = participant.CreateSubscriber(subQosHolder);//, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; return result; } typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(participant, "tstType"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Typesupport could not be registered."; return result; } if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return result; } tQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; tQosHolder.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos; topic = participant.CreateTopic("tst", "tstType", tQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return result; } if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; return result; } pubQosHolder.Partition.Name = new string[1]; pubQosHolder.Partition.Name[0] = "testPartition"; publisher = participant.CreatePublisher(pubQosHolder);//, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; return result; } if (publisher.CopyFromTopicQos(ref dwQosHolder, tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; return result; } dwQosHolder.WriterDataLifecycle.AutodisposeUnregisteredInstances = true; datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder);//, null, 0); if (datawriter == null) { result.Result = "DataWriter could not be created."; return result; } if (subscriber.CopyFromTopicQos(ref drQosHolder, tQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; return result; } drQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos; testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqosHolder); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", tQosHolder); testCase.RegisterObject("subscriber", subscriber); testCase.RegisterObject("subscriberQos", subQosHolder); testCase.RegisterObject("datareaderQos", drQosHolder); testCase.RegisterObject("publisher", publisher); testCase.RegisterObject("publisherQos", pubQosHolder); testCase.RegisterObject("datawriter", datawriter); testCase.RegisterObject("datawriterQos", dwQosHolder); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; DDS.IDomainParticipant participant; DDS.IDomainParticipant participant2; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos qos = null; string expResult = "Topic test succeeded."; DDS.TopicQos topQosHolder1 = null; DDS.TopicQos topQosHolder2 = null; mod.tstTypeSupport typeSupport; DDS.ITopic topic; DDS.ITopic topic2; DDS.ITopic topic3; DDS.ITopic topic4; DDS.ITopicDescription description; DDS.ReturnCode returnCode; factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory"); qos = (DDS.DomainParticipantQos) this.ResolveObject("participantQos"); participant = (DDS.IDomainParticipant) this.ResolveObject("participant"); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); typeSupport = new mod.tstTypeSupport(); typeSupport.RegisterType(participant, "My_Type"); if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok) { result.Result = "Get default TopicQos failed (1)."; return(result); } if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, test.sacs.QosComparer.defaultTopicQos)) { result.Result = "Get default TopicQos did not return the default qos (1)."; return(result); } topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos; topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos; topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos; topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos; topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos; typeSupport = new mod.tstTypeSupport(); returnCode = typeSupport.RegisterType(participant, "myTopicType"); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } topic = participant.CreateTopic("MyDCPSTopic", "myTopicType", topQosHolder1);//, null, 0); if (topic == null) { result.Result = "Create topic failed (3)"; return(result); } description = participant.LookupTopicDescription("MyDCPSTopic"); if (topic != description) { result.Result = "Lookup topic failed (4)"; return(result); } topic2 = participant.FindTopic("MyDCPSTopic", new DDS.Duration()); if (topic2 == null) { result.Result = "Find topic failed (5)"; return(result); } topic2.GetQos(ref topQosHolder2); if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2)) { result.Result = "Find Topic did not find the correct Topic. (5)"; return(result); } topic3 = participant.CreateTopic("MyDCPSTopic", "myTopicType"); if (topic3 != null) { result.Result = "Create Topic with BAD_PARAM succeeded (6)."; return(result); } topic4 = participant.CreateTopic("MyDCPSTopic", "myTopicType"); if (topic4 != null) { result.Result = "Create Topic with BAD_PARAM succeeded (7)."; return(result); } returnCode = participant.DeleteTopic(topic3); if (returnCode != DDS.ReturnCode.BadParameter) { result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (8)."; return(result); } returnCode = participant.DeleteTopic(topic4); if (returnCode != DDS.ReturnCode.BadParameter) { result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (9)."; return(result); } participant2 = factory.CreateParticipant(DDS.DomainId.Default, qos);//, null, 0); if (participant2 == null) { result.Result = "Create Participant failed (10)."; return(result); } returnCode = participant2.DeleteTopic(topic); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Delete Topic on wrong Participant succeeded (11)."; return(result); } returnCode = factory.DeleteParticipant(participant2); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Participant failed (12)."; return(result); } returnCode = participant.DeleteTopic(topic); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Topic failed (13)."; return(result); } returnCode = participant.DeleteTopic(topic2); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Topic failed (14)."; return(result); } returnCode = participant.DeleteTopic(topic); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Delete of already deleted Topic succeeded (15)."; return(result); } returnCode = participant.DeleteTopic(null); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Delete null Topic succeeded (16)."; return(result); } returnCode = participant.IgnoreParticipant(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid participant succeeded."; return(result); } returnCode = participant.IgnorePublication(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid publication succeeded."; return(result); } returnCode = participant.IgnoreSubscription(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid subscription succeeded."; return(result); } returnCode = participant.IgnoreTopic(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid topic succeeded."; return(result); } result.Verdict = Test.Framework.TestVerdict.Pass; result.Result = expResult; return(result); }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqos = null; DDS.SubscriberQos subQos = null; DDS.ISubscriber subscriber; DDS.PublisherQos pubQos = null; DDS.IPublisher publisher; mod.tstTypeSupport typeSupport; DDS.TopicQos tQos = null; DDS.ITopic topic; DDS.DataReaderQos drQos = null; mod.tstDataReader datareader; DDS.DataWriterQos dwQos = null; mod.tstDataWriter datawriter; Test.Framework.TestResult result; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(DDS.DomainId.Default, pqos);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } if (participant.GetDefaultSubscriberQos(ref subQos) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; return(result); } subscriber = participant.CreateSubscriber(subQos);//, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; return(result); } typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(participant, "tstType"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Typesupport could not be registered."; return(result); } if (participant.GetDefaultTopicQos(ref tQos) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return(result); } topic = participant.CreateTopic("tst", "tstType", tQos);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return(result); } if (participant.GetDefaultPublisherQos(ref pubQos) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; return(result); } publisher = participant.CreatePublisher(pubQos);//, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; return(result); } if (subscriber.GetDefaultDataReaderQos(ref drQos) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; return(result); } datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQos);//, null, 0); if (datareader == null) { result.Result = "DataReader could not be created."; return(result); } if (publisher.GetDefaultDataWriterQos(ref dwQos) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; return(result); } datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQos);//, null, 0); testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqos); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", tQos); testCase.RegisterObject("subscriber", subscriber); testCase.RegisterObject("subscriberQos", subQos); testCase.RegisterObject("datareader", datareader); testCase.RegisterObject("datareaderQos", drQos); testCase.RegisterObject("publisher", publisher); testCase.RegisterObject("publisherQos", pubQos); testCase.RegisterObject("datawriter", datawriter); testCase.RegisterObject("datawriterQos", dwQos); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; string expResult = "contains_entity returns the correct result"; DDS.IDomainParticipant participant; DDS.DomainParticipantFactory factory; DDS.TopicQos tHolder = new DDS.TopicQos(); DDS.PublisherQos pHolder = new DDS.PublisherQos(); DDS.SubscriberQos sHolder = new DDS.SubscriberQos(); DDS.DataWriterQos wHolder = new DDS.DataWriterQos(); DDS.DataReaderQos rHolder = new