public static bool WaitForSubscriptions(DataWriter writer, int subscriptionsCount, int milliseconds)
{
if (writer is null)
{
throw new ArgumentNullException(nameof(writer));
}
PublicationMatchedStatus status = default;
writer.GetPublicationMatchedStatus(ref status);
int count = milliseconds / 100;
while (status.CurrentCount != subscriptionsCount && count > 0)
{
Thread.Sleep(100);
writer.GetPublicationMatchedStatus(ref status);
count--;
}
if (count == 0 && status.CurrentCount != subscriptionsCount)
{
return(false);
}
return(true);
}
public void TestGetPublicationMatchedStatus()
{
// Initialize entities
DataWriterQos qos = new DataWriterQos();
qos.Reliability.Kind = ReliabilityQosPolicyKind.BestEffortReliabilityQos;
DataWriter writer = _publisher.CreateDataWriter(_topic, qos);
Assert.IsNotNull(writer);
// If not datareaders are created should return the default status
PublicationMatchedStatus status = default;
ReturnCode result = writer.GetPublicationMatchedStatus(ref status);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(0, status.CurrentCount);
Assert.AreEqual(0, status.CurrentCountChange);
Assert.AreEqual(0, status.TotalCount);
Assert.AreEqual(0, status.TotalCountChange);
Assert.AreEqual(InstanceHandle.HandleNil, status.LastSubscriptionHandle);
// Create a not compatible reader
Subscriber subscriber = _participant.CreateSubscriber();
Assert.IsNotNull(subscriber);
DataReaderQos drQos = new DataReaderQos();
drQos.Reliability.Kind = ReliabilityQosPolicyKind.ReliableReliabilityQos;
DataReader reader = subscriber.CreateDataReader(_topic, drQos);
Assert.IsNotNull(reader);
// Wait for discovery and check the status
System.Threading.Thread.Sleep(100);
result = writer.GetPublicationMatchedStatus(ref status);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(0, status.CurrentCount);
Assert.AreEqual(0, status.CurrentCountChange);
Assert.AreEqual(0, status.TotalCount);
Assert.AreEqual(0, status.TotalCountChange);
Assert.AreEqual(InstanceHandle.HandleNil, status.LastSubscriptionHandle);
// Create a compatible reader
DataReader otherReader = subscriber.CreateDataReader(_topic);
Assert.IsNotNull(otherReader);
// Wait for discovery and check the status
System.Threading.Thread.Sleep(100);
result = writer.GetPublicationMatchedStatus(ref status);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(1, status.CurrentCount);
Assert.AreEqual(1, status.CurrentCountChange);
Assert.AreEqual(1, status.TotalCount);
Assert.AreEqual(1, status.TotalCountChange);
Assert.AreEqual(otherReader.InstanceHandle, status.LastSubscriptionHandle);
}
public ReturnCode GetPublicationMatchedStatus(
ref PublicationMatchedStatus status)
{
ReturnCode result;
ReportStack.Start();
if (this.rlReq_isAlive)
{
if (status == null)
{
status = new PublicationMatchedStatus();
}
GCHandle statusGCHandle = GCHandle.Alloc(status, GCHandleType.Normal);
result = uResultToReturnCode(
User.Writer.GetPublicationMatchStatus(
rlReq_UserPeer, 1, PublicationMatchedStatusMarshaler.CopyOut, GCHandle.ToIntPtr(statusGCHandle)));
status = statusGCHandle.Target as PublicationMatchedStatus;
statusGCHandle.Free();
}
else
{
result = DDS.ReturnCode.AlreadyDeleted;
}
ReportStack.Flush(this, result != ReturnCode.Ok);
return(result);
}
private void PrivatePublicationMatched(IntPtr entityData, IntPtr writerPtr, PublicationMatchedStatus status)
{
if (listener != null)
{
IDataWriter dataWriter = (IDataWriter)OpenSplice.SacsSuperClass.fromUserData(writerPtr);
listener.OnPublicationMatched(dataWriter, status);
}
}
private void PrivatePublicationMatched(IntPtr entityData, IntPtr writerPtr, PublicationMatchedStatus status)
{
if (listener != null)
{
IDataWriter dataWriter = (IDataWriter)OpenSplice.SacsSuperClass.fromUserData(writerPtr);
listener.OnPublicationMatched(dataWriter, status);
}
}
public ReturnCode GetPublicationMatchedStatus(
