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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = waitsetsTypeSupport.get_type_name();
try {
waitsetsTypeSupport.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 waitsets",
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_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change the DataReader'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_datareader call above.
*
* In this case, we reduce the liveliness timeout period to trigger the
* StatusCondition DDS.StatusKind.LIVELINESS_CHANGED_STATUS
*/
/*
* DDS.DataReaderQos datawriter_qos = new DDS.DataReaderQos();
* try {
* subscriber.get_default_datareader_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
* datawriter_qos.liveliness.lease_duration.sec = 2;
* datawriter_qos.liveliness.lease_duration.nanosec = 0;
*
* reader = subscriber.create_datareader(topic, datawriter_qos,
* null, DDS.StatusMask.STATUS_MASK_NONE);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter_qos error");
* }
*/
/* Create read condition
* ---------------------
* Note that the Read Conditions are dependent on both incoming
* data as well as sample state. Thus, this method has more
* overhead than adding a DDS.StatusKind.DATA_AVAILABLE_STATUS
* StatusCondition. We show it here purely for reference
*/
DDS.ReadCondition read_condition = reader.create_readcondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
if (read_condition == null)
{
shutdown(participant);
throw new ApplicationException("create_readcondition error");
}
/* Get status conditions
* ---------------------
* Each entity may have an attached Status Condition. To modify the
* statuses we need to get the reader's Status Conditions first.
*/
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.get_entity() == null)
{
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* statuses we are interested in:
* DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS
* and DDS.StatusKind.LIVELINESS_CHANGED_STATUS.
*/
try {
status_condition.set_enabled_statuses(
DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(DDS.StatusMask)DDS.StatusKind.LIVELINESS_CHANGED_STATUS);
} catch (DDS.Exception e) {
Console.WriteLine("set_enabled_statuses error {0}", e);
shutdown(participant);
throw e;
}
/* Create and attach conditions to the WaitSet
* -------------------------------------------
* Finally, we create the WaitSet and attach both the Read Conditions
* and the Status Condition to it.
*/
DDS.WaitSet waitset = new DDS.WaitSet();
/* Attach Read Conditions */
try {
waitset.attach_condition(read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_read_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Attach Status Conditions */
try {
waitset.attach_condition(status_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_status_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Narrow the reader into your specific data type */
waitsetsDataReader waitsets_reader =
(waitsetsDataReader)reader;
/* Main loop */
for (int count = 0; (sample_count == 0) || (count < sample_count);
++count)
{
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* 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, 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;
}
/* Get the number of active conditions */
int active_conditions = active_conditions_seq.length;
Console.WriteLine("Got {0} active conditions", active_conditions);
for (int i = 0; i < active_conditions; i++)
{
/* Now we compare the current condition with the Status
* Conditions and the Read Conditions previously defined. If
* they match, we print the condition that was triggered.*/
/* Compare with Status Conditions */
if (active_conditions_seq.get_at(i) == status_condition)
{
/* Get the status changes so we can check which status
* condition triggered. */
DDS.StatusMask triggeredmask =
waitsets_reader.get_status_changes();
/* Liveliness changed */
DDS.StatusMask test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
LIVELINESS_CHANGED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE)
{
DDS.LivelinessChangedStatus st =
new DDS.LivelinessChangedStatus();
waitsets_reader.get_liveliness_changed_status(ref st);
Console.WriteLine("Liveliness changed => " +
"Active writers = {0}", st.alive_count);
}
/* Subscription matched */
test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
SUBSCRIPTION_MATCHED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE)
{
DDS.SubscriptionMatchedStatus st =
new DDS.SubscriptionMatchedStatus();
waitsets_reader.get_subscription_matched_status(ref st);
Console.WriteLine("Subscription matched => " +
"Cumulative matches = {0}", st.total_count);
}
}
/* Compare with Read Conditions */
else if (active_conditions_seq.get_at(i) == read_condition)
{
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitsetsSeq data_seq = new waitsetsSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
/* You may want to call take_w_condition() or
* read_w_condition() on the Data Reader. This way you will
* use the same status masks that were set on the Read
* Condition.
* This is just a suggestion, you can always use
* read() or take() like in any other example.
