public void readSensorDataDDSWaitset(Demultiplexer <SensorData> distributor)
{
DDS.Duration_t timeout;
timeout.nanosec = 0;
timeout.sec = 10;
DDS.DomainParticipant participant = DefaultParticipant.Instance;
DefaultParticipant.RegisterType <SensorData, SensorDataTypeSupport>();
WaitsetSubscriber <SensorData> subscriber =
new WaitsetSubscriber <SensorData>(participant, "Raw SensorData", null, timeout, distributor);
subscriber.subscribe();
}
public void readSensorDataDDSListener(Demultiplexer <SensorData> distributor)
{
DDS.DomainParticipant participant = DefaultParticipant.Instance;
DefaultParticipant.RegisterType <SensorData, SensorDataTypeSupport>();
ListenerSubscriber <SensorData> subscriber =
new ListenerSubscriber <SensorData>(participant, "Raw SensorData", null, distributor);
subscriber.subscribe();
/*DDS.DomainParticipant participant = DefaultParticipant.Instance;
* DefaultParticipant.RegisterType<SensorData, SensorDataTypeSupport>();
* DDS.Topic topic = participant.create_topic("Raw SensorData", typeof(SensorData).ToString(),
* DDS.DomainParticipant.TOPIC_QOS_DEFAULT, null, DDS.StatusMask.STATUS_MASK_NONE);
* if (topic == null)
* {
* throw new ApplicationException("create_topic error");
* }
* ListenerSubscriber2<SensorData> subscriber_A =
* new ListenerSubscriber2<SensorData>(participant, topic, distributor, QueryHelpers.getDefaultSensorData);
* subscriber_A.setContentFilter("filtered_topic_A",
* "(sensor_id >= %0 and sensor_id <= %1) OR (sensor_id >= %2 and sensor_id <= %3) OR (sensor_id >= %4 and sensor_id <= %5)",
* new DDS.StringWrapper[] { "10", "28", "47", "59", "88", "98" });
* var readerQoS_A = subscriber_A.getDataReaderQos();
*
* DDS.TransportUnicastSettings_t[] arr_A = new DDS.TransportUnicastSettings_t[1];
* arr_A[0] = new DDS.TransportUnicastSettings_t();
* readerQoS_A.unicast.value.loan(arr_A, 1);
* readerQoS_A.unicast.value.ensure_length(1, 1);
* readerQoS_A.unicast.value.get_at(0).receive_port = 9000;
*
* var subscriber_B = new ListenerSubscriber2<SensorData>(participant, topic, distributor, QueryHelpers.getDefaultSensorData);
* subscriber_B.setContentFilter("filtered_topic_B",
* "(sensor_id = %0) OR (sensor_id = %1) OR (sensor_id >= %2 and sensor_id <= %3) OR (sensor_id >= %4 and sensor_id <= %5) OR (sensor_id >= %6 and sensor_id <= %7)",
* new DDS.StringWrapper[] { "4", "8", "38", "44", "61", "75", "99", "106" });
* var readerQoS_B = subscriber_B.getDataReaderQos();
*
* DDS.TransportUnicastSettings_t[] arr_B = new DDS.TransportUnicastSettings_t[1];
* arr_B[0] = new DDS.TransportUnicastSettings_t();
* readerQoS_B.unicast.value.loan(arr_B, 1);
* readerQoS_B.unicast.value.ensure_length(1, 1);
* readerQoS_B.unicast.value.get_at(0).receive_port = 8000;
*
* subscriber_A.subscribe();
* subscriber_B.subscribe();*/
}