Subscription examples

How to subscribe to a topic and work with Subscribers and DataReaders.

How to subscribe to a topic and work with Subscribers and DataReaders.

Sections:

• Creating and configuring a DataReader
• Reading data
• Selecting data
• Reading data asynchronously
• Subscribing to a content-filtered topic
• Looking up matched publications

See also Entity examples for examples that affect all DDS Entities, including Subscribers and DataReaders.

Creating and configuring a DataReader

Example: create a DataReader using default QoS

 
    // Create a DomainParticipant and a Topic
    var factory = Rti.Dds.Domain.DomainParticipantFactory.Instance;
    using Rti.Dds.Domain.DomainParticipant participant =
        factory.CreateParticipant(domainId: 0);
 
    Rti.Dds.Topics.Topic<Shape> topic =
        participant.CreateTopic<Shape>("Square");
 
    // In many cases there is no need to explicitly create a Subscriber;
    // the ImplicitSubscriber can be used to create the DataReader.
    Rti.Dds.Subscription.DataReader<Shape> reader =
        participant.ImplicitSubscriber.CreateDataReader(topic);
 

The IDL definition of the Shape type used in the example is the following:

module Example {
    struct Shape {
        @key string<128> color;
        int32 x;
        int32 y;
        int32 shapesize;
    };
};

Example: configure the DataReader QoS

 
    // Create a DomainParticipant and a Topic
    var factory = Rti.Dds.Domain.DomainParticipantFactory.Instance;
    using DomainParticipant participant = factory.CreateParticipant(domainId: 0);
    Topic<Shape> topic = participant.CreateTopic<Shape>("Square");
 
    // Configure the QoS starting from the default and changing the
    // Reliability and TimeBasedFilter QoS policies. We also set a
    // subscription name, which helps debugging the system.
    DataReaderQos readerQos = participant.DefaultDataReaderQos
        .WithSubscriptionName(policy => policy.Name = "MySquareReader")
        .WithReliability(policy => policy.Kind = ReliabilityKind.Reliable)
        .WithTimeBasedFilter(
            policy => policy.MinimumSeparation = Duration.FromMilliseconds(100));
 
    DataReader<Shape> reader =
        participant.ImplicitSubscriber.CreateDataReader(topic, readerQos);
 

See also Configuring a Publisher; a Subscriber can be configured similarly.

Reading data

There are several ways to wait for data:

• Polling for data
• Handling the DataAvailable event
• Using a Condition and a WaitSet
• Reading data asynchronously

Example: Handling the DataAvailable event

 
    // The DataAvailabe event triggers when the DataReader receives new data;
    // the handler is executed by the same internal thread that receives
    // the data. To avoid blocking that thread, use the DataAvailable
    // handler only when the data processing is simple and fast.
    reader.DataAvailable += _ =>
    {
        // LoanedSamples uses internal resources that need to be disposed.
        // The data in the collection cannot be used after it has been disposed.
        using (LoanedSamples<Shape> samples = reader.Take())
        {
            foreach (var sample in samples)
            {
                // sample.Info contains meta-data
                if (sample.Info.ValidData)
                {
                    // sample.Data contains the actual data
                    Shape shape = sample.Data;
                    Console.WriteLine(
                        $"Received {shape.color} square ({shape.x}, {shape.y})");
                }
            }
        }
    };
 

Example: Using a ReadCondition and a WaitSet to read data

 
    // Create a ReadCondition that will activate when data with any
    // DataState is available.
    Rti.Dds.Subscription.ReadCondition condition =
        reader.CreateReadCondition(DataState.Any);
 
    // Handle the event when the condition triggers
    condition.Triggered += _ =>
    {
        // When the data is taken, the condition's trigger value is reset
        using LoanedSamples<Shape> samples = reader.Take();
        foreach (var sample in samples)
        {
            if (sample.Info.ValidData)
            {
                Console.WriteLine(sample.Data);
            }
        }
    };
 
