static void subscribe(int domain_id, int sample_count,
String participant_auth)
{
// --- Create participant --- //
/* Start changes for programmatically qos */
/* Get default participant QoS to customize */
DDS.DomainParticipantQos participant_qos =
new DDS.DomainParticipantQos();
DDS.DomainParticipantFactory.get_instance().
get_default_participant_qos(participant_qos);
// If you want to change the Participant's QoS programmatically
// rather than using the XML file, you will need to uncomment the
// following line.
//participant_qos.resource_limits.participant_user_data_max_length = 1024;
// user_data is opaque to DDS
int len = participant_auth.Length;
int max =
participant_qos.resource_limits.participant_user_data_max_length;
if (len > max)
{
Console.WriteLine(
"error, participant user_data exceeds resource limits");
}
else
{
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
participant_qos.user_data.value.from_array(
System.Text.Encoding.ASCII.GetBytes(participant_auth));
}
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
participant_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
shutdown(participant);
throw new Exception("create_participant error");
}
/* End changes for programmatically qos */
/* The participant is disabled by default. We enable it now */
try {
participant.enable();
} catch (DDS.Exception e) {
Console.WriteLine("failed to enable participant {0}", e);
shutdown(participant);
throw e;
}
// --- 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 Exception("create_subscriber error");
}
// --- Create topic --- //
/* Register the type before creating the topic */
System.String type_name = msgTypeSupport.get_type_name();
try {
msgTypeSupport.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 msg",
type_name,
DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (topic == null)
{
shutdown(participant);
throw new Exception("create_topic error");
}
// --- Create reader --- //
/* Create a data reader listener */
msgListener reader_listener = new msgListener();
/* To customize the data reader QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
reader_listener,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
reader_listener = null;
throw new Exception("create_datareader error");
}
// --- Wait for data --- //
/* Main loop */
const int 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);
reader_listener = null;
}
static void subscribe(int domain_id, int sample_count,
String participant_auth, String reader_auth)
{
// --- Create participant --- //
/* Start changes for programmatically qos */
/* If you want to change the Participant's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the participant call above.
*/
/* Set user_data qos field for participant */
/* Get default participant QoS to customize */
DDS.DomainParticipantQos participant_qos =
new DDS.DomainParticipantQos();
DDS.DomainParticipantFactory.get_instance().
get_default_participant_qos(participant_qos);
DDS.StringSeq temp = new DDS.StringSeq(0);
participant_qos.discovery.multicast_receive_addresses = temp;
// user_data is opaque to DDS, so we include trailing \0 for string
int len = participant_auth.Length;
int max =
participant_qos.resource_limits.participant_user_data_max_length;
if (len > max) {
Console.WriteLine(
"error, participant user_data exceeds resource limits");
} else {
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
participant_qos.user_data.value.from_array(
System.Text.Encoding.Default.GetBytes(participant_auth));
}
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domain_id,
participant_qos,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
shutdown(participant);
throw new ApplicationException("create_participant error");
}
/* End changes for programmatically qos */
/* The participant is disabled by default. We enable it now */
try {
participant.enable();
} catch (DDS.Exception e) {
Console.WriteLine("failed to enable participant {0}", e);
shutdown(participant);
throw e;
}
// --- 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 = msgTypeSupport.get_type_name();
try {
msgTypeSupport.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 msg",
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");
}
// --- Create reader --- //
/* Create a data reader listener */
msgListener reader_listener =
new msgListener();
/* Start changes for Builtin_Topics */
/* Set user_data qos field for datareader */
DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(datareader_qos);
/* user_data is opaque to DDS, so we include trailing \0 for string */
len = reader_auth.Length;
max = participant_qos.resource_limits.reader_user_data_max_length;
if (len > max) {
Console.WriteLine(
"error, datareader user_data exceeds resource limits");
} else {
/* Byte type is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
datareader_qos.user_data.value.from_array(
System.Text.Encoding.Default.GetBytes(reader_auth));
}
/* To customize the data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
DDS.DataReader reader = subscriber.create_datareader(
topic,
datareader_qos,
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) {
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
