static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the 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 subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
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");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_subscriber call above.
*/
// Start changes for coherent_presentation
/* Get default publisher QoS to customize */
/* DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
* participant.get_default_subscriber_qos(subscriber_qos);
*
* subscriber_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* subscriber_qos.presentation.coherent_access = true;
*
* DDS.Subscriber subscriber = participant.create_subscriber(
* subscriber_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (subscriber == null) {
* shutdown(participant);
* throw new ApplicationException("create_subscriber error");
* }
*
*/ // End changes for coherent_presentation
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = coherentTypeSupport.get_type_name();
try {
coherentTypeSupport.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 coherent",
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 */
coherentListener reader_listener =
new coherentListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
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");
}
// Start changes for coherent_presentation
/* Get default datareader QoS to customize */
/* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(datareader_qos);
*
* datareader_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datareader_qos.history.depth = 10;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* datareader_qos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null) {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* }
*/ // End changes for coherent_presentation
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void subscribe( int domain_id, int sample_count )
{
// --- Create participant --- //
/* To customize the 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 subscriber --- //
/* To customize the subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
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");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_subscriber call above.
*/
// Start changes for coherent_presentation
/* Get default publisher QoS to customize */
/* DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
participant.get_default_subscriber_qos(subscriber_qos);
subscriber_qos.presentation.access_scope =
DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
subscriber_qos.presentation.coherent_access = true;
DDS.Subscriber subscriber = participant.create_subscriber(
subscriber_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
*/ // End changes for coherent_presentation
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = coherentTypeSupport.get_type_name();
try {
coherentTypeSupport.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 coherent",
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 */
coherentListener reader_listener =
new coherentListener();
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
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");
}
// Start changes for coherent_presentation
/* Get default datareader QoS to customize */
/* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(datareader_qos);
datareader_qos.reliability.kind =
DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
datareader_qos.history.depth = 10;
DDS.DataReader reader = subscriber.create_datareader(
topic,
datareader_qos,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
*/ // End changes for coherent_presentation
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
