/* Called when Custom Filter is created, or when parameters are changed */
public void compile(ref object compile_data, string expression,
DDS.StringSeq parameters, DDS.TypeCode type_code,
string type_class_name, object old_compile_data)
{
/* We expect an expression of the form "%0 %1 <var>"
* where %1 = "divides" or "greater-than"
* and <var> is an integral member of the msg structure.
*
* We don't actually check that <var> has the correct typecode,
* (or even that it exists!). See example Typecodes to see
* how to work with typecodes.
*
* The compile information is a structure including the first filter
* parameter (%0) and a function pointer to evaluate the sample
*/
if (expression.StartsWith("%0 %1 ") && expression.Length > 6 &&
parameters.length > 1) // Enought parameters?
{
long p = Convert.ToInt64(parameters.get_at(0));
if (String.Compare(parameters.get_at(1), "greater-than") == 0)
{
compile_data = new gt_test(p);
return;
}
else if (String.Compare(parameters.get_at(1), "divides") == 0)
{
compile_data = new divide_test(p);
return;
}
}
Console.WriteLine("CustomFilter: Unable to compile expresssion '"
+ expression + "'");
Console.WriteLine(" with parameters '" + parameters.get_at(0)
+ "' '" + parameters.get_at(1) + "'");
//throw (new DDS.Retcode_BadParameter());
}
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);
}
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);
}
