public static DDS.TypedDataWriter <T> CreateDataWriter <T>(string topicName,
string typeName)
{
DDS.DomainParticipant participant = Instance;
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
throw new ApplicationException("create_publisher error");
}
DDS.Topic topic = participant.create_topic(
topicName,
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
throw new ApplicationException("create_topic error");
}
/* DDS.DataWriterQos dw_qos = new DDS.DataWriterQos();
* participant.get_default_datawriter_qos(dw_qos);
* dw_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* dw_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;*/
DDS.DataWriterQos dw_qos = new DDS.DataWriterQos();
participant.get_default_datawriter_qos(dw_qos);
//Console.WriteLine("LIB CODE DW QOS: " + dw_qos.history.kind);
//Console.WriteLine("LIB CODE DW QOS: " + dw_qos.reliability.kind);
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
throw new ApplicationException("create_datawriter error");
}
return((DDS.TypedDataWriter <T>)writer);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create ande Delete Inconsistent Topic
* ---------------------------------------------------------------
* Here we create an inconsistent topic to trigger the subscriber
* application's callback.
* The inconsistent topic is created with the topic name used in
* the Subscriber application, but with a different data type --
* the msg data type defined in partitions.idl.
* Once it is created, we sleep to ensure the applications discover
* each other and delete the Data Writer and Topic.
*/
/* First we register the msg type -- we name it
* inconsistent_topic_type_name to avoid confusion.
*/
Console.WriteLine("Creating Inconsistent Topic...");
System.String inconsistent_type_name = msgTypeSupport.get_type_name();
try
{
msgTypeSupport.register_type(participant, inconsistent_type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
DDS.Topic inconsistent_topic = participant.create_topic(
"Example listeners",
inconsistent_type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (inconsistent_topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* We have to associate a writer to the topic, as Topic information is not
* actually propagated until the creation of an associated writer.
*/
DDS.DataWriter inconsistent_writer = publisher.create_datawriter(
inconsistent_topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (inconsistent_writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
msgDataWriter msg_writer = (msgDataWriter)inconsistent_writer;
// Sleep to leave time for applications to discover each other
const System.Int32 sleep_period = 2000; //millseconds
System.Threading.Thread.Sleep(sleep_period);
try
{
publisher.delete_datawriter(ref inconsistent_writer);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_datawriter error {0}", e);
shutdown(participant);
return;
}
try
{
participant.delete_topic(ref inconsistent_topic);
}
catch (DDS.Exception e)
{
Console.WriteLine("delete_topic error {0}", e);
shutdown(participant);
return;
}
Console.WriteLine("... Deleted Inconsistent Topic\n");
/* Create Consistent Topic
* -----------------------------------------------------------------
* Once we have created the inconsistent topic with the wrong type,
* we create a topic with the right type name -- listeners -- that we
* will use to publish data.
*/
/* Register type before creating topic */
System.String type_name = listenersTypeSupport.get_type_name();
try
{
listenersTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example listeners",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* We will use the Data Writer Listener defined above to print
* a message when some of events are triggered in the DataWriter.
* To do that, first we have to pass the writer_listener and then
* we have to enable all status in the status mask.
*/
DataWriterListener writer_listener = new DataWriterListener();
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (writer == null)
{
shutdown(participant);
writer_listener = null;
throw new ApplicationException("create_datawriter error");
}
listenersDataWriter listeners_writer =
(listenersDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
listeners instance = listenersTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
writer_listener = null;
throw new ApplicationException(
"listenersTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = listeners_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing listeners, count {0}", count);
/* Modify the data to be sent here */
instance.x = (short)count;
try
{
listeners_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* listeners_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
listenersTypeSupport.delete_data(instance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"listenersTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
writer_listener = null;
}
private static void Publish(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create publisher --- //
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
Shutdown(participant);
throw new Exception("create_publisher error");
}
// --- Create topic --- //
// Register type before creating topic.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
Shutdown(participant);
throw new Exception("create_topic error");
}
// --- Create writer --- //
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
Shutdown(participant);
throw new Exception("create_datawriter error");
}
FlightDataWriter flightWriter = (FlightDataWriter)writer;
// --- Write --- //
// Create data sample for writing.
Flight[] flights_info = new Flight[4];
flights_info[0] = new Flight();
flights_info[0].trackId = 1111;
flights_info[0].company = "CompanyA";
flights_info[0].altitude = 15000;
flights_info[1] = new Flight();
flights_info[1].trackId = 2222;
flights_info[1].company = "CompanyB";
flights_info[1].altitude = 20000;
flights_info[2] = new Flight();
flights_info[2].trackId = 3333;
flights_info[2].company = "CompanyA";
flights_info[2].altitude = 30000;
flights_info[3] = new Flight();
flights_info[3].trackId = 4444;
flights_info[3].company = "CompanyB";
flights_info[3].altitude = 25000;
// For a data type that has a key, if the same instance is going to
// be written multiple times, initialize the key here and register
// the keyed instance prior to writing.
DDS.InstanceHandle_t instance_handle =
DDS.InstanceHandle_t.HANDLE_NIL;
// Main loop
const int sendPeriod = 1000; // Milliseconds
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Update flight info latitude and write.
Console.WriteLine("Updating and sending values");
for (int i = 0; i < flights_info.Length; i++)
{
// Set the plane altitude lineally (usually the max is
// at 41,000ft).
int altitude = flights_info[i].altitude + count * 100;
flights_info[i].altitude =
altitude >= 41000 ? 41000 : altitude;
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]",
flights_info[i].trackId, flights_info[i].company,
flights_info[i].altitude);
try {
flightWriter.write(flights_info[i], ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
System.Threading.Thread.Sleep(sendPeriod);
}
// Delete all entities
Shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = pollTypeSupport.get_type_name();
try {
pollTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example poll",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
pollDataWriter poll_writer =
(pollDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
poll instance = pollTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"pollTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = poll_writer.register_instance(instance);
*/
Random random = new Random();
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing poll, count {0}", count);
/* Modify the data to be sent here */
instance.x = (short)random.Next();
try {
poll_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* poll_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
pollTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"pollTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example deadline_contentfilter",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
//// Start changes for Deadline
// Create listener
deadlineListener writer_listener = new deadlineListener();
if (writer_listener == null)
{
shutdown(participant);
throw new ApplicationException("listener instantiation error\n");
}
/* To customize data writer QoS, use
* the configuration file NDDS_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
writer_listener, /* listener */
DDS.StatusMask.STATUS_MASK_ALL);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datawriter call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough.
*/
/*
*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* }
* catch(DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error\n", e);
* }
*
* // Set deadline QoS to 1.5 sec
* datawriter_qos.deadline.period.sec = 1;
* datawriter_qos.deadline.period.nanosec = 500000000; // 500ms
*
* // --- Create writer --- //
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos, //DDS.Publisher.DATAWRITER_QOS_DEFAULT,
* writer_listener,
* DDS.StatusMask.STATUS_MASK_ALL);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*/
deadline_contentfilterDataWriter deadline_contentfilter_writer =
(deadline_contentfilterDataWriter)writer;
/* Create data sample for writing */
deadline_contentfilter instance0 = deadline_contentfilterTypeSupport.create_data();
if (instance0 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
deadline_contentfilter instance1 = deadline_contentfilterTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"deadline_contentfilterTypeSupport.create_data error");
}
// Set keys -- we specify 'code' as the key field in the .idl
instance0.code = 0;
instance1.code = 1;
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle0 =
DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t instance_handle1 =
DDS.InstanceHandle_t.HANDLE_NIL;
instance_handle0 = deadline_contentfilter_writer.register_instance(instance0);
instance_handle1 = deadline_contentfilter_writer.register_instance(instance1);
const System.Int32 send_period = 1000; // milliseconds
instance0.x = instance0.y = instance1.x = instance1.y = 0;
int writeTimes = 15;
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("Writing deadline, count {0}", count);
/* Modify the data to be sent here */
instance0.x++;
instance0.y++;
instance1.x++;
instance1.y++;
Console.WriteLine("Writing instance0, x = {0}, y = {1}\n",
instance0.x, instance0.y);
try
{
deadline_contentfilter_writer.write(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if (count < writeTimes)
{
Console.WriteLine("Writing instance1, x = {0}, y = {1}\n",
instance1.x, instance1.y);
try
{
deadline_contentfilter_writer.write(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
}
else if (count == writeTimes)
{
Console.WriteLine("Stopping writes to instance1\n");
}
System.Threading.Thread.Sleep(send_period);
}
// Unregister the instances
try
{
deadline_contentfilter_writer.unregister_instance(instance0, ref instance_handle0);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
try
{
deadline_contentfilter_writer.unregister_instance(instance1, ref instance_handle1);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try
{
deadline_contentfilterTypeSupport.delete_data(instance0);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
try
{
deadline_contentfilterTypeSupport.delete_data(instance1);
}
catch (DDS.Exception e)
{
Console.WriteLine("deadlineTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count, int initial_value,
int dwh, int sleep)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = hello_worldTypeSupport.get_type_name();
try {
hello_worldTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example hello_world",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* If you use Durable Writer History, you need to set several
* properties. These properties are set in the USER_QOS_PROFILE.xml
* file, "durable_writer_history_Profile" profile. See that file for
* further details.
