/******************************************************************************* (c) 2005-2014 Copyright, Real-Time Innovations, Inc. All rights reserved. RTI grants Licensee a license to use, modify, compile, and create derivative works of the Software. Licensee has the right to distribute object form only for use with RTI products. The Software is provided "as is", with no warranty of any type, including any warranty for fitness for any purpose. RTI is under no obligation to maintain or support the Software. RTI shall not be liable for any incidental or consequential damages arising out of the use or inability to use the software. ******************************************************************************/ /* profiles_publisher.cs A publication of data of type profiles This file is derived from code automatically generated by the rtiddsgen command: rtiddsgen -language C# -example profiles.idl Example publication of type profiles automatically generated by 'rtiddsgen'. To test them follow these steps: (1) Compile this file and the example subscription. (2) Start the subscription with the command objs\${constructMap.nativeFQNameInModule}_subscriber (3) Start the publication with the command objs\${constructMap.nativeFQNameInModule}_publisher (4) [Optional] Specify the list of discovery initial peers and multicast receive addresses via an environment variable or a file (in the current working directory) called NDDS_DISCOVERY_PEERS. You can run any number of publishers and subscribers programs, and can add and remove them dynamically from the domain. Example: To run the example application on domain : bin\\profiles_publisher bin\\profiles_subscriber */ using System; using System.Collections.Generic; using System.Text; public class profilesPublisher { public static void Main(string[] args) { // --- Get domain ID --- // int domain_id = 0; if (args.Length >= 1) { domain_id = Int32.Parse(args[0]); } // --- Get max loop count; 0 means infinite loop --- // int sample_count = 0; if (args.Length >= 2) { sample_count = Int32.Parse(args[1]); } /* Uncomment this to turn on additional logging NDDS.ConfigLogger.get_instance().set_verbosity_by_category( NDDS.LogCategory.NDDS_CONFIG_LOG_CATEGORY_API, NDDS.LogVerbosity.NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL); */ // --- Run --- // try { profilesPublisher.publish( domain_id, sample_count); } catch(DDS.Exception) { Console.WriteLine("error in publisher"); } } static void publish(int domain_id, int sample_count) { // --- Create participant --- // /* * This example uses a built-in QoS profile to enable monitoring on the * DomainParticipant. The code below loads the XML QoS from the * USER_QOS_PROFILES.xml file, which is inheriting from the * "BuiltinQoSLib::Generic.Monitoring.Common" profile to enable monitoring. * * !!!! NOTE: This example will only work when dynamically linking !!! * In Visual Studio, change the target to "Debug DLL" or "Release DLL" * to build. */ /* 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 , DDS.StatusMask.STATUS_MASK_NONE); /* If you want to change the DomainParticipant'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_participant call above. * * This example uses a built-in QoS profile to enable * monitoring on the DomainParticipant. */ /* DDS.DomainParticipant participant = DDS.DomainParticipantFactory.get_instance(). create_participant_with_profile(domain_id, "BuiltinQosLib", "Generic.Monitoring.Common", null, 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"); } // --- Create topic --- // /* Register type before creating topic */ System.String type_name = profilesTypeSupport.get_type_name(); try { profilesTypeSupport.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 profiles", 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, DDS.StatusMask.STATUS_MASK_NONE); /* If you want to change the DataWriter's QoS programatically 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. * * This example uses a built-in QoS profile to tune the QoS for * reliable streaming data. */ /*DDS.DataWriter writer = publisher.create_datawriter_with_profile( topic, DDS.BuiltinQosProfiles.BUILTIN_QOS_LIB_EXP, DDS.BuiltinQosProfiles.PROFILE_PATTERN_RELIABLE_STREAMING, null, DDS.StatusMask.STATUS_MASK_NONE); */ if (writer == null) { shutdown(participant); throw new ApplicationException("create_datawriter error"); } profilesDataWriter profiles_writer = (profilesDataWriter)writer; // --- Write --- // /* Create data sample for writing */ profiles instance = profilesTypeSupport.create_data(); if (instance == null) { shutdown(participant); throw new ApplicationException( "profilesTypeSupport.create_data error"); } /* 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_handle = profiles_writer.register_instance(instance); */ /* Main loop */ const System.Int32 send_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { Console.WriteLine("Writing profiles, count {0}", count); /* Modify the data to be sent here */ try { profiles_writer.write(instance, ref instance_handle); } catch(DDS.Exception e) { Console.WriteLine("write error {0}", e); } System.Threading.Thread.Sleep(send_period); } /* try { profiles_writer.unregister_instance( instance, ref instance_handle); } catch(DDS.Exception e) { Console.WriteLine("unregister instance error: {0}", e); } */ // --- Shutdown --- // /* Delete data sample */ try { profilesTypeSupport.delete_data(instance); } catch(DDS.Exception e) { Console.WriteLine( "profilesTypeSupport.delete_data error: {0}", e); } /* Delete all entities */ shutdown(participant); } static void shutdown( DDS.DomainParticipant participant) { /* Delete all entities */ if (participant != null) { participant.delete_contained_entities(); DDS.DomainParticipantFactory.get_instance().delete_participant( ref participant); } /* RTI Connext provides finalize_instance() method on domain participant factory for people who want to release memory used by the participant factory. Uncomment the following block of code for clean destruction of the singleton. */ /* try { DDS.DomainParticipantFactory.finalize_instance(); } catch (DDS.Exception e) { Console.WriteLine("finalize_instance error: {0}", e); throw e; } */ } }