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 = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.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 deadline_contentfilter",
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 --- //
//// Start changes for Deadline
// Set up content filtered topic to show interaction with deadline
DDS.StringSeq parameters = new DDS.StringSeq(1);
// need to specify length otherwise create_contentfilteredtopic will
// throw an unhandled exception error!
if (parameters.ensure_length(1, 1) == false)
{
Console.WriteLine("ensure_length error\n");
}
parameters.set_at(0, "2");
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "code < %0", parameters);
/* Create a data reader listener */
deadline_contentfilterListener reader_listener =
new deadline_contentfilterListener();
/* 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");
}
/* If you want to change the DataReader'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_datareader call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough, or if
* the content-filter filters out data so there is no data available
* with 2 seconds.
*/
/*
* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(datareader_qos);
* if (datareader_qos == null)
* {
* shutdown(participant);
* reader_listener = null;
* throw new ApplicationException("get_default_datareader_qos error");
* }
*
* // Set deadline QoS to be 2 sec
* datareader_qos.deadline.period.sec = 2;
* datareader_qos.deadline.period.nanosec = 0;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* datareader_qos, //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)
{
// After 10 seconds, change content filter to accept only
// instance 0
if (count == 10)
{
Console.WriteLine("Starting to filter out instance1\n");
parameters.set_at(0, "1");
cft.set_expression_parameters(parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
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 = deadline_contentfilterTypeSupport.get_type_name();
try {
deadline_contentfilterTypeSupport.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 deadline_contentfilter",
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 --- //
//// Start changes for Deadline
// Set up content filtered topic to show interaction with deadline
DDS.StringSeq parameters = new DDS.StringSeq(1);
// need to specify length otherwise create_contentfilteredtopic will
// throw an unhandled exception error!
if (parameters.ensure_length(1, 1) == false)
{
Console.WriteLine("ensure_length error\n");
}
parameters.set_at(0, "2");
DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
"ContentFilteredTopic", topic, "code < %0", parameters);
/* Create a data reader listener */
deadline_contentfilterListener reader_listener =
new deadline_contentfilterListener();
/* 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");
}
/* If you want to change the DataReader'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_datareader call above.
*
* In this case, we set the deadline period to 2 seconds to trigger
* a deadline if the DataWriter does not update often enough, or if
* the content-filter filters out data so there is no data available
* with 2 seconds.
*/
/*
DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(datareader_qos);
if (datareader_qos == null)
{
shutdown(participant);
reader_listener = null;
throw new ApplicationException("get_default_datareader_qos error");
}
// Set deadline QoS to be 2 sec
datareader_qos.deadline.period.sec = 2;
datareader_qos.deadline.period.nanosec = 0;
DDS.DataReader reader = subscriber.create_datareader(
topic,
datareader_qos, //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) {
// After 10 seconds, change content filter to accept only
// instance 0
if (count == 10)
{
Console.WriteLine("Starting to filter out instance1\n");
parameters.set_at(0, "1");
cft.set_expression_parameters(parameters);
}
System.Threading.Thread.Sleep(receive_period);
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
reader_listener = null;
}
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 = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.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 querycondition",
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 --- //
/* 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,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
* subscriber.get_default_datareader_qos(reader_qos);
*
* reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
* reader_qos.history.depth = 6;
*
* DDS.DataReader reader = subscriber.create_datareader(
* topic,
* reader_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 --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
continue;
}
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
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 = queryconditionTypeSupport.get_type_name();
try {
queryconditionTypeSupport.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 querycondition",
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 --- //
/* 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,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
/* If you want to change datareader_qos.history programmatically rather
* than using the XML file, you will need to add the following lines to your
* code and comment out the create_datareader call above. */
/*DDS.DataReaderQos reader_qos = new DDS.DataReaderQos();
subscriber.get_default_datareader_qos(reader_qos);
reader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS;
reader_qos.history.depth = 6;
DDS.DataReader reader = subscriber.create_datareader(
topic,
reader_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 --- //
/* NOTE: There must be single-quotes in the query parameters around
* any strings! The single-quotes do NOT go in the query condition
* itself.