*/
DDS.DataWriter writer = null;
if (dwh == 1)
{
writer = publisher.create_datawriter_with_profile(topic,
"persistence_example_Library",
"durable_writer_history_Profile",
null, DDS.StatusMask.STATUS_MASK_ALL);
}
else
{
writer = publisher.create_datawriter_with_profile(topic,
"persistence_example_Library",
"persistence_service_Profile",
null, DDS.StatusMask.STATUS_MASK_ALL);
}
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
hello_worldDataWriter hello_world_writer =
(hello_worldDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
hello_world instance = hello_worldTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"hello_worldTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = hello_world_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
const System.Int32 one_sec = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing hello_world, count {0}", initial_value);
/* Modify the data to be sent here */
instance.data = initial_value;
initial_value++;
try {
hello_world_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
while (sleep != 0)
{
System.Threading.Thread.Sleep(one_sec);
sleep--;
}
/*
* try {
* hello_world_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
hello_worldTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"hello_worldTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, String file_name)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = SensorDataTypeSupport.get_type_name();
try {
SensorDataTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Raw SensorData",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
SensorDataDataWriter SensorData_writer =
(SensorDataDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
SensorData instance = SensorDataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"SensorDataTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
//wait for all data-readers to join before publishing:
while (!wait_for_readers(writer, no_dr))
{
}
System.Threading.Thread.Sleep(1000);
Console.WriteLine("datareaders have connected. starting to publish");
bool myparse = true;
/* Main loop */
using (StreamReader sReader = new StreamReader(file_name))
{
String line;
publication_sw.Start();
start_ticks = publication_sw.ElapsedTicks;
prev_ticks = start_ticks;
int[] ballSensors = { 4, 8, 10, 12 };
while ((line = sReader.ReadLine()) != null && count < max_samples)
{
try
{
linesRead++;
if (myparse)
{
int pos = 0;
instance.sensor_id = myParseInt32(line, ref pos);
//if (ballSensors.Contains(instance.sensor_id))
// continue;
instance.ts = myParseLong(line, ref pos);
instance.pos_x = myParseInt32(line, ref pos);
instance.pos_y = myParseInt32(line, ref pos);
instance.pos_z = myParseInt32(line, ref pos);
instance.vel = myParseInt32(line, ref pos);
instance.accel = myParseInt32(line, ref pos);
instance.vel_x = myParseInt32(line, ref pos);
instance.vel_y = myParseInt32(line, ref pos);
instance.vel_z = myParseInt32(line, ref pos);
instance.accel_x = myParseInt32(line, ref pos);
instance.accel_y = myParseInt32(line, ref pos);
instance.accel_z = myParseInt32(line, ref pos);
/*
* Console.WriteLine("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12}",
* instance.sensor_id,
* instance.ts,
* instance.pos_x,
* instance.pos_y,
* instance.pos_z,
* instance.vel,
* instance.accel,
* instance.vel_x,
* instance.vel_y,
* instance.vel_z,
* instance.accel_x,
* instance.accel_y,
* instance.accel_z);
*/
}
else
{
String[] fields = line.Split(',');
instance.sensor_id = Int32.Parse(fields[0]);
if (ballSensors.Contains(instance.sensor_id))
{
continue;
}
instance.ts = Int64.Parse(fields[1]);
instance.pos_x = Int32.Parse(fields[2]);
instance.pos_y = Int32.Parse(fields[3]);
instance.pos_z = Int32.Parse(fields[4]);
instance.vel = Int32.Parse(fields[5]);
instance.accel = Int32.Parse(fields[6]);
instance.vel_x = Int32.Parse(fields[7]);
instance.vel_y = Int32.Parse(fields[8]);
instance.vel_z = Int32.Parse(fields[9]);
instance.accel_x = Int32.Parse(fields[10]);
instance.accel_y = Int32.Parse(fields[11]);
instance.accel_z = Int32.Parse(fields[12]);
}
count++;
SensorData_writer.write(instance, ref instance_handle);
if (count % calculation_point == 0)
{
long curr_ticks = publication_sw.ElapsedTicks;
ncalcs++;
long lapse_ticks = curr_ticks - prev_ticks;
double lapse_msec = (double)lapse_ticks * ns_per_tick / (1000.0 * 1000.0);
sum_lapse_msec += lapse_msec;
if (lapse_msec < min_lapse)
{
min_lapse = lapse_msec;
}
if (lapse_msec > max_lapse)
{
max_lapse = lapse_msec;
}
prev_ticks = curr_ticks;
Console.WriteLine("Took {0} millisec to send next {1} samples: {2}",
lapse_msec, calculation_point, count);
double rate = (double)(calculation_point * 1000L * 1000L * 1000L) / (double)(lapse_ticks * ns_per_tick);
if (rate < min_rate)
{
min_rate = rate;
}
if (rate > max_rate)
{
max_rate = rate;
}
Console.WriteLine("publishing rate:{0} samples/sec", rate);
}
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if ((target_rate != 0) && (count % 1000 == 0))
{
//double calib = 0.7;
//if(calibrationDict.ContainsKey(target_rate))
// calib = calibrationDict[target_rate];
System.Threading.Thread.Sleep(1000 * 1000 / target_rate * 30 / 100);
}
}
end_ticks = publication_sw.ElapsedTicks;
publication_sw.Stop();
}
Console.WriteLine("Playback finished.. " + count);
// --- Shutdown --- //
double total_time_ms = (end_ticks - start_ticks) * ns_per_tick / 1000 / 1000;
double rate_pub = (double)count / total_time_ms;
Console.WriteLine("Target rate = {0} samples/sec.", target_rate);
Console.WriteLine("Overall Publication Rate Observed: {0} per sec", rate_pub * 1000);
Console.WriteLine("total time for playback in seconds: {0}", total_time_ms / 1000);
Console.WriteLine("lines read = {0}, samples written = {1}", linesRead, count);
/* Delete data sample */
try {
SensorData_writer.dispose(instance, ref instance_handle);
System.Threading.Thread.Sleep(10000);
SensorDataTypeSupport.delete_data(instance);
}
catch (DDS.Exception e) {
Console.WriteLine(
"SensorDataTypeSupport.delete_data error: {0}", e);
}
Console.WriteLine("Press enter to exit");
Console.ReadLine();
using (StreamWriter file = new StreamWriter("publisher_output.txt"))
{
file.WriteLine("Publisher summary statistics:\n");
file.WriteLine("Sent {0} samples in {1} seconds", count, total_time_ms / 1000);
file.WriteLine("\nAverage rate of publishing: {0} samples/sec", count / total_time_ms / 1000);
file.WriteLine("Max publishing rate:{0} samples/sec.", max_rate);
file.WriteLine("Min publishing rate:{0} samples/sec.", min_rate);
file.WriteLine("\nAverage time taken to publish 10000 samples: {0} sec", (sum_lapse_msec) / (double)ncalcs);
file.WriteLine("Max time to publish 10000 samples:{0} sec.", max_lapse);
file.WriteLine("Min time to publish 10000 samples:{0} sec.", min_lapse);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = cftTypeSupport.get_type_name();
try {
cftTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example cft",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the
* create_datawriter call above.
*/
/*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* datawriter_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datawriter_qos.durability.kind =
* DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
* datawriter_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* datawriter_qos.history.depth = 20;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic, datawriter_qos, null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*/
cftDataWriter cft_writer = (cftDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
cft instance = cftTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"cftTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = cft_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
/* Modify the data to be sent here */
/* Our purpose is to increment x every time we send a sample and to
* reset the x counter to 0 every time we send 10 samples
* (x=0,1,..,9). Using the value of count, we can get set x to the
* appropriate value applying % 10 operation to it.
*/
instance.count = count;
instance.x = count % 10;
Console.WriteLine("Writing cft, count {0}\tx={1}",
instance.count, instance.x);
try {
cft_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* cft_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
cftTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"cftTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* Start - modifying the generated example to showcase the usage of
* the get_publishers API
*/
/* We create 2 publishers */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* We use the publisher.GetHashCode() to identify the publisher ID */
Console.WriteLine("The first publishers is " + publisher.GetHashCode());
DDS.Publisher publisher2 = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher2 == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher2 error");
}
Console.WriteLine("The second publishers is " + publisher2.GetHashCode());
Console.WriteLine("Let's call get_publisher() now and check if " +
"I get all my publishers...");
DDS.PublisherSeq publisherSeq = new DDS.PublisherSeq();
participant.get_publishers(publisherSeq);
for (int count = 0; count < publisherSeq.length; ++count)
{
DDS.Publisher tmp = publisherSeq.get_at(count);
Console.WriteLine("The {0} publisher I found is: {1}",
count, tmp.GetHashCode());
}
/*
* try {
* Foo_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = keysTypeSupport.get_type_name();
try {
keysTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example keys",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
/* If you want to set the writer_data_lifecycle QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the create_datawriter
* call above.
