/******************************************************************************* (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; /* cft_subscriber.cs A subscription example This file is derived from code automatically generated by the rtiddsgen command: rtiddsgen -language C# -example cft.idl Example subscription of type cft automatically generated by 'rtiddsgen'. To test them, follow these steps: (1) Compile this file and the example publication. (2) Start the subscription with the command objs\\cft_subscriber (3) Start the publication with the command objs\\cft_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\\cft_publisher bin\\cft_subscriber modification history ------------ ------- */ public class cftSubscriber { public class cftListener : DDS.DataReaderListener { public override void on_requested_deadline_missed( DDS.DataReader reader, ref DDS.RequestedDeadlineMissedStatus status) {} public override void on_requested_incompatible_qos( DDS.DataReader reader, DDS.RequestedIncompatibleQosStatus status) {} public override void on_sample_rejected( DDS.DataReader reader, ref DDS.SampleRejectedStatus status) {} public override void on_liveliness_changed( DDS.DataReader reader, ref DDS.LivelinessChangedStatus status) {} public override void on_sample_lost( DDS.DataReader reader, ref DDS.SampleLostStatus status) {} public override void on_subscription_matched( DDS.DataReader reader, ref DDS.SubscriptionMatchedStatus status) {} public override void on_data_available(DDS.DataReader reader) { cftDataReader cft_reader = (cftDataReader)reader; try { cft_reader.take( data_seq, info_seq, DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED, DDS.SampleStateKind.ANY_SAMPLE_STATE, DDS.ViewStateKind.ANY_VIEW_STATE, DDS.InstanceStateKind.ANY_INSTANCE_STATE); } catch(DDS.Retcode_NoData) { return; } catch(DDS.Exception e) { Console.WriteLine("take error {0}", e); return; } System.Int32 data_length = data_seq.length; for (int i = 0; i < data_length; ++i) { if (info_seq.get_at(i).valid_data) { cftTypeSupport.print_data(data_seq.get_at(i)); } } try { cft_reader.return_loan(data_seq, info_seq); } catch(DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } public cftListener() { data_seq = new cftSeq(); info_seq = new DDS.SampleInfoSeq(); } private cftSeq data_seq; private DDS.SampleInfoSeq info_seq; }; 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]); } int sel_cft = 1; if (args.Length >= 3) { sel_cft = Int32.Parse(args[2]); } /* 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 { cftSubscriber.subscribe( domain_id, sample_count, sel_cft); } catch(DDS.Exception) { Console.WriteLine("error in subscriber"); } } static void subscribe(int domain_id, int sample_count, int sel_cft) { // --- Create participant --- // /* To customize the 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 subscriber --- // /* To customize the subscriber QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Subscriber subscriber = participant.create_subscriber( DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */, DDS.StatusMask.STATUS_MASK_NONE); if (subscriber == null) { shutdown(participant); throw new ApplicationException("create_subscriber error"); } // --- Create topic --- // /* Register the type before creating the topic */ System.String type_name = cftTypeSupport.get_type_name(); try { cftTypeSupport.register_type( participant, type_name); } catch(DDS.Exception e) { Console.WriteLine("register_type error {0}", e); shutdown(participant); throw e; } /* To customize the topic QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.Topic topic = participant.create_topic( "Example cft", 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"); } /* For this filter we only allow 1 parameter */ DDS.StringSeq parameters = new DDS.StringSeq(1); /* The default parameter list that we will include in the * sequence of parameters will be "SOME_STRING" */ DDS.StringWrapper[] param_list = new DDS.StringWrapper[1] { "SOME_STRING" }; parameters.from_array(param_list); DDS.ContentFilteredTopic cft = null; if (sel_cft == 1) { /* create_contentfilteredtopic_with_filter */ cft = participant.create_contentfilteredtopic_with_filter( "ContentFilteredTopic", topic, "name MATCH %0", parameters, DDS.DomainParticipant.STRINGMATCHFILTER_NAME); if (cft == null) { shutdown(participant); throw new ApplicationException( "create_contentfilteredtopic_with_filter error"); } } // --- Create reader --- // /* Create a data reader listener */ cftListener reader_listener = new cftListener(); DDS.DataReader reader = null; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); reader = subscriber.create_datareader(topic, DDS.Subscriber.DATAREADER_QOS_DEFAULT, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } /* 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. */ /* DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos(); try { subscriber.get_default_datareader_qos(datareader_qos); } catch (DDS.Exception e) { Console.WriteLine("get_default_datareader_qos error {0}", e); shutdown(participant); throw e; } datareader_qos.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS; datareader_qos.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_LOCAL_DURABILITY_QOS; datareader_qos.history.kind = DDS.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS; datareader_qos.history.depth = 20; if (sel_cft != 0) { Console.WriteLine("Using ContentFiltered Topic"); reader = subscriber.create_datareader(cft, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } else { Console.WriteLine("Using Normal Topic"); reader = subscriber.create_datareader(topic, datareader_qos, reader_listener, DDS.StatusMask.STATUS_MASK_ALL); } if (reader == null) { shutdown(participant); reader_listener = null; throw new ApplicationException("create_datareader error"); } */ /* Change the filter */ if (sel_cft == 1) { Console.WriteLine(">>> Now setting a new filter: name MATCH \"EVEN\""); try { cft.append_to_expression_parameter(0, "EVEN"); } catch (DDS.Exception e) { Console.WriteLine("append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { System.Threading.Thread.Sleep(receive_period); if (sel_cft == 0) { continue; } if (count == 10) { Console.WriteLine("\n==========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Append 'ODD' filter"); Console.WriteLine("==========================="); try { cft.append_to_expression_parameter(0, "ODD"); } catch (DDS.Exception e) { Console.WriteLine( "append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } if (count == 20) { Console.WriteLine("\n==========================="); Console.WriteLine("Changing filter parameters"); Console.WriteLine("Removing 'EVEN' filter"); Console.WriteLine("==========================="); try { cft.remove_from_expression_parameter(0, "EVEN"); } catch (DDS.Exception e) { Console.WriteLine( "append_to_expression_parameter error {0}", e); shutdown(participant); throw e; } } } // --- Shutdown --- // /* Delete all entities */ shutdown(participant); reader_listener = null; } 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 users 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; } */ } }