/******************************************************************************* (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. ******************************************************************************/ using System; using System.Collections.Generic; using System.Text; /* coherent_publisher.cs A publication of data of type coherent This file is derived from code automatically generated by the rtiddsgen command: rtiddsgen -language C# -example coherent.idl Example publication of type coherent 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\\coherent_subscriber (3) Start the publication with the command objs\\coherent_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\\coherent_publisher bin\\coherent_subscriber modification history ------------ ------- */ public class coherentPublisher { 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 { coherentPublisher.publish( domain_id, sample_count); } catch (DDS.Exception) { Console.WriteLine("error in publisher"); } } static void publish( int domain_id, int sample_count ) { // --- Create participant --- // /* 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 /* listener */, 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"); } /* If you want to change the DataWriter'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_publisher call above. */ // Start changes for coherent_presentation /* DDS.PublisherQos publisher_qos = new DDS.PublisherQos(); participant.get_default_publisher_qos(publisher_qos); // Topic access scope means that writes from a particular datawriter to // multiple instances will be viewed coherently. publisher_qos.presentation.access_scope = DDS.PresentationQosPolicyAccessScopeKind.TOPIC_PRESENTATION_QOS; publisher_qos.presentation.coherent_access = true; // --- Create publisher --- // DDS.Publisher publisher = participant.create_publisher( publisher_qos, null, DDS.StatusMask.STATUS_MASK_NONE); if (publisher == null) { shutdown(participant); throw new ApplicationException("create_publisher error"); } */ // End changes for Coherent_Presentation // --- Create topic --- // /* Register type before creating topic */ System.String type_name = coherentTypeSupport.get_type_name(); try { coherentTypeSupport.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 coherent", 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 /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (writer == null) { shutdown(participant); throw new ApplicationException("create_datawriter error"); } /* If you want to change the DataWriter'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_datawriter call above. */ // Start changes for coherent_presentation /* Get default datawriter QoS to customize */ /* DDS.DataWriterQos datawriter_qos = new DDS.DataWriterQos(); publisher.get_default_datawriter_qos(datawriter_qos); datawriter_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; datawriter_qos.history.depth = 10; datawriter_qos.protocol.rtps_reliable_writer. heartbeats_per_max_samples = 0; DDS.DataWriter writer = publisher.create_datawriter( topic, datawriter_qos, null, DDS.StatusMask.STATUS_MASK_NONE); if (writer == null) { shutdown(participant); throw new ApplicationException("create_datawriter error"); } */ // End changes for coherent_presentation coherentDataWriter coherent_writer = (coherentDataWriter)writer; // --- Write --- // /* Create data sample for writing */ coherent instance = coherentTypeSupport.create_data(); if (instance == null) { shutdown(participant); throw new ApplicationException( "coherentTypeSupport.create_data error"); } // Start changes for coherent_presentation /* 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.id = 0; instance_handle = coherent_writer.register_instance(instance); Random random = new Random(); publisher.begin_coherent_changes(); Console.WriteLine("Begin Coherent Changes"); /* Main loop */ const System.Int32 send_period = 1000; // milliseconds for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(send_period); /* Modify the data to be sent here */ int mod = count % 7; if (mod == 6) { Console.WriteLine("Begin Coherent Changes"); try { publisher.begin_coherent_changes(); } catch (DDS.Exception e) { Console.WriteLine("begin_coherent_chages {0}", e); } continue; } //Choose a random value for each field instance.field = (char)('a' + mod); instance.value = (int)(random.Next(9)); Console.WriteLine(" Updating instance, {0}->{1}", instance.field, instance.value); try { coherent_writer.write(instance, ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("write error {0}", e); } // Begin a new change group after sending 6 samples if (mod == 5) { Console.WriteLine("End Coherent Changes\n"); try { publisher.end_coherent_changes(); } catch (DDS.Exception e) { Console.WriteLine("end_coherent_changes error {0}", e); throw new ApplicationException( "coherentTypeSupport.end_coherent_changes error"); } } } try { coherent_writer.unregister_instance( instance, ref instance_handle); } catch (DDS.Exception e) { Console.WriteLine("unregister instance error: {0}", e); } // --- Shutdown --- // /* Delete data sample */ try { coherentTypeSupport.delete_data(instance); } catch (DDS.Exception e) { Console.WriteLine( "coherentTypeSupport.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; } */ } }