public DDS.ReturnCode GetDiscoveredParticipantData(
ref ParticipantBuiltinTopicData participant_data, InstanceHandle particpant_handle)
{
throw new System.NotImplementedException();
//return realParticipant.get_discovered_participant_data(
// participant_data, participant_handle);
}
public void TestLookupInstance()
{
ParticipantBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
DomainParticipantQos qos = new DomainParticipantQos();
qos.UserData.Value = new byte[] { 0x42 };
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
Thread.Sleep(500);
ReturnCode ret = _dr.ReadNextSample(ref data, info);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.UserData.Value.Count());
Assert.AreEqual(0x42, data.UserData.Value.First());
// Lookup for an existing instance
var handle = _dr.LookupInstance(data);
Assert.AreNotEqual(InstanceHandle.HandleNil, handle);
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public void TestTakeNextSample()
{
ParticipantBuiltinTopicData data = default;
SampleInfo infos = new SampleInfo();
ReturnCode ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.NoData, ret);
DomainParticipantQos qos = new DomainParticipantQos();
qos.UserData.Value = new byte[] { 0x42 };
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
Thread.Sleep(500);
ret = _dr.TakeNextSample(ref data, infos);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.UserData.Value.Count());
Assert.AreEqual(0x42, data.UserData.Value.First());
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public ReturnCode GetDiscoveredParticipantData(ref ParticipantBuiltinTopicData data, InstanceHandle handle)
{
ReturnCode result;
GCHandle dataHandle = GCHandle.Alloc(data, GCHandleType.Normal);
result = (ReturnCode)Gapi.DomainParticipant.get_discovered_participant_data(
GapiPeer,
GCHandle.ToIntPtr(dataHandle),
handle,
ParticipantDataMarshaler.CopyOutDelegate);
data = dataHandle.Target as ParticipantBuiltinTopicData;
dataHandle.Free();
return(result);
}
public void TestGetKeyValue()
{
// Call GetKeyValue with HandleNil
ParticipantBuiltinTopicData data = default;
SampleInfo info = new SampleInfo();
ReturnCode ret = _dr.GetKeyValue(ref data, InstanceHandle.HandleNil);
Assert.AreEqual(ReturnCode.BadParameter, ret);
DomainParticipantQos qos = new DomainParticipantQos();
qos.UserData.Value = new byte[] { 0x42 };
DomainParticipant otherParticipant = AssemblyInitializer.Factory.CreateParticipant(AssemblyInitializer.RTPS_DOMAIN, qos);
Assert.IsNotNull(otherParticipant);
otherParticipant.BindRtpsUdpTransportConfig();
Assert.IsTrue(_participant.WaitForParticipants(1, 20_000));
Assert.IsTrue(otherParticipant.WaitForParticipants(1, 20_000));
// Get the for an existing instance
ret = _dr.ReadNextSample(ref data, info);
Assert.AreEqual(ReturnCode.Ok, ret);
Assert.AreEqual(1, data.UserData.Value.Count);
Assert.AreEqual(0x42, data.UserData.Value.First());
ParticipantBuiltinTopicData aux = default;
ret = _dr.GetKeyValue(ref aux, info.InstanceHandle);
Assert.AreEqual(ReturnCode.Ok, ret);
for (int i = 0; i < 3; i++)
{
Assert.AreEqual(data.Key.Value[i], aux.Key.Value[i]);
}
ret = otherParticipant.DeleteContainedEntities();
Assert.AreEqual(ReturnCode.Ok, ret);
ret = AssemblyInitializer.Factory.DeleteParticipant(otherParticipant);
Assert.AreEqual(ReturnCode.Ok, ret);
}
public int GetDiscoveredParticipantData(
out ParticipantBuiltinTopicData[] participant_data,
long participant_handle)
{
throw new System.NotImplementedException();
//return realParticipant.get_discovered_participant_data(
// participant_data, participant_handle);
}
public ReturnCode GetDiscoveredParticipantData(ref ParticipantBuiltinTopicData data, InstanceHandle handle)
{
ReturnCode result;
GCHandle dataHandle = GCHandle.Alloc(data, GCHandleType.Normal);
result = (ReturnCode) Gapi.DomainParticipant.get_discovered_participant_data(
GapiPeer,
GCHandle.ToIntPtr(dataHandle),
handle,
ParticipantDataMarshaler.CopyOutDelegate);
data = dataHandle.Target as ParticipantBuiltinTopicData;
dataHandle.Free();
return result;
}
public override ParticipantBuiltinTopicData CopyFrom(ParticipantBuiltinTopicData other)
{
throw new System.NotImplementedException();
}
public DDS.ReturnCode GetDiscoveredParticipantData(
ref ParticipantBuiltinTopicData participant_data, InstanceHandle particpant_handle)
{
throw new System.NotImplementedException();
//return realParticipant.get_discovered_participant_data(
// participant_data, participant_handle);
}
