// This gets called when a participant has been discovered
public override void on_data_available(DDS.DataReader reader)
{
DDS.ParticipantBuiltinTopicDataDataReader builtin_reader =
(DDS.ParticipantBuiltinTopicDataDataReader)reader;
string participant_data;
DDS.ParticipantBuiltinTopicData cur_participant_builtin_topic_data;
try {
// We only process newly seen participants
builtin_reader.take(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.NEW_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
for (int i = 0; i < data_seq.length; ++i)
{
DDS.SampleInfo info = (DDS.SampleInfo)info_seq.get_at(i);
if (info.valid_data)
{
participant_data = "nil";
bool is_auth = false;
cur_participant_builtin_topic_data =
(DDS.ParticipantBuiltinTopicData)
data_seq.get_at(i);
// see if there is any participant_data
if (cur_participant_builtin_topic_data.
user_data.value.length > 0)
{
participant_data =
System.Text.Encoding.ASCII.GetString(
cur_participant_builtin_topic_data.
user_data.value.buffer,
0,
cur_participant_builtin_topic_data.
user_data.value.length);
is_auth = (participant_data == auth);
}
Console.WriteLine(
"Built-in Reader: found participant \n\tkey->'" +
cur_participant_builtin_topic_data.key.GetHashCode()
+ "'\n\tuser_data->'" + participant_data + "'");
Console.WriteLine(
"instance_handle: " + info.instance_handle);
if (!is_auth)
{
Console.WriteLine(
"Bad authorization, ignoring participant");
DDS.DomainParticipant participant =
reader.get_subscriber().get_participant();
DDS.InstanceHandle_t temp = info.instance_handle;
participant.ignore_participant(ref temp);
info.instance_handle = temp;
}
}
}
} catch (DDS.Retcode_NoData) {
// No data to process
// This happens when we get announcements from participants we
// already know about
return;
} finally {
builtin_reader.return_loan(data_seq, info_seq);
}
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Start changes for Builtin_Topics */
/* If you want to change the Factory's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the participant call above.
*/
/* By default, the participant is enabled upon construction.
* At that time our listeners for the builtin topics have not
* been installed, so we disable the participant until we
* set up the listeners.
*/
/*
* DDS.DomainParticipantFactoryQos factory_qos =
* new DDS.DomainParticipantFactoryQos();
* DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
* factory_qos.entity_factory.autoenable_created_entities = false;
* DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
*
*/
// If you want to change the Participant's QoS programmatically
// rather than using the XML file, you will need to uncomment the
// following lines and replace in create_participant the argument
// DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT with
// participant_qos
//DDS.DomainParticipantQos participant_qos =
// new DDS.DomainParticipantQos();
//DDS.DomainParticipantFactory.get_instance().
// get_default_participant_qos(participant_qos);
//participant_qos.resource_limits.participant_user_data_max_length = 1024;
/* 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 Exception("create_participant error");
}
// Installing listeners for the builting topics requires several steps
// First get the builting subscriber
DDS.Subscriber builtin_subscriber =
participant.get_builtin_subscriber();
if (builtin_subscriber == null)
{
shutdown(participant);
throw new Exception("create_builtin_subscriber error");
}
/* Then get builtin subscriber's datareader for participants
* The type name is a bit hairy, but can be read right to left:
* DDS.ParticipantBuiltinTopicDataDataReader is a
* DataReader for BuiltinTopicData concerning a discovered
* Participant
*/
DDS.ParticipantBuiltinTopicDataDataReader
builtin_participant_datareader =
(DDS.ParticipantBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.ParticipantBuiltinTopicDataTypeSupport.
PARTICIPANT_TOPIC_NAME);
// Install our listener
BuiltinParticipantListener builtin_participant_listener =
new BuiltinParticipantListener();
try {
builtin_participant_datareader.set_listener(
builtin_participant_listener,
(DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS));
} catch (DDS.Exception e) {
shutdown(participant);
Console.WriteLine("set_listener error: {0}", e);
}
// Get builtin subscriber's datareader for subscribers
DDS.SubscriptionBuiltinTopicDataDataReader
builtin_subscription_datareader =
(DDS.SubscriptionBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.SubscriptionBuiltinTopicDataTypeSupport.
SUBSCRIPTION_TOPIC_NAME);
if (builtin_participant_datareader == null)
{
shutdown(participant);
throw new Exception("lookup_datareader error");
}
// Install our listener
BuiltinSubscriberListener builtin_subscriber_listener =
new BuiltinSubscriberListener();
builtin_subscription_datareader.set_listener(
builtin_subscriber_listener,
(DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS));
/* Done! All the listeners are installed, so we can enable the
* participant now.
*/
participant.enable();
/* End changes for Builtin_Topics */
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
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 Exception("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
string type_name = msgTypeSupport.get_type_name();
try {
msgTypeSupport.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 msg",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new Exception("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,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new Exception("create_datawriter error");
}
msgDataWriter msg_writer = (msgDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
msg instance = msgTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new Exception("msgTypeSupport.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 = msg_writer.register_instance(instance);
*/
/* Main loop */
const int send_period = 1000; // milliseconds
/* Changes for Builtin_Topics */
for (short count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(send_period);
Console.WriteLine("Writing msg, count {0}", count);
/* Modify the data to be sent here */
/* Changes for Builtin_Topics */
instance.x = count;
try {
msg_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
/*
* try {
* msg_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
msgTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine("msgTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
