private void DoThreadActivity()
{
while (true)
{
ICollection <Condition> conditions = new List <Condition>();
Duration duration = new Duration
{
Seconds = Duration.InfiniteSeconds
};
_waitSet.Wait(conditions, duration);
foreach (Condition cond in conditions)
{
if (cond == _cancelCondition && cond.TriggerValue)
{
// We reset the cancellation condition because it is a good practice, but in this implementation it probably doesn't change anything.
_cancelCondition.TriggerValue = false;
// The thread activity has been canceled. We exit even if another condition (data available)
// is active: no point extracting data if we're going down anyway.
return;
}
if (cond == _statusCondition && cond.TriggerValue)
{
StatusCondition sCond = (StatusCondition)cond;
StatusMask mask = sCond.EnabledStatuses;
if ((mask & StatusKind.DataAvailableStatus) != 0)
{
_dataAvailableFunc(_dataReader);
}
}
}
}
}
static void Main(string[] args)
{
bool useListener = true;
OpenDDSharp.Ace.Init();
ParticipantService participantService = ParticipantService.Instance;
DomainParticipantFactory domainFactory = participantService.GetDomainParticipantFactory(args);
DomainParticipantQos qos = new DomainParticipantQos();
qos.EntityFactory.AutoenableCreatedEntities = false;
qos.UserData.Value = Encoding.UTF8.GetBytes("sometext");
DomainParticipant participant = domainFactory.CreateParticipant(42, qos);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
DomainParticipantQos aux = new DomainParticipantQos();
ReturnCode ret = participant.GetQos(aux);
aux.EntityFactory.AutoenableCreatedEntities = true;
ret = participant.SetQos(aux);
if (participant != null)
{
TestStructTypeSupport support = new TestStructTypeSupport();
string typeName = support.GetTypeName();
ReturnCode result = support.RegisterType(participant, typeName);
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register the type");
}
Topic topic = participant.CreateTopic("TopicName", typeName);
Publisher publisher = participant.CreatePublisher();
if (publisher == null)
{
throw new Exception("Could not create the publisher");
}
DataWriter dw = publisher.CreateDataWriter(topic);
if (dw == null)
{
throw new Exception("Could not create the datawriter");
}
TestStructDataWriter dataWriter = new TestStructDataWriter(dw);
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new Exception("Could not create the subscribre");
}
MyDataListener listener = null;
if (useListener)
{
listener = new MyDataListener();
}
DataReader dataReader = subscriber.CreateDataReader(topic, listener, StatusKind.DataAvailableStatus);
if (dataReader == null)
{
throw new Exception("Could not create the datareader");
}
WaitSet waitSet = null;
StatusCondition statusCondition = null;
if (!useListener)
{
waitSet = new WaitSet();
statusCondition = dataReader.StatusCondition;
waitSet.AttachCondition(statusCondition);
statusCondition.EnabledStatuses = StatusKind.DataAvailableStatus;
new System.Threading.Thread(delegate()
{
ICollection <Condition> conditions = new List <Condition>();
Duration duration = new Duration
{
Seconds = Duration.InfiniteSeconds
};
waitSet.Wait(conditions, duration);
foreach (Condition cond in conditions)
{
if (cond == statusCondition && cond.TriggerValue)
{
StatusCondition sCond = (StatusCondition)cond;
StatusMask mask = sCond.EnabledStatuses;
if ((mask & StatusKind.DataAvailableStatus) != 0)
{
DataAvailable(dataReader);
}
}
}
}).Start();
}
TestStruct test = new TestStruct
{
RawData = "Hello, I love you, won't you tell me your name?"
};
test.LongSequence.Add(20);
test.LongSequence.Add(10);
test.LongSequence.Add(0);
test.StringSequence.Add("Hello,");
test.StringSequence.Add("I love you");
test.StringSequence.Add("won't you tell me your name?");
test.LongDoubleType = 1.1;
test.LongDoubleSequence.Add(1.1);
test.LongDoubleSequence.Add(2.2);
test.LongDoubleSequence.Add(3.3);
test.LongArray[0, 0] = 1;
test.LongArray[0, 1] = 2;
test.LongArray[0, 2] = 3;
test.LongArray[0, 3] = 4;
test.LongArray[1, 0] = 1;
test.LongArray[1, 1] = 2;
test.LongArray[1, 2] = 3;
test.LongArray[1, 3] = 4;
test.LongArray[2, 0] = 1;
test.LongArray[2, 1] = 2;
test.LongArray[2, 2] = 3;
test.LongArray[2, 3] = 4;
test.StringArray[0, 0] = "Hello,";
test.StringArray[0, 1] = "I love you,";
test.StringArray[1, 0] = "won't you tell me";
test.StringArray[1, 1] = "your name?";
test.StructArray[0, 0] = new BasicTestStruct()
{
Id = 0
};
test.StructArray[0, 1] = new BasicTestStruct()
{
Id = 1
};
test.StructArray[1, 0] = new BasicTestStruct()
{
Id = 2
};
test.StructArray[1, 1] = new BasicTestStruct()
{
Id = 3
};
test.LongDoubleArray[0, 0] = 1.1;
test.LongDoubleArray[0, 1] = 2.2;
test.LongDoubleArray[1, 0] = 3.3;
test.LongDoubleArray[1, 1] = 4.4;
test.StructSequence.Add(new BasicTestStruct()
{
Id = 1
});
test.StructSequence.Add(new BasicTestStruct()
{
Id = 2
});
test.StructSequence.Add(new BasicTestStruct()
{
Id = 3
});
result = dataWriter.Write(test);
System.Threading.Thread.Sleep(1000);
if (!useListener)
{
waitSet.DetachCondition(statusCondition);
}
participant.DeleteContainedEntities();
domainFactory.DeleteParticipant(participant);
}
participantService.Shutdown();
OpenDDSharp.Ace.Fini();
Console.WriteLine("Press ENTER to finish the test.");
Console.ReadLine();
}
static void Main(string[] args)
{
Ace.Init();
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSConfigFile", "rtps.ini");
DomainParticipant participant = dpf.CreateParticipant(42);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
MessageTypeSupport support = new MessageTypeSupport();
ReturnCode result = support.RegisterType(participant, support.GetTypeName());
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
Topic topic = participant.CreateTopic("MessageTopic", support.GetTypeName());
if (topic == null)
{
throw new Exception("Could not create the message topic");
}
Subscriber subscriber = participant.CreateSubscriber();
if (subscriber == null)
{
throw new Exception("Could not create the subscriber");
}
DataReader reader = subscriber.CreateDataReader(topic);
if (reader == null)
{
throw new Exception("Could not create the message data reader");
}
MessageDataReader messageReader = new MessageDataReader(reader);
while (true)
{
StatusMask mask = messageReader.StatusChanges;
if ((mask & StatusKind.DataAvailableStatus) != 0)
{
List <Message> receivedData = new List <Message>();
List <SampleInfo> receivedInfo = new List <SampleInfo>();
result = messageReader.Take(receivedData, receivedInfo);
if (result == ReturnCode.Ok)
{
bool messageReceived = false;
for (int i = 0; i < receivedData.Count; i++)
{
if (receivedInfo[i].ValidData)
{
Console.WriteLine(receivedData[i].Content);
messageReceived = true;
}
}
if (messageReceived)
{
break;
}
}
}
System.Threading.Thread.Sleep(100);
}
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