DDS.DataReaderQos(); DDS.ITopic topic; DDS.IPublisher publisher; DDS.ISubscriber subscriber; mod.tstDataWriter writer; mod.tstDataReader reader; long handle; DDS.ReturnCode rc; participant = (DDS.IDomainParticipant) this.ResolveObject("participant"); factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory"); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); if (participant.ContainsEntity(0)) { result.Result = "contains_entity with nil handle incorrect"; return(result); } if (participant.ContainsEntity(100)) { result.Result = "contains_entity with incorrect handle incorrect"; return(result); } handle = participant.InstanceHandle; if (handle == DDS.InstanceHandle.Nil) { result.Result = "get_instance_handle returned 0"; return(result); } if (participant.ContainsEntity(handle)) { result.Result = "contains_entity with own handle incorrect"; return(result); } mod.tstTypeSupport typeSupport = new mod.tstTypeSupport(); rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return(result); } participant.GetDefaultTopicQos(ref tHolder); topic = participant.CreateTopic("TestTopic", "type1", tHolder);//, null, 0); if (topic == null) { result.Result = "Create Topic failed."; return(result); } participant.GetDefaultPublisherQos(ref pHolder); publisher = participant.CreatePublisher(pHolder);//, null, 0); if (publisher == null) { result.Result = "Create Publisher failed."; return(result); } participant.GetDefaultSubscriberQos(ref sHolder); subscriber = participant.CreateSubscriber(sHolder);//, null, 0); if (subscriber == null) { result.Result = "Create Subscriber failed."; return(result); } publisher.GetDefaultDataWriterQos(ref wHolder); writer = publisher.CreateDataWriter(topic, wHolder) as mod.tstDataWriter; if (writer == null) { result.Result = "Create Writer failed."; return(result); } subscriber.GetDefaultDataReaderQos(ref rHolder); reader = subscriber.CreateDataReader(topic, rHolder) as mod.tstDataReader; if (reader == null) { result.Result = "Create Reader failed."; return(result); } handle = topic.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (topic) returned 0"; return(result); } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with topic handle incorrect"; return(result); } handle = publisher.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (publisher) returned != 0"; return(result); } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with publisher handle incorrect"; return(result); } handle = subscriber.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (subscriber) returned != 0"; return(result); } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with subscriber handle incorrect"; return(result); } handle = writer.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (writer) returned 0"; return(result); } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with writer handle incorrect"; return(result); } handle = reader.InstanceHandle; if (handle == 0) { result.Result = "get_instance_handle (reader) returned 0"; return(result); } if (!participant.ContainsEntity(handle)) { result.Result = "contains_entity with reader handle incorrect"; return(result); } rc = participant.DeleteContainedEntities(); if (rc != DDS.ReturnCode.Ok) { result.Result = "delete_contained_entities failed."; return(result); } if (participant.ContainsEntity(handle)) { result.Result = "contains_entity of deleted reader incorrect"; return(result); } result.Verdict = Test.Framework.TestVerdict.Pass; result.Result = expResult; return(result); }
public override Test.Framework.TestResult Run() { string expResult = "register_typesupport tests pass"; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos participantQosHolder = null; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; mod.otherTypeTypeSupport otherTypeTypeSupport; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory.get_instance() did not return a factory (1)"; return result; } if (factory.GetDefaultParticipantQos(ref participantQosHolder) != DDS.ReturnCode.Ok) { result.Result = "factory.get_default_participant_qos() did not return a qos (2)"; return result; } participant = factory.CreateParticipant(string.Empty, participantQosHolder);//, null, 0); if (participant == null) { result.Result = "factory.create_participant() did not return a participant (2)"; return result; } typeSupport = new mod.tstTypeSupport(); otherTypeTypeSupport = new mod.otherTypeTypeSupport(); rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register a type (3)"; return result; } rc = typeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not register the same type a second time (4)"; return result; } rc = otherTypeTypeSupport.RegisterType(participant, "type2"); if (rc != DDS.ReturnCode.Ok) { result.Result = "could register a different type (5)"; return result; } rc = otherTypeTypeSupport.RegisterType(participant, "type1"); if (rc != DDS.ReturnCode.PreconditionNotMet) { result.Result = "Expected RETCODE_PRECONDITION_NOT_MET but recieved " + rc + " after calling register_type using an already used name for a different type (6)"; return result; } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "could not delete a participant (7)"; return result; } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; mod.tstTypeSupport typeSupport; DDS.TopicQos topicQos = null; DDS.ITopic topic; DDS.DomainParticipantQos pqos = null; DDS.ReturnCode rc; Test.Framework.TestResult result; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return(result); } if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return(result); } participant = factory.CreateParticipant(string.Empty, pqos);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return(result); } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return(result); } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "register_type failed."; return(result); } if (participant.GetDefaultTopicQos(ref topicQos) != DDS.ReturnCode.Ok) { result.Result = "participant.get_default_topic_qos failed."; return(result); } topic = participant.CreateTopic("my_topic", "my_type", topicQos);//, null, 0); if (topic == null) { result.Result = "participant.create_topic failed."; return(result); } testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqos); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return(result); }
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase) { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; mod.tstTypeSupport typeSupport = null; Test.Framework.TestResult result; string name; string typeName; DDS.ReturnCode rc; result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return result; } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return result; } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return result; } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; return result; } name = "my_topic"; typeName = "my_type"; rc = typeSupport.RegisterType(participant, typeName); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; return result; } topic = participant.CreateTopic(name, typeName, topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; return result; } testCase.RegisterObject("factory", factory); testCase.RegisterObject("participantQos", pqosHolder); testCase.RegisterObject("participant", participant); testCase.RegisterObject("topic", topic); testCase.RegisterObject("topicQos", topQosHolder); testCase.RegisterObject("typeSupport", typeSupport); testCase.RegisterObject("topicName", name); testCase.RegisterObject("topicTypeName", typeName); result.Result = "Initialization success."; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; DDS.IDomainParticipant participant; DDS.IDomainParticipant participant2; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos qos = null; string expResult = "Topic test succeeded."; DDS.TopicQos topQosHolder1 = null; DDS.TopicQos topQosHolder2 = null; mod.tstTypeSupport typeSupport; DDS.ITopic topic; DDS.ITopic topic2; DDS.ITopic topic3; DDS.ITopic topic4; DDS.ITopicDescription description; DDS.ReturnCode returnCode; factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory"); qos = (DDS.DomainParticipantQos)this.ResolveObject("participantQos"); participant = (DDS.IDomainParticipant)this.ResolveObject("participant"); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); typeSupport = new mod.tstTypeSupport(); typeSupport.RegisterType(participant, "My_Type"); if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok) { result.Result = "Get default TopicQos failed (1)."; return result; } if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, test.sacs.QosComparer.defaultTopicQos)) { result.Result = "Get default TopicQos did not return the default qos (1)."; return result; } topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos; topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos; topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos; topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos; topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos; typeSupport = new mod.tstTypeSupport(); returnCode = typeSupport.RegisterType(participant, "myTopicType"); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } topic = participant.CreateTopic("MyDCPSTopic", "myTopicType", topQosHolder1);//, null, 0); if (topic == null) { result.Result = "Create topic failed (3)"; return result; } description = participant.LookupTopicDescription("MyDCPSTopic"); if (topic != description) { result.Result = "Lookup topic failed (4)"; return result; } topic2 = participant.FindTopic("MyDCPSTopic", new DDS.Duration()); if (topic2 == null) { result.Result = "Find topic failed (5)"; return