static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Create participant listener */
ParticipantListener participant_listener = new ParticipantListener();
/* We associate the participant_listener to the participant and set the
* status mask to get all the statuses */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
participant_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (participant == null)
{
shutdown(participant);
participant_listener = null;
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* Create subscriber listener */
SubscriberListener subscriber_listener = new SubscriberListener();
/* Here we associate the subscriber listener to the subscriber and set the
* status mask to get all the statuses */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (subscriber == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = listenersTypeSupport.get_type_name();
try {
listenersTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw e;
}
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example listeners",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
ReaderListener reader_listener = new ReaderListener();
/* Create Status mask to listen just LIVELINESS_CHANGED_STATUS and
* DATA_AVAILABLE_STATUS */
int liveliness_changed_mask = (int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS;
int data_available_changed_mask = (int)DDS.StatusKind.DATA_AVAILABLE_STATUS;
data_available_changed_mask |= liveliness_changed_mask;
DDS.StatusMask combined_status_mask = (DDS.StatusMask)data_available_changed_mask;
/* Here we associate the data reader listener to the reader.
* We just listen for liveliness changed and data available,
* since most specific listeners will get called. */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
combined_status_mask);
if (reader == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
}
public override void on_requested_incompatible_qos(
DDS.DataReader reader,
DDS.RequestedIncompatibleQosStatus status)
{
Console.WriteLine("ParticipantListener: on_requested_incompatible_qos()");
}
public override void on_data_available(
DDS.DataReader reader)
{
Console.WriteLine("SubscriberListener: on_data_available()");
}
public override void on_sample_lost(
DDS.DataReader reader,
ref DDS.SampleLostStatus status)
{
Console.WriteLine("ReaderListener: on_sample_lost()\n");
}
public override void on_sample_lost(
DDS.DataReader reader,
ref DDS.SampleLostStatus status)
{
}
public override void on_data_available(
DDS.DataReader reader)
{
Console.WriteLine("ParticipantListener: on_data_available()");
}
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 = pollTypeSupport.get_type_name();
try {
pollTypeSupport.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 poll",
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");
}
/* If you want to change datareader_qos.history.kind 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. */
/*DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
*
* try
* {
* subscriber.get_default_datareader_qos(datareader_qos);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic, datareader_qos, null,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null) {
* shutdown(participant);
* throw new ApplicationException("create_datareader error");
* }
*/
pollDataReader poll_reader =
(pollDataReader)reader;
// --- Wait for data --- //
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
pollSeq data_seq = new pollSeq();
/* Main loop */
const System.Int32 receive_period = 5000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"poll subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
// --- Polling for data --- ///
/* Check for new data calling the DataReader's take() method */
try
{
poll_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)
{
// Not an error
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the take() method, getting
* the number of samples got and, adding the value of x on each of
* them to calculate the average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).x;
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}", len, sum / len);
}
try
{
poll_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public override void on_sample_rejected(
DDS.DataReader reader,
ref DDS.SampleRejectedStatus status)
{
}
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)
{
// --- 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 --- //
DDS.Duration_t timeout;
timeout.nanosec = (uint)500000000;
timeout.sec = 1;
/* Main loop */
for (int count = 0; (sample_count == 0) || (count < sample_count);
++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);
} 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;
}
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();
/* 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
*/
bool follow = true;
while (follow)
{
try {
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);
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));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
/* Return the loaned data */
waitset_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 = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.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 querycondition",
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 datareader_qos.history 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. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(reader_qos);
*
* reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* reader_qos.history.depth = 6;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* reader_qos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (reader == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("create_datareader error");
* } */
// --- Wait for data --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* 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);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count, int sel_cft)
{
// --- 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 = cftTypeSupport.get_type_name();
try {
cftTypeSupport.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 cft",
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");
}
/* For this filter we only allow 1 parameter */
DDS.StringSeq parameters = new DDS.StringSeq(1);