*/
DDS.QueryCondition query_for_guid2;
DDS.StringSeq query_parameters = new DDS.StringSeq();
query_parameters.ensure_length(1, 1);
query_parameters.set_at(0, "'GUID2'");
queryconditionDataReader querycondition_reader =
(queryconditionDataReader)reader;
query_for_guid2 = querycondition_reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"id MATCH %0",
query_parameters);
/* Main loop */
const System.Int32 receive_period = 4000; // milliseconds
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
System.Threading.Thread.Sleep(receive_period);
queryconditionSeq data_seq = new queryconditionSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
try
{
querycondition_reader.read_w_condition(
data_seq,
info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_for_guid2);
}
catch (DDS.Retcode_NoData e)
{
continue;
}
catch (DDS.Exception e)
{
shutdown(participant);
throw e;
}
int len = 0;
double sum = 0;
/* Iterate through the samples read using the read_w_condition() method,
* accessing only the samples of GUID2. Then, show the number of samples
* received and, adding the value of x on each of them to calculate the
* average afterwards. */
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
continue;
len++;
sum += data_seq.get_at(i).value;
Console.WriteLine("Guid = {0}\n", data_seq.get_at(i).id);
}
if (len > 0)
{
Console.WriteLine("Got {0} samples. Avg = {1}\n", len, sum / len);
}
try
{
querycondition_reader.return_loan(data_seq, info_seq);
}
catch (DDS.Exception e)
{
Console.WriteLine("return loan error {0}", e);
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
private static void Subscribe(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null)
{
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create subscriber --- //
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.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
}
catch (DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
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 --- //
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null)
{
Shutdown(participant);
throw new ApplicationException("create_datareader error");
}
FlightDataReader flightReader = (FlightDataReader)reader;
// Query for company named 'CompanyA' and for flights in cruise
// (about 30,000ft). The company parameter will be changed in
// run-time. NOTE: There must be single-quotes in the query
// parameters around-any strings! The single-quote do NOT go in the
// query condition itself.
DDS.StringSeq queryParameters = new DDS.StringSeq();
queryParameters.ensure_length(2, 2);
queryParameters.set_at(0, "'CompanyA'");
queryParameters.set_at(1, "30000");
Console.WriteLine(
"Setting parameters to company: {0} and altitude >= {1}\n",
queryParameters.get_at(0), queryParameters.get_at(1));
// Create the query condition with an expession to MATCH the id
// field in the structure and a numeric comparison.
DDS.QueryCondition queryCondition =
reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"company MATCH %0 AND altitude >= %1",
queryParameters);
// --- Wait for data --- //
const int receivePeriod = 1000; // Milliseconds
bool update = false;
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Poll for new samples every second.
System.Threading.Thread.Sleep(receivePeriod);
// Change the filter parameter after 5 seconds.
if ((count + 1) % 10 == 5)
{
queryParameters.set_at(0, "'CompanyB'");
update = true;
}
else if ((count + 1) % 10 == 0)
{
queryParameters.set_at(0, "'CompanyA'");
update = true;
}
// Set new parameters.
if (update)
{
Console.WriteLine("Changing parameter to {0}",
queryParameters.get_at(0));
queryCondition.set_query_parameters(queryParameters);
update = false;
}
// Iterate through the samples using read_w_condition.
FlightSeq dataSeq = new FlightSeq();
DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq();
try {
flightReader.read_w_condition(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
queryCondition);
} catch (DDS.Retcode_NoData) {
continue;
} catch (DDS.Exception e) {
Shutdown(participant);
throw e;
}
for (int i = 0; i < dataSeq.length; i++)
{
DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i);
if (info.valid_data)
{
Flight flight_info = (Flight)dataSeq.get_at(i);
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]\n",
flight_info.trackId,
flight_info.company,
flight_info.altitude);
}
}
try {
flightReader.return_loan(dataSeq, infoSeq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
// Delete all entities
Shutdown(participant);
}
private static void Subscribe(int domainId, int sampleCount)
{
// --- Create participant --- //
DDS.DomainParticipant participant =
DDS.DomainParticipantFactory.get_instance().create_participant(
domainId,
DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
DDS.StatusMask.STATUS_MASK_NONE);
if (participant == null) {
Shutdown(participant);
throw new Exception("create_participant error");
}
// --- Create subscriber --- //
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.
string typeName = FlightTypeSupport.get_type_name();
try {
FlightTypeSupport.register_type(participant, typeName);
}
catch(DDS.Exception e) {
Console.WriteLine("register_type error {0}", e);
Shutdown(participant);
throw e;
}
DDS.Topic topic = participant.create_topic(
"Example Flight",
typeName,
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 --- //
DDS.DataReader reader = subscriber.create_datareader(
topic,
DDS.Subscriber.DATAREADER_QOS_DEFAULT,
null,
DDS.StatusMask.STATUS_MASK_ALL);
if (reader == null) {
Shutdown(participant);
throw new ApplicationException("create_datareader error");
}
FlightDataReader flightReader = (FlightDataReader)reader;
// Query for company named 'CompanyA' and for flights in cruise
// (about 30,000ft). The company parameter will be changed in
// run-time. NOTE: There must be single-quotes in the query
// parameters around-any strings! The single-quote do NOT go in the
// query condition itself.
