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(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create ande Delete Inconsistent Topic
* ---------------------------------------------------------------
* Here we create an inconsistent topic to trigger the subscriber
* application's callback.
* The inconsistent topic is created with the topic name used in
* the Subscriber application, but with a different data type --
* the msg data type defined in partitions.idl.
* Once it is created, we sleep to ensure the applications discover
* each other and delete the Data Writer and Topic.
*/
/* First we register the msg type -- we name it
* inconsistent_topic_type_name to avoid confusion.
*/
Console.WriteLine("Creating Inconsistent Topic...");
System.String inconsistent_type_name = msgTypeSupport.get_type_name();
try
{
msgTypeSupport.register_type(participant, inconsistent_type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
DDS.Topic inconsistent_topic = participant.create_topic(
"Example listeners",
inconsistent_type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (inconsistent_topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* We have to associate a writer to the topic, as Topic information is not
* actually propagated until the creation of an associated writer.
*/
DDS.DataWriter inconsistent_writer = publisher.create_datawriter(
inconsistent_topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (inconsistent_writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
msgDataWriter msg_writer = (msgDataWriter)inconsistent_writer;
// Sleep to leave time for applications to discover each other
const System.Int32 sleep_period = 2000; //millseconds
System.Threading.Thread.Sleep(sleep_period);
try
{
publisher.delete_datawriter(ref inconsistent_writer);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_datawriter error {0}", e);
shutdown(participant);
return;
}
try
{
participant.delete_topic(ref inconsistent_topic);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_topic error {0}", e);
shutdown(participant);
return;
}
Console.WriteLine("... Deleted Inconsistent Topic\n");
/* Create Consistent Topic
* -----------------------------------------------------------------
* Once we have created the inconsistent topic with the wrong type,
* we create a topic with the right type name -- listeners -- that we
* will use to publish data.
*/
/* Register type before creating topic */
System.String type_name = listenersTypeSupport.get_type_name();
try
{
listenersTypeSupport.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 listeners",
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");
}
/* We will use the Data Writer Listener defined above to print
* a message when some of events are triggered in the DataWriter.
* To do that, first we have to pass the writer_listener and then
* we have to enable all status in the status mask.
*/
DataWriterListener writer_listener = new DataWriterListener();
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (writer == null)
{
shutdown(participant);
writer_listener = null;
throw new ApplicationException("create_datawriter error");
}
listenersDataWriter listeners_writer =
(listenersDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
listeners instance = listenersTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
writer_listener = null;
throw new ApplicationException(
"listenersTypeSupport.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 = listeners_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing listeners, count {0}", count);
/* Modify the data to be sent here */
instance.x = (short)count;
try
{
listeners_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* listeners_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
listenersTypeSupport.delete_data(instance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"listenersTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
writer_listener = null;
}