public void TestBeginEndAccess()
{
// OpenDDS Issue: Coherent sets for PRESENTATION QoS not Currently implemented on RTPS.
// Just prepare the unit test for the moment.
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestNotifyDataReaders), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestNotifyDataReaders), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Topic otherTopic = _participant.CreateTopic("Other" + nameof(TestNotifyDataReaders), typeName);
Assert.IsNotNull(otherTopic);
Assert.IsNull(otherTopic.GetListener());
Assert.AreEqual("Other" + nameof(TestNotifyDataReaders), otherTopic.Name);
Assert.AreEqual(typeName, otherTopic.TypeName);
PublisherQos pubQos = new PublisherQos();
pubQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
pubQos.Presentation.CoherentAccess = true;
pubQos.Presentation.OrderedAccess = true;
Publisher publisher = _participant.CreatePublisher(pubQos);
Assert.IsNotNull(publisher);
DataWriter writer = publisher.CreateDataWriter(topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
DataWriter otherWriter = publisher.CreateDataWriter(otherTopic);
Assert.IsNotNull(otherWriter);
TestStructDataWriter otherDataWriter = new TestStructDataWriter(otherWriter);
SubscriberQos subQos = new SubscriberQos();
subQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.GroupPresentationQos;
subQos.Presentation.CoherentAccess = true;
subQos.Presentation.OrderedAccess = true;
MySubscriberListener listener = new MySubscriberListener();
listener.DataOnReaders += (sub) =>
{
result = sub.BeginAccess();
Assert.AreEqual(ReturnCode.Ok, result);
List <DataReader> list = new List <DataReader>();
result = sub.GetDataReaders(list);
// Here we should check that we received two DataReader
// read the data of each one and confirm tha the group coherent access
// is working as expected.
result = sub.EndAccess();
Assert.AreEqual(ReturnCode.Ok, result);
};
Subscriber subscriber = _participant.CreateSubscriber(subQos, listener);
Assert.IsNotNull(subscriber);
DataReader reader = subscriber.CreateDataReader(topic);
Assert.IsNotNull(reader);
TestStructDataReader dataReader = new TestStructDataReader(reader);
DataReader otherReader = subscriber.CreateDataReader(otherTopic);
Assert.IsNotNull(otherReader);
TestStructDataReader otherDataReader = new TestStructDataReader(otherReader);
// Call EndAccess without calling first BeginAccess
result = subscriber.EndAccess();
Assert.AreEqual(ReturnCode.PreconditionNotMet, result);
// Publish a samples in both topics
result = publisher.BeginCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.Write(new TestStruct
{
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
result = otherDataWriter.Write(new TestStruct
{
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
result = publisher.EndCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
// Give some time to the subscriber to process the messages
System.Threading.Thread.Sleep(500);
}
public static void DataAvailable(DataReader reader)
{
try
{
TestStructDataReader dr = new TestStructDataReader(reader);
List <TestStruct> samples = new List <TestStruct>();
List <SampleInfo> infos = new List <SampleInfo>();
ReturnCode error = dr.Read(samples, infos);
if ((error == ReturnCode.Ok))
{
for (int i = 0; i < samples.Count; i++)
{
SampleInfo info = infos[i];
TestStruct sample = samples[i];
if (info.ValidData)
{
Console.WriteLine();
Console.WriteLine("RawData:");
Console.WriteLine(sample.RawData);
Console.WriteLine();
Console.WriteLine("LongDoubleType:");
Console.WriteLine(sample.LongDoubleType);
Console.WriteLine();
Console.WriteLine("LongSequence:");
foreach (int l in sample.LongSequence)
{
Console.WriteLine(l);
}
Console.WriteLine();
Console.WriteLine("StringSequence:");
foreach (string s in sample.StringSequence)
{
Console.WriteLine(s);
}
Console.WriteLine();
Console.WriteLine("StructSequence:");
foreach (BasicTestStruct s in sample.StructSequence)
{
Console.WriteLine(s.Id);
}
Console.WriteLine();
