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;
}
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;
}
