HelloWorld_subscriber.cs

RTI Connext Subscription Example

The unmodified subscription example generated by rtiddsgen.

HelloWorld_subscriber.cs

/*
* (c) Copyright, Real-Time Innovations, 2012.  All rights reserved.
* RTI grants Licensee a license to use, modify, compile, and create derivative
* works of the software solely for use with RTI Connext DDS. Licensee may
* redistribute copies of the software provided that all such copies are subject
* to this license. 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.
*/

/* HelloWorld_subscriber.cs

A subscription example

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

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

Example subscription of type HelloWorld automatically generated by
'rtiddsgen'. To test it, follow these steps:

(1) Compile this file and the example publication.

(2) Start the subscription

(3) Start the publication

(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 publisher and subscriber programs, and can
add and remove them dynamically from the domain.
*/

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

public class HelloWorldSubscriber {

    public class HelloWorldListener : 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) {
            HelloWorldDataReader HelloWorld_reader =
            (HelloWorldDataReader)reader;

            try {
                HelloWorld_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) {
                    HelloWorldTypeSupport.print_data(data_seq.get_at(i));
                }
            }

            try {
                HelloWorld_reader.return_loan(data_seq, info_seq);
            }
            catch(DDS.Exception e) {
                Console.WriteLine("return loan error {0}", e);
            }
        }

        public HelloWorldListener() {
            data_seq = new HelloWorldSeq();
            info_seq = new DDS.SampleInfoSeq();
        }

        private HelloWorldSeq 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 {
            HelloWorldSubscriber.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 = 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 the topic QoS, use
        the configuration file USER_QOS_PROFILES.xml */
        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 reader --- //

        /* Create a data reader listener */
        HelloWorldListener reader_listener =
        new HelloWorldListener();

        /* 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 = 4000; // milliseconds
        for (int count=0;
        (sample_count == 0) || (count < sample_count);
        ++count) {
            Console.WriteLine(
                "HelloWorld 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;
        }
        */
    }
}