*/
/*DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try
* {
* publisher.get_default_datawriter_qos(datawriter_qos);
* }
* catch (DDS.Exception e)
* {
* Console.WriteLine("get_default_datawriter_qos error", e);
* }
*
* datawriter_qos.writer_data_lifecycle.autodispose_unregistered_instances = false;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
keysDataWriter keys_writer = (keysDataWriter)writer;
// --- Write --- //
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/* Creates three instances */
keys[] instance = new keys[3] {
null, null, null
};
/* Create data samples for writing */
instance[0] = keysTypeSupport.create_data();
instance[1] = keysTypeSupport.create_data();
instance[2] = keysTypeSupport.create_data();
if (instance[0] == null || instance[1] == null || instance[2] == null)
{
shutdown(participant);
throw new ApplicationException(
"keysTypeSupport::create_data error\n");
}
/* RTI Connext could examine the key fields each time it needs to determine
* which data-instance is being modified.
* However, for performance and semantic reasons, it is better
* for your application to declare all the data-instances it intends to
* modify prior to actually writing any samples. This is known as registration.
*/
/* In order to register the instances, we must set their associated keys first */
instance[0].code = 0;
instance[1].code = 1;
instance[2].code = 2;
/* Creates three handles for managing the registrations */
DDS.InstanceHandle_t[] handle =
new DDS.InstanceHandle_t[]
{ DDS.InstanceHandle_t.HANDLE_NIL, DDS.InstanceHandle_t.HANDLE_NIL,
DDS.InstanceHandle_t.HANDLE_NIL };
/* The keys must have been set before making this call */
Console.WriteLine("Registering instance {0}", instance[0].code);
handle[0] = keys_writer.register_instance(instance[0]);
/* Modify the data to be sent here */
instance[0].x = 1000;
instance[1].x = 2000;
instance[2].x = 3000;
/* We only will send data over the instances marked as active */
int[] active = new int[] { 1, 0, 0 }; // Only send active tracks.
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
//Console.WriteLine("Writing keys, count {0}", count);
switch (count)
{
case 5:
{ /* Start sending the second and third instances */
Console.WriteLine("----Registering instance {0}", instance[1].code);
Console.WriteLine("----Registering instance {0}", instance[2].code);
handle[1] = keys_writer.register_instance(instance[1]);
handle[2] = keys_writer.register_instance(instance[2]);
active[1] = 1;
active[2] = 1;
} break;
case 10:
{ /* Unregister the second instance */
Console.WriteLine("----Unregistering instance {0}", instance[1].code);
try
{
keys_writer.unregister_instance(instance[1], ref handle[1]);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error {0}", e);
}
active[1] = 0;
} break;
case 15:
{ /* Dispose the third instance */
Console.WriteLine("----Disposing instance {0}", instance[2].code);
try
{
keys_writer.dispose(instance[2], ref handle[2]);
}
catch (DDS.Exception e)
{
Console.WriteLine("dispose instance error {0}", e);
}
active[2] = 0;
} break;
}
/* Modify the data to be sent here */
instance[0].y = count;
instance[1].y = count;
instance[2].y = count;
for (int i = 0; i < 3; ++i)
{
if (active[i] == 1)
{
Console.WriteLine("Writing instance {0}, x: {1}, y: {2}",
instance[i].code, instance[i].x, instance[i].y);
try
{
keys_writer.write(instance[i], ref handle[i]);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
}
}
System.Threading.Thread.Sleep(send_period);
}
// --- Shutdown --- //
/* Delete data samples */
try
{
keysTypeSupport.delete_data(instance[0]);
}
catch (DDS.Exception e)
{
Console.WriteLine("keysTypeSupport.delete_data error: {0}", e);
}
try
{
keysTypeSupport.delete_data(instance[1]);
}
catch (DDS.Exception e)
{
Console.WriteLine("keysTypeSupport.delete_data error: {0}", e);
}
try
{
keysTypeSupport.delete_data(instance[2]);
}
catch (DDS.Exception e)
{
Console.WriteLine("keysTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = sequencesTypeSupport.get_type_name();
try {
sequencesTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example sequences",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
sequencesDataWriter sequences_writer =
(sequencesDataWriter)writer;
/* Here we define two instances: owner_instance and borrower_instance.*/
/* owner_instance.data uses its own memory, as by default, a sequence
* you create owns its memory unless you explicitly loan memory of your
* own to it.
*/
sequences owner_instance = sequencesTypeSupport.create_data();
sequences borrower_instance = sequencesTypeSupport.create_data();
DDS.InstanceHandle_t owner_instance_handle =
DDS.InstanceHandle_t.HANDLE_NIL;
DDS.InstanceHandle_t borrower_instance_handle =
DDS.InstanceHandle_t.HANDLE_NIL;
/* If we want borrower_instance.data to loan a buffer of shorts,
* first we have to allocate the buffer. Here we allocate a buffer
* of MAX_SEQUENCE_LEN. */
short[] short_buffer = new short[MAX_SEQUENCE_LEN.VALUE];
/* Before calling loan(), we need to set sequence maximum to 0,
* i.e., the sequence won't have memory allocated to it. */
borrower_instance.data.maximum = 0;
/* Now that the sequence doesn't have memory allocated to it, we can
* call loan() to loan shortBuffer to borrowerInstance.
* We set the allocated number of elements to MAX_SEQUENCE_LEN, the
* size of the buffer and the maximum size of the sequence as we
* declared in the IDL. */
borrower_instance.data.loan(
short_buffer, //Buffer
0); //Initial length
/* Before starting to publish samples, set the instance id of each
* instance*/
owner_instance.id = "owner_instance";
borrower_instance.id = "browser_instance";
/*
* instance_handle = sequences_writer.register_instance(instance);
*/
/* We use Random to generate random values for the sequences */
Random random = new Random();
/* Main loop */
/* To illustrate the use of the sequences, in the main loop we set a
* new sequence length every iteration to the sequences contained in
* both instances (instance.data). The sequence length value cycles
* between 0 and MAX_SEQUENCE_LEN. We assign a random number between
* 0 and 100 to each sequence's elements. */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
/* We set a different sequenceLength for both instances every
* iteration. sequenceLength is based on the value of count
* and its value cycles between the values of 1 and
* MAX_SEQUENCE_LEN. */
int sequence_length = (count % MAX_SEQUENCE_LEN.VALUE) + 1;
Console.WriteLine("Writing sequences, count {0}...", count);
owner_instance.count = (short)count;
borrower_instance.count = (short)count;
/* Here we set the new length of each sequence */
owner_instance.data.length = sequence_length;
borrower_instance.data.length = sequence_length;
/* Now that the sequences have a new length, we assign a
* random number between 0 and 100 to each element of
* owner_instance->data and borrower_instance->data. */
for (int i = 0; i < sequence_length; ++i)
{
owner_instance.data.set_at(i, (short)random.Next(0, 100));
borrower_instance.data.set_at(i, (short)random.Next(0, 100));
}
/* Both sequences have the same length, so we only print the length
* of one of them. */
Console.WriteLine("Instances length = {0}",
owner_instance.data.length);
/* Write for each instance */
try {
sequences_writer.write(owner_instance,
ref owner_instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
try {
sequences_writer.write(borrower_instance,
ref borrower_instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/* Once we are done with the sequence, we call unloan() */
borrower_instance.data.unloan();
/*
* try {
* sequences_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
sequencesTypeSupport.delete_data(owner_instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"sequencesTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* Create DynamicData using TypeCode from Shapes.cpp
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
DDS.TypeCode type_code = ShapeType.get_typecode();
if (type_code == null)
{
shutdown(participant);
throw new ApplicationException("create_typecode error");
}
/* Create the Dynamic data type support object */
DDS.DynamicDataTypeSupport type_support =
new DDS.DynamicDataTypeSupport(type_code,
new DDS.DynamicDataTypeProperty_t());
if (type_support == null)
{
shutdown(participant);
throw new ApplicationException("create_type_support error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = EXAMPLE_TYPE_NAME;
try {
type_support.register_type(participant, EXAMPLE_TYPE_NAME);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Make sure both publisher and subscriber share the same topic
* name.
