IDL examples

How to use C# classes generated from IDL by rtiddsgen.

How to use C# classes generated from IDL by rtiddsgen.

These examples use the topic-type Example.MyType.

The documentation of Example.MyType explains how rtiddsgen maps IDL types to C#. The mapping is based on the OMG IDL4-CSHARP specification.

To see how to publish and subscribe to a topic with an IDL type, see Publication examples and Subscription examples.

Sections:

• Creating and populating a data sample
• Advanced TypeSupport operations

Creating and populating a data sample

Example: Populate a data sample

 
    // Create a sample with default values. It does a deep initialization
    // of all its members.
    var sample = new Example.MyType();
 
    // Modify the sample properties:
    sample.MyKey = 5;
    sample.MyPoint.X = 10;
    sample.MyPoint.Y = 20;
    sample.MyString = "Hello, World";
 
    // Add elements to a sequence:
    sample.MyIntSequence.AddRange(new int[] { 1, 2, 4, 5 });
    sample.MyPointSequence.Add(new Point(X: 10, Y: 20));
 
    // Edit the elements of an array. Arrays have a fixed number of elements
    for (int i = 0; i < sample.MyPointArray.Length; i++)
    {
        sample.MyPointArray[i].X = i;
        sample.MyPointArray[i].Y = i;
    }
 
    // Create a deep copy:
    var sampleCopy = new MyType(sample);
 
    // ToString(), Equals and GetHashCode are overridden:
    Debug.Assert(sampleCopy.Equals(sample));
    int hashCode = sample.GetHashCode();
    Console.WriteLine($"sample: {sample} - hashCode: {hashCode}");
 

Advanced TypeSupport operations

Each IDL-based type has an associated TypeSupport class that provides utilities such as string formatting and serialization methods.

Example: Convert a data sample to JSON or XML

 
    var sample = new MyType();
    sample.MyPoint.X = 10;
    // ...
 
    // MyType.ToString() returns a readable string using default format settings
    string readableSample = sample.ToString();
    Console.WriteLine(readableSample);
 
    // For additional options, use the MyTypeSupport, which is generated with
    // rtiddsgen.
    string jsonSample = Example.MyTypeSupport.Instance.ToString(
        sample,
        new PrintFormatProperty { Kind = PrintFormatKind.Json });
    Console.WriteLine(jsonSample);
 
    string xmlSample = MyTypeSupport.Instance.ToString(
        sample,
        new PrintFormatProperty
        {
            Kind = PrintFormatKind.Xml,
            PrettyPrint = false
        });
    Console.WriteLine(xmlSample);
 

Example: Serialize a data sample into a byte buffer

 
    var sample = new MyType();
    sample.MyPoint.X = 10;
    // ...
 
    // Create a serializer.
    //
    // Warning: a serializer is not thread-safe. To use a serializer in
    // multiple thread, either protect its operations or create a different
    // serializer per thread.
    ISerializer<MyType> serializer = MyTypeSupport.Instance.CreateSerializer();
 
    // Serialize the data sample into a byte buffer
    byte[] sampleBuffer = serializer.Serialize(sample);
 
    // Create a new MyType object from the byte buffer
    MyType deserializedSample = serializer.Deserialize(sampleBuffer);
    Debug.Assert(deserializedSample.Equals(sample));
 

Example: Get the dynamic type definition of an IDL type

 
    // Each type generated from IDL has a DynamicType definition available:
    DynamicType myType = MyTypeSupport.Instance.DynamicType;
    Console.WriteLine(myType.Name);
 
    // We know it's a struct type:
    Debug.Assert(myType.Kind == TypeKind.Structure);
    StructType myStruct = (StructType) myType;
 
    // We can inspect the type:
    StructMember member = myStruct.GetMember("MyKey");
    Debug.Assert(member.IsKey); // MyKey has the @key annotation in IDL
 
    // We can use it to create a DynamicData sample:
    DynamicData dynamicSample = new DynamicData(myType);
    dynamicSample.SetValue("MyKey", 10);
    dynamicSample.SetValue("MyPoint.X", 10);