Console.WriteLine("LongDoubleSequence:");
foreach (double ld in sample.LongDoubleSequence)
{
Console.WriteLine(ld);
}
Console.WriteLine();
Console.WriteLine("LongArray:");
foreach (int l in sample.LongArray)
{
Console.WriteLine(l);
}
Console.WriteLine();
Console.WriteLine("StringArray:");
foreach (string s in sample.StringArray)
{
Console.WriteLine(s);
}
Console.WriteLine();
Console.WriteLine("StructArray:");
foreach (BasicTestStruct s in sample.StructArray)
{
Console.WriteLine(s.Id);
}
Console.WriteLine();
Console.WriteLine("LongDoubleArray:");
foreach (double d in sample.LongDoubleArray)
{
Console.WriteLine(d);
}
Console.WriteLine();
}
}
}
}
catch (System.Exception ex)
{
System.Console.Write(ex);
}
}
public void TestGetDataReaders()
{
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestNotifyDataReaders), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestNotifyDataReaders), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Topic otherTopic = _participant.CreateTopic("Other" + nameof(TestNotifyDataReaders), typeName);
Assert.IsNotNull(otherTopic);
Assert.IsNull(otherTopic.GetListener());
Assert.AreEqual("Other" + nameof(TestNotifyDataReaders), otherTopic.Name);
Assert.AreEqual(typeName, otherTopic.TypeName);
Publisher publisher = _participant.CreatePublisher();
Assert.IsNotNull(publisher);
DataWriter writer = publisher.CreateDataWriter(topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
DataWriter otherWriter = publisher.CreateDataWriter(otherTopic);
Assert.IsNotNull(otherWriter);
TestStructDataWriter otherDataWriter = new TestStructDataWriter(otherWriter);
Subscriber subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReader reader = subscriber.CreateDataReader(topic);
Assert.IsNotNull(reader);
TestStructDataReader dataReader = new TestStructDataReader(reader);
DataReader otherReader = subscriber.CreateDataReader(otherTopic);
Assert.IsNotNull(otherReader);
TestStructDataReader otherDataReader = new TestStructDataReader(otherReader);
// Check that the GetDataReaders without sending any sample
List <DataReader> list = new List <DataReader>();
result = subscriber.GetDataReaders(list);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(0, list.Count);
// Publish in the topic and check again
result = dataWriter.Write(new TestStruct
{
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
result = subscriber.GetDataReaders(list);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(1, list.Count);
// Publish in the otherTopic and check again
result = otherDataWriter.Write(new TestStruct
{
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
result = subscriber.GetDataReaders(list, SampleStateKind.NotReadSampleState | SampleStateKind.ReadSampleState, ViewStateMask.AnyViewState, InstanceStateMask.AnyInstanceState);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(2, list.Count);
// Take from both DataReaders and check again
List <TestStruct> received = new List <TestStruct>();
List <SampleInfo> sampleInfos = new List <SampleInfo>();
result = dataReader.Take(received, sampleInfos);
Assert.AreEqual(ReturnCode.Ok, result);
result = otherDataReader.Take(received, sampleInfos);
Assert.AreEqual(ReturnCode.Ok, result);
result = subscriber.GetDataReaders(list);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(0, list.Count);
// Test GetDataReaders with null parameter
result = subscriber.GetDataReaders(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}
private static void TestSubscriber(DomainParticipant participant)
{
Console.WriteLine("Starting applicattion as Subscriber...");
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new ApplicationException("Subscriber could not be created.");
}
Console.WriteLine("Creating Topic...");
Topic topic = CreateTestTopic(participant);
Console.WriteLine("Creating DataReader...");
DataReaderQos qos = new DataReaderQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
DataReader dr = subscriber.CreateDataReader(topic, qos);
if (dr == null)
{
