public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.QosProvider qosProvider = null;
DDS.DomainParticipantQos participantQos =
test.sacs.QosComparer.defaultDomainParticipantQos;
DDS.TopicQos topicQos =
test.sacs.QosComparer.defaultTopicQos;
DDS.SubscriberQos subscriberQos =
test.sacs.QosComparer.defaultSubscriberQos;
DDS.DataReaderQos readerQos =
test.sacs.QosComparer.defaultDataReaderQos;
DDS.PublisherQos publisherQos =
test.sacs.QosComparer.defaultPublisherQos;
DDS.DataWriterQos writerQos =
test.sacs.QosComparer.defaultDataWriterQos;
DDS.DomainParticipantQos xmlParticipantQos = new DDS.DomainParticipantQos ();
DDS.TopicQos xmlTopicQos = new DDS.TopicQos ();
DDS.SubscriberQos xmlSubscriberQos = new DDS.SubscriberQos ();
DDS.DataReaderQos xmlReaderQos = new DDS.DataReaderQos ();
DDS.PublisherQos xmlPublisherQos = new DDS.PublisherQos ();
DDS.DataWriterQos xmlWriterQos = new DDS.DataWriterQos ();
qosProvider = new DDS.QosProvider (this.uri, null);
if (qosProvider.GetParticipantQos (ref xmlParticipantQos, null) != 0 ||
qosProvider.GetTopicQos (ref xmlTopicQos, null) != 0 ||
qosProvider.GetSubscriberQos (ref xmlSubscriberQos, null) != 0 ||
qosProvider.GetDataReaderQos (ref xmlReaderQos, null) != 0 ||
qosProvider.GetPublisherQos (ref xmlPublisherQos, null) != 0 ||
qosProvider.GetDataWriterQos (ref xmlWriterQos, null) != 0)
{
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider did not parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
} else if (!QosComparer.DomainParticipantQosEquals (xmlParticipantQos, participantQos) ||
!QosComparer.TopicQosEquals (xmlTopicQos, topicQos) ||
!QosComparer.SubscriberQosEquals (xmlSubscriberQos, subscriberQos) ||
!QosComparer.DataReaderQosEquals (xmlReaderQos, readerQos) ||
!QosComparer.PublisherQosEquals (xmlPublisherQos, publisherQos) ||
!QosComparer.DataWriterQosEquals (xmlWriterQos, writerQos))
{
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider did not correctly parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
} else {
result = new Test.Framework.TestResult (
"QosProvider should successfully parse XML file",
"QosProvider correctly parsed XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Pass);
}
return result;
}
public override Test.Framework.TestResult Run()
{
DDS.IDataReader reader;
DDS.DataReaderQos qos = null;
DDS.DataReaderQos qos2 = null;
DDS.DataReaderQos holder = null;
DDS.ReturnCode rc;
Test.Framework.TestResult result;
string expResult = "Reader test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
reader = (DDS.IDataReader) this.ResolveObject("datareader");
qos = (DDS.DataReaderQos) this.ResolveObject("datareaderQos");
if (reader.GetQos(ref holder) != DDS.ReturnCode.Ok)
{
result.Result = "Qos of DataReader could not be resolved.";
return(result);
}
if (!test.sacs.QosComparer.DataReaderQosEquals(holder, qos))
{
result.Result = "Qos of DataReader does not match provided qos.";
return(result);
}
if (!test.sacs.QosComparer.DataReaderQosEquals(holder, test.sacs.QosComparer.defaultDataReaderQos))
{
result.Result = "Qos of DataWriter does not match default qos.";
return(result);
}
qos2 = holder;
qos2.Deadline.Period = new DDS.Duration(3, 3);
qos2.LatencyBudget.Duration = new DDS.Duration(6, 6);
qos2.ReaderDataLifecycle.AutopurgeDisposedSamplesDelay = new DDS.Duration(
5, 5);
qos2.UserData.Value = new byte[2];
qos2.UserData.Value[0] = 2;
qos2.UserData.Value[0] = 4;
rc = reader.SetQos(qos2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "New Qos could not be applied.";
return(result);
}
if (reader.GetQos(ref holder) != DDS.ReturnCode.Ok)
{
result.Result = "Qos of DataReader could not be resolved (2).";
return(result);
}
if (!test.sacs.QosComparer.DataReaderQosEquals(holder, qos2))
{
result.Result = "Qos of DataReader does not match provided qos (2).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos dataReaderQos;
DDS.DataReaderQos qosHolder1 = null;
DDS.DataReaderQos qosHolder2 = null;
DDS.IDataReader reader;
DDS.ITopic topic;
string expResult = "Default DataReadearQos is used when DATAREADER_QOS_DEFAULT is specified.";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic = (DDS.ITopic) this.ResolveObject("topic");
if (subscriber.GetDefaultDataReaderQos(ref qosHolder1) != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos";
return(result);
}
dataReaderQos = qosHolder1;
dataReaderQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
dataReaderQos.History.Depth = 150;
subscriber.SetDefaultDataReaderQos(dataReaderQos);
reader = subscriber.CreateDataReader(topic);
if (reader == null)
{
result.Result = "Could not create a DataReader.";
return(result);
}
if (reader.GetQos(ref qosHolder2) != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve DataReader qos";
return(result);
}
if (!test.sacs.QosComparer.DataReaderQosEquals(qosHolder1, qosHolder2))
{
result.Result = "Default DataReadearQos is not used when DATAREADER_QOS_DEFAULT is specified." + qosHolder2.History.Kind + " :: " + qosHolder1.History.Kind;
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a DataReader (RETCODE = " + rc + ").";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public static void Main(string[] args)
{
DDS.QosProvider provider = null;
DDS.DataReaderQos drQos = new DDS.DataReaderQos();
DDS.DataWriterQos dwQos = new DDS.DataWriterQos();
DDS.DataWriterQos dwBarQos = new DDS.DataWriterQos();
DDS.ReturnCode result;
provider = new DDS.QosProvider("file://path/to/file.xml", "FooQosProfile");
if (provider != null)
{
// As default QoS profile is "FooQosProfile", requesting
// "TransientKeepLast" in this case is equivalent to requesting
// "::FooQosProfile::TransientKeepLast".
result = provider.GetDataReaderQos(ref drQos, "TransientKeepLast");
if (result != 0)
{
Console.WriteLine("Unable to resolve ReaderQos.");
System.Environment.Exit(1);
}
// As default QoS profile is "FooQosProfile", requesting
// "Transient" would have been equivalent to requesting
// "::FooQosProfile::Transient".
result = provider.GetDataWriterQos(ref dwQos, "::FooQosProfile::Transient");
if (result != 0)
{
Console.WriteLine("Unable to resolve WriterQos.");
System.Environment.Exit(1);
}
// As default QoS profile is "FooQosProfile" it is necessary
// to use the fully-qualified name to get access to QoS-ses from
// the "BarQosProfile".
result = provider.GetDataWriterQos(ref dwQos, "::BarQosProfile::Persistent");
if (result != 0)
{
Console.WriteLine("Unable to resolve WriterQos.");
System.Environment.Exit(1);
}
}
else
{
Console.WriteLine("Initialization of QosProvider failed.");
}
}
private void initializeDataReader(DDS.DomainParticipant participant)
{
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
DDS.Topic topic = participant.create_topic(
_topicName,
_typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
_listener = new InstanceDataReaderListener(
_groupSubject, _keyedSubjectDict, _keySelector, _comparer, _handleKeyDict, _scheduler,
_externalSubDict);
DDS.DataReaderQos rQos = new DDS.DataReaderQos();
participant.get_default_datareader_qos(rQos);
//Console.WriteLine("LIB CODE DR QOS: " + r_qos.history.kind);
//Console.WriteLine("LIB CODE DR QOS: " + r_qos.reliability.kind);
DDS.DataReader reader = subscriber.create_datareader(
topic,
rQos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT,
_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader != null)
{
return;
}
_listener = null;
throw new ApplicationException("create_datareader error");
}
public override Test.Framework.TestResult Run()
{
DDS.IDomainParticipant participant;
DDS.ReturnCode retCode;
DDS.ITopic topic;
DDS.TopicQos tQos;
DDS.ISubscriber sub;
Foo.TestDataReader testDR;
DDS.DataReaderQos drQos = new DDS.DataReaderQos();
Test.Framework.TestResult result;
string expResult = "Successfully read a sample.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
topic = (DDS.ITopic) this.ResolveObject("topic");
tQos = (DDS.TopicQos) this.ResolveObject("topicQos");
sub = participant.CreateSubscriber();
if (sub == null)
{
result.Result = "participant.create_subscriber failed.";
return(result);
}
retCode = sub.GetDefaultDataReaderQos(ref drQos);
if (retCode != DDS.ReturnCode.Ok)
{
result.Result = "subscriber.get_default_datareader_qos failed.";
return(result);
}
testDR = (Foo.TestDataReader)sub.CreateDataReader(topic, drQos);
if (testDR == null)
{
result.Result = "subscriber.create_datareader failed.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
private void initialize()
{
subscriber = participant.create_subscriber(DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
throw new ApplicationException("create_subscriber error");
}
readerQoS = new DDS.DataReaderQos();
try
{
subscriber.get_default_datareader_qos(readerQoS);
}
catch (DDS.Exception e)
{
Console.WriteLine("get_default_datareader_qos error {0}", e);
throw e;
}
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos dataReaderQos = null;
DDS.IDomainParticipant participant;
DDS.DataReaderQos qosHolder1 = null;
DDS.ITopic topic;
string expResult = "copy_from_topic_qos rejects TOPIC_QOS_DEFAULT with correct code.";
Test.Framework.TestResult result;
DDS.ReturnCode rc = DDS.ReturnCode.Error;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
topic = (DDS.ITopic) this.ResolveObject("topic");
if (subscriber.GetDefaultDataReaderQos(ref dataReaderQos) != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos";
return(result);
}
dataReaderQos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
dataReaderQos.History.Depth = 150;
// TODO: JLS, Verify the intent of this BadParameter test.
