RTI Connext .NET API (legacy)  Version 6.1.1
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,
public override void on_requested_incompatible_qos(
DDS.DataReader reader,
public override void on_sample_rejected(
DDS.DataReader reader,
ref DDS.SampleRejectedStatus status) {}
public override void on_liveliness_changed(
DDS.DataReader reader,
public override void on_sample_lost(
DDS.DataReader reader,
ref DDS.SampleLostStatus status) {}
public override void on_subscription_matched(
DDS.DataReader reader,
public override void on_data_available(DDS.DataReader reader) {
HelloWorldDataReader HelloWorld_reader =
(HelloWorldDataReader)reader;
try {
HelloWorld_reader.take(
data_seq,
info_seq,
}
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 =
domain_id,
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(
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,
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,
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();
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;
}
*/
}
}