    // Create a WaitSet to wait on this condition (and possibly others)
    var waitset = new Rti.Dds.Core.WaitSet();
    waitset.AttachCondition(condition);
    // ... you can add more conditions from other entities to a waitset
 
    while (running)
    {
        // waitset.Dispatch executes (in the current thread) the conditions'
        // handler for the Triggered event or returns after 4 seconds if no
        // condition has been triggered.
        waitset.Dispatch(Duration.FromSeconds(4));
    }
 

Example: Store the data for future access

    var myRedShapes = new List<Shape>(); // we will store some data we receive
 
    // ...
 
    using (LoanedSamples<Shape> samples = reader.Take())
    {
        foreach (var sample in samples)
        {
            if (sample.Info.ValidData)
            {
                Shape shape = sample.Data;
 
                if (shape.color == "RED")
                {
                    // DO NOT store the loaned object directly:
                    // myRedShapes.Add(shape); // WRONG!
 
                    // You can copy the full sample to access it later
                    myRedShapes.Add(new Shape(shape)); // CORRECT
                }
            }
        }
    }
 
    // ...
 
    foreach (Shape redShape in myRedShapes) // access the data we copied
    {
        // ...
    }

Example: Store the data for future access using LINQ

    var myRedShapes = new List<Shape>();
 
    // ...
 
    using (var samples = reader.Take())
    {
        // The same can be achieved more succinctly using ValidData() and
        // System.Linq
        myRedShapes.AddRange(samples
            .ValidData() // ignore invalid data and the SampleInfo
            .Where(shape => shape.color == "RED")
            .Select(shape => new Shape(shape)));
    }
 
    // ...

The Group Coherent Presentation example from the rticonnextdds-examples GitHub repository shows additional ways to read and wait for data such as:

• Using coherent sets to receive data from different Topics at the same time
• Waiting for data on any Rti.Dds.Subscription.DataReader within a Rti.Dds.Subscription.Subscriber.
• Looking up which DataReaders have unread data
• Reading data without knowing the compile-time data type, as an Rti.Dds.Subscription.AnyDataReader
• Reading data with an Rti.Dds.Core.WaitSet and the DataReader's Rti.Dds.Core.Entity.StatusCondition.
• Monitoring the Rti.Dds.Subscription.AnyDataReader.SampleLost status.

Selecting data

The Read() and Take() operations access all the data that has been received. The Select() operation allows specifying a series of conditions on what to read.

Example: selecting data by state and instance

 
    // LookupInstance returns the handle that identifies an instance. In this
    // case we're getting the handle for an instance identified by Shape's
    // single key field, "color"
    InstanceHandle greenInstance = reader.LookupInstance(
        keyHolder: new Shape { color = "GREEN" });
 
    using LoanedSamples<Shape> samples = reader.Select()
        // Read samples for the green instance only
        .WithInstance(greenInstance)
        // And read only unread samples of an alive instance
        .WithState(DataState.With(SampleState.NotRead, ViewState.Any, InstanceState.Alive))
        .Read(); // Read(), unlike Take(), doesn't remove the data
 
    // You can use samples.ValidData() to iterate over the data, ignoring
    // the SampleInfo.
    foreach (Shape sample in samples.ValidData())
    {
        Console.WriteLine(sample);
    }
 

Example: selecting data by content using a QueryCondition

 
    // Create a QueryCondition that will activate when shapes within
    // certain coordinates are available
    using Rti.Dds.Subscription.QueryCondition condition = reader.CreateQueryCondition(
        "x < 100 and y < 100",
        DataState.Any);
 
    // Handle the event when the condition triggers
    condition.Triggered += _ =>
    {
        // Take only the data selected by the QueryCondition
        using var samples = reader.Select()
            .WithCondition(condition)
            .Take();
        foreach (Shape shape in samples.ValidData())
        {
            Console.WriteLine(shape);
        }
    };
 
    // Create a WaitSet to wait on the QueryCondition
    var waitset = new WaitSet();
    waitset.AttachCondition(condition);
 
    while (running)
    {
        // Dispatch executes the conditions' Triggered events in the
        // current thread or return after 4 seconds if no condition has
        // been triggered.
        waitset.Dispatch(Duration.FromSeconds(4));
    }
 

Reading data asynchronously

Note

This section requires the package Rti.ConnextDds.Extra and to explicitly add using Rti.Dds.Subscription to have access to the TakeAsync extension method. The examples also use the package System.Linq.Async.

