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");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_publisher call above.
*/
// Start changes for coherent_presentation
/* DDS.PublisherQos publisher_qos = new DDS.PublisherQos();
* participant.get_default_publisher_qos(publisher_qos);
*
* // Topic access scope means that writes from a particular datawriter to
* // multiple instances will be viewed coherently.
* publisher_qos.presentation.access_scope =
* DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS;
* publisher_qos.presentation.coherent_access = true;
*
* // --- Create publisher --- //
*
* DDS.Publisher publisher = participant.create_publisher(
* publisher_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (publisher == null) {
* shutdown(participant);
* throw new ApplicationException("create_publisher error");
* }
*/ // End changes for Coherent_Presentation
// --- Create topic --- //
/* Register type before creating topic */
System.String type_name = coherentTypeSupport.get_type_name();
try {
coherentTypeSupport.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 coherent",
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 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");
}
/* If you want to change the DataWriter's QoS programmatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datawriter call above.
*/
// Start changes for coherent_presentation
/* Get default datawriter QoS to customize */
/* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos();
* publisher.get_default_datawriter_qos(datawriter_qos);
*
* datawriter_qos.reliability.kind =
* DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
* datawriter_qos.history.depth = 10;
* datawriter_qos.protocol.rtps_reliable_writer.
* heartbeats_per_max_samples = 0;
*
* DDS.DataWriter writer = publisher.create_datawriter(
* topic,
* datawriter_qos,
* null,
* DDS.StatusMask.STATUS_MASK_NONE);
* if (writer == null) {
* shutdown(participant);
* throw new ApplicationException("create_datawriter error");
* }
*
*/ // End changes for coherent_presentation
coherentDataWriter coherent_writer =
(coherentDataWriter)writer;
// --- Write --- //
/* Create data sample for writing */
coherent instance = coherentTypeSupport.create_data();
if (instance == null)
{
shutdown(participant);
throw new ApplicationException(
"coherentTypeSupport.create_data error");
}
// Start changes for coherent_presentation
/* 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.id = 0;
instance_handle = coherent_writer.register_instance(instance);
Random random = new Random();
publisher.begin_coherent_changes();
Console.WriteLine("Begin Coherent Changes");
/* Main loop */
const System.Int32 send_period = 1000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(send_period);
/* Modify the data to be sent here */
int mod = count % 7;
if (mod == 6)
{
Console.WriteLine("Begin Coherent Changes");
try {
publisher.begin_coherent_changes();
} catch (DDS.Exception e) {
Console.WriteLine("begin_coherent_chages {0}", e);
}
continue;
}
//Choose a random value for each field
instance.field = (char)('a' + mod);
instance.value = (int)(random.Next(9));
Console.WriteLine(" Updating instance, {0}->{1}", instance.field,
instance.value);
try {
coherent_writer.write(instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("write error {0}", e);
}
// Begin a new change group after sending 6 samples
if (mod == 5)
{
Console.WriteLine("End Coherent Changes\n");
try {
publisher.end_coherent_changes();
} catch (DDS.Exception e) {
Console.WriteLine("end_coherent_changes error {0}", e);
throw new ApplicationException(
"coherentTypeSupport.end_coherent_changes error");
}
}
}
try {
coherent_writer.unregister_instance(
instance, ref instance_handle);
} catch (DDS.Exception e) {
Console.WriteLine("unregister instance error: {0}", e);
}
// --- Shutdown --- //
/* Delete data sample */
try {
coherentTypeSupport.delete_data(instance);
} catch (DDS.Exception e) {
Console.WriteLine(
"coherentTypeSupport.delete_data error: {0}", e);
}
/* Delete all entities */
shutdown(participant);
}
