/******************************************************************************* (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; /* waitset_statuscond_subscriber.cs A subscription example This file is derived from code automatically generated by the rtiddsgen command: rtiddsgen -language C# -example waitset_statuscond.idl Example subscription of type waitset_statuscond 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\\waitset_statuscond_subscriber (3) Start the publication with the command objs\\waitset_statuscond_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\\waitset_statuscond_publisher bin\\waitset_statuscond_subscriber modification history ------------ ------- */ public class waitset_statuscondSubscriber { 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 { waitset_statuscondSubscriber.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 = waitset_statuscondTypeSupport.get_type_name(); try { waitset_statuscondTypeSupport.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 waitset_statuscond", 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 --- // /* 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, null, DDS.StatusMask.STATUS_MASK_ALL); if (reader == null) { shutdown(participant); throw new ApplicationException("create_datareader error"); } // Get narrowed datareader waitset_statuscondDataReader waitset_reader = (waitset_statuscondDataReader)reader; /* Get status conditions * --------------------- * Each entity may have an attached Status Condition. To modify the * statuses we need to get the reader's Status Conditions first. */ DDS.StatusCondition status_condition = reader.get_statuscondition(); /* Set enabled statuses * -------------------- * Now that we have the Status Condition, we are going to enable the * status we are interested in: knowing that data is available */ try { status_condition.set_enabled_statuses( (DDS.StatusMask)DDS.StatusKind.DATA_AVAILABLE_STATUS); } catch (DDS.Exception e) { shutdown(participant); throw new ApplicationException("set_enabled_statuses error {0}", e); } /* Create and attach conditions to the WaitSet * ------------------------------------------- * Finally, we create the WaitSet and attach both the Read Conditions * and the Status Condition to it. */ DDS.WaitSet waitset = new DDS.WaitSet(); /* Attach Status Conditions */ try { waitset.attach_condition(status_condition); } catch (DDS.Exception e) { shutdown(participant); throw new ApplicationException("set_enabled_statuses error {0}", e); } // --- Wait for data --- // DDS.Duration_t timeout; timeout.nanosec = (uint)500000000; timeout.sec = 1; /* Main loop */ for (int count = 0; (sample_count == 0) || (count < sample_count); ++count) { DDS.ConditionSeq active_conditions = new DDS.ConditionSeq(); // The triggered condition(s) will be placed in active_conditions try { waitset.wait(active_conditions, timeout); Console.WriteLine("got {0} active conditions", active_conditions.length); } catch (DDS.Retcode_Timeout) { Console.WriteLine("Wait timed out!! No conditions were " + "triggered."); continue; } catch (DDS.Exception e) { Console.WriteLine("wait error {0}", e); break; } for (int i = 0; i < active_conditions.length; ++i) { /* In this case, we have only a single condition, but if we had multiple, we would need to iterate over them and check which one is true. Leaving the logic for the more complex case. */ if (active_conditions.get_at(i) == status_condition) { DDS.StatusMask triggeredmask = waitset_reader.get_status_changes(); if ((triggeredmask & (DDS.StatusMask) DDS.StatusKind.DATA_AVAILABLE_STATUS) != 0) { /* Current conditions match our conditions to read data, so * we can read data just like we would do in any other * example. */ waitset_statuscondSeq data_seq = new waitset_statuscondSeq(); DDS.SampleInfoSeq info_seq = new DDS.SampleInfoSeq(); /* Access data using read(), take(), etc. If * you fail to do this the condition will * remain true, and the WaitSet will wake up * immediately - causing high CPU usage when it * does not sleep in the loop */ bool follow = true; while (follow) { try { waitset_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); System.Int32 data_length = data_seq.length; for (int j = 0; j < data_length; ++j) { if (!info_seq.get_at(j).valid_data) { Console.WriteLine("Got metadata"); continue; } waitset_statuscondTypeSupport.print_data(data_seq.get_at(j)); } } catch (DDS.Retcode_NoData) { /* When there isn't data, the subscriber stop to * take samples */ follow = false; } finally { /* Return the loaned data */ waitset_reader.return_loan(data_seq, info_seq); } } } } } } // --- Shutdown --- // /* 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 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; } */ } }