/* The default parameter list that we will include in the
* sequence of parameters will be "SOME_STRING" */
DDS.StringWrapper[] param_list =
new DDS.StringWrapper[1] {
"SOME_STRING"
};
parameters.from_array(param_list);
DDS.ContentFilteredTopic cft = null;
if (sel_cft == 1)
{
/* create_contentfilteredtopic_with_filter */
cft = participant.create_contentfilteredtopic_with_filter(
"ContentFilteredTopic", topic, "name MATCH %0", parameters,
DDS.DomainParticipant.STRINGMATCHFILTER_NAME);
if (cft == null)
{
shutdown(participant);
throw new ApplicationException(
"create_contentfilteredtopic_with_filter error");
}
}
// --- Create reader --- //
/* Create a data reader listener */
cftListener reader_listener =
new cftListener();
DDS.DataReader reader = null;
if (sel_cft != 0)
{
Console.WriteLine("Using ContentFiltered Topic");
reader = subscriber.create_datareader(cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
Console.WriteLine("Using Normal Topic");
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");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datareader calls above.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* try {
* subscriber.get_default_datareader_qos(datareader_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datareader_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datareader_qos.history.depth = 20;
*
* if (sel_cft != 0) {
* Console.WriteLine("Using ContentFiltered Topic");
* reader = subscriber.create_datareader(cft,
* datareader_qos, reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* } else {
* Console.WriteLine("Using Normal Topic");
* 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");
* }
*
*/
/* Change the filter */
if (sel_cft == 1)
{
Console.WriteLine(">>> Now setting a new filter: name MATCH \"EVEN\"");
try {
cft.append_to_expression_parameter(0, "EVEN");
} catch (DDS.Exception e) {
Console.WriteLine("append_to_expression_parameter error {0}", e);
shutdown(participant);
throw e;
}
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count); ++count)
{
System.Threading.Thread.Sleep(receive_period);
if (sel_cft == 0)
{
continue;
}
if (count == 10)
{
Console.WriteLine("\n===========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Append 'ODD' filter");
Console.WriteLine("===========================");
try {
cft.append_to_expression_parameter(0, "ODD");
} catch (DDS.Exception e) {
Console.WriteLine(
"append_to_expression_parameter error {0}", e);
shutdown(participant);
throw e;
}
}
if (count == 20)
{
Console.WriteLine("\n===========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Removing 'EVEN' filter");
Console.WriteLine("===========================");
try {
cft.remove_from_expression_parameter(0, "EVEN");
} catch (DDS.Exception e) {
Console.WriteLine(
"append_to_expression_parameter error {0}", e);
shutdown(participant);
throw e;
}
}
}
// --- 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 you want to change the DomainParticipant'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_participant call above.
*
* In this case, we set the transport settings in the XML by default, but
* in the createParticipant call, we set up the transport
* properties either using the Properties QoS in code.
*/
/* DDS.DomainParticipant participant = createParticipant(domain_id); */
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
if (checkParticipant(participant) == true)
{
Console.WriteLine("Ok, recv_socket_buffer_size....modified");
Console.WriteLine("Ok, send_socket_buffer_size....modified");
}
// --- 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 = numbersTypeSupport.get_type_name();
try {
numbersTypeSupport.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 numbers",
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 */
numbersListener reader_listener =
new numbersListener();
/* 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");
}
// --- 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(
"numbers subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
public override void on_data_available(DDS.DataReader reader)
{
if (reader.GetType() == typeof(PositionDataReader))
{
PositionDataReader Position_reader =
(PositionDataReader)reader;
try
{
Position_reader.take(
pdata_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)
{
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
//Console.WriteLine("MessageType\t Route\t\t Vehicle\t Traffic\t Stop#\t #Stops\t TimeBetweenStops\t Fill%\t TimeStamp");
System.Int32 data_length = pdata_seq.length;
for (int i = 0; i < data_length; ++i)
{
if (info_seq.get_at(i).valid_data)
{
Position p = pdata_seq.get_at(i);
if (string.IsNullOrEmpty(bus))
{
if (p.route == route)
{
if (p.stopNumber == start)
{
Console.WriteLine("Getting on bus" + p.vehicle);
bus = p.vehicle;
}
}
}
else
{
if (p.route == route && p.vehicle == bus)
{
Console.WriteLine("At {2} bus{0} arrived at stop {1}", p.vehicle, p.stopNumber, p.timestamp);
if (p.stopNumber == end)
{
Console.WriteLine("GET OFF THE BUS. At stop " + p.stopNumber);
sample_count = 1;
bus = "99999999999999999";
}
}
}
/*
* Console.WriteLine("{0}\t{1}\t{2}\t{3}\t{4}\t{5}\t{6}\t{7}\t{8}",
* "Position", p.route, p.vehicle, p.trafficConditions, p.stopNumber, p.numStops, p.timeBetweenStops, p.fillInRatio, p.timestamp);
* Accident a = adata_seq.get_at(i);
* Console.WriteLine("{0}\t{1}\t{2}\t{3}\t{4}\t{5}\t{6}\t{7}\t{8}",
* "Accident", a.route, a.vehicle, string.Empty, a.stopNumber, string.Empty, string.Empty, string.Empty, a.timestamp);
*/
// PositionTypeSupport.print_data(pdata_seq.get_at(i));
}
}
try
{
Position_reader.return_loan(pdata_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
else
{
AccidentDataReader Accident_reader =
(AccidentDataReader)reader;
try
{
Accident_reader.take(
adata_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)
{
return;
}
catch (DDS.Exception e)
{
Console.WriteLine("take error {0}", e);
return;
}
System.Int32 data_length = adata_seq.length;
for (int i = 0; i < data_length; ++i)
{
if (info_seq.get_at(i).valid_data)
{
AccidentTypeSupport.print_data(adata_seq.get_at(i));
}
}
try
{
Accident_reader.return_loan(adata_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
}
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 */