Console.WriteLine("DataReader could not be created.");
throw new ApplicationException("DataReader could not be created.");
}
Console.WriteLine("DataReader created...");
TestStructDataReader dataReader = new TestStructDataReader(dr);
Console.WriteLine("Waiting for sample with default values...");
List <TestStruct> received = new List <TestStruct>();
List <SampleInfo> sampleInfo = new List <SampleInfo>();
ReturnCode ret = dataReader.Take(received, sampleInfo);
while (ret != ReturnCode.Ok)
{
Thread.Sleep(100);
ret = dataReader.Take(received, sampleInfo);
}
if (received.Count > 0)
{
PrintReceivedSample(received[0]);
}
Console.WriteLine("Waiting for sample with custom values...");
if (received.Count < 2)
{
received = new List <TestStruct>();
sampleInfo = new List <SampleInfo>();
ret = dataReader.Take(received, sampleInfo);
while (ret != ReturnCode.Ok)
{
Thread.Sleep(100);
ret = dataReader.Take(received, sampleInfo);
}
if (received.Count > 0)
{
PrintReceivedSample(received[0]);
}
}
else
{
PrintReceivedSample(received[1]);
}
}
public void TestDispose()
{
// Initialize entities
Duration duration = new Duration {
Seconds = 5
};
DataWriterQos qos = new DataWriterQos();
qos.WriterDataLifecycle.AutodisposeUnregisteredInstances = false;
DataWriter writer = _publisher.CreateDataWriter(_topic, qos);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
Subscriber subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = new DataReaderQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
MyDataReaderListener listener = new MyDataReaderListener();
DataReader dataReader = subscriber.CreateDataReader(_topic, drQos, listener);
Assert.IsNotNull(dataReader);
int count = 0;
Timestamp timestamp = default;
listener.DataAvailable += (reader) =>
{
List <TestStruct> samples = new List <TestStruct>();
List <SampleInfo> infos = new List <SampleInfo>();
TestStructDataReader dr = new TestStructDataReader(reader);
ReturnCode ret = dr.Take(samples, infos);
if (ret == ReturnCode.Ok)
{
foreach (var info in infos)
{
if (info.InstanceState == InstanceStateKind.NotAliveDisposedInstanceState)
{
count++;
if (count == 3)
{
timestamp = infos.First().SourceTimestamp;
}
}
}
}
};
// Wait for discovery
writer.WaitForSubscriptions(1, 1000);
dataReader.WaitForPublications(1, 1000);
// Dispose an instance that does not exist
ReturnCode result = dataWriter.Dispose(new TestStruct {
Id = 1
}, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.Error, result);
// Call dispose with the simplest overload
TestStruct instance1 = new TestStruct {
Id = 1
};
result = dataWriter.Write(instance1);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
Assert.AreEqual(0, count);
result = dataWriter.Dispose(instance1);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
Assert.AreEqual(1, count);
// Call dispose with the handle parameter
TestStruct instance2 = new TestStruct {
Id = 2
};
InstanceHandle handle2 = dataWriter.RegisterInstance(instance2);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle2);
result = dataWriter.Write(instance2, handle2);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
Assert.AreEqual(1, count);
result = dataWriter.Dispose(instance2, handle2);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
Assert.AreEqual(2, count);
// Call dispose with the handle parameter and specific timestamp
Timestamp now = DateTime.Now.ToTimestamp();
TestStruct instance3 = new TestStruct {
Id = 3
};
InstanceHandle handle3 = dataWriter.RegisterInstance(instance3);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle3);
result = dataWriter.Write(instance3, handle3);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
Assert.AreEqual(2, count);
result = dataWriter.Dispose(instance3, handle3, now);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(100);
Assert.AreEqual(3, count);
Assert.AreEqual(now.Seconds, timestamp.Seconds);
Assert.AreEqual(now.NanoSeconds, timestamp.NanoSeconds);
}
public void TestWrite()
{
// Initialize entities
Duration duration = new Duration {