* In the Shapes example: we are publishing a Square, which is the
* topic name. If you want to publish other shapes (Triangle or
* Circle), you just need to update the topic name. */
DDS.Topic topic = participant.create_topic(
"Square",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* First, we create a generic DataWriter for our topic */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Then, to use DynamicData, we need to assign the generic
* DataWriter to a DynamicDataWriter, using a casting. The follow
* casting should never fail.
*/
DDS.DynamicDataWriter DynamicData_writer =
(DDS.DynamicDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
DDS.DynamicData data = type_support.create_data();
if (data == null)
{
shutdown(participant);
throw new ApplicationException(
"ShapeTypeTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = ShapeType_writer.register_instance(instance);
*/
/*** Shape direction variables ***/
int direction = 1; /* 1 means left to right and -1, right to left */
int x_position = 50; /* 50 is the initial position */
/* Initialize the DynamicData object */
data.set_string("color", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, "BLUE");
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, x_position);
data.set_int("y", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 100);
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED, 30);
/* Main loop */
const System.Int32 send_period = 100; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Sending shapesize {0}", 30 + (count % 20));
Console.WriteLine("Sending x position {0}", x_position);
/* Modify the shapesize from 30 to 50 */
try {
data.set_int("shapesize", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
30 + (count % 20));
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing shapesize = {1}",
e, 30 + (count % 20));
}
/* Modify the position */
try {
data.set_int("x", DDS.DynamicData.MEMBER_ID_UNSPECIFIED,
x_position);
} catch (DDS.Exception e) {
Console.WriteLine("{0}\nError writing x_position = {1}",
e, x_position);
}
/* The x_position will be modified adding or substracting
* 2 to the previous x_position depending on the direction.
*/
x_position += (direction * 2);
/* The x_position will stay between 50 and 150 pixels.
* When the position is greater than 150 'direction' will be
* negative (moving to the left) and when it is lower than 50
* 'direction' will be possitive (moving to the right).
*/
if (x_position >= 150)
{
direction = -1;
}
if (x_position <= 50)
{
direction = 1;
}
try {
DynamicData_writer.write(data, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ShapeType_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
type_support.delete_data(data);
} catch (DDS.Exception e) {
Console.WriteLine(
"ShapeTypeTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/*
* This example uses a built-in QoS profile to enable monitoring on the
* DomainParticipant. The code below loads the XML QoS from the
* USER_QOS_PROFILES.xml file, which is inheriting from the
* "BuiltinQoSLib::Generic.Monitoring.Common" profile to enable monitoring.
*
* !!!! NOTE: This example will only work when dynamically linking !!!
* In Visual Studio, change the target to "Debug DLL" or "Release DLL"
* to build.
*/
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
/* If you want to change the DomainParticipant's QoS
* programmatically rather than using the XML file, you will need
* to add the following lines to your code and comment out the
* create_participant call above.
*
* This example uses a built-in QoS profile to enable
* monitoring on the DomainParticipant.
*/
/*
* DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance().
* create_participant_with_profile(domain_id, "BuiltinQosLib",
* "Generic.Monitoring.Common", null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example profiles",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
/* If you want to change the DataWriter's QoS programatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*
* This example uses a built-in QoS profile to tune the QoS for
* reliable streaming data. */
/*DDS.DataWriter writer = publisher.create_datawriter_with_profile(
* topic, DDS.BuiltinQosProfiles.BUILTIN_QOS_LIB_EXP,
* DDS.BuiltinQosProfiles.PROFILE_PATTERN_RELIABLE_STREAMING,
* null, DDS.StatusMask.STATUS_MASK_NONE);
*/
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
profilesDataWriter profiles_writer =
(profilesDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
profiles instance = profilesTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"profilesTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = profiles_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing profiles, count {0}", count);
/* Modify the data to be sent here */
try {
profiles_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* profiles_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
profilesTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"profilesTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = asyncTypeSupport.get_type_name();
try {
asyncTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example async",
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");
}
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datawriter call above.
*
* In this case, we set the publish mode qos to asynchronous publish mode,
* which enables asynchronous publishing. We also set the flow controller
* to be the fixed rate flow controller, and we increase the history depth.
*/
// /* Get default datawriter QoS to customize */
// DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
// try {
// publisher.get_default_datawriter_qos(datawriter_qos);
// }
// catch (DDS.Exception e)
// {
// Console.WriteLine("get_default_datawriter_qos error {0}", e);
// shutdown(participant);
// throw e;
// }
///* Since samples are only being sent once per second, datawriter will need
// * to keep them on queue. History defaults to only keeping the last
// * sample enqueued, so we increase that here.
// */
// datawriter_qos.history.depth = 12;
// /* Set flowcontroller for datawriter */
// datawriter_qos.publish_mode.kind =
// DDS.PublishModeQosPolicyKind.ASYNCHRONOUS_PUBLISH_MODE_QOS;
// datawriter_qos.publish_mode.flow_controller_name =
// DDS.FlowController.FIXED_RATE_FLOW_CONTROLLER_NAME;
// // --- Create writer --- //
// /* To create datawriter with default QoS, use DDS_DATAWRITER_QOS_DEFAULT
//instead of datawriter_qos */
// DDS.DataWriter writer = publisher.create_datawriter(
// topic,
// datawriter_qos,
// null /* listener */,
// DDS.StatusMask.STATUS_MASK_NONE);
// if (writer == null) {
// shutdown(participant);
// throw new ApplicationException("create_datawriter error");
// }
asyncDataWriter async_writer =
(asyncDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
async instance = asyncTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"asyncTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = async_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing async, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
async_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* async_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
asyncTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"asyncTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* Start changes for custom_flowcontroller */
/* If you want to change the Participant's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_participant call above.
*/
/* Get default participant QoS to customize */
/* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
*
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_participant_qos error {0}", e);
* throw e;
* }
*
* // By default, data will be sent via shared memory _and_ UDPv4. Because
* // the flowcontroller limits writes across all interfaces, this halves
* // the effective send rate. To avoid this, we enable only the UDPv4
* // transport
*
* participant_qos.transport_builtin.mask =
* (int) DDS.TransportBuiltinKind.TRANSPORTBUILTIN_UDPv4;
*
* // To create participant with default QoS,
* // use DDS_PARTICIPANT_QOS_DEFAULT instead of participant_qos
* DDS.DomainParticipant participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id,
* participant_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (participant == null) {
* shutdown(participant);
* throw new ApplicationException("create_participant error");
* }
*/
/* End changes for custom_flow_controller */
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = cfcTypeSupport.get_type_name();
try {
cfcTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example cfc",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Start changes for custom_flowcontroller */
/* If you want to change the Datawriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*
* In this case we create the flowcontroller and the neccesary QoS
* for the datawriter.
*/
/*
* DDS.FlowControllerProperty_t custom_fcp =
* new DDS.FlowControllerProperty_t();
* try {
* participant.get_default_flowcontroller_property(custom_fcp);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_flowcontroller_property error {0}",
* e);
* shutdown(participant);
* throw e;
* }
*
* // Don't allow too many tokens to accumulate
* custom_fcp.token_bucket.max_tokens =
* custom_fcp.token_bucket.tokens_added_per_period = 2;
*
* custom_fcp.token_bucket.tokens_leaked_per_period =
* DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED;
*
* //100 ms
* custom_fcp.token_bucket.period.sec = 0;
* custom_fcp.token_bucket.period.nanosec = 100000000;
*
* // The sample size is 1000, but the minimum bytes_per_token is 1024.
* // Furthermore, we want to allow some overhead.
* custom_fcp.token_bucket.bytes_per_token = 1024;
*
* // So, in summary, each token can be used to send about one message,
* // and we get 2 tokens every 100ms, so this limits transmissions to
* // about 20 messages per second.
