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 topic --- //
/* Register the type before creating the 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 the 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");
}
/* Start changes for Ordered_Presentation */
/* Create two subscribers to illustrate different presentation QoS
* This is a publisher/subscriber level QoS, so we have to
* do it here instead of just making two datareaders
*/
DDS.Subscriber[] subscriber = new DDS.Subscriber[MAX_SUBSCRIBERS];
DDS.DataReader[] reader = new DDS.DataReader[MAX_SUBSCRIBERS];
/* Subscriber[0], reader[0] and ordered_reader[0] is getting
* the profile "ordered_Profile_subscriber_instance"
*/
/* Subscriber[1], reader[1] and ordered_reader[1] is getting
* the profile "ordered_Profile_subscriber_topic"
*/
String[] profile_name = new String[MAX_SUBSCRIBERS]
{
"ordered_Profile_subscriber_instance",
"ordered_Profile_subscriber_topic"
};
for (int i = 0; i < MAX_SUBSCRIBERS; ++i)
{
Console.WriteLine("Subscriber {0} using {1}", i, profile_name[i]);
subscriber[i] = participant.create_subscriber_with_profile(
"ordered_Library", profile_name[i], null,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber[i] == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
reader[i] = subscriber[i].create_datareader_with_profile(topic,
"ordered_Library", profile_name[i], null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader[i] == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader 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 above 'for' loop.
*/
/* Get default subscriber QoS to customize */
/* DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
* participant.get_default_subscriber_qos(subscriber_qos);
*
*/ /* Set this for both subscribers */
/* subscriber_qos.presentation.ordered_access = true;
*
*/ /* No listener needed, but we do need to increase history depth */
/* Get default datareader QoS to customize */
/* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
*
* for (int i = 0; i < MAX_SUBSCRIBERS; ++i) {
* if (i == 0) {
* Console.WriteLine("Subscriber 0 using Instance access scope");
* subscriber_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind
* .INSTANCE_PRESENTATION_QOS;
* } else {
* Console.WriteLine("Subscriber 1 using Topic access scope");
* subscriber_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind
* .TOPIC_PRESENTATION_QOS;
* }
*
*/ /* To create subscriber with default QoS, use
* DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULTinstead of
* subscriber_qos */
/* subscriber[i] = participant.create_subscriber(
* subscriber_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
* if (subscriber == null) {
* shutdown(participant);
* throw new ApplicationException("create_subscriber error");
* }
* subscriber[i].get_default_datareader_qos(datareader_qos);
* datareader_qos.history.depth = 10;
*
*/ /* To create datareader with default QoS, use
* DDS.Subscriber.DATAREADER_QOS_DEFAULT instead of datareader_qos
*/
/* reader[i] = subscriber[i].create_datareader(
* topic,
* datareader_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (reader[i] == null) {
* shutdown(participant);
* throw new ApplicationException("create_datareader error");
* }
* }
*
*/
// --- 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(
"\nSleeping for {0} sec...\n-----",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
poll_data(reader, 2);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(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 the 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 subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber_with_profile(
library_name, profile_name,
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 = 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 the 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 reader --- //
/* Create a data reader listener */
batch_dataListener reader_listener =
new batch_dataListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader_with_profile(
topic,
library_name, profile_name,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"batch_data subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}