result; } topic2.GetQos(ref topQosHolder2); if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2)) { result.Result = "Find Topic did not find the correct Topic. (5)"; return result; } topic3 = participant.CreateTopic("MyDCPSTopic", "myTopicType"); if (topic3 != null) { result.Result = "Create Topic with BAD_PARAM succeeded (6)."; return result; } topic4 = participant.CreateTopic("MyDCPSTopic", "myTopicType"); if (topic4 != null) { result.Result = "Create Topic with BAD_PARAM succeeded (7)."; return result; } returnCode = participant.DeleteTopic(topic3); if (returnCode != DDS.ReturnCode.BadParameter) { result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (8)."; return result; } returnCode = participant.DeleteTopic(topic4); if (returnCode != DDS.ReturnCode.BadParameter) { result.Result = "Expected RETCODE_BAD_PARAMETER but received " + returnCode + " after deleting a non exisiting topic (9)."; return result; } participant2 = factory.CreateParticipant(string.Empty, qos);//, null, 0); if (participant2 == null) { result.Result = "Create Participant failed (10)."; return result; } returnCode = participant2.DeleteTopic(topic); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Delete Topic on wrong Participant succeeded (11)."; return result; } returnCode = factory.DeleteParticipant(participant2); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Participant failed (12)."; return result; } returnCode = participant.DeleteTopic(topic); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Topic failed (13)."; return result; } returnCode = participant.DeleteTopic(topic2); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Topic failed (14)."; return result; } returnCode = participant.DeleteTopic(topic); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Delete of already deleted Topic succeeded (15)."; return result; } returnCode = participant.DeleteTopic(null); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Delete null Topic succeeded (16)."; return result; } returnCode = participant.IgnoreParticipant(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid participant succeeded."; return result; } returnCode = participant.IgnorePublication(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid publication succeeded."; return result; } returnCode = participant.IgnoreSubscription(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid subscription succeeded."; return result; } returnCode = participant.IgnoreTopic(-10); if (returnCode == DDS.ReturnCode.Ok) { result.Result = "Ignore invalid topic succeeded."; return result; } result.Verdict = Test.Framework.TestVerdict.Pass; result.Result = expResult; return result; }
public override Test.Framework.TestResult Run() { DDS.DomainParticipantFactory factory; DDS.IDomainParticipant participant; DDS.DomainParticipantQos pqosHolder = null; DDS.TopicQos topQosHolder = null; DDS.ITopic topic; mod.tstTypeSupport typeSupport = null; mod.tstDataReader datareader; test.sacs.MyDataReaderListener listener; DDS.ISubscriber subscriber; DDS.SubscriberQos sqosHolder = null; DDS.DataReaderQos dqosHolder = null; DDS.IPublisher publisher; DDS.PublisherQos pubQosHolder = null; mod.tstDataWriter datawriter; DDS.DataWriterQos wqosHolder = null; Test.Framework.TestResult result; DDS.ReturnCode rc; string expResult = "DataReaderListener test succeeded."; result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict .Pass, Test.Framework.TestVerdict.Fail); factory = DDS.DomainParticipantFactory.Instance; if (factory == null) { result.Result = "DomainParticipantFactory could not be initialized."; return result; } if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DomainParticipantQos could not be resolved."; return result; } participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0); if (participant == null) { result.Result = "Creation of DomainParticipant failed."; return result; } typeSupport = new mod.tstTypeSupport(); if (typeSupport == null) { result.Result = "Creation of tstTypeSupport failed."; this.Cleanup(factory, participant); return result; } rc = typeSupport.RegisterType(participant, "my_type"); if (rc != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; this.Cleanup(factory, participant); return result; } if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default TopicQos could not be resolved."; this.Cleanup(factory, participant); return result; } topQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; topic = participant.CreateTopic("my_topic_t", "my_type", topQosHolder);//, null, 0); if (topic == null) { result.Result = "Topic could not be created."; this.Cleanup(factory, participant); return result; } if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default PublisherQos could not be resolved."; this.Cleanup(factory, participant); return result; } publisher = participant.CreatePublisher(pubQosHolder);//, null, 0); if (publisher == null) { result.Result = "Publisher could not be created."; this.Cleanup(factory, participant); return result; } if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataWriterQos could not be resolved."; this.Cleanup(factory, participant); return result; } wqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0); if (datawriter == null) { result.Result = "DataWriter could not be created."; this.Cleanup(factory, participant); return result; } mod.tst t = new mod.tst(); t.long_1 = 1; t.long_2 = 2; t.long_3 = 3; rc = datawriter.Write(t, DDS.InstanceHandle.Nil); if (rc != DDS.ReturnCode.Ok) { result.Result = "Data could not be written."; this.Cleanup(factory, participant); return result; } if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default SubscriberQos could not be resolved."; this.Cleanup(factory, participant); return result; } subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0); if (subscriber == null) { result.Result = "Subscriber could not be created."; this.Cleanup(factory, participant); return result; } if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok) { result.Result = "Default DataReaderQos could not be resolved."; this.Cleanup(factory, participant); return result; } dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; listener = new test.sacs.MyDataReaderListener(); datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener, DDS.StatusKind.Any); if (datareader == null) { result.Result = "DataReader could not be created."; this.Cleanup(factory, participant); return result; } try { System.Threading.Thread.Sleep(3000); } catch (System.Exception e) { System.Console.WriteLine(e); } if (!listener.onLivelinessChangedCalled) { result.Result = "on_liveliness_changed does not work properly."; this.Cleanup(factory, participant); return result; } if (!listener.onDataAvailableCalled) { result.Result = "on_data_available does not work properly."; this.Cleanup(factory, participant); return result; } rc = participant.DeleteContainedEntities(); if (rc != DDS.ReturnCode.Ok) { result.Result = "Delete contained entities failed."; this.Cleanup(factory, participant); return result; } rc = factory.DeleteParticipant(participant); if (rc != DDS.ReturnCode.Ok) { result.Result = "Delete DomainParticipant failed."; return result; } result.Result = expResult; result.Verdict = Test.Framework.TestVerdict.Pass; return result; }
public override Test.Framework.TestResult Run() { Test.Framework.TestResult result; DDS.IDomainParticipant participant; DDS.DomainParticipantFactory factory; DDS.DomainParticipantQos qos; string expResult = "Default topicQos is used when TOPIC_QOS_DEFAULT is specified."; DDS.TopicQos topQosHolder1; DDS.TopicQos topQosHolder2; mod.tstTypeSupport typeSupport; DDS.ITopic topic; DDS.ReturnCode returnCode; factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory"); qos = (DDS.DomainParticipantQos)this.ResolveObject("participantQos"); participant = (DDS.IDomainParticipant)this.ResolveObject("participant"); result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass, Test.Framework.TestVerdict.Fail); typeSupport = new mod.tstTypeSupport(); topQosHolder1 = new DDS.TopicQos(); topQosHolder2 = new DDS.TopicQos(); typeSupport.RegisterType(participant, "My_Type"); if (participant.GetDefaultTopicQos(ref topQosHolder1) != DDS.ReturnCode.Ok) { result.Result = "Get default TopicQos failed (1)."; return result; } topQosHolder1.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos; topQosHolder1.Liveliness.Kind = DDS.LivelinessQosPolicyKind.AutomaticLivelinessQos; topQosHolder1.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos; topQosHolder1.DestinationOrder.Kind = DDS.DestinationOrderQosPolicyKind.ByReceptionTimestampDestinationorderQos; topQosHolder1.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos; topQosHolder1.Ownership.Kind = DDS.OwnershipQosPolicyKind.SharedOwnershipQos; participant.SetDefaultTopicQos(topQosHolder1); typeSupport = new mod.tstTypeSupport(); returnCode = typeSupport.RegisterType(participant, "myTopicType"); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Register type failed."; return result; } topic = participant.CreateTopic("MyDCPSTopic", "myTopicType"); if (topic == null) { result.Result = "Create topic failed."; return result; } topic.GetQos(ref topQosHolder2); if (!test.sacs.QosComparer.TopicQosEquals(topQosHolder1, topQosHolder2)) { result.Result = "Default topicQos is not used when TOPIC_QOS_DEFAULT is specified."; return result; } returnCode = participant.DeleteTopic(topic); if (returnCode != DDS.ReturnCode.Ok) { result.Result = "Delete Topic failed."; return result; } result.Verdict = Test.Framework.TestVerdict.Pass; result.Result = expResult; return result; }