DDS.TopicQos topicQosHolder = null;
rc = subscriber.CopyFromTopicQos(ref qosHolder1, topicQosHolder);
if (rc != DDS.ReturnCode.BadParameter)
{
result.Result = "copy_from_topic_qos returns wrong code (RETCODE = " + rc + ").";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "contains_entity returns the correct result";
DDS.IDomainParticipant participant;
DDS.DomainParticipantFactory factory;
DDS.TopicQos tHolder = new DDS.TopicQos();
DDS.PublisherQos pHolder = new DDS.PublisherQos();
DDS.SubscriberQos sHolder = new DDS.SubscriberQos();
DDS.DataWriterQos wHolder = new DDS.DataWriterQos();
DDS.DataReaderQos rHolder = new DDS.DataReaderQos();
DDS.ITopic topic;
DDS.IPublisher publisher;
DDS.ISubscriber subscriber;
mod.tstDataWriter writer;
mod.tstDataReader reader;
long handle;
DDS.ReturnCode rc;
participant = (DDS.IDomainParticipant)this.ResolveObject("participant");
factory = (DDS.DomainParticipantFactory)this.ResolveObject("factory");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
if (participant.ContainsEntity(0))
{
result.Result = "contains_entity with nil handle incorrect";
return result;
}
if (participant.ContainsEntity(100))
{
result.Result = "contains_entity with incorrect handle incorrect";
return result;
}
handle = participant.InstanceHandle;
if (handle == DDS.InstanceHandle.Nil)
{
result.Result = "get_instance_handle returned 0";
return result;
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity with own handle incorrect";
return result;
}
mod.tstTypeSupport typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return result;
}
participant.GetDefaultTopicQos(ref tHolder);
topic = participant.CreateTopic("TestTopic", "type1", tHolder);//, null, 0);
if (topic == null)
{
result.Result = "Create Topic failed.";
return result;
}
participant.GetDefaultPublisherQos(ref pHolder);
publisher = participant.CreatePublisher(pHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Create Publisher failed.";
return result;
}
participant.GetDefaultSubscriberQos(ref sHolder);
subscriber = participant.CreateSubscriber(sHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Create Subscriber failed.";
return result;
}
publisher.GetDefaultDataWriterQos(ref wHolder);
writer = publisher.CreateDataWriter(topic, wHolder) as mod.tstDataWriter;
if (writer == null)
{
result.Result = "Create Writer failed.";
return result;
}
subscriber.GetDefaultDataReaderQos(ref rHolder);
reader = subscriber.CreateDataReader(topic, rHolder) as mod.tstDataReader;
if (reader == null)
{
result.Result = "Create Reader failed.";
return result;
}
handle = topic.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (topic) returned 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with topic handle incorrect";
return result;
}
handle = publisher.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (publisher) returned != 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with publisher handle incorrect";
return result;
}
handle = subscriber.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (subscriber) returned != 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with subscriber handle incorrect";
return result;
}
handle = writer.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (writer) returned 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with writer handle incorrect";
return result;
}
handle = reader.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (reader) returned 0";
return result;
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with reader handle incorrect";
return result;
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_contained_entities failed.";
return result;
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity of deleted reader incorrect";
return result;
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return result;
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos qosHolder = null;
DDS.TopicQos topicQos = null;
string expResult = "copy_from_topic_qos test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
byte[] bytes = new byte[] { 1, 2, 3 };
DDS.Duration duration = new DDS.Duration(10, 9);
DDS.UserDataQosPolicy udp = new DDS.UserDataQosPolicy();
udp.Value = bytes;
qosHolder.UserData.Value = bytes;
DDS.TimeBasedFilterQosPolicy tfp = new DDS.TimeBasedFilterQosPolicy();
tfp.MinimumSeparation = duration;
qosHolder.TimeBasedFilter.MinimumSeparation = duration;
DDS.ReaderDataLifecycleQosPolicy rlp = new DDS.ReaderDataLifecycleQosPolicy();
rlp.AutopurgeDisposedSamplesDelay = duration;
rlp.AutopurgeNowriterSamplesDelay = duration;
rlp.AutopurgeDisposeAll = false;
rlp.EnableInvalidSamples = true;
qosHolder.ReaderDataLifecycle.AutopurgeDisposedSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeNowriterSamplesDelay = duration;
qosHolder.ReaderDataLifecycle.AutopurgeDisposeAll = false;
qosHolder.ReaderDataLifecycle.EnableInvalidSamples = true;
rc = subscriber.CopyFromTopicQos(ref qosHolder, topicQos);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "copy_from_topic_qos failed.";
return(result);
}
if (!test.sacs.QosComparer.UserDataQosPolicyEquals(qosHolder.UserData, udp))
{
result.Result = "userDataQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.TimeBasedFilterQosPolicyEquals(qosHolder.TimeBasedFilter, tfp))
{
result.Result = "timeBasedFilterQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReaderDataLifecycleQosPolicyEquals(qosHolder.ReaderDataLifecycle, rlp))
{
result.Result = "readerDataLifecycleQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DeadlineQosPolicyEquals(qosHolder.Deadline, topicQos.Deadline))
{
result.Result = "deadLineQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DestinationOrderQosPolicyEquals(qosHolder.DestinationOrder, topicQos.DestinationOrder))
{
result.Result = "destinationQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.DurabilityQosPolicyEquals(qosHolder.Durability, topicQos.Durability))
{
result.Result = "durabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.HistoryQosPolicyEquals(qosHolder.History, topicQos.History))
{
result.Result = "historyQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LatencyBudgetQosPolicyEquals(qosHolder.LatencyBudget, topicQos.LatencyBudget))
{
result.Result = "latencyBudgetQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.LivelinessQosPolicyEquals(qosHolder.Liveliness, topicQos.Liveliness))
{
result.Result = "livelinessQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ReliabilityQosPolicyEquals(qosHolder.Reliability, topicQos.Reliability))
{
result.Result = "reliabilityQosPolicy not valid.";
return(result);
}
if (!test.sacs.QosComparer.ResourceLimitsQosPolicyEquals(qosHolder.ResourceLimits, topicQos.ResourceLimits))
{
result.Result = "resourceLimitsQosPolicy not valid.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public void run(String[] args)
{
int myDomain = DDS.DomainId.Default;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
topQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
topic = participant.CreateTopic("my_topic_t", "my_type", topQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
wqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return(result);
}
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
dqosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
listener = new test.sacs.MyDataReaderListener();
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder, listener, DDS.StatusKind.Any);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return(result);
}
try
{
System.Threading.Thread.Sleep(3000);
}
catch (System.Exception e)
{
System.Console.WriteLine(e);
}
if (!listener.onLivelinessChangedCalled)
{
result.Result = "on_liveliness_changed does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.SubscriberQos subQosHolder = null;
DDS.DataReaderQos drQosHolder = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQosHolder = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQosHolder = null;
DDS.ITopic topic;
DDS.DataWriterQos dwQosHolder = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(string.Empty, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return(result);
}
subQosHolder.Partition.Name = new string[1];
subQosHolder.Partition.Name[0] = "testPartition";
subscriber = participant.CreateSubscriber(subQosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
if (participant.GetDefaultTopicQos(ref tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
tQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
tQosHolder.Reliability.Kind = DDS.ReliabilityQosPolicyKind.ReliableReliabilityQos;
topic = participant.CreateTopic("tst", "tstType", tQosHolder);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return(result);
}
pubQosHolder.Partition.Name = new string[1];
pubQosHolder.Partition.Name[0] = "testPartition";
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return(result);
}
if (publisher.CopyFromTopicQos(ref dwQosHolder, tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
dwQosHolder.WriterDataLifecycle.AutodisposeUnregisteredInstances = true;
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
return(result);
}
if (subscriber.CopyFromTopicQos(ref drQosHolder, tQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return(result);
}
drQosHolder.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos;
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqosHolder);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQosHolder);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQosHolder);
testCase.RegisterObject("datareaderQos", drQosHolder);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQosHolder);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQosHolder);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks && !terminate; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
System.Threading.Thread.Sleep(1000);
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
System.Threading.Thread.Sleep(1000);
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
