public override void on_data_available(DDS.DataReader reader)
{
DDS.PublicationBuiltinTopicDataDataReader builtin_reader =
(DDS.PublicationBuiltinTopicDataDataReader)reader;
try {
builtin_reader.take(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE);
} catch (DDS.Retcode_NoData) {
return;
} catch (DDS.Exception e) {
Console.WriteLine("take error {0}", e);
return;
}
System.Int32 data_length = data_seq.length;
for (int i = 0; i < data_length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
Console.WriteLine("-----");
Console.WriteLine("Found topic \"{0}\"",
data_seq.get_at(i).topic_name);
Console.WriteLine("participant: {0:x8}{1:x8}{2:x8}",
data_seq.get_at(i).participant_key.value1,
data_seq.get_at(i).participant_key.value2,
data_seq.get_at(i).participant_key.value3);
Console.WriteLine("datawriter: {0:x8}{1:x8}{2:x8}",
data_seq.get_at(i).key.value1,
data_seq.get_at(i).key.value2,
data_seq.get_at(i).key.value3);
Console.WriteLine("type:");
if (data_seq.get_at(i).type_code == null)
{
Console.WriteLine("No type code received, perhaps increase " +
"type_code_max_serialized_length?");
continue;
}
/* Using the type_code propagated we print the data type
* with print_IDL(). */
try {
data_seq.get_at(i).type_code.print_IDL(2);
} catch (DDS.Exception) {
Console.WriteLine("error printing IDL");
}
}
try {
builtin_reader.return_loan(data_seq, info_seq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
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");
}
/* If you want to change the type_code_max_serialized_length
* programmatically (e.g., to 3070) rather than using the XML file, you
* will need to add the following lines to your code and comment out the
* create_participant call above. */
/*
* DDS.DomainParticipantQos participant_qos =
* new DDS.DomainParticipantQos();
* try {
* DDS.DomainParticipantFactory.get_instance().
* get_default_participant_qos(participant_qos);
*
* } catch (DDS.Exception) {
* Console.WriteLine("error in participant_qos");
* }
*
* participant_qos.resource_limits.type_code_max_serialized_length = 3070;
*
* try {
* DDS.DomainParticipantFactory.get_instance().delete_participant(
* ref participant);
* }
* catch (DDS.Exception) {
* Console.WriteLine("error deleting participant");
* }
*
* participant =
* DDS.DomainParticipantFactory.get_instance().create_participant(
* domain_id, participant_qos, null, DDS.StatusMask.STATUS_MASK_NONE);
*/
/* We don't actually care about receiving the samples, just the
* topic information. To do this, we only need the builtin
* datareader for publications.
*/
/* First get the built-in subscriber */
// --- Create subscriber --- //
/* To customize the subscriber QoS, use
* the configuration file USER_QOS_PROFILES.xml */
DDS.Subscriber builtin_subscriber =
participant.get_builtin_subscriber();
if (builtin_subscriber == null)
{
shutdown(participant);
throw new ApplicationException("creating builtin subscriber error");
}
/* Then get the data reader for the built-in subscriber */
DDS.PublicationBuiltinTopicDataDataReader builtin_publication_datareader =
(DDS.PublicationBuiltinTopicDataDataReader)
builtin_subscriber.lookup_datareader(
DDS.PublicationBuiltinTopicDataTypeSupport.
PUBLICATION_TOPIC_NAME);
if (builtin_publication_datareader == null)
{
shutdown(participant);
throw new ApplicationException("creating builtin publication data" +
" reader error");
}
/* Finally install the listener */
BuiltinPublicationListener builtin_publication_listener =
new BuiltinPublicationListener();
builtin_publication_datareader.set_listener(
builtin_publication_listener,
DDS.StatusMask.STATUS_MASK_ALL);
/* 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);
builtin_publication_listener = null;
}
