/******************************************************************************* (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; /* keys_subscriber.cs A subscription example This file is derived from code automatically generated by the rtiddsgen command: rtiddsgen -language C# -example keys.idl Example subscription of type keys 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\\keys_subscriber (3) Start the publication with the command objs\\keys_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\\keys_publisher bin\\keys_subscriber modification history ------------ ------- */ public class keysSubscriber { public class keysListener : 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) { keysDataReader keys_reader = (keysDataReader)reader; try { keys_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) { /* Start changes for Keyed_Data */ /* We first check if the sample includes valid data */ if (info_seq.get_at(i).valid_data) { if (info_seq.get_at(i).view_state == DDS.ViewStateKind.NEW_VIEW_STATE) { Console.WriteLine("Found new instance; code = {0}", data_seq.get_at(i).code); } Console.WriteLine("Instance {0}: x: {1}, y: {2}", data_seq.get_at(i).code, data_seq.get_at(i).x, data_seq.get_at(i).y); } else { /* Since there is not valid data, it may include metadata */ keys dummy = new keys(); try { DDS.InstanceHandle_t temp = info_seq.get_at(i).instance_handle; keys_reader.get_key_value(dummy, ref temp); } catch (DDS.Exception e) { Console.WriteLine("get_key_value error {0}", e); } /* Here we print a message if the instance state is ALIVE_NO_WRITERS or ALIVE_DISPOSED */ if (info_seq.get_at(i).instance_state == DDS.InstanceStateKind.NOT_ALIVE_NO_WRITERS_INSTANCE_STATE) { Console.WriteLine("Instance {0} has no writers", dummy.code); } else if (info_seq.get_at(i).instance_state == DDS.InstanceStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE) { Console.WriteLine("Instance {0} disposed", dummy.code); } } /* End changes for Keyed_Data */ } try { keys_reader.return_loan(data_seq, info_seq); } catch(DDS.Exception e) { Console.WriteLine("return loan error {0}", e); } } public keysListener() { data_seq = new keysSeq(); info_seq = new DDS.SampleInfoSeq(); } private keysSeq 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]); } /* 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 { keysSubscriber.subscribe( domain_id, sample_count); } catch(DDS.Exception) { Console.WriteLine("error in subscriber"); } } static void subscribe(int domain_id, int sample_count) { // --- 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 = keysTypeSupport.get_type_name(); try { keysTypeSupport.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 keys", 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 reader --- // /* Create a data reader listener */ keysListener reader_listener = new keysListener(); /* To customize the data reader QoS, use the configuration file USER_QOS_PROFILES.xml */ DDS.DataReader 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"); } // --- Wait for data --- // /* Main loop */ const System.Int32 receive_period = 1000; // milliseconds for (int count=0; (sample_count == 0) || (count < sample_count); ++count) { //Console.WriteLine("keys subscriber sleeping for {0} sec...",receive_period / 1000); System.Threading.Thread.Sleep(receive_period); } // --- 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; } */ } }