if (result == DDS.ReturnCode.Ok || result == DDS.ReturnCode.NoData || result == DDS.ReturnCode.Timeout)
{
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: Waitset wait failed (code " + result + "), terminating");
finish_flag = true;
terminate = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block, roundtrip.count, roundtrip.average, roundtrip.min, roundtrip.max, write_access.count,
write_access.average, write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos dataReaderQos = null;
DDS.IDataReader[] dataReaderSeqHolder = null;
DDS.IDataReader reader1;
DDS.IDataReader reader2;
DDS.IDataReader reader3;
DDS.ITopic topic;
string expResult = "get_datareaders test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic = (DDS.ITopic) this.ResolveObject("topic");
if (subscriber.GetDefaultDataReaderQos(ref dataReaderQos) != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos (1).";
return(result);
}
reader1 = subscriber.CreateDataReader(topic, dataReaderQos);//, null, 0);
if (reader1 == null)
{
result.Result = "Could not create a DataReader (2).";
return(result);
}
reader2 = subscriber.CreateDataReader(topic, dataReaderQos);//, null, 0);
if (reader2 == null)
{
result.Result = "Could not create a DataReader (3).";
return(result);
}
reader3 = subscriber.CreateDataReader(topic, dataReaderQos);//, null, 0);
if (reader3 == null)
{
result.Result = "Could not create a DataReader (4).";
return(result);
}
rc = subscriber.GetDataReaders(ref dataReaderSeqHolder, DDS.SampleStateKind.Any,
DDS.ViewStateKind.Any, DDS.InstanceStateKind.Alive);
if (rc != DDS.ReturnCode.Unsupported)
{
result.Result = "Expected RETCODE_UNSUPPORTED but received " + rc + " after calling function get_datareaders (5).";
result.ExpectedVerdict = Test.Framework.TestVerdict.Fail;
return(result);
}
//@todo add extra tests for get_datareaders
rc = subscriber.DeleteDataReader(reader1);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but received " + rc + " after deleting a datareader (6).";
return(result);
}
rc = subscriber.DeleteDataReader(reader2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but received " + rc + " after deleting a datareader (7).";
return(result);
}
rc = subscriber.DeleteDataReader(reader3);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but received " + rc + " after deleting a datareader (8).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
/*
* P I N G
*/
public void run(String[] args)
{
System.Console.WriteLine("starting PING");
DDS.ICondition[] conditionList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
DDS.Duration wait_timeout = new DDS.Duration(3, 0);
DDS.ReturnCode result;
Boolean finish_flag = false;
Boolean timeout_flag = false;
Boolean terminate = false;
int imax = 1;
int i;
uint block;
int nof_cycles = 100;
int nof_blocks = 20;
/**
* Command Line argument processing
*/
if (args.Length != 0)
{
if (args.Length != 5)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: ping blocks blocksize topic_id WRITE_PARTITION READ_PARTITION ");
Environment.Exit(1);
}
nof_blocks = int.Parse(args[0]);
nof_cycles = int.Parse(args[1]);
topic_id = args[2][0];
write_partition = args[3];
read_partition = args[4];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
ErrorHandler.checkHandle(dpf, "DDS.DomainParticipantFactory.Instance");
dp = dpf.CreateParticipant(myDomain, dpQos);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PING publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PONG subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/*match data reader/writer qos with topic qos*/
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
ErrorHandler.checkStatus(result, "attach condition pp_min_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
ErrorHandler.checkStatus(result, "attach condition pp_seq_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic, drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
ErrorHandler.checkStatus(result, "attach condition pp_string_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
ErrorHandler.checkStatus(result, "attach condition pp_fixed_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
ErrorHandler.checkStatus(result, "attach condition pp_array_reader");
//assert (result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datawriter */
PP_quit_writer = p.CreateDataWriter(PP_quit_topic, dwQos) as pingpong.PP_quit_msgDataWriter;
for (block = 0; block < nof_blocks; block++)
{
while (!finish_flag)
{
/*
* Send Initial message
*/
timeout_flag = false;
switch (topic_id)
{
case 'm':
{
/* System.Console.WriteLine ("PING: sending initial ping_min"); */
pingpong.PP_min_msg PPdata = new pingpong.PP_min_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_min_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'q':
{
/* System.Console.WriteLine ("PING: sending initial ping_seq"); */
pingpong.PP_seq_msg PPdata = new pingpong.PP_seq_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_seq_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 's':
{
//System.Console.WriteLine ("PING: sending initial ping_string");
pingpong.PP_string_msg PPdata = new pingpong.PP_string_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.a_string = "a_string " + block.ToString();
preWriteTime.timeGet();
result = PP_string_writer.Write(PPdata);
ErrorHandler.checkStatus(result, "writing PPData in case S");
postWriteTime.timeGet();
}
break;
case 'f':
{
/* System.Console.WriteLine ("PING: sending initial ping_fixed"); */
pingpong.PP_fixed_msg PPdata = new pingpong.PP_fixed_msg();
PPdata.count = 0;
PPdata.block = block;
preWriteTime.timeGet();
result = PP_fixed_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 'a':
{
/* System.Console.WriteLine ("PING: sending initial ping_array"); */
pingpong.PP_array_msg PPdata = new pingpong.PP_array_msg();
PPdata.count = 0;
PPdata.block = block;
PPdata.str_arr_char = new char[10];
PPdata.str_arr_octet = new byte[10];
PPdata.str_arr_short = new short[10];
PPdata.str_arr_ushort = new ushort[10];
PPdata.str_arr_long = new int[10];
PPdata.str_arr_ulong = new uint[10];
PPdata.str_arr_longlong = new long[10];
PPdata.str_arr_ulonglong = new ulong[10];
PPdata.str_arr_float = new float[10];
PPdata.str_arr_double = new double[10];
PPdata.str_arr_boolean = new Boolean[11];
preWriteTime.timeGet();
result = PP_array_writer
.Write(PPdata);
postWriteTime.timeGet();
}
break;
case 't':
{
/* System.Console.WriteLine ("PING: sending initial ping_quit"); */
pingpong.PP_quit_msg PPdata = new pingpong.PP_quit_msg();
PPdata.quit = true;
terminate = true;
finish_flag = true;
preWriteTime.timeGet();
result = PP_quit_writer.Write(PPdata);
postWriteTime.timeGet();
}
break;
default:
System.Console.WriteLine("Invalid topic-id");
return;
}
if (!terminate)
{
roundTripTime.set(preWriteTime.get());
write_access.add_stats(postWriteTime.sub(preWriteTime));
/*
* Wait for response, calculate timing, and send another
* data if not ready
*/
while (!(timeout_flag || finish_flag))
{
result = w.Wait(ref conditionList, wait_timeout);
//ErrorHandler.checkStatus(result, "wait did not work condition list is probably null!");
if (conditionList != null)
{
imax = conditionList.Length;
if (imax != 0)
{
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
finish_flag = PP_min_handler(nof_cycles);
}
else if (conditionList[i] == PP_seq_sc)
{
finish_flag = PP_seq_handler(nof_cycles);
}
else if (conditionList[i] == PP_string_sc)
{
finish_flag = PP_string_handler(nof_cycles);
}
else if (conditionList[i] == PP_fixed_sc)
{
finish_flag = PP_fixed_handler(nof_cycles);
}
else if (conditionList[i] == PP_array_sc)
{
finish_flag = PP_array_handler(nof_cycles);
}
else
{
System.Console.WriteLine("PING: unexpected condition triggered: "
+ conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (1)");
timeout_flag = true;
}
}
else
{
System.Console.WriteLine("PING: TIMEOUT - message lost (2)");
timeout_flag = true;
}
}
}
}
if (!terminate)
{
finish_flag = false;
if (block == 0)
{
System.Console.WriteLine("# PING PONG measurements (in us)");
System.Console.WriteLine("# Executed at: ");
System.Console.WriteLine("# Roundtrip time [us] Write-access time [us] Read-access time [us]");
System.Console.WriteLine("# Block Count mean min max Count mean min max Count mean min max");
}
System.Console.WriteLine(String.Format("{0,-6} {1, 10} {2, 6} {3, 6} {4, 6} {5, 10} {6, 6} {7, 6} {8, 6} {9, 10} {10, 6} {11, 6} {12, 6}",
block,roundtrip.count,roundtrip.average,roundtrip.min, roundtrip.max,write_access.count,
write_access.average,write_access.min, write_access.max, read_access.count, read_access.average,
read_access.min, read_access.max));
Console.Out.Flush();
write_access.init_stats();
read_access.init_stats();
roundtrip.init_stats();
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = p.DeleteDataWriter(PP_quit_writer);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public override Test.Framework.TestResult Run()
{
DDS.IDomainParticipant participant;
DDS.ISubscriber subscriber;
DDS.DataReaderQos dataReaderQos = null;
DDS.DataReaderQos qosHolder = null;
DDS.IDataReader reader1;
DDS.IDataReader reader2;
DDS.IDataReader reader3;
DDS.ITopic topic;
string expResult = "delete_contained_entities test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic = (DDS.ITopic) this.ResolveObject("topic");
rc = subscriber.GetDefaultDataReaderQos(ref qosHolder);
dataReaderQos = qosHolder;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos (1).";
return(result);
}
reader1 = subscriber.CreateDataReader(topic, dataReaderQos);//, null, 0);
if (reader1 == null)
{
result.Result = "Could not create a DataReader (2).";
return(result);
}
reader2 = subscriber.CreateDataReader(topic, dataReaderQos);//, null, 0);
if (reader2 == null)
{
result.Result = "Could not create a DataReader (3).";
return(result);
}
reader3 = subscriber.CreateDataReader(topic, dataReaderQos);//, null, 0);
if (reader3 == null)
{
result.Result = "Could not create a DataReader (4).";