*
* // Create flowcontroller and set properties
* String cfc_name = "custom_flowcontroller";
* DDS.FlowController cfc = participant.create_flowcontroller(
* cfc_name, custom_fcp);
* if (cfc == null) {
* shutdown(participant);
* throw new ApplicationException("create_flowcontroller error");
* }
*
* //Get default datawriter QoS to customize
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
*
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*
* // As an alternative to increasing h istory depth, we can just
* // set the qos to keep all samples
* datawriter_qos.history.kind =
* DDS.HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
*
* // Set flowcontroller for datawriter
* datawriter_qos.publish_mode.kind =
* DDS.PublishModeQosPolicyKind.ASYNCHRONOUS_PUBLISH_MODE_QOS;
* datawriter_qos.publish_mode.flow_controller_name = cfc_name;
*
* // To create a datawriter with default QoS, use
* // DDS.Publisher.DATAWRITER_QOS_DEFAULT instead of datawriter_qos
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*
*/
// End changes for custom_flowcontroller
cfcDataWriter cfc_writer =
(cfcDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
cfc instance = cfcTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"cfcTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = cfc_writer.register_instance(instance);
*/
char[] str = new char[1000];
for (int i = 0; i < 1000; ++i)
{
str[i] = 'a';
}
String data = new String(str);
/* Main loop */
System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count); ++count)
{
// Changes for custom_flowcontroller
// Simulate bursty writer
System.Threading.Thread.Sleep(send_period);
for (int i = 0; i < 10; ++i)
{
int sample = count * 10 + i;
Console.WriteLine("Writing cfc, sample {0}", sample);
instance.x = sample;
instance.str = data;
try {
cfc_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
}
//Console.WriteLine("{0}", instance.str);
send_period = 4000;
System.Threading.Thread.Sleep(send_period);
/*
* try {
* cfc_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
cfcTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"cfcTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
private void Form1_Load(object sender, EventArgs e)
{
participant = DDS.DomainParticipantFactory.get_instance().create_participant(
0, DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topics --- //
/* OpenClose */
/* Register type before creating topic */
System.String type_name = cow.OpenCloseTypeSupport.get_type_name();
try
{
cow.OpenCloseTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* Customize QoS settings */
DDS.TopicQos topicQos = new DDS.TopicQos();
participant.get_default_topic_qos(topicQos);
topicQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
topicQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
DDS.Topic openCloseTopic = participant.create_topic(
"OpenClose", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (openCloseTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriterQos datawriterQos = new DDS.DataWriterQos();
publisher.get_default_datawriter_qos(datawriterQos);
publisher.copy_from_topic_qos(datawriterQos, topicQos);
DDS.DataWriter writer = publisher.create_datawriter(
openCloseTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
openCloseWriter = (cow.OpenCloseDataWriter)writer;
/* SetWatts */
/* Register type before creating topic */
type_name = cow.SetWattsTypeSupport.get_type_name();
try
{
cow.SetWattsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception ex)
{
MessageBox.Show("register_type error " + ex.Message);
shutdown(participant);
throw ex;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.Topic setWattsTopic = participant.create_topic(
"SetWatts", type_name, topicQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (setWattsTopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
writer = publisher.create_datawriter(
setWattsTopic, datawriterQos,
null /* listener */, DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
setWattsWriter = (cow.SetWattsDataWriter)writer;
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
participant.get_default_publisher_qos(publisher_qos);
/* If you want to change the Partition name programmatically rather than
* using the XML, you will need to add the following lines to your code
* and comment out the create_publisher() call bellow.
*/
/*
* String[] partitions = { "ABC", "foo" };
*
* publisher_qos.partition.name.ensure_length(2, 2);
* publisher_qos.partition.name.from_array(partitions);
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*
*/
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = partitionsTypeSupport.get_type_name();
try
{
partitionsTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example partitions",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* In this example we set a Reliable datawriter, with Transient Local
* durability. By default we set up these QoS settings via XML. If you
* want to to it programmatically, use the following code, and comment out
* the create_datawriter call bellow.
*/
/*
* DDS.DataWriterQos writerQos = new DDS.DataWriterQos();
* publisher.get_default_datawriter_qos(writerQos);
*
* writerQos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* writerQos.history.depth = 3;
* writerQos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* writerQos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* writerQos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*/
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
partitionsDataWriter partitions_writer =
(partitionsDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
partitions instance = partitionsTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"partitionsTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = partitions_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // 1 second
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing partitions, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try
{
partitions_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
if ((count + 1) % 25 == 0)
{
// Matches "ABC" -- name[1] here can match name[0] there,
// as long as there is some overlapping name
publisher_qos.partition.name.set_at(0, "zzz");
publisher_qos.partition.name.set_at(1, "A*C");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 20 == 0)
{
// Strings that are regular expressions aren't tested for
// literal matches, so this won't match "X*Z"
publisher_qos.partition.name.set_at(0, "X*Z");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 15 == 0)
{
// Matches "ABC"
publisher_qos.partition.name.set_at(0, "A?C");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 10 == 0)
{
// Matches "ABC"
publisher_qos.partition.name.set_at(0, "A*");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
else if ((count + 1) % 5 == 0)
{
// No literal match for "bar"
publisher_qos.partition.name.set_at(0, "bar");
Console.WriteLine("Setting partition to '{0}', '{1}'...",
publisher_qos.partition.name.get_at(0),
publisher_qos.partition.name.get_at(1));
publisher.set_qos(publisher_qos);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* partitions_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
partitionsTypeSupport.delete_data(instance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"partitionsTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
/* There are several different approaches for loading QoS profiles from
* XML files (see Configuring QoS with XML chapter in the RTI Connext
* Core Libraries and Utilities User's Manual). In this example we
* illustrate two of them:
*
* 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
* automatically by the DomainParticipantFactory. In this case, the file
* defines a QoS profile named volatile_profile that configures reliable,
* volatile DataWriters and DataReaders.
*
* 2) Adding XML documents to the DomainParticipantFactory using its
* Profile QoSPolicy (DDS Extension). In this case, we add
* my_custom_qos_profiles.xml to the url_profile sequence, which stores
* the URLs of all the XML documents with QoS policies that are loaded
* by the DomainParticipantFactory aside from the ones that are
* automatically loaded.
* my_custom_qos_profiles.xml defines a QoS profile named
* transient_local_profile that configures reliable, transient local
* DataWriters and DataReaders.
*/
/* To load my_custom_qos_profiles.xml, as explained above, we need to
* modify the DDSTheParticipantFactory Profile QoSPolicy */
DDS.DomainParticipantFactoryQos factory_qos =
new DDS.DomainParticipantFactoryQos();
DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
/* We are only going to add one XML file to the url_profile sequence,
* so we ensure a length of 1,1. */
factory_qos.profile.url_profile.ensure_length(1, 1);
/* The XML file will be loaded from the working directory. That means,
* you need to run the example like this:
* ./objs/<architecture>/profiles_publisher
* (see README.txt for more information on how to run the example).
*
* Note that you can specify the absolute path of the XML QoS file to
* avoid this problem.
*/
factory_qos.profile.url_profile.set_at(0,
"file://my_custom_qos_profiles.xml");
DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
// --- Create participant --- //
/* Our default Qos profile, volatile_profile, sets the participant name.
* This is the only participant_qos policy that we change in our
* example. As this is done in the default QoS profile, we don't need
* to specify its name, so we can create the participant using the
* create_participant() method rather than using
* create_participant_with_profile(). */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* We haven't changed the publisher_qos in any of QoS profiles we use in
* this example, so we can just use the create_publisher() method. If
* you want to load an specific profile in which you may have changed
* the publisher_qos, use the create_publisher_with_profile() method. */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = profilesTypeSupport.get_type_name();
try {
profilesTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* We haven't changed the topic_qos in any of QoS profiles we use in
* this example, so we can just use the create_topic() method. If you
* want to load an specific profile in which you may have changed the
* topic_qos, use the create_topic_with_profile() method. */
DDS.Topic topic = participant.create_topic(
"Example profiles",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writers --- //
/* Volatile writer -- As volatile_profile is the default qos profile
* we don't need to specify the profile we are going to use, we can
* just call create_datawriter passing DDS_DATAWRITER_QOS_DEFAULT. */
DDS.DataWriter writer_volatile = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_volatile == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* Transient Local writer -- In this case we use
* create_datawriter_with_profile, because we have to use a profile
* other than the default one. This profile has been defined in
* my_custom_qos_profiles.xml, but since we already loaded the XML file
* we don't need to specify anything else. */
DDS.DataWriter writer_transient_local = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer_transient_local == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
profilesDataWriter profiles_writer_volatile =
(profilesDataWriter)writer_volatile;
profilesDataWriter profiles_writer_transient_local =
(profilesDataWriter)writer_transient_local;
// --- Write --- //
/* Create data sample for writing */
profiles instance = profilesTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"profilesTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = profiles_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing profiles, count {0}", count);
/* Modify the data to be sent here */
instance.profile_name = "volatile_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x);
try {
profiles_writer_volatile.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write volatile error {0}", e);
}
instance.profile_name = "transient_local_profile";
instance.x = count;
Console.WriteLine("Writing profile_name = " + instance.profile_name
+ "\t x = " + instance.x + "\n");
try
{
profiles_writer_transient_local.write(instance,
ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write transient local error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* profiles_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
profilesTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"profilesTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = keysTypeSupport.get_type_name();
try
{
keysTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example keys",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* We are going to load different QoS profiles for the two DWs */
DDS.DataWriterQos writerQos = new DDS.DataWriterQos();
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
DDS.DomainParticipantFactory.get_instance().get_datawriter_qos_from_profile(writerQos, "keys_Library", "keys_Profile_dw2");
/* If you want to set the writer_data_lifecycle QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the create_datawriter
* and get_datawriter_qos_from_profile calls above.