DDS.StringSeq queryParameters = new DDS.StringSeq();
queryParameters.ensure_length(2, 2);
queryParameters.set_at(0, "'CompanyA'");
queryParameters.set_at(1, "30000");
Console.WriteLine(
"Setting parameters to company: {0} and altitude >= {1}\n",
queryParameters.get_at(0), queryParameters.get_at(1));
// Create the query condition with an expession to MATCH the id
// field in the structure and a numeric comparison.
DDS.QueryCondition queryCondition =
reader.create_querycondition(
DDS.SampleStateKind.ANY_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ALIVE_INSTANCE_STATE,
"company MATCH %0 AND altitude >= %1",
queryParameters);
// --- Wait for data --- //
const int receivePeriod = 1000; // Milliseconds
bool update = false;
for (int count = 0;
(sampleCount == 0) || (count < sampleCount);
count++)
{
// Poll for new samples every second.
System.Threading.Thread.Sleep(receivePeriod);
// Change the filter parameter after 5 seconds.
if ((count + 1) % 10 == 5) {
queryParameters.set_at(0, "'CompanyB'");
update = true;
} else if ((count + 1) % 10 == 0) {
queryParameters.set_at(0, "'CompanyA'");
update = true;
}
// Set new parameters.
if (update) {
Console.WriteLine("Changing parameter to {0}",
queryParameters.get_at(0));
queryCondition.set_query_parameters(queryParameters);
update = false;
}
// Iterate through the samples using read_w_condition.
FlightSeq dataSeq = new FlightSeq();
DDS.SampleInfoSeq infoSeq = new DDS.SampleInfoSeq();
try {
flightReader.read_w_condition(
dataSeq,
infoSeq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
queryCondition);
} catch (DDS.Retcode_NoData) {
continue;
} catch (DDS.Exception e) {
Shutdown(participant);
throw e;
}
for (int i = 0; i < dataSeq.length; i++) {
DDS.SampleInfo info = (DDS.SampleInfo)infoSeq.get_at(i);
if (info.valid_data) {
Flight flight_info = (Flight)dataSeq.get_at(i);
Console.WriteLine(
"\t[trackId: {0}, company: {1}, altitude: {2}]\n",
flight_info.trackId,
flight_info.company,
flight_info.altitude);
}
}
try {
flightReader.return_loan(dataSeq, infoSeq);
} catch (DDS.Exception e) {
Console.WriteLine("return loan error {0}", e);
}
}
// Delete all entities
Shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
/* Auxiliary variables */
String odd_string = "'ODD'";
String even_string = "'EVEN'";
// --- 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 = waitset_query_condTypeSupport.get_type_name();
try {
waitset_query_condTypeSupport.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 waitset_query_cond",
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 --- //
/* 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,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null)
{
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
waitset_query_condDataReader waitset_query_cond_reader =
(waitset_query_condDataReader)reader;
/* Create query condition */
DDS.StringSeq query_parameters = new DDS.StringSeq(1);
query_parameters.ensure_length(1, 1);
/* The initial value of the parameters is EVEN string */
query_parameters.set_at(0, even_string);
String query_expression = "name MATCH %0";
DDS.QueryCondition query_condition =
waitset_query_cond_reader.create_querycondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE,
query_expression,
query_parameters);
if (query_condition == null)
{
shutdown(participant);
throw new ApplicationException("create_querycondition error");
}
DDS.WaitSet waitset = new DDS.WaitSet();
if (waitset == null)
{
shutdown(participant);
throw new ApplicationException("create waitset error");
}
/* Attach Query Conditions */
try {
waitset.attach_condition((DDS.Condition)query_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_condition error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t wait_timeout;
wait_timeout.nanosec = (uint)500000000;
wait_timeout.sec = 1;
Console.WriteLine("\n>>>Timeout: {0} sec",
wait_timeout.sec, wait_timeout.nanosec);
Console.WriteLine(">>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine("---------------------------------\n");
// --- Wait for data --- //
/* Main loop */
for (int count = 0;
(sample_count == 0) || (count < sample_count);
++count)
{
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7)
{
query_parameters.set_at(0, odd_string);
Console.WriteLine("CHANGING THE QUERY CONDITION");
Console.WriteLine("\n>>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine(">>> We keep one sample in the history");
Console.WriteLine("-------------------------------------\n");
query_condition.set_query_parameters(query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout
* expires.
