static void subscribe(int domain_id, int sample_count)
{
/* Auxiliary variables */
String odd_string = "'ODD'";
String even_string = "'EVEN'";
// --- 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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = waitset_query_condTypeSupport.get_type_name();
try {
waitset_query_condTypeSupport.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 waitset_query_cond",
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 --- //
/* 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,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
waitset_query_condDataReader waitset_query_cond_reader =
(waitset_query_condDataReader)reader;
/* Create query condition */
DDS.StringSeq query_parameters = new DDS.StringSeq(1);
query_parameters.ensure_length(1, 1);
/* The initial value of the parameters is EVEN string */
query_parameters.set_at(0, even_string);
String query_expression = "name MATCH %0";
DDS.QueryCondition query_condition =
waitset_query_cond_reader.create_querycondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE,
query_expression,
query_parameters);
if (query_condition == null)
{
shutdown(participant);
throw new ApplicationException("create_querycondition error");
}
DDS.WaitSet waitset = new DDS.WaitSet();
if (waitset == null)
{
shutdown(participant);
throw new ApplicationException("create waitset error");
}
/* Attach Query Conditions */
try {
waitset.attach_condition((DDS.Condition)query_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_condition error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t wait_timeout;
wait_timeout.nanosec = (uint)500000000;
wait_timeout.sec = 1;
Console.WriteLine("\n>>>Timeout: {0} sec",
wait_timeout.sec, wait_timeout.nanosec);
Console.WriteLine(">>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine("---------------------------------\n");
// --- Wait for data --- //
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7)
{
query_parameters.set_at(0, odd_string);
Console.WriteLine("CHANGING THE QUERY CONDITION");
Console.WriteLine("\n>>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine(">>> We keep one sample in the history");
Console.WriteLine("-------------------------------------\n");
query_condition.set_query_parameters(query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout
* expires.
*/
try {
waitset.wait(active_conditions_seq, wait_timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
waitset_query_condSeq data_seq = new waitset_query_condSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
bool follow = true;
while (follow)
{
try {
waitset_query_cond_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_condition);
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitset_query_condTypeSupport.print_data(
data_seq.get_at(i));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitset_query_cond_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
/* Auxiliary variables */
String odd_string = "'ODD'";
String even_string = "'EVEN'";
// --- 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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = waitset_query_condTypeSupport.get_type_name();
try {
waitset_query_condTypeSupport.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 waitset_query_cond",
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 --- //
/* 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,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
waitset_query_condDataReader waitset_query_cond_reader =
(waitset_query_condDataReader)reader;
/* Create query condition */
DDS.StringSeq query_parameters = new DDS.StringSeq(1);
query_parameters.ensure_length(1, 1);
/* The initial value of the parameters is EVEN string */
query_parameters.set_at(0, even_string);
String query_expression = "name MATCH %0";
DDS.QueryCondition query_condition =
waitset_query_cond_reader.create_querycondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE,
query_expression,
query_parameters);
if (query_condition == null) {
shutdown(participant);
throw new ApplicationException("create_querycondition error");
}
DDS.WaitSet waitset = new DDS.WaitSet();
if (waitset == null) {
shutdown(participant);
throw new ApplicationException("create waitset error");
}
/* Attach Query Conditions */
try {
waitset.attach_condition((DDS.Condition)query_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_condition error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t wait_timeout;
wait_timeout.nanosec = (uint)500000000;
wait_timeout.sec = 1;
Console.WriteLine("\n>>>Timeout: {0} sec",
wait_timeout.sec, wait_timeout.nanosec);
Console.WriteLine(">>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine("---------------------------------\n");
// --- Wait for data --- //
/* Main loop */
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7) {
query_parameters.set_at(0,odd_string);
Console.WriteLine("CHANGING THE QUERY CONDITION");
Console.WriteLine("\n>>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine(">>> We keep one sample in the history");
Console.WriteLine("-------------------------------------\n");
query_condition.set_query_parameters(query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout
* expires.
*/
try {
waitset.wait(active_conditions_seq, wait_timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
waitset_query_condSeq data_seq = new waitset_query_condSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
bool follow = true;
while (follow) {
try {
waitset_query_cond_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_condition);
for (int i = 0; i < data_seq.length; ++i) {
if (!info_seq.get_at(i).valid_data) {
Console.WriteLine("Got metadata");
continue;
}
waitset_query_condTypeSupport.print_data(
data_seq.get_at(i));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitset_query_cond_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
