HelloWorld_publisher.cs

RTI Connext Publication Example

The publication example generated by rtiddsgen. The example has been modified slightly to update the sample value.

HelloWorld_publisher.cs

/* HelloWorld_publisher.cs

   A publication of data of type HelloWorld

   This file is derived from code automatically generated by the rtiddsgen 
   command:

   rtiddsgen -language C# -example <arch> HelloWorld.idl

   Example publication of type HelloWorld automatically generated by 
   'rtiddsgen'. To test them follow these steps:

   (1) Compile this file and the example subscription.

   (2) Start the subscription on the same domain used for RTI Connext
       with the command
       objs<arch>\HelloWorld_subscriber <domain_id> <sample_count>
                
   (3) Start the publication on the same domain used for RTI Connext
       with the command
       objs<arch>\HelloWorld_publisher <domain_id> <sample_count>

   (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 <domain_id>:

       bin<Debug|Release>\HelloWorld_publisher <domain_id> <sample_count>
       bin<Debug|Release>\HelloWorld_subscriber <domain_id> <sample_count>

       
modification history
------------ -------       
*/

using System;
using System.Collections.Generic;
using System.Text;

public class HelloWorldPublisher {

    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.CONFIG_LOG_CATEGORY_API, 
            NDDS.LogVerbosity.CONFIG_LOG_VERBOSITY_STATUS_ALL);
        */
    
        // --- Run --- //
        try {
            HelloWorldPublisher.publish(
                domain_id, sample_count);
        }
        catch(DDS.Exception)
        {
            Console.WriteLine("error in publisher");
        }
    }

    static void publish(int domain_id, int sample_count) {

        // --- Create participant --- //

        /* To customize participant QoS, use 
           DDS.DomainParticipantFactory.get_instance().
               get_default_participant_qos() */
        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 publisher --- //

        /* To customize publisher QoS, use
           participant.get_default_publisher_qos() */
        DDS.Publisher publisher = participant.create_publisher(
        DDS.DomainParticipant.PUBLISHER_QOS_DEFAULT,
        null /* listener */,
        DDS.StatusMask.STATUS_MASK_NONE);
        if (publisher == null) {
            shutdown(participant);
            throw new ApplicationException("create_publisher error");
        }

        // --- Create topic --- //

        /* Register type before creating topic */
        System.String type_name = HelloWorldTypeSupport.get_type_name();
        try {
            HelloWorldTypeSupport.register_type(
                participant, type_name);
        }
        catch(DDS.Exception e) {
            Console.WriteLine("register_type error {0}", e);
            shutdown(participant);
            throw e;
        }

        /* To customize topic QoS, use
           participant.get_default_topic_qos() */
        DDS.Topic topic = participant.create_topic(
            "Example HelloWorld",
            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 writer --- //

        /* To customize data writer QoS, use
            publisher.get_default_datawriter_qos() */
        DDS.DataWriter writer = publisher.create_datawriter(
            topic,
            DDS.Publisher.DATAWRITER_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (writer == null) {
            shutdown(participant);
            throw new ApplicationException("create_datawriter error");
        }
        HelloWorldDataWriter HelloWorld_writer =
            (HelloWorldDataWriter)writer;

        // --- Write --- //

        /* Create data sample for writing */
        HelloWorld instance = HelloWorldTypeSupport.create_data();
        if (instance == null) {
            shutdown(participant);
            throw new ApplicationException(
                "HelloWorldTypeSupport.create_data error");
        }

        /* For data type that has key, if the same instance is going to be
           written multiple times, initialize the key here
           and register the keyed instance prior to writing */
        DDS.InstanceHandle_t instance_handle = DDS.InstanceHandle_t.HANDLE_NIL;
        /*
        instance_handle = HelloWorld_writer.register_instance(instance);
        */

        /* Main loop */
        const System.Int32 send_period = 4000; // milliseconds
        for (int count=0;
             (sample_count == 0) || (count < sample_count);
             ++count) {
            Console.WriteLine("Writing HelloWorld, count {0}", count);

            /* Modify the data to be sent here */
            instance.msg = "Hello World! (" + count + ")";

            try {
                HelloWorld_writer.write(instance, ref instance_handle);
            }
            catch(DDS.Exception e) {
                Console.WriteLine("write error {0}", e);
            }

            System.Threading.Thread.Sleep(send_period);
        }

        /*
        try {
            HelloWorld_writer.unregister_instance(
                instance, instance_handle);
        } catch(DDS.Exception e) {
            Console.WriteLine("unregister instance error: {0}", e);
        }
        */

        // --- Shutdown --- //

        /* Delete data sample */
        try {
            HelloWorldTypeSupport.delete_data(instance);
        } catch(DDS.Exception e) {
            Console.WriteLine(
                "HelloWorldTypeSupport.delete_data error: {0}", e);
        }

        /* 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 people 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;
        }
        */
    }
}