*/
try {
waitset.wait(active_conditions_seq, wait_timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
waitset_query_condSeq data_seq = new waitset_query_condSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
bool follow = true;
while (follow)
{
try {
waitset_query_cond_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_condition);
for (int i = 0; i < data_seq.length; ++i)
{
if (!info_seq.get_at(i).valid_data)
{
Console.WriteLine("Got metadata");
continue;
}
waitset_query_condTypeSupport.print_data(
data_seq.get_at(i));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitset_query_cond_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}
static void subscribe(int domain_id, int sample_count)
{
/* Auxiliary variables */
String odd_string = "'ODD'";
String even_string = "'EVEN'";
// --- 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 = waitset_query_condTypeSupport.get_type_name();
try {
waitset_query_condTypeSupport.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 waitset_query_cond",
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 --- //
/* 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,
null,
DDS.StatusMask.STATUS_MASK_NONE);
if (reader == null) {
shutdown(participant);
throw new ApplicationException("create_datareader error");
}
waitset_query_condDataReader waitset_query_cond_reader =
(waitset_query_condDataReader)reader;
/* Create query condition */
DDS.StringSeq query_parameters = new DDS.StringSeq(1);
query_parameters.ensure_length(1, 1);
/* The initial value of the parameters is EVEN string */
query_parameters.set_at(0, even_string);
String query_expression = "name MATCH %0";
DDS.QueryCondition query_condition =
waitset_query_cond_reader.create_querycondition(
DDS.SampleStateKind.NOT_READ_SAMPLE_STATE,
DDS.ViewStateKind.ANY_VIEW_STATE,
DDS.InstanceStateKind.ANY_INSTANCE_STATE,
query_expression,
query_parameters);
if (query_condition == null) {
shutdown(participant);
throw new ApplicationException("create_querycondition error");
}
DDS.WaitSet waitset = new DDS.WaitSet();
if (waitset == null) {
shutdown(participant);
throw new ApplicationException("create waitset error");
}
/* Attach Query Conditions */
try {
waitset.attach_condition((DDS.Condition)query_condition);
} catch (DDS.Exception e) {
Console.WriteLine("attach_condition error {0}", e);
shutdown(participant);
throw e;
}
DDS.Duration_t wait_timeout;
wait_timeout.nanosec = (uint)500000000;
wait_timeout.sec = 1;
Console.WriteLine("\n>>>Timeout: {0} sec",
wait_timeout.sec, wait_timeout.nanosec);
Console.WriteLine(">>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine("---------------------------------\n");
// --- Wait for data --- //
/* Main loop */
for (int count=0;
(sample_count == 0) || (count < sample_count);
++count) {
DDS.ConditionSeq active_conditions_seq = new DDS.ConditionSeq();
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7) {
query_parameters.set_at(0,odd_string);
Console.WriteLine("CHANGING THE QUERY CONDITION");
Console.WriteLine("\n>>> Query conditions: name MATCH %0");
Console.WriteLine("\t%0 = {0}", query_parameters.get_at(0));
Console.WriteLine(">>> We keep one sample in the history");
Console.WriteLine("-------------------------------------\n");
query_condition.set_query_parameters(query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout
* expires.
*/
try {
waitset.wait(active_conditions_seq, wait_timeout);
} catch (DDS.Retcode_Timeout) {
Console.WriteLine("Wait timed out!! No conditions were " +
"triggered.");
continue;
} catch (DDS.Exception e) {
Console.WriteLine("wait error {0}", e);
break;
}
waitset_query_condSeq data_seq = new waitset_query_condSeq();
DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq();
bool follow = true;
while (follow) {
try {
waitset_query_cond_reader.take_w_condition(
data_seq, info_seq,
DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
query_condition);
for (int i = 0; i < data_seq.length; ++i) {
if (!info_seq.get_at(i).valid_data) {
Console.WriteLine("Got metadata");
continue;
}
waitset_query_condTypeSupport.print_data(
data_seq.get_at(i));
}
} catch (DDS.Retcode_NoData) {
/* When there isn't data, the subscriber stop to
* take samples
*/
follow = false;
} finally {
waitset_query_cond_reader.return_loan(data_seq, info_seq);
}
}
}
// --- Shutdown --- //
/* Delete all entities */
shutdown(participant);
}