*/
bool follow = true;
while (follow)
{
try {
waitsets_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
read_condition);
for (int j = 0; j < data_seq.length; ++j)
{
if (!info_seq.get_at(j).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitsetsTypeSupport.print_data(
data_seq.get_at(j));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitsets_reader.return_loan(data_seq, info_seq);
}
}
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
private void receiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
if (_infoSeq.get_at(i).valid_data)
{
var temp = new T();
temp.copy_from(_dataSeq.get_at(i));
_subject.OnNext(temp);
}
else if (_infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
/* FIXME: If the instance comes back online,
* it will break the Rx contract. */
//Console.WriteLine("OnCompleted CALLED FROM LIB CODE on tid "+
//System.Threading.Thread.CurrentThread.ManagedThreadId);
_subject.OnCompleted();
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name =
waitset_statuscondTypeSupport.get_type_name();
try {
waitset_statuscondTypeSupport.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_statuscond",
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_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
// Get narrowed datareader
waitset_statuscondDataReader waitset_reader =
(waitset_statuscondDataReader)reader;
/* Get status conditions
* ---------------------
* Each entity may have an attached Status Condition. To modify the
* statuses we need to get the reader's Status Conditions first.
*/
DDS.StatusCondition status_condition = reader.get_statuscondition();
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* status we are interested in: knowing that data is available
*/
try
{
status_condition.set_enabled_statuses(
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch (DDS.Exception e)
{
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error {0}",
e);
}
/* Create and attach conditions to the WaitSet
* -------------------------------------------
* Finally, we create the WaitSet and attach both the Read Conditions
* and the Status Condition to it.
*/
DDS.WaitSet waitset = new DDS.WaitSet();
/* Attach Status Conditions */
try
{
waitset.attach_condition(status_condition);
}
catch (DDS.Exception e)
{
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error {0}",
e);
}
// --- Wait for data --- //
int count = 0;
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* Main loop */
while (sample_count == 0 || count < sample_count)
{
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
// The triggered condition(s) will be placed in active_conditions
try
{
waitset.wait(active_conditions, timeout);
Console.WriteLine("got {0} active conditions", active_conditions.length);
for (int i = 0; i < active_conditions.length; ++i)
{
/* In this case, we have only a single condition, but
* if we had multiple, we would need to iterate over
* them and check which one is true. Leaving the logic
* for the more complex case. */
if (active_conditions.get_at(i) == status_condition)
{
DDS.StatusMask triggeredmask =
waitset_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitset_statuscondSeq data_seq
= new waitset_statuscondSeq();
DDS.SampleInfoSeq info_seq
= new DDS.SampleInfoSeq();
try
{
/* Access data using read(), take(), etc. If
* you fail to do this the condition will
* remain true, and the WaitSet will wake up
* immediately - causing high CPU usage when it
* does not sleep in the loop */
waitset_reader.take(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
}
catch (DDS.Retcode_NoData e)
{
shutdown(participant);
throw e;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
/* Iterate over returned data. Print the data
* values if it is not metadata.
*/
System.Int32 data_length = data_seq.length;
for (int j = 0; i < data_length; ++i)
{
if (!info_seq.get_at(j).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitset_statuscondTypeSupport.print_data(data_seq.get_at(j));
}
try
{
/* Return the loaned data */
waitset_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
private void receiveData()
{
int count = 0;
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
while (true)
{
try
{
waitset.wait(active_conditions, timeout);
for (int c = 0; c < active_conditions.length; ++c)
{
if (active_conditions.get_at(c) == status_condition)
{
DDS.StatusMask triggeredmask =
reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)reader;
dataReader.take(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
System.Int32 dataLength = dataSeq.length;
for (int i = 0; i < dataLength; ++i)
{
if (infoSeq.get_at(i).valid_data)
{
T temp = new T();
temp.copy_from(dataSeq.get_at(i));
demultiplexer(temp);
}
else if (infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
Console.WriteLine("DDS INSTANCE NOT_ALIVE_DISPOSED_INSTANCE_STATE");
demultiplexer(null);
}
}
dataReader.return_loan(dataSeq, infoSeq);
}
catch (DDS.Retcode_NoData)
{
Console.WriteLine("RETCODE_NODATA");
demultiplexer(null);
return;
}
catch (Exception ex)
{
Console.WriteLine("WaitsetSubscriber: take error {0}", ex);
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
reader.get_subscription_matched_status(ref status);
Console.WriteLine("Subscription matched. current_count = {0}", status.current_count);
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
reader.get_liveliness_changed_status(ref status);
Console.WriteLine("Liveliness changed. alive_count = {0}", status.alive_count);
if (status.alive_count == 0)
{
Console.WriteLine("publisher disconnected");
return;
}
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
reader.get_sample_lost_status(ref status);
Console.WriteLine("Sample lost. Reason = {0}", status.last_reason.ToString());
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
reader.get_sample_rejected_status(ref status);
Console.WriteLine("Sample Rejected. Reason = {0}", status.last_reason.ToString());
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
}
static void subscribe(int domain_id, int sample_count)
{
// --- Register userGenerated datatype ---
DDS.DomainParticipantFactory.get_instance().
