/******************************************************************************* (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. ******************************************************************************/ import java.util.Objects; import com.rti.dds.domain.DomainParticipant; import com.rti.dds.domain.DomainParticipantFactory; import com.rti.dds.infrastructure.ConditionSeq; import com.rti.dds.infrastructure.Duration_t; import com.rti.dds.infrastructure.RETCODE_NO_DATA; import com.rti.dds.infrastructure.RETCODE_TIMEOUT; import com.rti.dds.infrastructure.ResourceLimitsQosPolicy; import com.rti.dds.infrastructure.StatusKind; import com.rti.dds.infrastructure.StringSeq; import com.rti.dds.infrastructure.WaitSet; import com.rti.dds.subscription.InstanceStateKind; import com.rti.dds.subscription.ReadCondition; import com.rti.dds.subscription.SampleInfo; import com.rti.dds.subscription.SampleInfoSeq; import com.rti.dds.subscription.SampleStateKind; import com.rti.dds.subscription.Subscriber; import com.rti.dds.subscription.ViewStateKind; import com.rti.dds.topic.ContentFilteredTopic; import com.rti.dds.topic.Topic; public class cftSubscriber extends Application implements AutoCloseable { private DomainParticipant participant = null; // Usually one per // application private cftDataReader reader = null; private final cftSeq dataSeq = new cftSeq(); private final SampleInfoSeq infoSeq = new SampleInfoSeq(); private int processData() { int samplesRead = 0; try { // Take available data from DataReader's queue reader.take( dataSeq, infoSeq, ResourceLimitsQosPolicy.LENGTH_UNLIMITED, SampleStateKind.ANY_SAMPLE_STATE, ViewStateKind.ANY_VIEW_STATE, InstanceStateKind.ANY_INSTANCE_STATE); for (int i = 0; i < dataSeq.size(); ++i) { SampleInfo info = infoSeq.get(i); if (info.valid_data) { System.out.println("Received" + dataSeq.get(i)); } samplesRead++; } } catch (RETCODE_NO_DATA noData) { // No data to process, not a problem } finally { // Data loaned from Connext for performance. Return loan when done. reader.return_loan(dataSeq, infoSeq); } return samplesRead; } private void runApplication() { // Start communicating in a domain participant = Objects.requireNonNull( DomainParticipantFactory.get_instance().create_participant( getDomainId(), DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE)); // A Subscriber allows an application to create one or more DataReaders Subscriber subscriber = Objects.requireNonNull(participant.create_subscriber( DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE)); // Register the datatype to use when creating the Topic String typeName = cftTypeSupport.get_type_name(); cftTypeSupport.register_type(participant, typeName); // Create a Topic with a name and a datatype Topic topic = Objects.requireNonNull(participant.create_topic( "Example cft", typeName, DomainParticipant.TOPIC_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE)); // For this filter we only allow 1 parameter String param_list[] = { "SOME_STRING" }; // Sequence of parameters for the content filter expression StringSeq parameters = new StringSeq(java.util.Arrays.asList(param_list)); ContentFilteredTopic cft = null; if (isCftSelected()) { cft = Objects.requireNonNull( participant.create_contentfilteredtopic_with_filter( "ContentFilteredTopic", topic, "name MATCH %0", parameters, DomainParticipant.STRINGMATCHFILTER_NAME)); System.out.print("Using ContentFiltered Topic\n"); reader = (cftDataReader) Objects.requireNonNull( subscriber.create_datareader( cft, Subscriber.DATAREADER_QOS_DEFAULT, null, StatusKind.STATUS_MASK_ALL)); } else { System.out.print("Using Normal Topic\n"); reader = (cftDataReader) Objects.requireNonNull( subscriber.create_datareader( topic, Subscriber.DATAREADER_QOS_DEFAULT, null, StatusKind.STATUS_MASK_ALL)); } /* If you want to set the reliability and history QoS settings * programmatically rather than using the XML, you will need to add * the following lines to your code and comment out the * create_datareader calls above. */ /* DataReaderQos datareader_qos = new DataReaderQos(); subscriber.get_default_datareader_qos(datareader_qos); datareader_qos.reliability.kind = ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; datareader_qos.durability.kind = DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS; datareader_qos.history.kind = HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; datareader_qos.history.depth = 20; if (isCftSelected()) { System.out.print("Using ContentFiltered Topic\n"); reader = (cftDataReader) Objects.requireNonNull( subscriber.create_datareader( cft, datareader_qos, null, StatusKind.STATUS_MASK_ALL)); } else { System.out.print("Using Normal Topic\n"); reader = (cftDataReader) Objects.requireNonNull( subscriber.create_datareader( topic, datareader_qos, null, StatusKind.STATUS_MASK_ALL)); } */ System.out.println( ">>> Now setting a new filter: " + "name MATCH \"EVEN\""); if (isCftSelected()) { try { cft.append_to_expression_parameter(0, "EVEN"); } catch (Exception e) { System.err.println( "append_to_expression_parameter " + "error"); return; } } // Create ReadCondition that triggers when data in reader's queue ReadCondition condition = reader.create_readcondition( SampleStateKind.ANY_SAMPLE_STATE, ViewStateKind.ANY_VIEW_STATE, InstanceStateKind.ANY_INSTANCE_STATE); // WaitSet will be woken when the attached condition is triggered, or // timeout WaitSet waitset = new WaitSet(); waitset.attach_condition(condition); final Duration_t waitTimeout = new Duration_t(1, 0); int samplesRead = 0; ConditionSeq activeConditions = new ConditionSeq(); int iterationCount = 0; // Main loop. Wait for data to arrive and process when it arrives while (!isShutdownRequested() && samplesRead < getMaxSampleCount()) { if (iterationCount == 10 && isCftSelected()) { System.out.print("\n===========================\n"); System.out.print("Changing filter parameters\n"); System.out.print("Append 'ODD' filter\n"); System.out.print("===========================\n"); try { cft.append_to_expression_parameter(0, "ODD"); } catch (Exception e) { System.err.println( "append_to_expression_parameter " + "error"); break; } } else if (iterationCount == 20 && isCftSelected()) { System.out.print("\n===========================\n"); System.out.print("Changing filter parameters\n"); System.out.print("Removing 'EVEN' filter\n"); System.out.print("===========================\n"); try { cft.remove_from_expression_parameter(0, "EVEN"); } catch (Exception e) { System.err.println( "remove_from_expression_parameter " + "error"); break; } } try { // Wait fills in activeConditions or times out waitset.wait(activeConditions, waitTimeout); // Read condition triggered, process data samplesRead += processData(); } catch (RETCODE_TIMEOUT timeout) { } iterationCount++; } } @Override public void close() { // Delete all entities (DataReader, Topic, Subscriber, // DomainParticipant) if (participant != null) { participant.delete_contained_entities(); DomainParticipantFactory.get_instance().delete_participant( participant); } } public static void main(String[] args) { // Create example and run: Uses try-with-resources, // subscriberApplication.close() automatically called try (cftSubscriber subscriberApplication = new cftSubscriber()) { subscriberApplication.parseArguments( args, ApplicationType.SUBSCRIBER); subscriberApplication.addShutdownHook(); subscriberApplication.runApplication(); } // Releases the memory used by the participant factory. Optional at // application exit. DomainParticipantFactory.finalize_instance(); } }