HelloWorldSubscriber.java

RTI Connext Subscription Example

The unmodified subscription example generated by rtiddsgen.

HelloWorldSubscriber.java

/*
* (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.
*/

/* HelloWorldSubscriber.java

A publication of data of type HelloWorld

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

rtiddsgen -language java -example <arch> .idl

Example publication of type HelloWorld automatically generated by 
'rtiddsgen' To test it, 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
java HelloWorldSubscriber <domain_id> <sample_count>

(3) Start the publication on the same domain used for RTI Connext with the command
java HelloWorldPublisher <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 publisher and subscriber programs, and can 
add and remove them dynamically from the domain.

Example:

To run the example application on domain <domain_id>:

Ensure that $(NDDSHOME)/lib/<arch> is on the dynamic library path for
Java.                       

On UNIX systems: 
add $(NDDSHOME)/lib/<arch> to the 'LD_LIBRARY_PATH' environment
variable

On Windows systems:
add %NDDSHOME%\lib<arch> to the 'Path' environment variable

Run the Java applications:

java -Djava.ext.dirs=$NDDSHOME/class HelloWorldPublisher <domain_id>

java -Djava.ext.dirs=$NDDSHOME/class HelloWorldSubscriber <domain_id>  
*/

import java.net.InetAddress;
import java.net.UnknownHostException;
import java.util.Arrays;

import com.rti.dds.domain.*;
import com.rti.dds.infrastructure.*;
import com.rti.dds.subscription.*;
import com.rti.dds.topic.*;
import com.rti.ndds.config.*;

// ===========================================================================

public class HelloWorldSubscriber {
    // -----------------------------------------------------------------------
    // Public Methods
    // -----------------------------------------------------------------------

    public static void main(String[] args) {
        // --- Get domain ID --- //
        int domainId = 0;
        if (args.length >= 1) {
            domainId = Integer.valueOf(args[0]).intValue();
        }

        // -- Get max loop count; 0 means infinite loop --- //
        int sampleCount = 0;
        if (args.length >= 2) {
            sampleCount = Integer.valueOf(args[1]).intValue();
        }

        /* Uncomment this to turn on additional logging
        Logger.get_instance().set_verbosity_by_category(
            LogCategory.NDDS_CONFIG_LOG_CATEGORY_API,
            LogVerbosity.NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
        */

        // --- Run --- //
        subscriberMain(domainId, sampleCount);
    }

    // -----------------------------------------------------------------------
    // Private Methods
    // -----------------------------------------------------------------------

    // --- Constructors: -----------------------------------------------------

    private HelloWorldSubscriber() {
        super();
    }

    // -----------------------------------------------------------------------

    private static void subscriberMain(int domainId, int sampleCount) {

        DomainParticipant participant = null;
        Subscriber subscriber = null;
        Topic topic = null;
        DataReaderListener listener = null;
        HelloWorldDataReader reader = null;

        try {

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

            /* To customize participant QoS, use
            the configuration file
            USER_QOS_PROFILES.xml */

            participant = DomainParticipantFactory.TheParticipantFactory.
            create_participant(
                domainId, DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
                null /* listener */, StatusKind.STATUS_MASK_NONE);
            if (participant == null) {
                System.err.println("create_participant error\n");
                return;
            }                         

            // --- Create subscriber --- //

            /* To customize subscriber QoS, use
            the configuration file USER_QOS_PROFILES.xml */

            subscriber = participant.create_subscriber(
                DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null /* listener */,
                StatusKind.STATUS_MASK_NONE);
            if (subscriber == null) {
                System.err.println("create_subscriber error\n");
                return;
            }     

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

            /* Register type before creating topic */
            String typeName = HelloWorldTypeSupport.get_type_name(); 
            HelloWorldTypeSupport.register_type(participant, typeName);

            /* To customize topic QoS, use
            the configuration file USER_QOS_PROFILES.xml */

            topic = participant.create_topic(
                "Example HelloWorld",
                typeName, DomainParticipant.TOPIC_QOS_DEFAULT,
                null /* listener */, StatusKind.STATUS_MASK_NONE);
            if (topic == null) {
                System.err.println("create_topic error\n");
                return;
            }                     

            // --- Create reader --- //

            listener = new HelloWorldListener();

            /* To customize data reader QoS, use
            the configuration file USER_QOS_PROFILES.xml */

            reader = (HelloWorldDataReader)
            subscriber.create_datareader(
                topic, Subscriber.DATAREADER_QOS_DEFAULT, listener,
                StatusKind.STATUS_MASK_ALL);
            if (reader == null) {
                System.err.println("create_datareader error\n");
                return;
            }                         

            // --- Wait for data --- //

            final long receivePeriodSec = 4;

            for (int count = 0;
            (sampleCount == 0) || (count < sampleCount);
            ++count) {
                System.out.println("HelloWorld subscriber sleeping for "
                + receivePeriodSec + " sec...");

                try {
                    Thread.sleep(receivePeriodSec * 1000);  // in millisec
                } catch (InterruptedException ix) {
                    System.err.println("INTERRUPTED");
                    break;
                }
            }
        } finally {

            // --- Shutdown --- //

            if(participant != null) {
                participant.delete_contained_entities();

                DomainParticipantFactory.TheParticipantFactory.
                delete_participant(participant);
            }
            /* RTI Data Distribution Service provides the finalize_instance()
            method for users who want to release memory used by the
            participant factory singleton. Uncomment the following block of
            code for clean destruction of the participant factory
            singleton. */
            //DomainParticipantFactory.finalize_instance();
        }
    }

    // -----------------------------------------------------------------------
    // Private Types
    // -----------------------------------------------------------------------

    // =======================================================================

    private static class HelloWorldListener extends DataReaderAdapter {

        HelloWorldSeq _dataSeq = new HelloWorldSeq();
        SampleInfoSeq _infoSeq = new SampleInfoSeq();

        public void on_data_available(DataReader reader) {
            HelloWorldDataReader HelloWorldReader =
            (HelloWorldDataReader)reader;

            try {
                HelloWorldReader.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) {
                        System.out.println(
                            ((HelloWorld)_dataSeq.get(i)).toString("Received",0));

                    }
                }
            } catch (RETCODE_NO_DATA noData) {
                // No data to process
            } finally {
                HelloWorldReader.return_loan(_dataSeq, _infoSeq);
            }
        }
    }
}