ref PublicationMatchedStatus status)
{
if (status == null)
{
status = new PublicationMatchedStatus();
}
return(Gapi.DataWriter.get_publication_matched_status(GapiPeer, status));
}
internal static V_RESULT CopyOut(ref v_topicMatchInfo from, PublicationMatchedStatus to)
{
to.TotalCount = from.totalCount;
to.TotalCountChange = from.totalChanged;
to.CurrentCount = from.currentCount;
to.CurrentCountChange = from.currentChanged;
to.LastSubscriptionHandle = User.InstanceHandle.FromGID(from.instanceHandle);
return(V_RESULT.OK);
}
/*! This event is raised when the DataWriter discovered a matching DataReader */
public void OnPublicationMatchedHendler(DataWriter dataWriter, PublicationMatchedStatus status)
{
if (status.CurrentCountChange > 0)
{
Console.WriteLine("in DataWriter: " + dataWriter.Name + " " + status.CurrentCountChange + " Publication matched");
}
else
{
Console.WriteLine("in DataWriter: " + dataWriter.Name + " " + status.CurrentCountChange + " DataReader lost");
}
}
internal static V_RESULT CopyOut(IntPtr fromPtr, IntPtr toPtr)
{
v_topicMatchInfo from = (v_topicMatchInfo)Marshal.PtrToStructure(fromPtr, type);
GCHandle toGCHandle = GCHandle.FromIntPtr(toPtr);
PublicationMatchedStatus to = toGCHandle.Target as PublicationMatchedStatus;
V_RESULT result = CopyOut(ref from, to);
toGCHandle.Target = to;
return(result);
}
public static bool WaitForSubscriptions(this DataWriter writer, int subscriptionsCount, int milliseconds)
{
PublicationMatchedStatus status = new PublicationMatchedStatus();
writer.GetPublicationMatchedStatus(ref status);
int count = milliseconds / 100;
while (status.CurrentCount != subscriptionsCount && count > 0)
{
System.Threading.Thread.Sleep(100);
writer.GetPublicationMatchedStatus(ref status);
count--;
}
if (count == 0 && status.CurrentCount != subscriptionsCount)
{
return(false);
}
return(true);
}
public override void OnPublicationMatched(DataWriter writer, PublicationMatchedStatus status)
{
PublicationMatched?.Invoke(writer, status);
}
public static extern ReturnCode get_publication_matched_status(
IntPtr _this,
PublicationMatchedStatus status
);
public static extern ReturnCode get_publication_matched_status(
IntPtr _this,
PublicationMatchedStatus status
);
static void Main(string[] args)
{
Ace.Init();
DomainParticipantFactory dpf = ParticipantService.Instance.GetDomainParticipantFactory("-DCPSConfigFile", "rtps.ini");
DomainParticipant participant = dpf.CreateParticipant(42);
if (participant == null)
{
throw new Exception("Could not create the participant");
}
MessageTypeSupport support = new MessageTypeSupport();
ReturnCode result = support.RegisterType(participant, support.GetTypeName());
if (result != ReturnCode.Ok)
{
throw new Exception("Could not register type: " + result.ToString());
}
Topic topic = participant.CreateTopic("MessageTopic", support.GetTypeName());
if (topic == null)
{
throw new Exception("Could not create the message topic");
}
Publisher publisher = participant.CreatePublisher();
if (publisher == null)
{
throw new Exception("Could not create the publisher");
}
DataWriter writer = publisher.CreateDataWriter(topic);
if (writer == null)
{
throw new Exception("Could not create the data writer");
}
MessageDataWriter messageWriter = new MessageDataWriter(writer);
Console.WriteLine("Waiting for a subscriber...");
PublicationMatchedStatus status = new PublicationMatchedStatus();
do
{
result = messageWriter.GetPublicationMatchedStatus(ref status);
System.Threading.Thread.Sleep(500);
}while (status.CurrentCount < 1);
Console.WriteLine("Subscriber found, writting data....");
messageWriter.Write(new Message
{
Content = "Hello, I love you, won't you tell me your name?"
});
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
participant.DeleteContainedEntities();
dpf.DeleteParticipant(participant);
ParticipantService.Instance.Shutdown();
Ace.Fini();
}