return(result);
}
rc = subscriber.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but received " + rc + " after calling function delete_contained_entities (5).";
return(result);
}
rc = participant.DeleteTopic(topic);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but received " + rc + " after calling function delete_topic (6).";
return(result);
}
this.UnregisterObject("topic");
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.IDomainParticipant participant;
DDS.ISubscriber subscriber;
DDS.ISubscriber subscriber2;
DDS.SubscriberQos subscriberQos = null;
DDS.DataReaderQos qos = null;
DDS.DataReaderQos qosHolder = null;
DDS.IDataReader reader;
DDS.IDataReader reader2;
DDS.IDataReader reader3;
DDS.ITopic topic;
DDS.ITopic otherTopic;
DDS.TopicQos topicQos = null;
string expResult = "DataReader creation and deletion test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
subscriberQos = (DDS.SubscriberQos) this.ResolveObject("subscriberQos");
topic = (DDS.ITopic) this.ResolveObject("topic");
otherTopic = (DDS.ITopic) this.ResolveObject("otherTopic");
topicQos = (DDS.TopicQos) this.ResolveObject("topicQos");
rc = subscriber.GetDefaultDataReaderQos(ref qosHolder);
qos = qosHolder;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos.";
return(result);
}
reader = subscriber.CreateDataReader(null, qos);//, null, 0);
if (reader != null)
{
result.Result = "Created a DataReader without a Topic (1).";
return(result);
}
subscriber2 = participant.CreateSubscriber(subscriberQos);//, null, 0);
if (subscriber2 == null)
{
result.Result = "Could not create a new Subscriber (2).";
return(result);
}
rc = participant.DeleteSubscriber(subscriber2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a Subscriber (2).";
return(result);
}
reader = subscriber2.CreateDataReader(topic, qos);//, null, 0);
if (reader != null)
{
result.Result = "Created a DataReader on a deleted Subscriber (2).";
return(result);
}
topic = participant.CreateTopic("subscriber3tc_topic", "my_type", topicQos);//, null
//, 0);
if (topic == null)
{
result.Result = "Could not create a new Topic (3).";
return(result);
}
rc = participant.DeleteTopic(topic);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a Topic (3).";
return(result);
}
reader = subscriber.CreateDataReader(topic, qos);//, null, 0);
if (reader != null)
{
result.Result = "Created a DataReader with a deleted Topic (3).";
return(result);
}
topic = (DDS.ITopic) this.ResolveObject("topic");
reader = subscriber.CreateDataReader(topic, qos);//, null, 0);
if (reader == null)
{
result.Result = "Could not create a DataReader (4).";
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (5).";
return(result);
}
qos.Durability.Kind = DDS.DurabilityQosPolicyKind.TransientDurabilityQos;
qos.History.Kind = DDS.HistoryQosPolicyKind.KeepAllHistoryQos;
reader = subscriber.CreateDataReader(topic, qos);//, null, 0);
if (reader == null)
{
result.Result = "Could not create a DataReader with TRANSIENT DurabilityQosPolicy (6).";
return(result);
}
qos.History.Kind = DDS.HistoryQosPolicyKind.KeepLastHistoryQos;
qos.Durability.Kind = DDS.DurabilityQosPolicyKind.PersistentDurabilityQos;
reader2 = subscriber.CreateDataReader(otherTopic, qos);//, null, 0);
if (reader2 == null)
{
result.Result = "Could not create a DataReader with PERSISTENT DurabilityQosPolicy (7).";
return(result);
}
qos.Durability.Kind = DDS.DurabilityQosPolicyKind.VolatileDurabilityQos;
subscriber2 = participant.CreateSubscriber(subscriberQos);//, null, 0);
if (subscriber2 == null)
{
result.Result = "Could not create a Subscriber (8).";
return(result);
}
reader3 = subscriber2.CreateDataReader(otherTopic, qos);//, null, 0);
if (reader3 == null)
{
result.Result = "Could not create a DataReader (8).";
return(result);
}
rc = subscriber2.DeleteDataReader(reader);
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "Could delete a DataReader on a wrong subscriber (9).";
return(result);
}
rc = subscriber2.DeleteDataReader(reader3);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (10).";
return(result);
}
rc = subscriber.DeleteDataReader(reader2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (11).";
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a DataReader (12).";
return(result);
}
rc = participant.DeleteSubscriber(subscriber2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Expected RETCODE_OK but recieved " + rc + " after deleting a Subscriber (13).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
mod.tstDataWriter writer;
mod.tstDataReader reader;
mod.tstDataReader reader2;
DDS.IQueryCondition condition;
DDS.WaitSet waitset;
DDS.ISubscriber subscriber;
DDS.ICondition[] activeConditions = new DDS.Condition[0];
Test.Framework.TestResult result;
DDS.DataReaderQos drQos = null;
mod.tst[] tstHolder;
DDS.SampleInfo[] sampleInfoHolder;
string[] queryParams;
DDS.ITopic topic;
DDS.ReturnCode rc;
string expression;
string[] ssHolder;
string expResult = "QueryCondition test succeeded.";
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
writer = (mod.tstDataWriter) this.ResolveObject("datawriter");
reader = (mod.tstDataReader) this.ResolveObject("datareader");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic = (DDS.ITopic) this.ResolveObject("topic");
drQos = (DDS.DataReaderQos) this.ResolveObject("datareaderQos");
expression = "long_1=%0";
queryParams = new string[1];
queryParams[0] = "1";
condition = reader.CreateQueryCondition(DDS.SampleStateKind.Any, DDS.ViewStateKind.Any,
DDS.InstanceStateKind.Any, expression, queryParams);
if (condition == null)
{
result.Result = "Could not create query condition.";
return(result);
}
waitset = new DDS.WaitSet();
rc = waitset.AttachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not attach condition.";
return(result);
}
reader2 = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQos); //, null, 0);
if (reader2 == null)
{
result.Result = "Could not create datareader.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Timeout)
{
result.Result = "WaitSet.Wait failed(3).";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "WaitSet.Wait returned conditions where it shouldn't (3).";
return(result);
}
mod.tst data = new mod.tst();
data.long_1 = 2;
data.long_2 = 2;
data.long_3 = 3;
rc = writer.Write(data, 0);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataWriter.write failed.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Timeout)
{
result.Result = "WaitSet.Wait failed(3).";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "WaitSet.Wait returned conditions where it shouldn't (4).";
return(result);
}
data = new mod.tst();
data.long_1 = 1;
data.long_2 = 2;
data.long_3 = 3;
rc = writer.Write(data, 0);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataWriter.write failed.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "WaitSet.Wait failed. ";
return(result);
}
if (activeConditions.Length != 1)
{
result.Result = "WaitSet.Wait returned no or multiple conditions where it should return one.";
return(result);
}
if (activeConditions[0] != condition)
{
result.Result = "WaitSet.Wait returned wrong condition.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "WaitSet.Wait failed(2).";
return(result);
}
if (activeConditions.Length != 1)
{
result.Result = "WaitSet.Wait returned no or multiple conditions where it should return one(2).";
return(result);
}
if (activeConditions[0] != condition)
{
result.Result = "WaitSet.Wait returned wrong condition(2).";
return(result);
}
tstHolder = new mod.tst[0];
sampleInfoHolder = new DDS.SampleInfo[0];
rc = reader.TakeWithCondition(ref tstHolder, ref sampleInfoHolder, 1, condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataReader.take failed.";
return(result);
}
rc = reader.ReturnLoan(ref tstHolder, ref sampleInfoHolder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataReader.return_loan failed.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Timeout)
{
result.Result = "WaitSet.Wait failed.";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "WaitSet.Wait returned conditions where it shouldn't (2).";
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "delete_datareader succeeded, but should not.";
return(result);
}
rc = waitset.GetConditions(ref activeConditions);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "get_conditions failed.";
return(result);
}
if (activeConditions.Length != 1)
{
result.Result = "Returned conditions not valid.";
return(result);
}
if (activeConditions[0] != condition)
{
result.Result = "Returned condition does not equal set condition.";
return(result);
}
DDS.IDataReader reader3 = condition.GetDataReader();
if (reader != reader3)
{
result.Result = "ReadCondition.get_datareader failed.";
return(result);
}
if (condition.GetInstanceStateMask() != DDS.InstanceStateKind.Any)
{
result.Result = "ReadCondition.get_instance_state_mask failed.";
return(result);
}
if (condition.GetViewStateMask() != DDS.ViewStateKind.Any)
{
result.Result = "ReadCondition.get_view_state_mask failed.";
return(result);
}
if (condition.GetSampleStateMask() != DDS.SampleStateKind.Any)
{
result.Result = "ReadCondition.get_sample_state_mask failed.";
return(result);
}
rc = reader.DeleteReadCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_readcondition failed.";
return(result);
}
rc = waitset.GetConditions(ref activeConditions);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "get_conditions failed(2).";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "Returned conditions not valid(2).";
return(result);
}
queryParams = new string[1];
queryParams[0] = "1";
condition = reader.CreateQueryCondition(DDS.SampleStateKind.Any, DDS.ViewStateKind.Any,
DDS.InstanceStateKind.Any, "long_1=%0", queryParams);
if (condition == null)
{
result.Result = "Could not create query condition.";
return(result);
}
rc = waitset.AttachCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not attach condition.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Timeout)
