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 type_name = ccfTypeSupport.get_type_name();
try {
ccfTypeSupport.register_type(
participant, type_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 topic = participant.create_topic(
"Example ccf",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* Start changes for Custom Content Filter */
/* Create and register custom filter */
custom_filter_type custom_filter = new custom_filter_type();
try {
participant.register_contentfilter("CustomFilter", custom_filter);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
DDS.StringSeq parameters = new DDS.StringSeq(2);
DDS.StringWrapper[] param_list = { "2", "divides" };
parameters.from_array(param_list);
/* Create content filtered topic */
DDS.ContentFilteredTopic cft =
participant.create_contentfilteredtopic_with_filter(
"ContentFilteredTopic", topic, "%0 %1 x", parameters,
"CustomFilter"); // custom filter name
if (cft == null)
{
shutdown(participant);
throw new ApplicationException(
"create_contentfilteredtopic_with_filter error");
}
Console.WriteLine("Filter: 2 divides x");
/* Also note that we pass 'cft' rather than 'topic' to the
* datareader below
*/
/* End changes for Custom Contet Filter */
// --- Create reader --- //
/* Create a data reader listener */
ccfListener reader_listener =
new ccfListener();
/*
* NOTE THAT WE USE THE PREVIOUSLY CREATED CUSTOM FILTERED
* TOPIC TO READ NEW SAMPLES
*/
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
cft,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
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)
{
if (count == 10)
{
Console.WriteLine("changing filter parameters");
Console.WriteLine("Filter: 15 greater-than x");
parameters.set_at(0, "15");
parameters.set_at(1, "greater-than");
cft.set_expression_parameters(parameters);
}
else if (count == 20)
{
Console.WriteLine("changing filter parameters");
Console.WriteLine("Filter: 3 divides x");
DDS.StringSeq old_parameters = new DDS.StringSeq();
cft.get_expression_parameters(old_parameters);
old_parameters.set_at(0, "3");
old_parameters.set_at(1, "divides");
cft.set_expression_parameters(old_parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
static void publish(int domain_id, int sample_count)
{
// --- 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 type_name = ccfTypeSupport.get_type_name();
try {
ccfTypeSupport.register_type(
participant, type_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 topic = participant.create_topic(
"Example ccf",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new ApplicationException("create_topic error");
}
/* Start changes for Custom_Content_Filter */
/* Create and register custom filter */
custom_filter_type custom_filter = new custom_filter_type();
try {
participant.register_contentfilter("Customfilter", custom_filter);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
/* End changes for Custom_Content_Filter */
// --- Create writer --- //
/* To customize data writer QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataWriter writer = publisher.create_datawriter(
topic,
DDS.Publisher.DATAWRITER_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (writer == null)
{
shutdown(participant);
throw new ApplicationException("create_datawriter error");
}
ccfDataWriter ccf_writer =
(ccfDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
ccf instance = ccfTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"ccfTypeSupport.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 = ccf_writer.register_instance(instance);
*/
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
Console.WriteLine("Writing ccf, count {0}", count);
/* Modify the data to be sent here */
instance.x = count;
try {
ccf_writer.write(instance, ref instance_handle);
}
catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
System.Threading.Thread.Sleep(send_period);
}
/*
* try {
* ccf_writer.unregister_instance(
* instance, ref instance_handle);
* } catch(DDS.Exception e) {
* Console.WriteLine("unregister instance error: {0}", e);
* }
*/
// --- Shutdown --- //
/* Delete data sample */
try {
ccfTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"ccfTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