register_type_support(
ChatObjectTypeSupport.get_instance(),
"My::Type::Chat::Obj");
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().
create_participant_from_config(
"MyParticipant_Library::MySubscriptionParticipant");
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* Create a data reader listener */
ChatObjectListener reader_listener =
new ChatObjectListener();
// --- Lookup reader --- //
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = participant.lookup_datareader_by_name(
"MySubscriber::ChatObjectReader");
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("lookup_datareader error");
}
/* >>> Setup StatusCondition */
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.Equals(null))
{
Console.WriteLine("get_statuscondition error\n");
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
try {
status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch {
Console.WriteLine("set_enabled_statuses error\n");
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error");
}
/* <<< */
/* >>> Setup WaitSet */
DDS.WaitSet waitset = new DDS.WaitSet();
try {
waitset.attach_condition(status_condition);
}
catch {
// ... error
waitset.Dispose(); waitset = null;
shutdown(participant);
reader_listener.Dispose(); reader_listener = null;
return;
}
// holder for active conditions
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
/* <<< */
// --- 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(
"ChatObject subscriber sleeping ...",
receive_period / 1000);
/* >>> Wait for condition to trigger */
try {
waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
reader_listener.on_data_available(reader);
}
catch {
}
/* <<< */
// System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
}
// --- Shutdown --- //
/* Delete all entities */
waitset.Dispose(); waitset = null; /*>>><<<*/
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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = waitsetsTypeSupport.get_type_name();
try {
waitsetsTypeSupport.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 waitsets",
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_ALL);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change the DataReader'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_datareader call above.
*
* In this case, we reduce the liveliness timeout period to trigger the
* StatusCondition DDS.StatusKind.LIVELINESS_CHANGED_STATUS
*/
/*
DDS.DataReaderQos datawriter_qos = new DDS.DataReaderQos();
try {
subscriber.get_default_datareader_qos(datawriter_qos);
} catch (DDS.Exception e) {
Console.WriteLine("get_default_datareader_qos error {0}", e);
shutdown(participant);
throw e;
}
datawriter_qos.liveliness.lease_duration.sec = 2;
datawriter_qos.liveliness.lease_duration.nanosec = 0;
reader = subscriber.create_datareader(topic, datawriter_qos,
null, DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datawriter_qos error");
}
*/
/* Create read condition
* ---------------------
* Note that the Read Conditions are dependent on both incoming
* data as well as sample state. Thus, this method has more
* overhead than adding a DDS.StatusKind.DATA_AVAILABLE_STATUS
* StatusCondition. We show it here purely for reference
*/
DDS.ReadCondition read_condition = reader.create_readcondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
if (read_condition == null) {
shutdown(participant);
throw new ApplicationException("create_readcondition error");
}
/* Get status conditions
* ---------------------
* Each entity may have an attached Status Condition. To modify the
* statuses we need to get the reader's Status Conditions first.
*/
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.get_entity() == null) {
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* statuses we are interested in:
* DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS
* and DDS.StatusKind.LIVELINESS_CHANGED_STATUS.
*/
try {
status_condition.set_enabled_statuses(
DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS |
(DDS.StatusMask)DDS.StatusKind.LIVELINESS_CHANGED_STATUS);
} catch (DDS.Exception e) {
Console.WriteLine("set_enabled_statuses error {0}", e);
shutdown(participant);
throw e;
}
/* Create and attach conditions to the WaitSet
* -------------------------------------------
* Finally, we create the WaitSet and attach both the Read Conditions
* and the Status Condition to it.
