static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Create participant listener */
ParticipantListener participant_listener = new ParticipantListener();
/* We associate the participant_listener to the participant and set the
* status mask to get all the statuses */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
participant_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (participant == null)
{
shutdown(participant);
participant_listener = null;
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* Create subscriber listener */
SubscriberListener subscriber_listener = new SubscriberListener();
/* Here we associate the subscriber listener to the subscriber and set the
* status mask to get all the statuses */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (subscriber == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the 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);
participant_listener = null;
subscriber_listener = null;
throw e;
}
/* To customize the 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);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
ReaderListener reader_listener = new ReaderListener();
/* Create Status mask to listen just LIVELINESS_CHANGED_STATUS and
* DATA_AVAILABLE_STATUS */
int liveliness_changed_mask = (int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS;
int data_available_changed_mask = (int)DDS.StatusKind.DATA_AVAILABLE_STATUS;
data_available_changed_mask |= liveliness_changed_mask;
DDS.StatusMask combined_status_mask = (DDS.StatusMask)data_available_changed_mask;
/* Here we associate the data reader listener to the reader.
* We just listen for liveliness changed and data available,
* since most specific listeners will get called. */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
combined_status_mask);
if (reader == null)
{
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count)
{
// --- Create participant --- //
/* Create participant listener */
ParticipantListener participant_listener = new ParticipantListener();
/* We associate the participant_listener to the participant and set the
* status mask to get all the statuses */
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
participant_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (participant == null) {
shutdown(participant);
participant_listener = null;
throw new ApplicationException("create_participant error");
}
// --- Create subscriber --- //
/* Create subscriber listener */
SubscriberListener subscriber_listener = new SubscriberListener();
/* Here we associate the subscriber listener to the subscriber and set the
* status mask to get all the statuses */
DDS.Subscriber subscriber = participant.create_subscriber(
DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
subscriber_listener /* listener */,
DDS.StatusMask.STATUS_MASK_ALL /* get all statuses */);
if (subscriber == null) {
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the 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);
participant_listener = null;
subscriber_listener = null;
throw e;
}
/* To customize the 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);
participant_listener = null;
subscriber_listener = null;
throw new ApplicationException("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
ReaderListener reader_listener = new ReaderListener();
/* Create Status mask to listen just LIVELINESS_CHANGED_STATUS and
* DATA_AVAILABLE_STATUS */
int liveliness_changed_mask = (int)DDS.StatusKind.LIVELINESS_CHANGED_STATUS;
int data_available_changed_mask = (int)DDS.StatusKind.DATA_AVAILABLE_STATUS;
data_available_changed_mask |= liveliness_changed_mask;
DDS.StatusMask combined_status_mask = (DDS.StatusMask)data_available_changed_mask;
/* Here we associate the data reader listener to the reader.
* We just listen for liveliness changed and data available,
* since most specific listeners will get called. */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
combined_status_mask);
if (reader == null) {
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
throw new ApplicationException("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const System.Int32 receive_period = 1000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
participant_listener = null;
subscriber_listener = null;
reader_listener = null;
}
