/******************************************************************************* (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.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.SubscriberQos; import com.rti.dds.subscription.ViewStateKind; import com.rti.dds.topic.Topic; public class partitionsSubscriber extends Application implements AutoCloseable { private DomainParticipant participant = null; // Usually one per // application private partitionsDataReader reader = null; private final partitionsSeq dataSeq = new partitionsSeq(); 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 = (SampleInfo) infoSeq.get(i); if (info.valid_data) { if (info.view_state == ViewStateKind.NEW_VIEW_STATE) { System.out.print("Found new instance\n"); } System.out.println( " x: " + ((partitions) dataSeq.get(i)).x); } 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)); SubscriberQos subscriber_qos = new SubscriberQos(); participant.get_default_subscriber_qos(subscriber_qos); /* If you want to change the Partition name programmatically rather than * using the XML, you will need to add the following lines to your code * and comment out the create_subscriber() call bellow. */ /* subscriber_qos.partition.name.clear(); subscriber_qos.partition.name.add("ABC"); subscriber_qos.partition.name.add("X*Z"); Subscriber subscriber = Subscriber subscriber = Objects.requireNonNull(participant.create_subscriber( subscriber_qos, 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)); System.out.print( "Setting partition to '" + subscriber_qos.partition.name.get(0) + "', '" + subscriber_qos.partition.name.get(1) + "'...\n"); // Register type before creating topic String typeName = partitionsTypeSupport.get_type_name(); partitionsTypeSupport.register_type(participant, typeName); // Create a Topic with a name and a datatype Topic topic = Objects.requireNonNull(participant.create_topic( "Example partitions", typeName, DomainParticipant.TOPIC_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE)); /* If you want to change the Datareader QoS programmatically rather than * using the XML, you will need to add the following lines to your code * and comment out the create_datareader() call bellow. */ /* 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_ALL_HISTORY_QOS; partitionsDataReader reader = (partitionsDataReader) Objects.requireNonNull( subscriber.create_datareader( topic, datareader_qos, null, // listener StatusKind.STATUS_MASK_NONE)); */ // This DataReader reads data on "Example partitions" Topic reader = (partitionsDataReader) Objects.requireNonNull( subscriber.create_datareader( topic, Subscriber.DATAREADER_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE)); // 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(4, 0); int samplesRead = 0; ConditionSeq activeConditions = new ConditionSeq(); // Main loop. Wait for data to arrive and process when it arrives while (!isShutdownRequested() && samplesRead < getMaxSampleCount()) { try { // Wait fills in activeConditions or times out waitset.wait(activeConditions, waitTimeout); // Read condition triggered, process data samplesRead += processData(); } catch (RETCODE_TIMEOUT timeout) { // No data received, not a problem } } } @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 (partitionsSubscriber subscriberApplication = new partitionsSubscriber()) { subscriberApplication.parseArguments(args); subscriberApplication.addShutdownHook(); subscriberApplication.runApplication(); } // Releases the memory used by the participant factory. Optional at // application exit. DomainParticipantFactory.finalize_instance(); } }