*/
/*
* publisher.get_default_datawriter_qos(writerQos);
*
* writerQos.writer_data_lifecycle.autodispose_unregistered_instances = false;
* writerQos.ownership.kind = DDS.OwnershipQosPolicyKind.EXCLUSIVE_OWNERSHIP_QOS;
* writerQos.ownership_strength.value = 10;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* writerQos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
*
* writerQos.ownership_strength.value = 5;
*/
DDS.DataWriter writer2 = publisher.create_datawriter(
topic,
writerQos,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
keysDataWriter keys_writer = (keysDataWriter)writer;
if (writer2 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
keysDataWriter keys_writer2 = (keysDataWriter)writer2;
// --- Write --- //
/* Creates three instances */
keys[] instance = new keys[3] {
null, null, null
};
/* Create data sample for writing */
instance[0] = keysTypeSupport.create_data();
instance[1] = keysTypeSupport.create_data();
instance[2] = keysTypeSupport.create_data();
if ((instance[0] == null)
||
(instance[1] == null)
||
(instance[2] == null)
)
{
shutdown(participant);
throw new ApplicationException(
"keysTypeSupport.create_data error");
}
/* RTI Connext could examine the key fields each time it needs to determine
* which data-instance is being modified.
* However, for performance and semantic reasons, it is better
* for your application to declare all the data-instances it intends to
* modify prior to actually writing any samples. This is known as registration.
*/
/* In order to register the instances, we must set their associated keys first */
instance[0].code = 0;
instance[1].code = 1;
instance[2].code = 2;
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t[] handle = new DDS.InstanceHandle_t[3];
Console.WriteLine("----DW1 registering instance handle", instance[0].code);
handle[0] = keys_writer.register_instance(instance[0]);
// Init coordinates
instance[0].x = 1;
instance[1].x = 1;
instance[2].x = 1;
int[] active = new int[] { 1, 0, 0 }; // Only send active keys.
/* Make variables for the instance for the second datawriter to use.
* Note that it actually refers to the same logical instance, but
* because we're running both datawriters in the same thread, we
* to create separate variables so they don't clobber each other.
*/
keys instance_dw2 = null;
instance_dw2 = keysTypeSupport.create_data();
if (instance_dw2 == null)
{
shutdown(participant);
throw new ApplicationException("keysTypeSupport.create_data error");
}
/* instance_dw2 and instance[1] have the same key, and thus
* will write to the same instance (ins1).
*/
instance_dw2.code = instance[1].code;
instance_dw2.x = 2;
DDS.InstanceHandle_t handle_dw2 = keys_writer2.register_instance(instance_dw2);
int active_dw2 = 1;
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0; (sample_count == 0) || (count < sample_count); ++count)
{
System.Threading.Thread.Sleep(send_period);
/* Modify the data to be sent here */
instance[0].y = count;
instance[1].y = count + 1000;
instance[2].y = count + 2000;
instance_dw2.y = -count - 1000;
/* We control two datawriters via a state machine here rather than
* introducing separate threads.
*/
/* Control first DataWriter */
switch (count)
{
case 4:
{ /* Start sending the second (ins1) and third instances (ins2) */
Console.WriteLine("----DW1 registering instance {0}", instance[1].code);
Console.WriteLine("----DW1 registering instance {0}", instance[2].code);
handle[1] = keys_writer.register_instance(instance[1]);
handle[2] = keys_writer.register_instance(instance[2]);
active[1] = 1;
active[2] = 1;
} break;
case 8:
{ /* Dispose the second instance (ins1) */
Console.WriteLine("----DW1 disposing instance {0}", instance[1].code);
try
{
keys_writer.dispose(instance[1], ref handle[1]);
}
catch (DDS.Exception e)
{
Console.WriteLine("dispose instance error: {0}", e);
return;
}
active[1] = 0;
} break;
case 10:
{ /* Unregister the second instance (ins1) */
Console.WriteLine("----DW1 unregistering instance {0}", instance[1].code);
try
{
keys_writer.unregister_instance(instance[1], ref handle[1]);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
return;
}
active[1] = 0;
} break;
case 12:
{ /* Unregister the third instance (ins2) */
Console.WriteLine("----DW1 unregistering instance {0}", instance[2].code);
try
{
keys_writer.unregister_instance(instance[2], ref handle[2]);
}
catch (DDS.Exception e)
{
Console.WriteLine("unregister instance error: {0}", e);
return;
}
active[2] = 0;
/* Re-register the second instance (ins1) */
Console.WriteLine("----DW1 re-registering instance {0}", instance[1].code);
handle[1] = keys_writer.register_instance(instance[1]);
active[1] = 1;
} break;
case 16:
{ /* Re-register the third instance (ins2) */
Console.WriteLine("----DW1 re-registering instance {0}", instance[2].code);
handle[2] = keys_writer.register_instance(instance[2]);
active[2] = 1;
} break;
}
for (int i = 0; i < 3; ++i)
{
if (active[i] == 1)
{
Console.WriteLine("DW1 write; code: {0}, x: {1}, y: {2}",
instance[i].code, instance[i].x, instance[i].y);
try
{
keys_writer.write(instance[i], ref handle[i]);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
return;
}
}
}
/* Control second datawriter */
switch (count)
{
case 16:
{ /* Dispose the instance (ins1).
* Since it has lower ownership strength, this does nothing */
Console.WriteLine("----DW2 disposing instance {0}", instance_dw2.code);
try
{
keys_writer2.dispose(instance_dw2, ref handle_dw2);
}
catch (DDS.Exception e)
{
Console.WriteLine("dispose error {0}", e);
return;
}
active_dw2 = 0;
} break;
}
if (active_dw2 == 1)
{
Console.WriteLine("DW2 write; code: {0}, x: {1}, y: {2}",
instance_dw2.code, instance_dw2.x, instance_dw2.y);
try
{
keys_writer2.write(instance_dw2, ref handle_dw2);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
return;
}
}
}
// --- Shutdown --- //
/* Delete data sample */
for (int i = 0; i < 3; i++)
{
try
{
keysTypeSupport.delete_data(instance[i]);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"keysTypeSupport.delete_data error: {0}", e);
}
}
try
{
keysTypeSupport.delete_data(instance_dw2);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"keysTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = ordered_groupTypeSupport.get_type_name();
try {
ordered_groupTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* Start changes for Ordered Presentation Group example */
/* TOPICS */
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic1 = participant.create_topic(
"Topic1",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic1 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic2 = participant.create_topic(
"Topic2",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic2 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic3 = participant.create_topic(
"Topic3",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic3 == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* DATAWRITERS */
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer1 = publisher.create_datawriter(
topic1,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer1 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ordered_groupDataWriter ordered_group_writer1 =
(ordered_groupDataWriter)writer1;
DDS.DataWriter writer2 = publisher.create_datawriter(
topic2,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer2 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ordered_groupDataWriter ordered_group_writer2 =
(ordered_groupDataWriter)writer2;
DDS.DataWriter writer3 = publisher.create_datawriter(
topic3,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer3 == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ordered_groupDataWriter ordered_group_writer3 =
(ordered_groupDataWriter)writer3;
// --- Write --- //
/* Instances */
ordered_group instance1 = ordered_groupTypeSupport.create_data();
if (instance1 == null)
{
shutdown(participant);
throw new ApplicationException(
"ordered_groupTypeSupport.create_data error");
}
ordered_group instance2 = ordered_groupTypeSupport.create_data();
if (instance2 == null)
{
shutdown(participant);
throw new ApplicationException(
"ordered_groupTypeSupport.create_data error");
}
ordered_group instance3 = ordered_groupTypeSupport.create_data();
if (instance3 == null)
{
shutdown(participant);
throw new ApplicationException(
"ordered_groupTypeSupport.create_data error");
}
/* End changes for Ordered Presentation Example */
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = ordered_group_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing ordered_group, count {0}", count);
/* Start changes for Ordered Presentation Example */
/* Modify the data to be sent here */
/* Instance 1 */
instance1.message = "First sample, Topic 1 by DataWriter number 1";
try {
ordered_group_writer1.write(instance1, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance1.message = "Second sample, Topic 1 by DataWriter number 1";
try {
ordered_group_writer1.write(instance1, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
/* Instance 2 */
instance2.message = "First sample, Topic 2 by DataWriter number 2";
try {
ordered_group_writer2.write(instance2, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance2.message = "Second sample, Topic 2 by DataWriter number 2";
try {
ordered_group_writer2.write(instance2, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
/* Instance 3 */
instance3.message = "First sample, Topic 3 by DataWriter number 3";
try {
ordered_group_writer3.write(instance3, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance3.message = "Second sample, Topic 3 by DataWriter number 3";
try {
ordered_group_writer3.write(instance3, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ordered_group_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
ordered_groupTypeSupport.delete_data(instance1);
ordered_groupTypeSupport.delete_data(instance2);
ordered_groupTypeSupport.delete_data(instance3);
} catch (DDS.Exception e) {
Console.WriteLine(
"ordered_groupTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = market_dataTypeSupport.get_type_name();
try {
market_dataTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example market_data",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and modify the datawriter creation fuction using writer_qos
*
* In this case, we set the publish as multichannel using the differents
* channel to send differents symbol. Every channel have a IP to send
* the data.
