public override void on_data_available(DDS.DataReader reader)
{
try
{
DDS.TypedDataReader <T> dataReader = (DDS.TypedDataReader <T>)reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
for (var i = 0; i < dataLength; ++i)
{
if (_infoSeq.get_at(i).valid_data)
{
var temp = new T();
temp.copy_from(_dataSeq.get_at(i));
_subject.OnNext(temp);
}
else if (_infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
/* FIXME: If the instance comes back online, it will break the Rx contract. */
//Console.WriteLine("OnCompleted CALLED FROM LIB CODE on tid "+System.Threading.Thread.CurrentThread.ManagedThreadId);
_subject.OnCompleted();
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopic: take error {ex}");
}
}
public override void on_data_available(DDS.DataReader reader)
{
try
{
DDS.TypedDataReader <T> dataReader = (DDS.TypedDataReader <T>)reader;
dataReader.take(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
System.Int32 dataLength = dataSeq.length;
for (int i = 0; i < dataLength; ++i)
{
if (infoSeq.get_at(i).valid_data)
{
T temp = new T();
temp.copy_from(dataSeq.get_at(i));
//Console.WriteLine("on_receive_callback called");
demultiplexer(temp);
}
}
dataReader.return_loan(dataSeq, infoSeq);
}
catch (DDS.Retcode_NoData)
{
Console.WriteLine("SENDING END SIGNAL: RETCODE_NODATA");
demultiplexer(null);
return;
}
catch (Exception ex)
{
Console.WriteLine("DDS Subscriber: take error {0}", ex);
}
}
private void receiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
if (_infoSeq.get_at(i).valid_data)
{
var temp = new T();
temp.copy_from(_dataSeq.get_at(i));
_subject.OnNext(temp);
}
else if (_infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
/* FIXME: If the instance comes back online,
* it will break the Rx contract. */
//Console.WriteLine("OnCompleted CALLED FROM LIB CODE on tid "+
//System.Threading.Thread.CurrentThread.ManagedThreadId);
_subject.OnCompleted();
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
private void receiveData()
{
int count = 0;
DDS.ConditionSeq active_conditions = new DDS.ConditionSeq();
while (true)
{
try
{
waitset.wait(active_conditions, timeout);
for (int c = 0; c < active_conditions.length; ++c)
{
if (active_conditions.get_at(c) == status_condition)
{
DDS.StatusMask triggeredmask =
reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)reader;
dataReader.take(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
System.Int32 dataLength = dataSeq.length;
for (int i = 0; i < dataLength; ++i)
{
if (infoSeq.get_at(i).valid_data)
{
T temp = new T();
temp.copy_from(dataSeq.get_at(i));
demultiplexer(temp);
}
else if (infoSeq.get_at(i).instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
Console.WriteLine("DDS INSTANCE NOT_ALIVE_DISPOSED_INSTANCE_STATE");
demultiplexer(null);
}
}
dataReader.return_loan(dataSeq, infoSeq);
}
catch (DDS.Retcode_NoData)
{
Console.WriteLine("RETCODE_NODATA");
demultiplexer(null);
return;
}
catch (Exception ex)
{
Console.WriteLine("WaitsetSubscriber: take error {0}", ex);
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
reader.get_subscription_matched_status(ref status);
Console.WriteLine("Subscription matched. current_count = {0}", status.current_count);
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
reader.get_liveliness_changed_status(ref status);
Console.WriteLine("Liveliness changed. alive_count = {0}", status.alive_count);
if (status.alive_count == 0)
{
Console.WriteLine("publisher disconnected");
return;
}
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
reader.get_sample_lost_status(ref status);
Console.WriteLine("Sample lost. Reason = {0}", status.last_reason.ToString());
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
reader.get_sample_rejected_status(ref status);
Console.WriteLine("Sample Rejected. Reason = {0}", status.last_reason.ToString());
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
count += 2;
continue;
}
}
}
public override void on_data_available(DDS.DataReader reader)
{
try
{
DDS.TypedDataReader <T> dataReader =
(DDS.TypedDataReader <T>)reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
for (var i = 0; i < dataLength; ++i)
{
DDS.SampleInfo info = _infoSeq.get_at(i);
if (info.valid_data)
{
var data = new T();
data.copy_from(_dataSeq.get_at(i));
var key = _keySelector(data);
DDSKeyedSubject <TKey, T> keyedSubject;
if (!_keyedSubDict.ContainsKey(key))
{
keyedSubject = new DDSKeyedSubject <TKey, T>(key, _scheduler);
_keyedSubDict.Add(key, keyedSubject);
_handleKeyDict.Add(info.instance_handle, key);
_observer.OnNext(keyedSubject);
}