Seconds = 5
};
DataWriter writer = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
Subscriber subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos qos = new DataReaderQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
MyDataReaderListener listener = new MyDataReaderListener();
DataReader dataReader = subscriber.CreateDataReader(_topic, qos, listener);
Assert.IsNotNull(dataReader);
int count = 0;
Timestamp timestamp = default;
ReturnCode retReadInstance = ReturnCode.Error;
InstanceHandle lookupHandle = InstanceHandle.HandleNil;
List <TestStruct> samples = new List <TestStruct>();
List <SampleInfo> infos = new List <SampleInfo>();
listener.DataAvailable += (reader) =>
{
count++;
if (count == 4)
{
TestStructDataReader dr = new TestStructDataReader(reader);
lookupHandle = dr.LookupInstance(new TestStruct {
Id = count
});
retReadInstance = dr.ReadInstance(samples, infos, lookupHandle);
if (retReadInstance == ReturnCode.Ok && infos != null && infos.Count == 1)
{
timestamp = infos.First().SourceTimestamp;
}
}
};
// Wait for discovery
writer.WaitForSubscriptions(1, 1000);
// Write an instance with the simplest overload
ReturnCode result = dataWriter.Write(new TestStruct {
Id = 1
});
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(10);
Assert.AreEqual(1, count);
// Write an instance with the handle parameter as HandleNil
result = dataWriter.Write(new TestStruct {
Id = 2
}, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(10);
Assert.AreEqual(2, count);
// Write an instance with the handle parameter with a previously registered instance
TestStruct instance = new TestStruct {
Id = 3
};
InstanceHandle handle = dataWriter.RegisterInstance(instance);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
result = dataWriter.Write(instance, handle);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(10);
Assert.AreEqual(3, count);
// Write an instance with the handle parameter and the timestamp
Timestamp now = DateTime.Now.ToTimestamp();
TestStruct instance1 = new TestStruct {
Id = 4
};
InstanceHandle handle1 = dataWriter.RegisterInstance(instance1);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle1);
result = dataWriter.Write(instance1, handle1, now);
Assert.AreEqual(ReturnCode.Ok, result);
result = dataWriter.WaitForAcknowledgments(duration);
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(10);
Assert.AreEqual(4, count);
Assert.AreNotEqual(InstanceHandle.HandleNil, lookupHandle);
Assert.AreEqual(ReturnCode.Ok, retReadInstance);
Assert.IsNotNull(infos);
Assert.AreEqual(1, infos.Count);
Assert.AreEqual(now.Seconds, timestamp.Seconds);
Assert.AreEqual(now.NanoSeconds, timestamp.NanoSeconds);
}
public void TestBeginEndCoherentChanges()
{
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestBeginEndCoherentChanges), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestBeginEndCoherentChanges), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
PublisherQos pQos = new PublisherQos();
pQos.Presentation.CoherentAccess = true;
pQos.Presentation.OrderedAccess = true;
pQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.TopicPresentationQos;
Publisher publisher = _participant.CreatePublisher(pQos);
Assert.IsNotNull(publisher);
SubscriberQos sQos = new SubscriberQos();
sQos.Presentation.CoherentAccess = true;
sQos.Presentation.OrderedAccess = true;
sQos.Presentation.AccessScope = PresentationQosPolicyAccessScopeKind.TopicPresentationQos;
Subscriber subscriber = _participant.CreateSubscriber(sQos);
Assert.IsNotNull(subscriber);
DataWriter writer = publisher.CreateDataWriter(topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
DataReaderQos drQos = new DataReaderQos();
drQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
drQos.History.Kind = HistoryQosPolicyKind.KeepAllHistoryQos;
DataReader reader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(reader);
TestStructDataReader dataReader = new TestStructDataReader(reader);