*/
/* Start changes for MultiChannel */
/*
* DDS.DataWriterQos writer_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(writer_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
*/
/* Create 8 channels based on Symbol */
/*
* writer_qos.multi_channel.channels.ensure_length(8, 8);
* System.Int32 length = writer_qos.multi_channel.channels.length;
* for (int i = 0; i < length; i++) {
* DDS.ChannelSettings_t channelSetting =
* new DDS.ChannelSettings_t();
* writer_qos.multi_channel.channels.set_at(i, channelSetting);
* DDS.TransportMulticastSettingsSeq multiCastSettingSeq =
* new DDS.TransportMulticastSettingsSeq(1);
* writer_qos.multi_channel.channels.get_at(i).
* multicast_settings = multiCastSettingSeq;
* writer_qos.multi_channel.channels.get_at(i).
* multicast_settings.ensure_length(1, 1);
* DDS.TransportMulticastSettings_t multicastSetting =
* new DDS.TransportMulticastSettings_t();
* writer_qos.multi_channel.channels.get_at(i).
* multicast_settings.set_at(0, multicastSetting);
* }
* writer_qos.multi_channel.channels.get_at(0).
* filter_expression = "Symbol MATCH '[A-C]*'";
* writer_qos.multi_channel.channels.get_at(0).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(0).
* multicast_settings.get_at(0).receive_address = "239.255.0.2";
* writer_qos.multi_channel.channels.get_at(1).
* filter_expression = "Symbol MATCH '[D-F]*'";
* writer_qos.multi_channel.channels.get_at(1).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(1).
* multicast_settings.get_at(0).receive_address = "239.255.0.3";
* writer_qos.multi_channel.channels.get_at(2).
* filter_expression = "Symbol MATCH '[G-I]*'";
* writer_qos.multi_channel.channels.get_at(2).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(2).
* multicast_settings.get_at(0).receive_address = "239.255.0.4";
* writer_qos.multi_channel.channels.get_at(3).
* filter_expression = "Symbol MATCH '[J-L]*'";
* writer_qos.multi_channel.channels.get_at(3).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(3).
* multicast_settings.get_at(0).receive_address = "239.255.0.5";
* writer_qos.multi_channel.channels.get_at(4).
* filter_expression = "Symbol MATCH '[M-O]*'";
* writer_qos.multi_channel.channels.get_at(4).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(4).
* multicast_settings.get_at(0).receive_address = "239.255.0.6";
* writer_qos.multi_channel.channels.get_at(5).
* filter_expression = "Symbol MATCH '[P-S]*'";
* writer_qos.multi_channel.channels.get_at(5).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(5).
* multicast_settings.get_at(0).receive_address = "239.255.0.7";
* writer_qos.multi_channel.channels.get_at(6).
* filter_expression = "Symbol MATCH '[T-V]*'";
* writer_qos.multi_channel.channels.get_at(6).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(6).
* multicast_settings.get_at(0).receive_address = "239.255.0.8";
* writer_qos.multi_channel.channels.get_at(7).
* filter_expression = "Symbol MATCH '[W-Z]*'";
* writer_qos.multi_channel.channels.get_at(7).
* multicast_settings.ensure_length(1, 1);
* writer_qos.multi_channel.channels.get_at(7).
* multicast_settings.get_at(0).receive_address = "239.255.0.9";
*/
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
/* toggle between writer_qos and DDS_DATAWRITER_QOS_DEFAULT to alternate
* between using code and using XML to specify the Qos */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
/* writer_qos */ DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
market_dataDataWriter market_data_writer =
(market_dataDataWriter)writer;
/* End changes for MultiChannel */
// --- Write --- //
/* Create data sample for writing */
market_data instance = market_dataTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"market_dataTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = market_data_writer.register_instance(instance);
*/
/* Changes for MultiChannel */
const System.Int32 send_period = 100; // milliseconds
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
/* Console.WriteLine("Writing market_data, count {0}", count); */
/* Changes for MultiChannel */
/* Modify the data to be sent here */
char[] SymbolBuffer = { (char)('A' + (char)(count % 26)) };
String Symbol = new String(SymbolBuffer);
instance.Symbol = Symbol;
instance.Price = count;
try {
market_data_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* market_data_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
market_dataTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"market_dataTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* If you want to change the type_code_max_serialized_length
* programmatically (e.g., to 3070) rather than using the XML file, you
* will need to add the following lines to your code and comment out the
* create_participant call above. */
/*
* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
*
* } catch (DDS.Exception) {
* Console.WriteLine("error in participant_qos");
* }
*
* participant_qos.resource_limits.type_code_max_serialized_length = 3070;
*
* try {
* DDS.DomainParticipantFactory.get_instance().delete_participant(
* ref participant);
* }
* catch (DDS.Exception) {
* Console.WriteLine("error deleting participant");
* }
*
* participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id, participant_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
*/
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = 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 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 writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
msgDataWriter msg_writer =
(msgDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
msg instance = msgTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"msgTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = msg_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing msg, count {0}", count);
/* Modify the data to be sent here */
instance.count = count;
try {
msg_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* msg_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
msgTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"msgTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_publisher call above.
*/
// Start changes for coherent_presentation
/* DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
* participant.get_default_publisher_qos(publisher_qos);
*
* // Topic access scope means that writes from a particular datawriter to
* // multiple instances will be viewed coherently.
* publisher_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* publisher_qos.presentation.coherent_access = true;
*
* // --- Create publisher --- //
*
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (publisher == null) {
* shutdown(participant);
* throw new ApplicationException("create_publisher error");
* }
*/ // End changes for Coherent_Presentation
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = coherentTypeSupport.get_type_name();
try {
coherentTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example coherent",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*/
// Start changes for coherent_presentation
/* Get default datawriter QoS to customize */
/* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* publisher.get_default_datawriter_qos(datawriter_qos);
*
* datawriter_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datawriter_qos.history.depth = 10;
* datawriter_qos.protocol.rtps_reliable_writer.