else
{
keyedSubject = _keyedSubDict[key];
if (_externalSubDict)
{
if (!_handleKeyDict.ContainsKey(info.instance_handle))
{
_handleKeyDict.Add(info.instance_handle, key);
_observer.OnNext(keyedSubject);
}
}
}
keyedSubject.OnNext(data);
}
else if (info.instance_state == DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
if (_handleKeyDict.ContainsKey(info.instance_handle))
{
var key = _handleKeyDict[info.instance_handle];
if (_keyedSubDict.ContainsKey(key))
{
var keyedSub = _keyedSubDict[key];
_keyedSubDict.Remove(key);
_handleKeyDict.Remove(info.instance_handle);
keyedSub.OnCompleted();
/* FIXME: If the instance comes alive again, it will break the Rx contract */
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: keyedSubDict does not contain key");
}
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: handleKeyDict does not contain info.instance_handle");
}
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
}
catch (DDS.Exception ex)
{
_observer.OnError(ex);
Console.WriteLine("ObservableKeyedTopic: InstanceDataReaderListener: take error {0}", ex);
}
}
private void ReceiveData()
{
DDS.ConditionSeq activeConditions = new DDS.ConditionSeq();
while (true)
{
try
{
_waitset.wait(activeConditions, _timeout);
for (var c = 0; c < activeConditions.length; ++c)
{
if (activeConditions.get_at(c) == _statusCondition)
{
DDS.StatusMask triggeredmask =
_reader.get_status_changes();
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0)
{
try
{
DDS.TypedDataReader <T> dataReader
= (DDS.TypedDataReader <T>)_reader;
dataReader.take(
_dataSeq,
_infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
int dataLength = _dataSeq.length;
//Console.WriteLine("Received {0}", dataLength);
for (var i = 0; i < dataLength; ++i)
{
DDS.SampleInfo info = _infoSeq.get_at(i);
if (info.valid_data)
{
var data = new T();
data.copy_from(_dataSeq.get_at(i));
var key = _keySelector(data);
DDSKeyedSubject <TKey, T> keyedSubject;
if (!_keyedSubjectDict.ContainsKey(key))
{
keyedSubject = new DDSKeyedSubject <TKey, T>(key, _scheduler);
_keyedSubjectDict.Add(key, keyedSubject);
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
else
{
keyedSubject = _keyedSubjectDict[key];
if (_externalSubDict)
{
if (!_handleKeyDict.ContainsKey(info.instance_handle))
{
_handleKeyDict.Add(info.instance_handle, key);
_groupSubject.OnNext(keyedSubject);
}
}
}
keyedSubject.OnNext(data);
}
else if (info.instance_state ==
DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE)
{
if (_handleKeyDict.ContainsKey(info.instance_handle))
{
var key = _handleKeyDict[info.instance_handle];
if (_keyedSubjectDict.ContainsKey(key))
{
var keyedSub = _keyedSubjectDict[key];
_keyedSubjectDict.Remove(key);
_handleKeyDict.Remove(info.instance_handle);
keyedSub.OnCompleted();
/* FIXME: If the instance comes alive again, it will break the Rx contract */
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: keyedSubDict does not contain key");
}
}
else
{
Console.WriteLine(
"InstanceDataReaderListener invariant broken: handleKeyDict does not contain info.instance_handle");
}
}
}
dataReader.return_loan(_dataSeq, _infoSeq);
}
catch (DDS.Retcode_NoData)
{
_subject.OnCompleted();
return;
}
catch (Exception ex)
{
_subject.OnError(ex);
Console.WriteLine($"ObservableTopicWaitSet: take error {ex}");
}
}
else
{
StatusKindPrinter.print((int)triggeredmask);
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SUBSCRIPTION_MATCHED_STATUS) != 0)
{
DDS.SubscriptionMatchedStatus status = new DDS.SubscriptionMatchedStatus();
_reader.get_subscription_matched_status(ref status);
Console.WriteLine($"Subscription matched. current_count = {status.current_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.LIVELINESS_CHANGED_STATUS) != 0)
{
DDS.LivelinessChangedStatus status = new DDS.LivelinessChangedStatus();
_reader.get_liveliness_changed_status(ref status);
Console.WriteLine($"Liveliness changed. alive_count = {status.alive_count}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_LOST_STATUS) != 0)
{
DDS.SampleLostStatus status = new DDS.SampleLostStatus();
_reader.get_sample_lost_status(ref status);
Console.WriteLine($"Sample lost. Reason = {status.last_reason.ToString()}");
}
if ((triggeredmask &
(DDS.StatusMask)
DDS.StatusKind.SAMPLE_REJECTED_STATUS) != 0)
{
DDS.SampleRejectedStatus status = new DDS.SampleRejectedStatus();
_reader.get_sample_rejected_status(ref status);
Console.WriteLine($"Sample Rejected. Reason = {status.last_reason.ToString()}");
}
}
}
}
}
catch (DDS.Retcode_Timeout)
{
Console.WriteLine("wait timed out");
}
}
}