// Call EndCoherentChanges without calling first SuspendPublications
result = publisher.EndCoherentChanges();
Assert.AreEqual(ReturnCode.PreconditionNotMet, result);
// Begin coherent access and write samples
result = publisher.BeginCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
for (int i = 1; i <= 5; i++)
{
TestStruct sample = new TestStruct
{
Id = i,
ShortType = (short)i
};
InstanceHandle handle = dataWriter.RegisterInstance(sample);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
result = dataWriter.Write(sample, handle);
Assert.AreEqual(ReturnCode.Ok, result);
}
System.Threading.Thread.Sleep(500);
// Check that not samples arrived
List <TestStruct> data = new List <TestStruct>();
List <SampleInfo> sampleInfos = new List <SampleInfo>();
#region OpenDDS Issue
// Coherent sets for PRESENTATION QoS not Currently implemented on RTPS
//result = dataReader.Read(data, sampleInfos);
//Assert.AreEqual(ReturnCode.NoData, result);
#endregion
// End coherent access and check the samples
result = publisher.EndCoherentChanges();
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(500);
data = new List <TestStruct>();
sampleInfos = new List <SampleInfo>();
result = dataReader.Read(data, sampleInfos);
Assert.AreEqual(ReturnCode.Ok, result);
for (int i = 0; i < data.Count; i++)
{
Assert.IsTrue(sampleInfos[i].ValidData);
Assert.AreEqual(i + 1, data[i].Id);
Assert.AreEqual(i + 1, data[i].ShortType);
}
}
public void TestSuspendResumePublications()
{
// Initialize entities
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(_participant, typeName);
Assert.AreEqual(ReturnCode.Ok, result);
Topic topic = _participant.CreateTopic(nameof(TestSuspendResumePublications), typeName);
Assert.IsNotNull(topic);
Assert.IsNull(topic.GetListener());
Assert.AreEqual(nameof(TestSuspendResumePublications), topic.Name);
Assert.AreEqual(typeName, topic.TypeName);
Publisher publisher = _participant.CreatePublisher();
Assert.IsNotNull(publisher);
Subscriber subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataWriter writer = publisher.CreateDataWriter(topic);
Assert.IsNotNull(writer);
TestStructDataWriter dataWriter = new TestStructDataWriter(writer);
DataReaderQos drQos = new DataReaderQos();
drQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
drQos.History.Kind = HistoryQosPolicyKind.KeepAllHistoryQos;
DataReader reader = subscriber.CreateDataReader(topic, drQos);
Assert.IsNotNull(reader);
TestStructDataReader dataReader = new TestStructDataReader(reader);
// Call ResumePublications without calling first SuspendPublications
result = publisher.ResumePublications();
Assert.AreEqual(ReturnCode.PreconditionNotMet, result);
// Suspend publications and write samples
result = publisher.SuspendPublications();
Assert.AreEqual(ReturnCode.Ok, result);
for (int i = 1; i <= 5; i++)
{
// OpenDDS issue: cannot register more than one instance during SuspendPublications.
// Looks like that the control messages are never delivered and the controlTracker never get free during delete_datawriter
TestStruct sample = new TestStruct
{
Id = 1,
ShortType = (short)i
};
InstanceHandle handle = dataWriter.RegisterInstance(sample);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
result = dataWriter.Write(sample, handle);
Assert.AreEqual(ReturnCode.Ok, result);
}
System.Threading.Thread.Sleep(500);
// Check that not samples arrived
List <TestStruct> data = new List <TestStruct>();
List <SampleInfo> sampleInfos = new List <SampleInfo>();
result = dataReader.Read(data, sampleInfos);
Assert.AreEqual(ReturnCode.NoData, result);
// Resume publication and check the samples
result = publisher.ResumePublications();
Assert.AreEqual(ReturnCode.Ok, result);
System.Threading.Thread.Sleep(500);
data = new List <TestStruct>();
sampleInfos = new List <SampleInfo>();
result = dataReader.Read(data, sampleInfos);
Assert.AreEqual(ReturnCode.Ok, result);
for (int i = 0; i < data.Count; i++)
{
Assert.IsTrue(sampleInfos[i].ValidData);
Assert.AreEqual(i + 1, data[i].ShortType);
}
}