{
result.Result = "WaitSet.Wait failed(q1).";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "WaitSet.Wait returned conditions where it shouldn't (q1).";
return(result);
}
data = new mod.tst();
data.long_1 = 1;
data.long_2 = 2;
data.long_3 = 3;
rc = writer.Write(data, 0);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataWriter.write failed(2).";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "WaitSet.Wait failed (q2). ";
return(result);
}
if (activeConditions.Length != 1)
{
result.Result = "WaitSet.Wait returned no or multiple conditions where it should return one(q2).";
return(result);
}
if (activeConditions[0] != condition)
{
result.Result = "WaitSet.Wait returned wrong condition(q2).";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "WaitSet.Wait failed(2).";
return(result);
}
if (activeConditions.Length != 1)
{
result.Result = "WaitSet.Wait returned no or multiple conditions where it should return one(q3).";
return(result);
}
if (activeConditions[0] != condition)
{
result.Result = "WaitSet.Wait returned wrong condition(q3).";
return(result);
}
tstHolder = new mod.tst[0];
sampleInfoHolder = new DDS.SampleInfo[0];
rc = reader.TakeWithCondition(ref tstHolder, ref sampleInfoHolder, 1, condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataReader.take failed(q1).";
return(result);
}
rc = reader.ReturnLoan(ref tstHolder, ref sampleInfoHolder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "tstDataReader.return_loan failed.";
return(result);
}
rc = waitset.Wait(ref activeConditions, new DDS.Duration(3, 0));
if (rc != DDS.ReturnCode.Timeout)
{
result.Result = "WaitSet.Wait failed(q5).";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "WaitSet.Wait returned conditions where it shouldn't (q6).";
return(result);
}
string expression2 = condition.GetQueryExpression();
if (!expression.Equals(expression2))
{
result.Result = "QueryCondition.get_query_expression does not work properly.";
return(result);
}
ssHolder = new string[0];
rc = condition.GetQueryParameters(ref ssHolder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "QueryCondition.get_query_parameters call failed.";
return(result);
}
string[] queryParams2 = ssHolder;
if (queryParams2 == null)
{
result.Result = "QueryCondition.get_query_parameters does not work properly (1).";
return(result);
}
if (queryParams2.Length != queryParams.Length)
{
result.Result = "QueryCondition.get_query_parameters does not work properly (2).";
return(result);
}
if (!queryParams2[0].Equals(queryParams[0]))
{
result.Result = "QueryCondition.get_query_parameters does not work properly (3).";
return(result);
}
queryParams[0] = "5";
rc = condition.SetQueryParameters(queryParams);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "QueryCondition.set_query_parameters does not work properly.";
return(result);
}
rc = condition.GetQueryParameters(ref ssHolder);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "QueryCondition.get_query_parameters call failed (1).";
return(result);
}
queryParams2 = ssHolder;
if (queryParams2 == null)
{
result.Result = "QueryCondition.get_query_parameters does not work properly (1).";
return(result);
}
if (queryParams2.Length != queryParams.Length)
{
result.Result = "QueryCondition.get_query_parameters does not work properly (2).";
return(result);
}
if (!queryParams2[0].Equals(queryParams[0]))
{
result.Result = "QueryCondition.get_query_parameters does not work properly (3).";
return(result);
}
rc = condition.SetQueryParameters(null);
if (rc == DDS.ReturnCode.Ok)
{
result.Result = "QueryCondition.set_query_parameters does not work properly (2).";
this.testFramework.TestMessage(Test.Framework.TestMessage.Note, "See OSPL-2628: Query parameter checking should be added.");
result.ExpectedVerdict = Test.Framework.TestVerdict.Fail;
return(result);
}
rc = reader.DeleteReadCondition(condition);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_readcondition failed(q7).";
return(result);
}
rc = waitset.GetConditions(ref activeConditions);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "get_conditions failed(q7).";
return(result);
}
if (activeConditions.Length != 0)
{
result.Result = "Returned conditions not valid(q7).";
return(result);
}
rc = subscriber.DeleteDataReader(reader);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_datareader failed.";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.IDomainParticipant participant;
DDS.IDomainParticipant participant2;
DDS.ISubscriber subscriber;
DDS.ISubscriber subscriber2;
DDS.SubscriberQos subscriberQos = null;
DDS.DataReaderQos qos = null;
string expResult = "DataReader qos tests succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
subscriberQos = (DDS.SubscriberQos) this.ResolveObject("subscriberQos");
if (subscriber.GetDefaultDataReaderQos(ref qos) != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos (1).";
return(result);
}
if (!test.sacs.QosComparer.DataReaderQosEquals(qos, test.sacs.QosComparer.defaultDataReaderQos
))
{
result.Result = "DataReaderQos not equal to default DataReaderQos (2).";
return(result);
}
// TODO: JLS, do we really care about this test?
//qos.Deadline.Period.Sec = DDS.Duration.InfiniteSec + 1;
//rc = subscriber.SetDefaultDataReaderQos(ref qos);
//if (rc != DDS.ReturnCode.BadParameter)
//{
// result.Result = "Received RETCODE " + rc + " after setting invalid qos (3).";
// return result;
//}
qos = test.sacs.QosComparer.defaultDataReaderQos;
subscriber2 = participant.CreateSubscriber(subscriberQos);//, null, 0);
if (subscriber2 == null)
{
result.Result = "Could not create a subscriber (4).";
return(result);
}
participant2 = subscriber2.Participant;
if (participant == null)
{
result.Result = "Could not get the participant (4).";
return(result);
}
if (participant2 != participant)
{
result.Result = "participant2 != participant (4).";
return(result);
}
rc = participant.DeleteSubscriber(subscriber2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Received RETCODE " + rc + " after deleting a subscriber (5).";
return(result);
}
rc = subscriber2.SetDefaultDataReaderQos(qos);
if (rc != DDS.ReturnCode.AlreadyDeleted && rc != DDS.ReturnCode.BadParameter)
{
result.Result = "Received RETCODE " + rc + " after setting a qos on a already deleted Subscriber(5).";
return(result);
}
participant2 = subscriber2.Participant;
if (participant2 != null)
{
result.Result = "Could get the participant of a deleted subscriber (6).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public void run(String[] args)
{
String myDomain = null;
DDS.DomainParticipantFactory dpf;
DDS.IDomainParticipant dp;
DDS.IPublisher p;
DDS.ISubscriber s;
pingpong.PP_min_msgDataWriter PP_min_writer;
pingpong.PP_seq_msgDataWriter PP_seq_writer;
pingpong.PP_string_msgDataWriter PP_string_writer;
pingpong.PP_fixed_msgDataWriter PP_fixed_writer;
pingpong.PP_array_msgDataWriter PP_array_writer;
pingpong.PP_min_msgDataReader PP_min_reader;
pingpong.PP_seq_msgDataReader PP_seq_reader;
pingpong.PP_string_msgDataReader PP_string_reader;
pingpong.PP_fixed_msgDataReader PP_fixed_reader;
pingpong.PP_array_msgDataReader PP_array_reader;
pingpong.PP_quit_msgDataReader PP_quit_reader;
pingpong.PP_min_msgTypeSupport PP_min_dt;
pingpong.PP_seq_msgTypeSupport PP_seq_dt;
pingpong.PP_string_msgTypeSupport PP_string_dt;
pingpong.PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong.PP_array_msgTypeSupport PP_array_dt;
pingpong.PP_quit_msgTypeSupport PP_quit_dt;
pingpong.PP_min_msg[] PP_min_dataList = null;
pingpong.PP_seq_msg[] PP_seq_dataList = null;
pingpong.PP_string_msg[] PP_string_dataList = null;
pingpong.PP_fixed_msg[] PP_fixed_dataList = null;
pingpong.PP_array_msg[] PP_array_dataList = null;
pingpong.PP_quit_msg[] PP_quit_dataList = null;
DDS.IStatusCondition PP_min_sc;
DDS.IStatusCondition PP_seq_sc;
DDS.IStatusCondition PP_string_sc;
DDS.IStatusCondition PP_fixed_sc;
DDS.IStatusCondition PP_array_sc;
DDS.IStatusCondition PP_quit_sc;
DDS.ITopic PP_min_topic;
DDS.ITopic PP_seq_topic;
DDS.ITopic PP_string_topic;
DDS.ITopic PP_fixed_topic;
DDS.ITopic PP_array_topic;
DDS.ITopic PP_quit_topic;
DDS.ICondition[] conditionList = null;
DDS.SampleInfo[] infoList = null;
DDS.IWaitSet w;
DDS.DomainParticipantQos dpQos;
DDS.TopicQos tQos;
DDS.PublisherQos pQos;
DDS.DataWriterQos dwQos;
DDS.SubscriberQos sQos;
DDS.DataReaderQos drQos;
Boolean terminate = false;
DDS.ReturnCode result;
int i;
int imax;
int j;
int jmax;
/*
* Evaluate cmdline arguments
*/
if (args.Length != 0)
{
if (args.Length != 2)
{
System.Console.WriteLine("Invalid.....");
System.Console.WriteLine("Usage: pong [READ_PARTITION WRITE_PARTITION]");
Environment.Exit(1);
}
read_partition = args[0];
write_partition = args[1];
}
/*
* Create WaitSet
*/
w = new DDS.WaitSet();
/*
* Initialize Qos variables
*/
dpQos = new DDS.DomainParticipantQos();
tQos = new DDS.TopicQos();
pQos = new DDS.PublisherQos();
dwQos = new DDS.DataWriterQos();
sQos = new DDS.SubscriberQos();
drQos = new DDS.DataReaderQos();
/*
* Create participant
*/
dpf = DDS.DomainParticipantFactory.Instance;
dpf.GetDefaultParticipantQos(ref dpQos);
dp = dpf.CreateParticipant(myDomain, dpQos, null, DDS.StatusKind.Any);
if (dp == null)
{
System.Console.WriteLine("PING: ERROR - Splice Daemon not running");
return;
}
/*
* Create PONG publisher
*/
dp.GetDefaultPublisherQos(ref pQos);
pQos.Partition.Name = new String[1];
pQos.Partition.Name[0] = write_partition;
p = dp.CreatePublisher(pQos);
/*
* Create PING subscriber
*/
dp.GetDefaultSubscriberQos(ref sQos);
sQos.Partition.Name = new String[1];
sQos.Partition.Name[0] = read_partition;
s = dp.CreateSubscriber(sQos);
/*
* Get default DataReader and DataWriter QoS settings
*/
p.GetDefaultDataWriterQos(ref dwQos);
s.GetDefaultDataReaderQos(ref drQos);
/*
* Get default Topic Qos settings
*/
dp.GetDefaultTopicQos(ref tQos);
/* match data reader/writer qos with topic qos */
p.CopyFromTopicQos(ref dwQos, tQos);
s.CopyFromTopicQos(ref drQos, tQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = new pingpong.PP_min_msgTypeSupport();