/* The listener has been modified */
/* Start changes for Ordered Presentation Example */
/* Note that the StatusKind is DATA_ON_READERS_STATUS in order
* to the incoming data can be read by the SubscriberListener
*/
ordered_groupSubscriberListener subscriber_listener =
new ordered_groupSubscriberListener();
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener,
(DDS.StatusMask)DDS.StatusKind.DATA_ON_READERS_STATUS);
if (subscriber == null)
{
shutdown(participant);
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
/* End changes for Ordered Presentation Example */
// --- Create topics --- //
/* Register the type before creating the topic */
System.String type_name = ordered_groupTypeSupport.get_type_name();
try {
ordered_groupTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Start changes for Ordered Presentation Example */
/* TOPICS */
/* To customize the topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic1 = participant.create_topic(
"Topic1",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic1 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
DDS.Topic topic2 = participant.create_topic(
"Topic2",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic2 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
DDS.Topic topic3 = participant.create_topic(
"Topic3",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic3 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* DATAREADERS */
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader1 = subscriber.create_datareader(
topic1,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader1 == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
DDS.DataReader reader2 = subscriber.create_datareader(
topic2,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader2 == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
DDS.DataReader reader3 = subscriber.create_datareader(
topic3,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader3 == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* End changes for Ordered Presentation Example */
// --- 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(
"ordered_group subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
subscriber_listener = null;
}
public override void on_requested_incompatible_qos(
DDS.DataReader reader,
DDS.RequestedIncompatibleQosStatus status)
{
}
static void subscribe(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy
*/
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence, so
* we ensure a length of 1,1.
*/
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile().
*/
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 --- //
/* We haven't changed the subscriber_qos in any of QoS profiles we use
* in this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* publisher_qos, use the create_publisher_with_profile() method.
*/
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 = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method.
*/
DDS.Topic topic = participant.create_topic(
"Example profiles",
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 */
profilesListener reader_volatile_listener =
new profilesListener("volatile_profile");
profilesListener reader_transient_local_listener =
new profilesListener("transient_local_profile");
/* Volatile reader -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datareader passing DDS_DATAWRITER_QOS_DEFAULT.
*/
DDS.DataReader reader_volatile = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_volatile_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader_volatile == null)
{
shutdown(participant);
reader_volatile = null;
throw new ApplicationException("create_datareader_volatile error");
}
/* Transient Local writer -- In this case we use
* create_datareader_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else.
*/
DDS.DataReader reader_transient_local =
subscriber.create_datareader_with_profile(
topic,
"profiles_Library",
"transient_local_profile",
reader_transient_local_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader_transient_local == null)
{
shutdown(participant);
reader_transient_local = null;
throw new ApplicationException("create_datareader_transient_local" +
"error");
}
Console.WriteLine("Created reader_transient_local");
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"profiles subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_volatile_listener = null;
reader_transient_local_listener = null;
}
public override void on_liveliness_changed(
DDS.DataReader reader,
ref DDS.LivelinessChangedStatus status)
{
}
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 topic --- //
/* Register the type before creating the topic */
System.String type_name = orderedTypeSupport.get_type_name();
try {
orderedTypeSupport.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 ordered",
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");
}
/* Start changes for Ordered_Presentation */
/* Create two subscribers to illustrate different presentation QoS
* This is a publisher/subscriber level QoS, so we have to
* do it here instead of just making two datareaders
*/
DDS.Subscriber[] subscriber = new DDS.Subscriber[MAX_SUBSCRIBERS];
DDS.DataReader[] reader = new DDS.DataReader[MAX_SUBSCRIBERS];
/* Subscriber[0], reader[0] and ordered_reader[0] is getting
* the profile "ordered_Profile_subscriber_instance"
*/
/* Subscriber[1], reader[1] and ordered_reader[1] is getting
* the profile "ordered_Profile_subscriber_topic"
*/
String[] profile_name = new String[MAX_SUBSCRIBERS]
{
"ordered_Profile_subscriber_instance",
"ordered_Profile_subscriber_topic"
};
for (int i = 0; i < MAX_SUBSCRIBERS; ++i)
{
Console.WriteLine("Subscriber {0} using {1}", i, profile_name[i]);
subscriber[i] = participant.create_subscriber_with_profile(
"ordered_Library", profile_name[i], null,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber[i] == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
reader[i] = subscriber[i].create_datareader_with_profile(topic,
"ordered_Library", profile_name[i], null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader[i] == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
}
/* If you want to change the Publisher's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the above 'for' loop.
