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 subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* To customize the participant QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (subscriber == null)
{
shutdown(participant);
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String 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 the 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 reader --- //
/* Create a data reader listener */
AccidentListener reader_listener =
new AccidentListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader areader = subscriber.create_datareader(
atopic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
DDS.DataReader preader = subscriber.create_datareader(
ptopic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (areader == null || preader == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine(
"Subscriber sleeping for {0} sec...",
receive_period / 1000);
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
