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 topic --- //
/* Register type before creating topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.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 deadline_contentfilter",
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 writer --- //
//// Start changes for Deadline
// Create listener
deadlineListener writer_listener = new deadlineListener();
if (writer_listener == null)
{
shutdown(participant);
throw new ApplicationException("listener instantiation error\n");
}
/* To customize data writer QoS, use
* the configuration file NDDS_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener, /* listener */
DDS.StatusMask.STATUS_MASK_ALL);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter 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_datawriter call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough.
*/
/*
*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* }
* catch(DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error\n", e);
* }
*
* // Set deadline QoS to 1.5 sec
* datawriter_qos.deadline.period.sec = 1;
* datawriter_qos.deadline.period.nanosec = 500000000; // 500ms
*
* // --- Create writer --- //
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos, //DDS.Publisher.DATAWRITER_QOS_DEFAULT,
* writer_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*/
deadline_contentfilterDataWriter deadline_contentfilter_writer =
(deadline_contentfilterDataWriter)writer;
/* Create data sample for writing */
deadline_contentfilter instance0 = deadline_contentfilterTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
deadline_contentfilter instance1 = deadline_contentfilterTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
// Set keys -- we specify 'code' as the key field in the .idl
instance0.code = 0;
instance1.code = 1;
/* 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_handle0 =
DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t instance_handle1 =
DDS.InstanceHandle_t.HANDLE_NIL;
instance_handle0 = deadline_contentfilter_writer.register_instance(instance0);
instance_handle1 = deadline_contentfilter_writer.register_instance(instance1);
const System.Int32 send_period = 1000; // milliseconds
instance0.x = instance0.y = instance1.x = instance1.y = 0;
int writeTimes = 15;
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("Writing deadline, count {0}", count);
/* Modify the data to be sent here */
instance0.x++;
instance0.y++;
instance1.x++;
instance1.y++;
Console.WriteLine("Writing instance0, x = {0}, y = {1}\n",
instance0.x, instance0.y);
try
{
deadline_contentfilter_writer.write(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if (count < writeTimes)
{
Console.WriteLine("Writing instance1, x = {0}, y = {1}\n",
instance1.x, instance1.y);
try
{
deadline_contentfilter_writer.write(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
}
else if (count == writeTimes)
{
Console.WriteLine("Stopping writes to instance1\n");
}
System.Threading.Thread.Sleep(send_period);
}
// Unregister the instances
try
{
deadline_contentfilter_writer.unregister_instance(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
try
{
deadline_contentfilter_writer.unregister_instance(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try
{
deadline_contentfilterTypeSupport.delete_data(instance0);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
try
{
deadline_contentfilterTypeSupport.delete_data(instance1);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
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 topic --- //
/* Register type before creating topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.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 deadline_contentfilter",
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 writer --- //
//// Start changes for Deadline
// Create listener
deadlineListener writer_listener = new deadlineListener();
if (writer_listener == null) {
shutdown(participant);
throw new ApplicationException("listener instantiation error\n");
}
/* To customize data writer QoS, use
the configuration file NDDS_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener, /* listener */
DDS.StatusMask.STATUS_MASK_ALL);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter 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_datawriter call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough.
*/
/*
DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
try {
publisher.get_default_datawriter_qos(datawriter_qos);
}
catch(DDS.Exception e) {
Console.WriteLine("get_default_datawriter_qos error\n", e);
}
// Set deadline QoS to 1.5 sec
datawriter_qos.deadline.period.sec = 1;
datawriter_qos.deadline.period.nanosec = 500000000; // 500ms
// --- Create writer --- //
DDS.DataWriter writer = publisher.create_datawriter(
topic,
datawriter_qos, //DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (writer == null) {
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
*/
deadline_contentfilterDataWriter deadline_contentfilter_writer =
(deadline_contentfilterDataWriter)writer;
/* Create data sample for writing */
deadline_contentfilter instance0 = deadline_contentfilterTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
deadline_contentfilter instance1 = deadline_contentfilterTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
// Set keys -- we specify 'code' as the key field in the .idl
instance0.code = 0;
instance1.code = 1;
/* 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_handle0 =
DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t instance_handle1 =
DDS.InstanceHandle_t.HANDLE_NIL;
instance_handle0 = deadline_contentfilter_writer.register_instance(instance0);
instance_handle1 = deadline_contentfilter_writer.register_instance(instance1);
const System.Int32 send_period = 1000; // milliseconds
instance0.x = instance0.y = instance1.x = instance1.y = 0;
int writeTimes = 15;
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("Writing deadline, count {0}", count);
/* Modify the data to be sent here */
instance0.x++;
instance0.y++;
instance1.x++;
instance1.y++;
Console.WriteLine("Writing instance0, x = {0}, y = {1}\n",
instance0.x, instance0.y);
try
{
deadline_contentfilter_writer.write(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if (count < writeTimes)
{
Console.WriteLine("Writing instance1, x = {0}, y = {1}\n",
instance1.x, instance1.y);
try
{
deadline_contentfilter_writer.write(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
}
else if (count == writeTimes)
{
Console.WriteLine("Stopping writes to instance1\n");
}
System.Threading.Thread.Sleep(send_period);
}
// Unregister the instances
try
{
deadline_contentfilter_writer.unregister_instance(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
try
{
deadline_contentfilter_writer.unregister_instance(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try
{
deadline_contentfilterTypeSupport.delete_data(instance0);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
try
{
deadline_contentfilterTypeSupport.delete_data(instance1);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