*/
/* Get default subscriber QoS to customize */
/* DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
* participant.get_default_subscriber_qos(subscriber_qos);
*
*/ /* Set this for both subscribers */
/* subscriber_qos.presentation.ordered_access = true;
*
*/ /* No listener needed, but we do need to increase history depth */
/* Get default datareader QoS to customize */
/* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
*
* for (int i = 0; i < MAX_SUBSCRIBERS; ++i) {
* if (i == 0) {
* Console.WriteLine("Subscriber 0 using Instance access scope");
* subscriber_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind
* .INSTANCE_PRESENTATION_QOS;
* } else {
* Console.WriteLine("Subscriber 1 using Topic access scope");
* subscriber_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind
* .TOPIC_PRESENTATION_QOS;
* }
*
*/ /* To create subscriber with default QoS, use
* DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULTinstead of
* subscriber_qos */
/* subscriber[i] = participant.create_subscriber(
* subscriber_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
* if (subscriber == null) {
* shutdown(participant);
* throw new ApplicationException("create_subscriber error");
* }
* subscriber[i].get_default_datareader_qos(datareader_qos);
* datareader_qos.history.depth = 10;
*
*/ /* To create datareader with default QoS, use
* DDS.Subscriber.DATAREADER_QOS_DEFAULT instead of datareader_qos
*/
/* reader[i] = subscriber[i].create_datareader(
* topic,
* datareader_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (reader[i] == null) {
* shutdown(participant);
* 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(
"\nSleeping for {0} sec...\n-----",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
poll_data(reader, 2);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
public override void on_subscription_matched(
DDS.DataReader reader,
ref DDS.SubscriptionMatchedStatus status)
{
}
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 = keysTypeSupport.get_type_name();
try {
keysTypeSupport.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 keys",
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 */
keysListener reader_listener =
new keysListener();
/* 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");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
public override void on_liveliness_changed(
DDS.DataReader reader,
ref DDS.LivelinessChangedStatus status)
{
Console.WriteLine("SubscriberListener: on_liveliness_changed()\n");
}
public override void on_data_available(DDS.DataReader reader)
{
keysDataReader keys_reader =
(keysDataReader)reader;
try {
keys_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) {
return;
}
catch (DDS.Exception e) {
Console.WriteLine("take error {0}", e);
return;
}
System.Int32 data_length = data_seq.length;
for (int i = 0; i < data_length; ++i)
{
/* Start changes for Keyed_Data */
/* We first check if the sample includes valid data */
if (info_seq.get_at(i).valid_data)
{
if (info_seq.get_at(i).view_state ==
DDS.ViewStateKind.NEW_VIEW_STATE)
{
Console.WriteLine("Found new instance; code = {0}",
data_seq.get_at(i).code);
}
Console.WriteLine("Instance {0}: x: {1}, y: {2}",
data_seq.get_at(i).code, data_seq.get_at(i).x,
data_seq.get_at(i).y);
}
else
{
/* Since there is not valid data, it may include metadata */
keys dummy = new keys();
try
{
DDS.InstanceHandle_t temp =
info_seq.get_at(i).instance_handle;
keys_reader.get_key_value(dummy, ref temp);
}
catch (DDS.Exception e)
{
Console.WriteLine("get_key_value error {0}", e);
}
/* Here we print a message if the instance state is ALIVE_NO_WRITERS or ALIVE_DISPOSED */
if (info_seq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_NO_WRITERS_INSTANCE_STATE)
{
Console.WriteLine("Instance {0} has no writers",
dummy.code);
}
else if (info_seq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
Console.WriteLine("Instance {0} disposed",
dummy.code);
}
}
/* End changes for Keyed_Data */
}
try {
keys_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
public override void on_sample_rejected(
DDS.DataReader reader,
ref DDS.SampleRejectedStatus status)
{
Console.WriteLine("ReaderListener: on_sample_rejected()");
}
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 --- //
DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
participant.get_default_subscriber_qos(subscriber_qos);
/* If you want to change the Partition name programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_subscriber() call bellow.
