static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
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 --- //
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 DynamicData using TypeCode from Shapes.cxx
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null) {
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null) {
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic name.
* In the Shapes example: we are subscribing to a Square, wich is the
* topic name. If you want to publish other shapes (Triangle or Circle),
* you just need to update the topic name.
*/
DDS.Topic topic = participant.create_topic(
"Square",
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 */
ShapeTypeListener reader_listener =
new ShapeTypeListener();
/* First, we create a generic DataReader for our topic */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
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(
"ShapeType subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
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 --- //
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null) {
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create DynamicData using TypeCode from Shapes.cpp
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null) {
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null) {
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic
* name.
* In the Shapes example: we are publishing a Square, which is the
* topic name. If you want to publish other shapes (Triangle or
* Circle), you just need to update the topic name. */
DDS.Topic topic = participant.create_topic(
"Square",
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 --- //
/* First, we create a generic DataWriter for our topic */
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");
}
/* Then, to use DynamicData, we need to assign the generic
* DataWriter to a DynamicDataWriter, using a casting. The follow
* casting should never fail.
*/
DDS.DynamicDataWriter DynamicData_writer =
(DDS.DynamicDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
DDS.DynamicData data = type_support.create_data();
if (data == null) {
shutdown(participant);
throw new ApplicationException(
"ShapeTypeTypeSupport.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 = ShapeType_writer.register_instance(instance);
*/
/*** Shape direction variables ***/
int direction = 1; /* 1 means left to right and -1, right to left */
int x_position = 50; /* 50 is the initial position */
/* Initialize the DynamicData object */
data.set_string("color", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, "BLUE");
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, x_position);
data.set_int("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 100);
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 30);
/* Main loop */
const System.Int32 send_period = 100; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
Console.WriteLine("Sending shapesize {0}", 30 + (count % 20));
Console.WriteLine("Sending x position {0}", x_position);
/* Modify the shapesize from 30 to 50 */
try {
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
30 + (count % 20));
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing shapesize = {1}",
e, 30 + (count %20));
}
/* Modify the position */
try {
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
x_position);
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing x_position = {1}",
e, x_position);
}
/* The x_position will be modified adding or substracting
* 2 to the previous x_position depending on the direction.
*/
x_position += (direction * 2);
/* The x_position will stay between 50 and 150 pixels.
* When the position is greater than 150 'direction' will be
* negative (moving to the left) and when it is lower than 50
* 'direction' will be possitive (moving to the right).
*/
if (x_position >= 150) {
direction = -1;
}
if (x_position <= 50) {
direction = 1;
}
try {
DynamicData_writer.write(data, ref instance_handle);
}
catch(DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
try {
ShapeType_writer.unregister_instance(
instance, ref instance_handle);
} catch(DDS.Exception e) {
Console.WriteLine("unregister instance error: {0}", e);
}
*/
// --- Shutdown --- //
/* Delete data sample */
try {
type_support.delete_data(data);
} catch(DDS.Exception e) {
Console.WriteLine(
"ShapeTypeTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
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 --- //
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 DynamicData using TypeCode from Shapes.cxx
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null)
{
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null)
{
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic name.
* In the Shapes example: we are subscribing to a Square, wich is the
* topic name. If you want to publish other shapes (Triangle or Circle),
* you just need to update the topic name.
*/
DDS.Topic topic = participant.create_topic(
"Square",
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 */
ShapeTypeListener reader_listener =
new ShapeTypeListener();
/* First, we create a generic DataReader for our topic */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
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(
"ShapeType subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
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 --- //
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create DynamicData using TypeCode from Shapes.cpp
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null)
{
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null)
{
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic
* name.
* In the Shapes example: we are publishing a Square, which is the
* topic name. If you want to publish other shapes (Triangle or
* Circle), you just need to update the topic name. */
DDS.Topic topic = participant.create_topic(
"Square",
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 --- //
/* First, we create a generic DataWriter for our topic */
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");
}
/* Then, to use DynamicData, we need to assign the generic
* DataWriter to a DynamicDataWriter, using a casting. The follow
* casting should never fail.
*/
DDS.DynamicDataWriter DynamicData_writer =
(DDS.DynamicDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
DDS.DynamicData data = type_support.create_data();
if (data == null)
{
shutdown(participant);
throw new ApplicationException(
"ShapeTypeTypeSupport.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 = ShapeType_writer.register_instance(instance);
*/
/*** Shape direction variables ***/
int direction = 1; /* 1 means left to right and -1, right to left */
int x_position = 50; /* 50 is the initial position */
/* Initialize the DynamicData object */
data.set_string("color", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, "BLUE");
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, x_position);
data.set_int("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 100);
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 30);
/* Main loop */
const System.Int32 send_period = 100; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Sending shapesize {0}", 30 + (count % 20));
Console.WriteLine("Sending x position {0}", x_position);
/* Modify the shapesize from 30 to 50 */
try {
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
30 + (count % 20));
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing shapesize = {1}",
e, 30 + (count % 20));
}
/* Modify the position */
try {
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
x_position);
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing x_position = {1}",
e, x_position);
}
/* The x_position will be modified adding or substracting
* 2 to the previous x_position depending on the direction.
*/
x_position += (direction * 2);
/* The x_position will stay between 50 and 150 pixels.
* When the position is greater than 150 'direction' will be
* negative (moving to the left) and when it is lower than 50
* 'direction' will be possitive (moving to the right).
*/
if (x_position >= 150)
{
direction = -1;
}
if (x_position <= 50)
{
direction = 1;
}
try {
DynamicData_writer.write(data, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ShapeType_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
type_support.delete_data(data);
} catch (DDS.Exception e) {
Console.WriteLine(
"ShapeTypeTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