PP_min_dt.RegisterType(dp, "pingpong::PP_min_msg");
PP_min_topic = dp.CreateTopic("PP_min_topic", "pingpong::PP_min_msg", tQos);
/* Create datawriter */
PP_min_writer = p.CreateDataWriter(PP_min_topic, dwQos) as pingpong.PP_min_msgDataWriter;
/* Create datareader */
PP_min_reader = s.CreateDataReader(PP_min_topic, drQos) as pingpong.PP_min_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_min_sc = PP_min_reader.StatusCondition;
PP_min_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_min_sc);
// assert(result == RETCODE_OK.value);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = new pingpong.PP_seq_msgTypeSupport();
PP_seq_dt.RegisterType(dp, "pingpong::PP_seq_msg");
PP_seq_topic = dp.CreateTopic("PP_seq_topic", "pingpong::PP_seq_msg", tQos);
/* Create datawriter */
PP_seq_writer = p.CreateDataWriter(PP_seq_topic, dwQos) as pingpong.PP_seq_msgDataWriter;
/* Create datareader */
PP_seq_reader = s.CreateDataReader(PP_seq_topic, drQos) as pingpong.PP_seq_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_seq_sc = PP_seq_reader.StatusCondition;
PP_seq_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_seq_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = new pingpong.PP_string_msgTypeSupport();
PP_string_dt.RegisterType(dp, "pingpong::PP_string_msg");
PP_string_topic = dp.CreateTopic("PP_string_topic", "pingpong::PP_string_msg", tQos);
/* Create datawriter */
PP_string_writer = p.CreateDataWriter(PP_string_topic, dwQos) as pingpong.PP_string_msgDataWriter;
/* Create datareader */
PP_string_reader = s.CreateDataReader(PP_string_topic,drQos) as pingpong.PP_string_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_string_sc = PP_string_reader.StatusCondition;
PP_string_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_string_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = new pingpong.PP_fixed_msgTypeSupport();
PP_fixed_dt.RegisterType(dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = dp.CreateTopic("PP_fixed_topic", "pingpong::PP_fixed_msg", tQos);
/* Create datawriter */
PP_fixed_writer = p.CreateDataWriter(PP_fixed_topic, dwQos) as pingpong.PP_fixed_msgDataWriter;
/* Create datareader */
PP_fixed_reader = s.CreateDataReader(PP_fixed_topic, drQos) as pingpong.PP_fixed_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_fixed_sc = PP_fixed_reader.StatusCondition;
PP_fixed_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_fixed_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = new pingpong.PP_array_msgTypeSupport();
PP_array_dt.RegisterType(dp, "pingpong::PP_array_msg");
PP_array_topic = dp.CreateTopic("PP_array_topic", "pingpong::PP_array_msg", tQos);
/* Create datawriter */
PP_array_writer = p.CreateDataWriter(PP_array_topic, dwQos) as pingpong.PP_array_msgDataWriter;
/* Create datareader */
PP_array_reader = s.CreateDataReader(PP_array_topic, drQos) as pingpong.PP_array_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_array_sc = PP_array_reader.StatusCondition;
PP_array_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_array_sc);
//assert(result == RETCODE_OK.value);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = new pingpong.PP_quit_msgTypeSupport();
PP_quit_dt.RegisterType(dp, "pingpong::PP_quit_msg");
PP_quit_topic = dp.CreateTopic("PP_quit_topic", "pingpong::PP_quit_msg", tQos);
/* Create datareader */
PP_quit_reader = s.CreateDataReader(PP_quit_topic, drQos) as pingpong.PP_quit_msgDataReader;
/* Add datareader statuscondition to waitset */
PP_quit_sc = PP_quit_reader.StatusCondition;
PP_quit_sc.SetEnabledStatuses(DDS.StatusKind.DataAvailable);
result = w.AttachCondition(PP_quit_sc);
//assert(result == RETCODE_OK.value);
while (!terminate)
{
DDS.Duration wait_timeout = new DDS.Duration(DDS.Duration.InfiniteSec, DDS.Duration.InfiniteSec);
result = w.Wait(ref conditionList, wait_timeout);
ErrorHandler.checkStatus(result, "wait did not succeeed");
if (result == DDS.ReturnCode.AlreadyDeleted)
{
terminate = true;
continue;
}
if (conditionList != null)
{
imax = conditionList.Length;
for (i = 0; i < imax; i++)
{
if (conditionList[i] == PP_min_sc)
{
result = PP_min_reader.Take(ref PP_min_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_min_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_min_writer.Write(PP_min_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_min_reader.ReturnLoan(ref PP_min_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_min triggered, but no data available");
}
}
else if (conditionList[i] == PP_seq_sc)
{
/* System.Console.WriteLine ("PONG: PING_seq arrived"); */
result = PP_seq_reader.Take(ref PP_seq_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_seq_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_seq_writer.Write(PP_seq_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_seq_reader.ReturnLoan(ref PP_seq_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_seq triggered, but no data available");
}
}
else if (conditionList[i] == PP_string_sc)
{
/* System.Console.WriteLine ("PONG: PING_string arrived"); */
result = PP_string_reader.Take(ref PP_string_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_string_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_string_writer.Write(PP_string_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_string_reader.ReturnLoan(ref PP_string_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_string triggered, but no data available");
}
}
else if (conditionList[i] == PP_fixed_sc)
{
/* System.Console.WriteLine ("PONG: PING_fixed arrived"); */
result = PP_fixed_reader.Take(ref PP_fixed_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_fixed_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_fixed_writer.Write(PP_fixed_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_fixed_reader.ReturnLoan(ref PP_fixed_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_fixed triggered, but no data available");
}
}
else if (conditionList[i] == PP_array_sc)
{
/* System.Console.WriteLine ("PONG: PING_array arrived"); */
result = PP_array_reader.Take(ref PP_array_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_array_dataList.Length;
if (jmax != 0)
{
for (j = 0; j < jmax; j++)
{
if (infoList[j].ValidData)
{
result = PP_array_writer.Write(PP_array_dataList[j], DDS.InstanceHandle.Nil);
}
}
result = PP_array_reader.ReturnLoan(ref PP_array_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_array triggered, but no data available");
}
}
else if (conditionList[i] == PP_quit_sc)
{
/* System.Console.WriteLine ("PONG: PING_quit arrived"); */
result = PP_quit_reader.Take(ref PP_quit_dataList, ref infoList,
DDS.SampleStateKind.Any, DDS.ViewStateKind.Any, DDS.InstanceStateKind.Any);
jmax = PP_quit_dataList.Length;
if (jmax != 0)
{
result = PP_quit_reader.ReturnLoan(ref PP_quit_dataList, ref infoList);
}
else
{
System.Console.WriteLine("PONG: PING_quit triggered, but no data available");
}
terminate = true;
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered: " + conditionList[i]);
}
}
}
else
{
System.Console.WriteLine("PONG: unknown condition triggered");
}
}
result = s.DeleteDataReader(PP_min_reader);
result = p.DeleteDataWriter(PP_min_writer);
result = s.DeleteDataReader(PP_seq_reader);
result = p.DeleteDataWriter(PP_seq_writer);
result = s.DeleteDataReader(PP_string_reader);
result = p.DeleteDataWriter(PP_string_writer);
result = s.DeleteDataReader(PP_fixed_reader);
result = p.DeleteDataWriter(PP_fixed_writer);
result = s.DeleteDataReader(PP_array_reader);
result = p.DeleteDataWriter(PP_array_writer);
result = s.DeleteDataReader(PP_quit_reader);
result = dp.DeleteSubscriber(s);
result = dp.DeletePublisher(p);
result = dp.DeleteTopic(PP_min_topic);
result = dp.DeleteTopic(PP_seq_topic);
result = dp.DeleteTopic(PP_string_topic);
result = dp.DeleteTopic(PP_fixed_topic);
result = dp.DeleteTopic(PP_array_topic);
result = dp.DeleteTopic(PP_quit_topic);
result = dpf.DeleteParticipant(dp);
return;
}
public override Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
DDS.QosProvider qosProvider = null;
DDS.DomainParticipantQos participantQos =
test.sacs.QosComparer.defaultDomainParticipantQos;
DDS.TopicQos topicQos =
test.sacs.QosComparer.defaultTopicQos;
DDS.SubscriberQos subscriberQos =
test.sacs.QosComparer.defaultSubscriberQos;
DDS.DataReaderQos readerQos =
test.sacs.QosComparer.defaultDataReaderQos;
DDS.PublisherQos publisherQos =
test.sacs.QosComparer.defaultPublisherQos;
DDS.DataWriterQos writerQos =
test.sacs.QosComparer.defaultDataWriterQos;
DDS.DomainParticipantQos xmlParticipantQos = new DDS.DomainParticipantQos();
DDS.TopicQos xmlTopicQos = new DDS.TopicQos();
DDS.SubscriberQos xmlSubscriberQos = new DDS.SubscriberQos();
DDS.DataReaderQos xmlReaderQos = new DDS.DataReaderQos();
DDS.PublisherQos xmlPublisherQos = new DDS.PublisherQos();
DDS.DataWriterQos xmlWriterQos = new DDS.DataWriterQos();
qosProvider = new DDS.QosProvider(this.uri, string.Empty);
if (qosProvider.GetParticipantQos(ref xmlParticipantQos, null) != 0 ||
qosProvider.GetTopicQos(ref xmlTopicQos, null) != 0 ||
qosProvider.GetSubscriberQos(ref xmlSubscriberQos, null) != 0 ||
qosProvider.GetDataReaderQos(ref xmlReaderQos, null) != 0 ||
qosProvider.GetPublisherQos(ref xmlPublisherQos, null) != 0 ||
qosProvider.GetDataWriterQos(ref xmlWriterQos, null) != 0)
{
result = new Test.Framework.TestResult(
"QosProvider should successfully parse XML file",
"QosProvider did not parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
}
else if (!QosComparer.DomainParticipantQosEquals(xmlParticipantQos, participantQos) ||
!QosComparer.TopicQosEquals(xmlTopicQos, topicQos) ||
!QosComparer.SubscriberQosEquals(xmlSubscriberQos, subscriberQos) ||
!QosComparer.DataReaderQosEquals(xmlReaderQos, readerQos) ||
!QosComparer.PublisherQosEquals(xmlPublisherQos, publisherQos) ||
!QosComparer.DataWriterQosEquals(xmlWriterQos, writerQos))
{
result = new Test.Framework.TestResult(