*/
/*
* String[] partitions = { "ABC", "X*Z" };
*
* subscriber_qos.partition.name.ensure_length(2, 2);
* subscriber_qos.partition.name.from_array(partitions);
*
* DDS.Subscriber subscriber = participant.create_subscriber(
* subscriber_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
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 = partitionsTypeSupport.get_type_name();
try
{
partitionsTypeSupport.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 partitions",
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 */
partitionsListener reader_listener =
new partitionsListener();
/* If you want to change the Datareader QoS programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_datareader() call bellow.
*/
/*
* DDS.DataReaderQos readerQos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(readerQos);
*
* readerQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* readerQos.history.kind = DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
* readerQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* readerQos,
* reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
*/
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");
}
// --- 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;
}
public override void on_subscription_matched(
DDS.DataReader reader,
ref DDS.SubscriptionMatchedStatus status)
{
Console.WriteLine("ReaderListener: on_subscription_matched()");
}
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");
}
/* If you want to change the Participant'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_participant call above.
*/
/* By default, discovery will communicate via shared memory for
* platforms that support it. Because we disable shared memory on the
* publishing side, we do so here to ensure the reader and writer
* discover each other.
*/
/* Get default participant QoS to customize */
/*
* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_participant_qos error {0}", e);
* throw e;
* }
*
* // By default, data will be sent via shared memory _and_ UDPv4. Because
* // the flowcontroller limits writes across all interfaces, this halves
* // the effective send rate. To avoid this, we enable only the UDPv4
* // transport
*
* participant_qos.transport_builtin.mask =
* (int) DDS.TransportBuiltinKind.TRANSPORTBUILTIN_UDPv4;
*
* // To create participant with default QoS, use
* // DDS_PARTICIPANT_QOS_DEFAULT instead of participant_qos
*
* DDS.DomainParticipant participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id,
* participant_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (participant == null) {
* shutdown(participant);
* throw new ApplicationException("create_participant error");
* }
*/
/* End changes for custom_flowcontroller */
// --- 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 = cfcTypeSupport.get_type_name();
try {
cfcTypeSupport.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 cfc",
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 */
cfcListener reader_listener =
new cfcListener();
/* 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");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // 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;
}
public override void on_requested_deadline_missed(
DDS.DataReader reader,
ref DDS.RequestedDeadlineMissedStatus status)
{
Console.WriteLine("ParticipantListener: on_requested_deadline_missed()");
}
public override void on_requested_deadline_missed(
DDS.DataReader reader,
ref DDS.RequestedDeadlineMissedStatus status)
{
}
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 topic --- //
/* Register the type before creating the topic */
System.String type_name = orderedTypeSupport.get_type_name();
try {
orderedTypeSupport.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 ordered",
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");
}
/* Start changes for Ordered_Presentation */
/* Create two subscribers to illustrate different presentation QoS
* This is a publisher/subscriber level QoS, so we have to
* do it here instead of just making two datareaders
*/
DDS.Subscriber[] subscriber = new DDS.Subscriber[MAX_SUBSCRIBERS];
DDS.DataReader[] reader = new DDS.DataReader[MAX_SUBSCRIBERS];
/* Subscriber[0], reader[0] and ordered_reader[0] is getting
* the profile "ordered_Profile_subscriber_instance"
*/
/* Subscriber[1], reader[1] and ordered_reader[1] is getting
* the profile "ordered_Profile_subscriber_topic"
*/
String[] profile_name = new String[MAX_SUBSCRIBERS]
{"ordered_Profile_subscriber_instance",
"ordered_Profile_subscriber_topic" };
for (int i = 0; i < MAX_SUBSCRIBERS; ++i) {
Console.WriteLine("Subscriber {0} using {1}", i, profile_name[i]);
subscriber[i] = participant.create_subscriber_with_profile(
"ordered_Library", profile_name[i], null,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber[i] == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
reader[i] = subscriber[i].create_datareader_with_profile(topic,
"ordered_Library", profile_name[i], null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader[i] == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
}
/* If you want to change the Publisher's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the above 'for' loop.