*/
DDS.WaitSet waitset = new DDS.WaitSet();
/* Attach Read Conditions */
try {
waitset.attach_condition(read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_read_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Attach Status Conditions */
try {
waitset.attach_condition(status_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_status_condition error {0}", e);
shutdown(participant);
throw e;
}
/* Narrow the reader into your specific data type */
waitsetsDataReader waitsets_reader =
(waitsetsDataReader)reader;
/* Main loop */
for (int count = 0; (sample_count == 0) || (count < sample_count);
++count) {
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* 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, 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;
}
/* Get the number of active conditions */
int active_conditions = active_conditions_seq.length;
Console.WriteLine("Got {0} active conditions", active_conditions);
for (int i = 0; i < active_conditions; i++) {
/* Now we compare the current condition with the Status
* Conditions and the Read Conditions previously defined. If
* they match, we print the condition that was triggered.*/
/* Compare with Status Conditions */
if (active_conditions_seq.get_at(i) == status_condition) {
/* Get the status changes so we can check which status
* condition triggered. */
DDS.StatusMask triggeredmask =
waitsets_reader.get_status_changes();
/* Liveliness changed */
DDS.StatusMask test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
LIVELINESS_CHANGED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE) {
DDS.LivelinessChangedStatus st =
new DDS.LivelinessChangedStatus();
waitsets_reader.get_liveliness_changed_status(ref st);
Console.WriteLine("Liveliness changed => " +
"Active writers = {0}", st.alive_count);
}
/* Subscription matched */
test = triggeredmask &
(DDS.StatusMask)DDS.StatusKind.
SUBSCRIPTION_MATCHED_STATUS;
if (test != DDS.StatusMask.STATUS_MASK_NONE) {
DDS.SubscriptionMatchedStatus st =
new DDS.SubscriptionMatchedStatus();
waitsets_reader.get_subscription_matched_status(ref st);
Console.WriteLine("Subscription matched => " +
"Cumulative matches = {0}", st.total_count);
}
}
/* Compare with Read Conditions */
else if (active_conditions_seq.get_at(i) == read_condition) {
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitsetsSeq data_seq = new waitsetsSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
/* You may want to call take_w_condition() or
* read_w_condition() on the Data Reader. This way you will
* use the same status masks that were set on the Read
* Condition.
* This is just a suggestion, you can always use
* read() or take() like in any other example.
*/
try {
waitsets_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
read_condition);
} catch (DDS.Exception e) {
Console.WriteLine("take error {0}", e);
break;
}
for (int j = 0; j < data_seq.length; ++j) {
if (!info_seq.get_at(j).valid_data) {
Console.WriteLine("Got metadata");
continue;
}
waitsetsTypeSupport.print_data(data_seq.get_at(i));
}
waitsets_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name =
waitset_statuscondTypeSupport.get_type_name();
try {
waitset_statuscondTypeSupport.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_statuscond",
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_ALL);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
// Get narrowed datareader
waitset_statuscondDataReader waitset_reader =
(waitset_statuscondDataReader)reader;
/* Get status conditions
* ---------------------
* Each entity may have an attached Status Condition. To modify the
* statuses we need to get the reader's Status Conditions first.
*/
DDS.StatusCondition status_condition = reader.get_statuscondition();
/* Set enabled statuses
* --------------------
* Now that we have the Status Condition, we are going to enable the
* status we are interested in: knowing that data is available
*/
try
{
status_condition.set_enabled_statuses(
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch (DDS.Exception e)
{
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error {0}",
e);
}
/* Create and attach conditions to the WaitSet
* -------------------------------------------
* Finally, we create the WaitSet and attach both the Read Conditions
* and the Status Condition to it.
*/
DDS.WaitSet waitset = new DDS.WaitSet();
/* Attach Status Conditions */
try
{
waitset.attach_condition(status_condition);
}
catch (DDS.Exception e)
{
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error {0}",
e);
}
// --- Wait for data --- //
int count = 0;
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* Main loop */
while (sample_count == 0 || count < sample_count)
{
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
// The triggered condition(s) will be placed in active_conditions
try
{
waitset.wait(active_conditions, timeout);
Console.WriteLine("got {0} active conditions", active_conditions.length);
for (int i = 0; i < active_conditions.length; ++i)
{
/* In this case, we have only a single condition, but
if we had multiple, we would need to iterate over
them and check which one is true. Leaving the logic
for the more complex case. */
if (active_conditions.get_at(i) == status_condition)
{
DDS.StatusMask triggeredmask =
waitset_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
/* Current conditions match our conditions to read data, so
* we can read data just like we would do in any other
* example. */
waitset_statuscondSeq data_seq
= new waitset_statuscondSeq();
DDS.SampleInfoSeq info_seq
= new DDS.SampleInfoSeq();
try
{
/* Access data using read(), take(), etc. If
* you fail to do this the condition will
* remain true, and the WaitSet will wake up
* immediately - causing high CPU usage when it
* does not sleep in the loop */
waitset_reader.take(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
}
catch (DDS.Retcode_NoData e)
{
shutdown(participant);
throw e;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
/* Iterate over returned data. Print the data
* values if it is not metadata.