* heartbeats_per_max_samples = 0;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*
*/ // End changes for coherent_presentation
coherentDataWriter coherent_writer =
(coherentDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
coherent instance = coherentTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"coherentTypeSupport.create_data error");
}
// Start changes for coherent_presentation
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
instance.id = 0;
instance_handle = coherent_writer.register_instance(instance);
Random random = new Random();
publisher.begin_coherent_changes();
Console.WriteLine("Begin Coherent Changes");
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(send_period);
/* Modify the data to be sent here */
int mod = count % 7;
if (mod == 6)
{
Console.WriteLine("Begin Coherent Changes");
try {
publisher.begin_coherent_changes();
} catch (DDS.Exception e) {
Console.WriteLine("begin_coherent_chages {0}", e);
}
continue;
}
//Choose a random value for each field
instance.field = (char)('a' + mod);
instance.value = (int)(random.Next(9));
Console.WriteLine(" Updating instance, {0}->{1}", instance.field,
instance.value);
try {
coherent_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
// Begin a new change group after sending 6 samples
if (mod == 5)
{
Console.WriteLine("End Coherent Changes\n");
try {
publisher.end_coherent_changes();
} catch (DDS.Exception e) {
Console.WriteLine("end_coherent_changes error {0}", e);
throw new ApplicationException(
"coherentTypeSupport.end_coherent_changes error");
}
}
}
try {
coherent_writer.unregister_instance(
instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try {
coherentTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"coherentTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count, Route routeIn, Route.Bus busIn)
{
Random random = new Random();
int randomNumber = random.Next(0, 100);
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String atype_name = AccidentTypeSupport.get_type_name();
System.String ptype_name = PositionTypeSupport.get_type_name();
try
{
AccidentTypeSupport.register_type(
participant, atype_name);
PositionTypeSupport.register_type(
participant, ptype_name);
}
catch (DDS.Exception e)
{
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic atopic = participant.create_topic(
"P3464_BHANDERSON: PT/ALR/ACC",
atype_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
DDS.Topic ptopic = participant.create_topic(
"P3464_BHANDERSON: PT/POS",
ptype_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (atopic == null || ptopic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter awriter = publisher.create_datawriter(
atopic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
DDS.DataWriter pwriter = publisher.create_datawriter(
ptopic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (awriter == null || pwriter == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
AccidentDataWriter Accident_writer =
(AccidentDataWriter)awriter;
PositionDataWriter Position_writer =
(PositionDataWriter)pwriter;
// --- Write --- //
/* Create data sample for writing */
Accident ainstance = AccidentTypeSupport.create_data();
Position pinstance = PositionTypeSupport.create_data();
if (ainstance == null || pinstance == null)
{
shutdown(participant);
throw new ApplicationException(
"(Accident|Position)TypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = Accident_writer.register_instance(instance);
*/
int numPasses = 0;
/* Main loop */
int send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
if (count % routeIn.numStops == 0)
{
numPasses++;
}
if (numPasses > 3)
{
break;
}
Console.WriteLine("Writing Accident|Position, count {0}", count);
/* Modify the data to be sent here */
int traffic = random.Next(0, 100);
if (traffic <= 25) // light 25%
{
pinstance.trafficConditions = "light";
pinstance.timeBetweenStops = (int)(Math.Ceiling(routeIn.timeBetweenStops * .75));
}
else if (traffic <= 50) // heavy 25%
{
pinstance.trafficConditions = "heavy";
pinstance.timeBetweenStops = (int)(routeIn.timeBetweenStops + Math.Ceiling(routeIn.timeBetweenStops * .25));
}
else // normal 50%
{
pinstance.trafficConditions = "normal";
pinstance.timeBetweenStops = routeIn.timeBetweenStops;
}
ainstance.timestamp = DateTime.Now.ToString();
ainstance.route = routeIn.name;
ainstance.vehicle = busIn.id;
ainstance.stopNumber = busIn.stop;
pinstance.timestamp = DateTime.Now.ToString();
pinstance.route = routeIn.name;
pinstance.vehicle = busIn.id;
pinstance.stopNumber = busIn.stop;
pinstance.numStops = routeIn.numStops;
pinstance.fillInRatio = random.Next(0, 100);
int aOccurs = random.Next(0, 100);
if (aOccurs <= 10)
{
try
{
Accident_writer.write(ainstance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
pinstance.timeBetweenStops += 10;
}
send_period = pinstance.timeBetweenStops * 1000; // threads use milliseconds
busIn.stop = (busIn.stop % routeIn.numStops) + 1;
try
{
Position_writer.write(pinstance, ref instance_handle);
}
catch (DDS.Exception e)
{
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* Accident_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try
{
AccidentTypeSupport.delete_data(ainstance);
PositionTypeSupport.delete_data(pinstance);
}
catch (DDS.Exception e)
{
Console.WriteLine(
"(Accident|Position)TypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = waitsetsTypeSupport.get_type_name();
try {
waitsetsTypeSupport.register_type(
participant, type_name);
} catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example waitsets",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*
* In this case, we reduce the liveliness timeout period to trigger the
* StatusCondition DDS.StatusKind.LIVELINESS_CHANGED_STATUS */
/*
* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* try {
* publisher.get_default_datawriter_qos(datawriter_qos);
* } catch (DDS.Exception e) {
* Console.WriteLine("get_default_datawriter_qos error {0}", e);
* shutdown(participant);
* throw e;
* }
* datawriter_qos.liveliness.lease_duration.sec = 1;
* datawriter_qos.liveliness.lease_duration.nanosec = 0;
*
* writer = publisher.create_datawriter(topic, datawriter_qos,
* null, DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter_qos error");
* }
*/
waitsetsDataWriter waitsets_writer =
(waitsetsDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
waitsets instance = waitsetsTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"waitsetsTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = waitsets_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing waitsets, count {0}", count);
/* Modify the data to be sent here */
instance.x = (short)count;
try {
waitsets_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* waitsets_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
waitsetsTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"waitsetsTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
/* If you want to change the DomainParticipant's QoS programmatically
* rather than using the XML file, you will need to add the following lines
* to your code and comment out the create_participant call above.
*
* In this case, we set the transport settings in the XML by default, but
* in the createParticipant call, we set up the transport
* properties either using the Properties QoS in code.
*/
/* DDS.DomainParticipant participant = createParticipant(domain_id); */
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
if (checkParticipant(participant) == true)
{
Console.WriteLine("Ok, recv_socket_buffer_size....modified");
Console.WriteLine("Ok, send_socket_buffer_size....modified");
}
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new ApplicationException("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = numbersTypeSupport.get_type_name();
try {
numbersTypeSupport.register_type(
participant, type_name);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
shutdown(participant);
throw e;
}
/* To customize topic QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Topic topic = participant.create_topic(
"Example numbers",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
numbersDataWriter numbers_writer =
(numbersDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
numbers instance = numbersTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"numbersTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = numbers_writer.register_instance(instance);
*/
instance.number = 1000;
instance.halfNumber = (float)(instance.number) / 2;
/* Main loop */
const System.Int32 send_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing numbers, count {0}", count);
/* Modify the data to be sent here */
try {
numbers_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
instance.number = (int)instance.halfNumber;
instance.halfNumber = (float)(instance.number) / 2;
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* numbers_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
numbersTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"numbersTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
static void publish(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Start changes for Builtin_Topics */
/* If you want to change the Factory'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.
*/
/* By default, the participant is enabled upon construction.
* At that time our listeners for the builtin topics have not
* been installed, so we disable the participant until we
* set up the listeners.
*/
/*
* DDS.DomainParticipantFactoryQos factory_qos =
* new DDS.DomainParticipantFactoryQos();
* DDS.DomainParticipantFactory.get_instance().get_qos(factory_qos);
* factory_qos.entity_factory.autoenable_created_entities = false;
* DDS.DomainParticipantFactory.get_instance().set_qos(factory_qos);
*
*/
// If you want to change the Participant's QoS programmatically
// rather than using the XML file, you will need to uncomment the
// following lines and replace in create_participant the argument
// DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT with
// participant_qos
//DDS.DomainParticipantQos participant_qos =
// new DDS.DomainParticipantQos();
//DDS.DomainParticipantFactory.get_instance().
// get_default_participant_qos(participant_qos);
//participant_qos.resource_limits.participant_user_data_max_length = 1024;
/* To customize participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new Exception("create_participant error");
}
// Installing listeners for the builting topics requires several steps
// First get the builting subscriber
DDS.Subscriber builtin_subscriber =
participant.get_builtin_subscriber();
if (builtin_subscriber == null)
{
shutdown(participant);
throw new Exception("create_builtin_subscriber error");
}
/* Then get builtin subscriber's datareader for participants
* The type name is a bit hairy, but can be read right to left:
* DDS.ParticipantBuiltinTopicDataDataReader is a
* DataReader for BuiltinTopicData concerning a discovered
* Participant
*/
DDS.ParticipantBuiltinTopicDataDataReader
builtin_participant_datareader =
(DDS.ParticipantBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.ParticipantBuiltinTopicDataTypeSupport.
PARTICIPANT_TOPIC_NAME);
// Install our listener
BuiltinParticipantListener builtin_participant_listener =
new BuiltinParticipantListener();
try {
builtin_participant_datareader.set_listener(
builtin_participant_listener,
(DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS));
} catch (DDS.Exception e) {
shutdown(participant);
Console.WriteLine("set_listener error: {0}", e);
}
// Get builtin subscriber's datareader for subscribers
DDS.SubscriptionBuiltinTopicDataDataReader
builtin_subscription_datareader =
(DDS.SubscriptionBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.SubscriptionBuiltinTopicDataTypeSupport.
SUBSCRIPTION_TOPIC_NAME);
if (builtin_participant_datareader == null)
{
shutdown(participant);
throw new Exception("lookup_datareader error");
}
// Install our listener
BuiltinSubscriberListener builtin_subscriber_listener =
new BuiltinSubscriberListener();
builtin_subscription_datareader.set_listener(
builtin_subscriber_listener,
(DDS.StatusMask.STATUS_MASK_NONE |
(DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS));
/* Done! All the listeners are installed, so we can enable the
* participant now.
*/
participant.enable();
/* End changes for Builtin_Topics */
// --- Create publisher --- //
/* To customize publisher QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Publisher publisher = participant.create_publisher(
DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (publisher == null)
{
shutdown(participant);
throw new Exception("create_publisher error");
}
// --- Create topic --- //
/* Register type before creating topic */
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 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 Exception("create_topic error");
}
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new Exception("create_datawriter error");
}
msgDataWriter msg_writer = (msgDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
msg instance = msgTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new Exception("msgTypeSupport.create_data error");
}
/* For a data type that has a key, if the same instance is going to be
* written multiple times, initialize the key here
* and register the keyed instance prior to writing */
DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
/*
* instance_handle = msg_writer.register_instance(instance);
*/
/* Main loop */
const int send_period = 1000; // milliseconds
/* Changes for Builtin_Topics */
for (short count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(send_period);
Console.WriteLine("Writing msg, count {0}", count);
/* Modify the data to be sent here */
/* Changes for Builtin_Topics */
instance.x = count;
try {
msg_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
}
/*
* try {
* msg_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
msgTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine("msgTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}