*/
/* Get default subscriber QoS to customize */
/* DDS.SubscriberQos subscriber_qos = new DDS.SubscriberQos();
participant.get_default_subscriber_qos(subscriber_qos);
*/ /* Set this for both subscribers */
/* subscriber_qos.presentation.ordered_access = true;
*/ /* No listener needed, but we do need to increase history depth */
/* Get default datareader QoS to customize */
/* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
for (int i = 0; i < MAX_SUBSCRIBERS; ++i) {
if (i == 0) {
Console.WriteLine("Subscriber 0 using Instance access scope");
subscriber_qos.presentation.access_scope =
DDS.PresentationQosPolicyAccessScopeKind
.INSTANCE_PRESENTATION_QOS;
} else {
Console.WriteLine("Subscriber 1 using Topic access scope");
subscriber_qos.presentation.access_scope =
DDS.PresentationQosPolicyAccessScopeKind
.TOPIC_PRESENTATION_QOS;
}
*/ /* To create subscriber with default QoS, use
* DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULTinstead of
* subscriber_qos */
/* subscriber[i] = participant.create_subscriber(
subscriber_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null) {
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
subscriber[i].get_default_datareader_qos(datareader_qos);
datareader_qos.history.depth = 10;
*/ /* To create datareader with default QoS, use
* DDS.Subscriber.DATAREADER_QOS_DEFAULT instead of datareader_qos
*/
/* reader[i] = subscriber[i].create_datareader(
topic,
datareader_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader[i] == null) {
shutdown(participant);
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(
"\nSleeping for {0} sec...\n-----",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
poll_data(reader, 2);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count, int sel_cft)
{
// --- 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 = cftTypeSupport.get_type_name();
try {
cftTypeSupport.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 cft",
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");
}
/* Sequence of parameters for the content filter expression */
DDS.StringSeq parameters = new DDS.StringSeq(2);
/* The default parameter list that we will include in the
* sequence of parameters will be "1","4" (i.e., 1 <= x <= 4). */
DDS.StringWrapper[] param_list = new DDS.StringWrapper[2] {
"1", "4"
};
parameters.from_array(param_list);
/* Create the content filtered topic in case sel_cft
* is true.
* The Content Filter Expresion has two parameters:
* - %0 -- x must be greater or equal than %0.
* - %1 -- x must be less or equal than %1.
*/
DDS.ContentFilteredTopic cft = null;
if (sel_cft != 0)
{
cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "(x >= %0 and x <= %1)",
parameters);
if (cft == null)
{
shutdown(participant);
throw new ApplicationException(
"create_contentfilteredtopic error");
}
}
// --- Create reader --- //
/* Create a data reader listener */
cftListener reader_listener =
new cftListener();
/* Here we create the reader either using a Content Filtered Topic or
* a normal topic */
DDS.DataReader reader = null;
if (sel_cft != 0)
{
Console.WriteLine("Using ContentFiltered Topic");
reader = subscriber.create_datareader(cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
Console.WriteLine("Using Normal Topic");
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");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datareader calls above.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* try {
* subscriber.get_default_datareader_qos(datareader_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datareader_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datareader_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datareader_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datareader_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datareader_qos.history.depth = 20;
*
* if (sel_cft != 0) {
* Console.WriteLine("Using ContentFiltered Topic");
* reader = subscriber.create_datareader(cft,
* datareader_qos, reader_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* } else {
* Console.WriteLine("Using Normal Topic");
* 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");
* }
*
*/
if (sel_cft != 0)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Using CFT\nFilter: 1 <= x <= 4");
Console.WriteLine("==========================");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"cft subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
if (sel_cft == 0)
{
continue;
}
if (count == 10)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Filter: 5 <= x <= 9");
Console.WriteLine("===========================");
parameters.set_at(0, "5");
parameters.set_at(1, "9");
try {
cft.set_expression_parameters(parameters);
} catch (DDS.Exception e) {
Console.WriteLine("set_expression_parameters error {0}", e);
shutdown(participant);
throw e;
}
}
else if (count == 20)
{
Console.WriteLine("\n==========================");
Console.WriteLine("Changing filter parameters");
Console.WriteLine("Filter: 3 <= x <= 9");
Console.WriteLine("===========================");
DDS.StringSeq oldParameters = new DDS.StringSeq();
cft.get_expression_parameters(oldParameters);
oldParameters.set_at(0, "3");
try {
cft.set_expression_parameters(oldParameters);
} catch (DDS.Exception e) {
Console.WriteLine("set_expression_parameters error {0}", e);
shutdown(participant);
throw e;
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}