"QosProvider should successfully parse XML file",
"QosProvider did not correctly parse XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
}
else
{
result = new Test.Framework.TestResult(
"QosProvider should successfully parse XML file",
"QosProvider correctly parsed XML file " + uri,
Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Pass);
}
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqos = null;
DDS.SubscriberQos subQos = null;
DDS.ISubscriber subscriber;
DDS.PublisherQos pubQos = null;
DDS.IPublisher publisher;
mod.tstTypeSupport typeSupport;
DDS.TopicQos tQos = null;
DDS.ITopic topic;
DDS.DataReaderQos drQos = null;
mod.tstDataReader datareader;
DDS.DataWriterQos dwQos = null;
mod.tstDataWriter datawriter;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqos);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
return(result);
}
subscriber = participant.CreateSubscriber(subQos);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "tstType");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Typesupport could not be registered.";
return(result);
}
if (participant.GetDefaultTopicQos(ref tQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
return(result);
}
topic = participant.CreateTopic("tst", "tstType", tQos);//, null, 0);
if (topic == null)
{
result.Result = "Topic could not be created.";
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
return(result);
}
publisher = participant.CreatePublisher(pubQos);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref drQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
return(result);
}
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, drQos);//, null, 0);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref dwQos) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
return(result);
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, dwQos);//, null, 0);
testCase.RegisterObject("factory", factory);
testCase.RegisterObject("participantQos", pqos);
testCase.RegisterObject("participant", participant);
testCase.RegisterObject("topic", topic);
testCase.RegisterObject("topicQos", tQos);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("subscriberQos", subQos);
testCase.RegisterObject("datareader", datareader);
testCase.RegisterObject("datareaderQos", drQos);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("publisherQos", pubQos);
testCase.RegisterObject("datawriter", datawriter);
testCase.RegisterObject("datawriterQos", dwQos);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
static void subscribe(int domain_id, int sample_count,
String participant_auth, String reader_auth)
{
// --- Create participant --- //
/* Start changes for programmatically qos */
/* 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 participant call above.
*/
/* Set user_data qos field for participant */
/* Get default participant QoS to customize */
DDS.DomainParticipantQos participant_qos =
new DDS.DomainParticipantQos();
DDS.DomainParticipantFactory.get_instance().
get_default_participant_qos(participant_qos);
DDS.StringSeq temp = new DDS.StringSeq(0);
participant_qos.discovery.multicast_receive_addresses = temp;
// user_data is opaque to DDS, so we include trailing \0 for string
int len = participant_auth.Length;
int max =
participant_qos.resource_limits.participant_user_data_max_length;
if (len > max) {
Console.WriteLine(
"error, participant user_data exceeds resource limits");
} else {
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
participant_qos.user_data.value.from_array(
System.Text.Encoding.Default.GetBytes(participant_auth));
}
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 programmatically qos */
/* The participant is disabled by default. We enable it now */
try {
participant.enable();
} catch (DDS.Exception e) {
Console.WriteLine("failed to enable participant {0}", e);
shutdown(participant);
throw e;
}
// --- 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 = msgTypeSupport.get_type_name();
try {
msgTypeSupport.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 msg",
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 */
msgListener reader_listener =
new msgListener();
/* Start changes for Builtin_Topics */
/* Set user_data qos field for datareader */
DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(datareader_qos);
/* user_data is opaque to DDS, so we include trailing \0 for string */
len = reader_auth.Length;
max = participant_qos.resource_limits.reader_user_data_max_length;
if (len > max) {
Console.WriteLine(
"error, datareader user_data exceeds resource limits");
} else {
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
datareader_qos.user_data.value.from_array(
System.Text.Encoding.Default.GetBytes(reader_auth));
}
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
datareader_qos,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- 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 Test.Framework.TestResult Run()
{
Test.Framework.TestResult result;
string expResult = "contains_entity returns the correct result";
DDS.IDomainParticipant participant;
DDS.DomainParticipantFactory factory;
DDS.TopicQos tHolder = new DDS.TopicQos();
DDS.PublisherQos pHolder = new DDS.PublisherQos();
DDS.SubscriberQos sHolder = new DDS.SubscriberQos();
DDS.DataWriterQos wHolder = new DDS.DataWriterQos();
DDS.DataReaderQos rHolder = new DDS.DataReaderQos();
DDS.ITopic topic;
DDS.IPublisher publisher;
DDS.ISubscriber subscriber;
mod.tstDataWriter writer;
mod.tstDataReader reader;
long handle;
DDS.ReturnCode rc;
participant = (DDS.IDomainParticipant) this.ResolveObject("participant");
factory = (DDS.DomainParticipantFactory) this.ResolveObject("factory");
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
if (participant.ContainsEntity(0))
{
result.Result = "contains_entity with nil handle incorrect";
return(result);
}
if (participant.ContainsEntity(100))
{
result.Result = "contains_entity with incorrect handle incorrect";
return(result);
}
handle = participant.InstanceHandle;
if (handle == DDS.InstanceHandle.Nil)
{
result.Result = "get_instance_handle returned 0";
return(result);
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity with own handle incorrect";
return(result);
}
mod.tstTypeSupport typeSupport = new mod.tstTypeSupport();
rc = typeSupport.RegisterType(participant, "type1");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
return(result);
}
participant.GetDefaultTopicQos(ref tHolder);
topic = participant.CreateTopic("TestTopic", "type1", tHolder);//, null, 0);
if (topic == null)
{
result.Result = "Create Topic failed.";
return(result);
}
participant.GetDefaultPublisherQos(ref pHolder);
publisher = participant.CreatePublisher(pHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Create Publisher failed.";
return(result);
}
participant.GetDefaultSubscriberQos(ref sHolder);
subscriber = participant.CreateSubscriber(sHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Create Subscriber failed.";
return(result);
}
publisher.GetDefaultDataWriterQos(ref wHolder);
writer = publisher.CreateDataWriter(topic, wHolder) as mod.tstDataWriter;
if (writer == null)
{
result.Result = "Create Writer failed.";
return(result);
}
subscriber.GetDefaultDataReaderQos(ref rHolder);
reader = subscriber.CreateDataReader(topic, rHolder) as mod.tstDataReader;
if (reader == null)
{
result.Result = "Create Reader failed.";
return(result);
}
handle = topic.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (topic) returned 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with topic handle incorrect";
return(result);
}
handle = publisher.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (publisher) returned != 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with publisher handle incorrect";
return(result);
}
handle = subscriber.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (subscriber) returned != 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with subscriber handle incorrect";
return(result);
}
handle = writer.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (writer) returned 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with writer handle incorrect";
return(result);
}
handle = reader.InstanceHandle;
if (handle == 0)
{
result.Result = "get_instance_handle (reader) returned 0";
return(result);
}
if (!participant.ContainsEntity(handle))
{
result.Result = "contains_entity with reader handle incorrect";
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "delete_contained_entities failed.";
return(result);
}
if (participant.ContainsEntity(handle))
{
result.Result = "contains_entity of deleted reader incorrect";
return(result);
}
result.Verdict = Test.Framework.TestVerdict.Pass;
result.Result = expResult;
return(result);
}
public override Test.Framework.TestResult Run(Test.Framework.TestCase testCase)
{
string filteredTypeName = "my_filtered_topic";
string filterExpression = "long_1 < %0";
// final String expressionParameters[] = {"1", "2", "3"};
string[] expressionParameters = new string[] { "1" };
DDS.IDomainParticipant participant;
DDS.ITopic topic;
DDS.IContentFilteredTopic filteredTopic;
DDS.IPublisher publisher;
DDS.ISubscriber subscriber;
mod.tstDataReader reader;
mod.tstDataWriter writer;
DDS.PublisherQos publisherQos = null;
DDS.SubscriberQos subscriberQos = null;
DDS.DataReaderQos dataReaderQos = null;
DDS.DataWriterQos dataWriterQos = null;
Test.Framework.TestResult result;
participant = (DDS.IDomainParticipant)testCase.ResolveObject("participant");
topic = (DDS.ITopic)testCase.ResolveObject("topic");
result = new Test.Framework.TestResult("Initialization success", string.Empty, Test.Framework.TestVerdict.Pass,
Test.Framework.TestVerdict.Fail);
filteredTopic = participant.CreateContentFilteredTopic(filteredTypeName, topic,
filterExpression, expressionParameters);
if (filteredTopic == null)
{
result.Result = "participant.create_contentfilteredtopic failed (1).";
return(result);
}
if (participant.GetDefaultPublisherQos(ref publisherQos) != DDS.ReturnCode.Ok)
