static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = pollTypeSupport.get_type_name();
try {
pollTypeSupport.register_type(
participant, type_name);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example poll",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null) {
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history.kind programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
try
{
subscriber.get_default_datareader_qos(datareader_qos);
}
catch (DDS.Exception e)
{
Console.WriteLine("get_default_datareader_qos error {0}", e);
shutdown(participant);
throw e;
}
datareader_qos.history.kind =
DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
DDS.DataReader reader = subscriber.create_datareader(
topic, datareader_qos, null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
*/
pollDataReader poll_reader =
(pollDataReader)reader;
// --- Wait for data --- //
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
pollSeq data_seq = new pollSeq();
/* Main loop */
const System.Int32 receive_period = 5000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
Console.WriteLine(
"poll subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
// --- Polling for data --- ///
/* Check for new data calling the DataReader's take() method */
try
{
poll_reader.take(
data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE, DDS.
InstanceStateKind.ANY_INSTANCE_STATE);
}
catch (DDS.Retcode_NoData)
{
// Not an error
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the take() method, getting
* the number of samples got and, adding the value of x on each of
* them to calculate the average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
continue;
len++;
sum += data_seq.get_at(i).x;
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}", len, sum / len);
}
try
{
poll_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = pollTypeSupport.get_type_name();
try {
pollTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example poll",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history.kind programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
*
* try
* {
* subscriber.get_default_datareader_qos(datareader_qos);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic, datareader_qos, null,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datareader error");
* }
*/
pollDataReader poll_reader =
(pollDataReader)reader;
// --- Wait for data --- //
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
pollSeq data_seq = new pollSeq();
/* Main loop */
const System.Int32 receive_period = 5000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"poll subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
// --- Polling for data --- ///
/* Check for new data calling the DataReader's take() method */
try
{
poll_reader.take(
data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE, DDS.
InstanceStateKind.ANY_INSTANCE_STATE);
}
catch (DDS.Retcode_NoData)
{
// Not an error
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the take() method, getting
* the number of samples got and, adding the value of x on each of
* them to calculate the average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).x;
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}", len, sum / len);
}
try
{
poll_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