*/
System.Int32 data_length = data_seq.length;
for (int j = 0; i < data_length; ++i)
{
if (!info_seq.get_at(j).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitset_statuscondTypeSupport.print_data(data_seq.get_at(j));
}
try
{
/* Return the loaned data */
waitset_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
// --- 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);
}
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");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = ChatObjectTypeSupport.get_type_name();
try {
ChatObjectTypeSupport.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(
My.CHAT_TOPIC_NAME.VALUE, /*>>><<<*/
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 ContentFiltered Topic */
DDS.StringWrapper[] cft_param_list = new DDS.StringWrapper[] { "'Rajive'", "'Shannon'", "'Jaromy'" };
DDS.StringSeq cft_parameters = new DDS.StringSeq(3);
cft_parameters.from_array(cft_param_list);
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic("Chat/filtered",
topic, "(id = %0 OR id = %1 OR id = %2)",
cft_parameters);
if (cft == null)
{
Console.WriteLine("create_contentfilteredtopic error\n");
shutdown(participant);
throw new ApplicationException("create_contentfilteredtopic error");
}
/* <<< */
// --- Create reader --- //
/* Create a data reader listener */
ChatObjectListener reader_listener =
new ChatObjectListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft, /*>>><<<*/
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null, /*>>><<<*/
DDS.StatusMask.STATUS_MASK_NONE); /*>>><<<*/
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
/* >>> Setup StatusCondition */
DDS.StatusCondition status_condition = reader.get_statuscondition();
if (status_condition.Equals(null))
{
Console.WriteLine("get_statuscondition error\n");
shutdown(participant);
throw new ApplicationException("get_statuscondition error");
}
try {
status_condition.set_enabled_statuses((DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS);
}
catch {
Console.WriteLine("set_enabled_statuses error\n");
shutdown(participant);
throw new ApplicationException("set_enabled_statuses error");
}
/* <<< */
/* >>> Setup WaitSet */
DDS.WaitSet waitset = new DDS.WaitSet();
try {
waitset.attach_condition(status_condition);
}
catch {
// ... error
waitset.Dispose(); waitset = null;
shutdown(participant);
reader_listener.Dispose(); reader_listener = null;
return;
}
// holder for active conditions
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
/* <<< */
// --- 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(
"ChatObject subscriber sleeping ...",
receive_period / 1000);
/* >>> Wait */
/* Wait for condition to trigger */
try {
waitset.wait(active_conditions, DDS.Duration_t.DURATION_INFINITE);
reader_listener.on_data_available(reader);
}
catch {
}
/* <<< */
// System.Threading.Thread.Sleep(receive_period); /*>>><<<*/
}
// --- Shutdown --- //
/* Delete all entities */
waitset.Dispose(); waitset = null; /*>>><<<*/
shutdown(participant);
reader_listener = null;
}
private void ReceiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
DDS.SampleInfo info = _infoSeq.get_at(i);
if (info.valid_data)
{
var data = new T();
data.copy_from(_dataSeq.get_at(i));
var key = _keySelector(data);
DDSKeyedSubject <TKey, T> keyedSubject;
if (!_keyedSubjectDict.ContainsKey(key))
{
keyedSubject = new DDSKeyedSubject <TKey, T>(key, _scheduler);
_keyedSubjectDict.Add(key, keyedSubject);
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
else
{
keyedSubject = _keyedSubjectDict[key];
if (_externalSubDict)
{
if (!_handleKeyDict.ContainsKey(info.instance_handle))
{
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
}
}
keyedSubject.OnNext(data);
}
else if (info.instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
if (_handleKeyDict.ContainsKey(info.instance_handle))
{
var key = _handleKeyDict[info.instance_handle];
if (_keyedSubjectDict.ContainsKey(key))
{
var keyedSub = _keyedSubjectDict[key];
_keyedSubjectDict.Remove(key);
_handleKeyDict.Remove(info.instance_handle);
keyedSub.OnCompleted();
/* FIXME: If the instance comes alive again, it will break the Rx contract */
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: keyedSubDict does not contain key");
}
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: handleKeyDict does not contain info.instance_handle");
}
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
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);
}