{
result.Result = "participant.get_default_publisher_qos failed (2).";
return(result);
}
publisher = participant.CreatePublisher(publisherQos);//, null, 0);
if (publisher == null)
{
result.Result = "participant.create_publisher failed (3).";
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref dataWriterQos) != DDS.ReturnCode.Ok)
{
result.Result = "publisher.get_default_datawriter_qos failed (4).";
return(result);
}
writer = publisher.CreateDataWriter(topic, dataWriterQos) as mod.tstDataWriter;
if (writer == null)
{
result.Result = "could not create a tstDataWriter (5).";
return(result);
}
if (participant.GetDefaultSubscriberQos(ref subscriberQos) != DDS.ReturnCode.Ok)
{
result.Result = "participant.get_default_subscriber_qos failed (6).";
return(result);
}
subscriber = participant.CreateSubscriber(subscriberQos);//, null, 0);
if (subscriber == null)
{
result.Result = "participant.create_subscriber failed (7).";
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dataReaderQos) != DDS.ReturnCode.Ok)
{
result.Result = "subscriber.get_default_datareader_qos failed (8).";
return(result);
}
reader = subscriber.CreateDataReader(filteredTopic, dataReaderQos) as mod.tstDataReader;
if (reader == null)
{
result.Result = "subscriber.create_datareader failed (9).";
return(result);
}
testCase.RegisterObject("filteredTopic", filteredTopic);
testCase.RegisterObject("publisher", publisher);
testCase.RegisterObject("subscriber", subscriber);
testCase.RegisterObject("reader", reader);
testCase.RegisterObject("dataReaderQos", dataReaderQos);
testCase.RegisterObject("writer", writer);
result.Result = "Initialization success.";
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.DomainParticipantFactory factory;
DDS.IDomainParticipant participant;
DDS.DomainParticipantQos pqosHolder = null;
DDS.TopicQos topQosHolder = null;
DDS.ITopic topic;
mod.tstTypeSupport typeSupport = null;
mod.tstDataReader datareader;
test.sacs.MyDataReaderListener listener;
DDS.ISubscriber subscriber;
DDS.SubscriberQos sqosHolder = null;
DDS.DataReaderQos dqosHolder = null;
DDS.IPublisher publisher;
DDS.PublisherQos pubQosHolder = null;
mod.tstDataWriter datawriter;
DDS.DataWriterQos wqosHolder = null;
Test.Framework.TestResult result;
DDS.ReturnCode rc;
string expResult = "DataReaderListener test succeeded.";
semaphores = new Dictionary <DDS.StatusKind, Semaphore>();
semaphores.Add(DDS.StatusKind.DataAvailable, new Semaphore(0, 1));
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
factory = DDS.DomainParticipantFactory.Instance;
if (factory == null)
{
result.Result = "DomainParticipantFactory could not be initialized.";
return(result);
}
if (factory.GetDefaultParticipantQos(ref pqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DomainParticipantQos could not be resolved.";
return(result);
}
participant = factory.CreateParticipant(DDS.DomainId.Default, pqosHolder);//, null, 0);
if (participant == null)
{
result.Result = "Creation of DomainParticipant failed.";
return(result);
}
typeSupport = new mod.tstTypeSupport();
if (typeSupport == null)
{
result.Result = "Creation of tstTypeSupport failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = typeSupport.RegisterType(participant, "my_type");
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Register type failed.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultTopicQos(ref topQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default TopicQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
topic = participant.CreateTopic("my_topic", "my_type", topQosHolder);//, null,
//0);
if (topic == null)
{
result.Result = "Topic could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultSubscriberQos(ref sqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default SubscriberQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
subscriber = participant.CreateSubscriber(sqosHolder);//, null, 0);
if (subscriber == null)
{
result.Result = "Subscriber could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (subscriber.GetDefaultDataReaderQos(ref dqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataReaderQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
datareader = (mod.tstDataReader)subscriber.CreateDataReader(topic, dqosHolder);//, null, 0);
if (datareader == null)
{
result.Result = "DataReader could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (participant.GetDefaultPublisherQos(ref pubQosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default PublisherQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
publisher = participant.CreatePublisher(pubQosHolder);//, null, 0);
if (publisher == null)
{
result.Result = "Publisher could not be created.";
this.Cleanup(factory, participant);
return(result);
}
if (publisher.GetDefaultDataWriterQos(ref wqosHolder) != DDS.ReturnCode.Ok)
{
result.Result = "Default DataWriterQos could not be resolved.";
this.Cleanup(factory, participant);
return(result);
}
datawriter = (mod.tstDataWriter)publisher.CreateDataWriter(topic, wqosHolder);//, null, 0);
if (datawriter == null)
{
result.Result = "DataWriter could not be created.";
this.Cleanup(factory, participant);
return(result);
}
listener = new test.sacs.MyDataReaderListener(semaphores);
rc = datareader.SetListener(listener, DDS.StatusKind.LivelinessChanged | DDS.StatusKind.DataAvailable);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Set listener failed.";
return(result);
}
mod.tst t = new mod.tst();
t.long_1 = 1;
t.long_2 = 2;
t.long_3 = 3;
rc = datawriter.Write(t, DDS.InstanceHandle.Nil);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Data could not be written.";
this.Cleanup(factory, participant);
return(result);
}
if (semaphores[DDS.StatusKind.DataAvailable].WaitOne(10000))
{
if (!listener.onDataAvailableCalled)
{
result.Result = "on_data_available does not work properly.";
this.Cleanup(factory, participant);
return(result);
}
}
else
{
result.Result = "on_data_available did not trigger";
this.Cleanup(factory, participant);
return(result);
}
listener.Reset();
rc = publisher.DeleteDataWriter(datawriter);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "DataWriter could not be deleted.";
this.Cleanup(factory, participant);
return(result);
}
rc = participant.DeleteContainedEntities();
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete contained entities failed.";
this.Cleanup(factory, participant);
return(result);
}
rc = factory.DeleteParticipant(participant);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Delete DomainParticipant failed.";
this.Cleanup(factory, participant);
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
public override Test.Framework.TestResult Run()
{
DDS.ISubscriber subscriber;
DDS.DataReaderQos dataReaderQos = null;
DDS.DataReaderQos qosHolder = null;
DDS.IDataReader reader1;
DDS.IDataReader reader2;
DDS.IDataReader reader3;
DDS.IDataReader lookedUpReader;
DDS.ITopic topic1;
DDS.ITopic topic2;
bool isReader1LookedUp;
string expResult = "Lookup DataReader test succeeded";
Test.Framework.TestResult result;
DDS.ReturnCode rc;
result = new Test.Framework.TestResult(expResult, string.Empty, Test.Framework.TestVerdict
.Pass, Test.Framework.TestVerdict.Fail);
subscriber = (DDS.ISubscriber) this.ResolveObject("subscriber");
topic1 = (DDS.ITopic) this.ResolveObject("topic");
topic2 = (DDS.ITopic) this.ResolveObject("otherTopic");
rc = subscriber.GetDefaultDataReaderQos(ref qosHolder);
dataReaderQos = qosHolder;
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not retrieve default DataReaderQos (1).";
return(result);
}
reader1 = subscriber.CreateDataReader(topic1, dataReaderQos);//, null, 0);
if (reader1 == null)
{
result.Result = "Could not create a DataReader (2).";
return(result);
}
reader2 = subscriber.CreateDataReader(topic2, dataReaderQos);//, null, 0);
if (reader2 == null)
{
result.Result = "Could not create a DataReader (3).";
return(result);
}
reader3 = subscriber.CreateDataReader(topic1, dataReaderQos);//, null, 0);
if (reader3 == null)
{
result.Result = "Could not create a DataReader (4).";
return(result);
}
lookedUpReader = subscriber.LookupDataReader("my_topic");
if (lookedUpReader != reader1 && lookedUpReader != reader3)
{
result.Result = "Failed to lookup a DataReader (5).";
return(result);
}
isReader1LookedUp = lookedUpReader == reader1 ? true : false;
lookedUpReader = subscriber.LookupDataReader("my_other_topic");
if (lookedUpReader != reader2)
{
result.Result = "Failed to lookup a DataReader (6).";
return(result);
}
lookedUpReader = subscriber.LookupDataReader("non_existing_name");
if (lookedUpReader != null)
{
result.Result = "Looked up a DataReader for a non existing Topic name (7).";
return(result);
}
if (isReader1LookedUp)
{
rc = subscriber.DeleteDataReader(reader1);
}
else
{
rc = subscriber.DeleteDataReader(reader3);
}
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a DataReader (RETCODE = " + rc + ")(8).";
return(result);
}
lookedUpReader = subscriber.LookupDataReader("my_topic");
if (isReader1LookedUp)
{
if (lookedUpReader != reader3)
{
result.Result = "Failed to lookup a DataReader (reader3) (9).";
return(result);
}
}
else
{
if (lookedUpReader != reader1)
{
result.Result = "Failed to lookup a DataReader (reader1) (9).";
return(result);
}
}
if (isReader1LookedUp)
{
rc = subscriber.DeleteDataReader(reader3);
}
else
{
rc = subscriber.DeleteDataReader(reader1);
}
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a DataReader (RETCODE = " + rc + ")(10).";
return(result);
}
rc = subscriber.DeleteDataReader(reader2);
if (rc != DDS.ReturnCode.Ok)
{
result.Result = "Could not delete a DataReader (RETCODE = " + rc + ")(11).";
return(result);
}
lookedUpReader = subscriber.LookupDataReader(null);
if (lookedUpReader != null)
{
result.Result = "Looked up a DataReader for an empty Topic name (12).";
return(result);
}
result.Result = expResult;
result.Verdict = Test.Framework.TestVerdict.Pass;
return(result);
}
