Exemplo n.º 1
0
        static void subscribe(int domain_id, int sample_count)
        {
            // --- Register userGenerated datatype ---
            DDS.DomainParticipantFactory.get_instance().
            register_type_support(
                ChatObjectTypeSupport.get_instance(),
                "My::Type::Chat::Obj");

            // --- Create participant --- //

            /* To customize the participant QoS, use
             * the configuration file USER_QOS_PROFILES.xml */
            DDS.DomainParticipant participant =
                DDS.DomainParticipantFactory.get_instance().
                create_participant_from_config(
                    "MyParticipant_Library::MySubscriptionParticipant");
            if (participant == null)
            {
                shutdown(participant);
                throw new ApplicationException("create_participant error");
            }

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

            // --- Lookup reader --- //

            /* To customize the data reader QoS, use
             * the configuration file USER_QOS_PROFILES.xml */
            DDS.DataReader reader = participant.lookup_datareader_by_name(
                "MySubscriber::ChatObjectReader");
            if (reader == null)
            {
                shutdown(participant);
                reader_listener = null;
                throw new ApplicationException("lookup_datareader error");
            }

            /* >>> Setup StatusCondition */
            DDS.StatusCondition status_condition = reader.get_statuscondition();
            if (status_condition.Equals(null))
            {
                Console.WriteLine("get_statuscondition error\n");
                shutdown(participant);
                throw new ApplicationException("get_statuscondition error");
            }
            try {
                status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
            }
            catch {
                Console.WriteLine("set_enabled_statuses error\n");
                shutdown(participant);
                throw new ApplicationException("set_enabled_statuses error");
            }
            /* <<< */

            /* >>> Setup WaitSet */
            DDS.WaitSet waitset = new DDS.WaitSet();
            try {
                waitset.attach_condition(status_condition);
            }
            catch {
                // ... error
                waitset.Dispose(); waitset = null;
                shutdown(participant);
                reader_listener.Dispose(); reader_listener = null;
                return;
            }

            // holder for active conditions
            DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
            /* <<< */

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

            /* Main loop */
            const System.Int32 receive_period = 4000; // milliseconds

            for (int count = 0;
                 (sample_count == 0) || (count < sample_count);
                 ++count)
            {
                Console.WriteLine(
                    "ChatObject subscriber sleeping ...",
                    receive_period / 1000);


                /* >>> Wait for condition to trigger */
                try {
                    waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
                    reader_listener.on_data_available(reader);
                }
                catch {
                }
                /* <<< */

                // System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
            }

            // --- Shutdown --- //

            /* Delete all entities */
            waitset.Dispose(); waitset = null; /*>>><<<*/
            shutdown(participant);
            reader_listener = null;
        }
Exemplo n.º 2
0
        static void subscribe(int domain_id, int sample_count)
        {
            // --- Create participant --- //

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

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

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

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

            /* Register the type before creating the topic */
            System.String type_name = ChatObjectTypeSupport.get_type_name();
            try {
                ChatObjectTypeSupport.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(
                My.CHAT_TOPIC_NAME.VALUE, /*>>><<<*/
                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 ContentFiltered Topic */
            DDS.StringWrapper[] cft_param_list = new DDS.StringWrapper[] { "'Rajive'", "'Shannon'", "'Jaromy'" };
            DDS.StringSeq       cft_parameters = new DDS.StringSeq(3);
            cft_parameters.from_array(cft_param_list);

            DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic("Chat/filtered",
                                                                                   topic, "(id = %0 OR id = %1 OR id = %2)",
                                                                                   cft_parameters);

            if (cft == null)
            {
                Console.WriteLine("create_contentfilteredtopic error\n");
                shutdown(participant);
                throw new ApplicationException("create_contentfilteredtopic error");
            }
            /* <<< */


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

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

            /* To customize the data reader QoS, use
             * the configuration file USER_QOS_PROFILES.xml */
            DDS.DataReader reader = subscriber.create_datareader(
                cft,                              /*>>><<<*/
                DDS.Subscriber.DATAREADER_QOS_DEFAULT,
                null,                             /*>>><<<*/
                DDS.StatusMask.STATUS_MASK_NONE); /*>>><<<*/
            if (reader == null)
            {
                shutdown(participant);
                reader_listener = null;
                throw new ApplicationException("create_datareader error");
            }

            /* >>> Setup StatusCondition */
            DDS.StatusCondition status_condition = reader.get_statuscondition();
            if (status_condition.Equals(null))
            {
                Console.WriteLine("get_statuscondition error\n");
                shutdown(participant);
                throw new ApplicationException("get_statuscondition error");
            }
            try {
                status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
            }
            catch {
                Console.WriteLine("set_enabled_statuses error\n");
                shutdown(participant);
                throw new ApplicationException("set_enabled_statuses error");
            }
            /* <<< */

            /* >>> Setup WaitSet */
            DDS.WaitSet waitset = new DDS.WaitSet();
            try {
                waitset.attach_condition(status_condition);
            }
            catch {
                // ... error
                waitset.Dispose(); waitset = null;
                shutdown(participant);
                reader_listener.Dispose(); reader_listener = null;
                return;
            }

            // holder for active conditions
            DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
            /* <<< */


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

            /* Main loop */
            const System.Int32 receive_period = 4000; // milliseconds

            for (int count = 0;
                 (sample_count == 0) || (count < sample_count);
                 ++count)
            {
                Console.WriteLine(
                    "ChatObject subscriber sleeping ...",
                    receive_period / 1000);

                /* >>> Wait */
                /* Wait for condition to trigger */
                try {
                    waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
                    reader_listener.on_data_available(reader);
                }
                catch {
                }
                /* <<< */

                // System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
            }

            // --- Shutdown --- //

            /* Delete all entities */
            waitset.Dispose(); waitset = null; /*>>><<<*/
            shutdown(participant);
            reader_listener = null;
        }