static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher_with_profile(
"ordered_Library", "ordered_Profile_subscriber_instance",
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* If you want to change the Publisher's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_publisher call above.
*
* In this case, we set the presentation publish mode ordered in the
* topic.
*/
/* Get default publisher QoS to customize */
/* DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
* participant.get_default_publisher_qos(publisher_qos);
*
* publisher_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* publisher_qos.presentation.ordered_access = true;
*
* // --- Create publisher --- //
*
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
* if (publisher == null) {
* shutdown(participant);
* throw new ApplicationException("create_publisher error");
* }
*/
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = orderedTypeSupport.get_type_name();
try {
orderedTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example ordered",
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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
orderedDataWriter ordered_writer =
(orderedDataWriter)writer;
/* Start changes for Ordered_Presentation */
/* Create two instances */
ordered instance0 = null;
ordered instance1 = null;
DDS.InstanceHandle_t handle0 = DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t handle1 = DDS.InstanceHandle_t.HANDLE_NIL;
// --- Write --- //
/* Create data sample for writing */
instance0 = orderedTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"orderedTypeSupport.create_data error");
}
instance1 = orderedTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"orderedTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
instance0.id = 0;
instance1.id = 1;
handle0 = ordered_writer.register_instance(instance0);
handle1 = ordered_writer.register_instance(instance1);
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
instance0.value = count;
instance1.value = count;
Console.WriteLine("writing instance0, value->{0}", instance0.value);
try {
ordered_writer.write(instance0, ref handle0);
} catch (DDS.Exception e) {
Console.WriteLine("write instance0 error {0}", e);
}
Console.WriteLine("writing instance1, value->{0}", instance1.value);
try {
ordered_writer.write(instance1, ref handle1);
} catch (DDS.Exception e) {
Console.WriteLine("write instance1 error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
try {
ordered_writer.unregister_instance(
instance0, ref handle0);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance0 error: {0}", e);
}
try {
ordered_writer.unregister_instance(
instance1, ref handle1);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance1 error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try {
orderedTypeSupport.delete_data(instance0);
} catch (DDS.Exception e) {
Console.WriteLine(
"orderedTypeSupport.delete_data0 error: {0}", e);
}
try {
orderedTypeSupport.delete_data(instance1);
} catch (DDS.Exception e) {
Console.WriteLine(
"orderedTypeSupport.delete_data1 error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count, int turbo_mode_on)
{
System.String profile_name = null;
System.String library_name = "batching_Library";
/* We pick the profile name if the turbo_mode is selected or not.
* If Turbo_mode is not selected, the batching profile will be used.
*/
if (turbo_mode_on == 1)
{
profile_name = "turbo_mode_profile";
Console.WriteLine("Turbo Mode enable");
}
else
{
profile_name = "batch_profile";
Console.WriteLine("Manual batching enable");
}
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().
create_participant_with_profile(
domain_id,
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher_with_profile(
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = batch_dataTypeSupport.get_type_name();
try {
batch_dataTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example batch_data",
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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter_with_profile(
topic,
library_name, profile_name,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
batch_dataDataWriter batch_data_writer =
(batch_dataDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
batch_data instance = batch_dataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"batch_dataTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = batch_data_writer.register_instance(instance);
*/
/* Main loop */
System.Int32 send_period = 1000; // milliseconds
if (turbo_mode_on == 1)
{
send_period = 0;
}
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing batch_data, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
batch_data_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* batch_data_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
batch_dataTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"batch_dataTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}