Example: asynchronously print all data received by a reader until cancelled

public static async Task PrintData(
    DataReader<Shape> reader,
    System.Threading.CancellationToken cancellationToken)
{
    await foreach (LoanedSample<Shape> sample in reader.TakeAsync()
        .WithCancellation(cancellationToken))
    {
        if (sample.Info.ValidData)
        {
            Console.WriteLine(sample.Data);
        }
        else
        {
            Console.WriteLine($"Instance state update: {sample.Info.State.Instance}");
        }
 
        // Important: the sample contents are only valid in the current
        // iteration. As soon as the iterator advances or is disposed, the
        // sample cannot be used (unless the data is copied).
    }
 
    // Or if you don't need the SampleInfo:
    await foreach (Shape shape in reader.TakeAsync()
        .ValidData()
        .WithCancellation(cancellationToken))
    {
        Console.WriteLine(shape);
 
        // Like before, the current shape is valid until the iterator advances.
    }
}

Example: asynchronously copy a number of data samples into a list, waiting as needed until they are received

public static async ValueTask<List<Shape>> TakeN(DataReader<Shape> reader, int n)
{
    return await reader.TakeAsync()
        .ValidData() // ignore invalid data and the SampleInfo
        // The following extension methods require the the System.Linq.Async package
        .Select(data => new Shape(data)) // copy the data (since sample is loaned)
        .Take(n) // advance the iterator n times
        .ToListAsync(); // add the result to a list
}

TakeAsync and DataReader.Select() can be combined.

Example: asynchronously process an instance until it is disposed

public static async Task ProcessInstance(
    DataReader<Shape> reader,
    System.Threading.CancellationToken cancellationToken)
{
    InstanceHandle greenShapeInstance = reader.LookupInstance(
        new Shape { color = "GREEN" });
 
    await foreach (LoanedSample<Shape> sample in reader.Select()
        .WithInstance(greenShapeInstance) // only take samples for this instance
        .TakeAsync()
        .TakeWhile( // stop iterating when the instance is no longer alive
            sample => sample.Info.State.Instance == InstanceState.Alive)
        .WithCancellation(cancellationToken))
    {
        Console.WriteLine("Green Shape update: " + sample);
    }
}

See also

Rti.Dds.Subscription.DataReaderAsyncExtensions

Subscribing to a content-filtered topic

Example: create a content-filtered topic to subscribe to a subset of the published data

 
    // Create a regular Topic
    Topic<Shape> topic = participant.CreateTopic<Shape>("Square");
 
    // Create a ContentFilteredTopic for a subset of the data from the
    // previous topic
    ContentFilteredTopic<Shape> filteredTopic = participant.CreateContentFilteredTopic(
        name: "FilteredSquare", // this name is local only
        relatedTopic: topic,
        filter: "color = 'BLUE'");
 
    // Create a reader that will only receive blue squares
    DataReader<Shape> reader =
        participant.ImplicitSubscriber.CreateDataReader(filteredTopic);
 
    // ...
 

The Multichannel example from the rticonnextdds-examples GitHub repository shows an advanced usage of content filtering.

Looking up matched publications

Example: different ways to look up matched publications

 
    // Look up all the publications:
    foreach (var publication in reader.GetMatchedPublicationData())
    {
        string typeName = publication.TypeName;
        bool isReliable = publication.Reliability.Kind == ReliabilityKind.Reliable;
        // ...
    }
 
    // Look up a specific publication by the instance handle that
    // identifies it. You can get the publication handle, for example, from
    // a data sample:
    using var samples = reader.Read();
    foreach (var sample in samples)
    {
        var publication = reader.GetMatchedPublicationData(
            sample.Info.PublicationHandle);
        Console.WriteLine(
            $"Received {sample.Data} from publication {publication.PublicationName.Name}");
    }
 
    // You can get all the publication handles as well:
    foreach (var publication in reader.MatchedPublications)
    {
        // ...
    }
 

See also Looking up a matched subscription and Accessing Information on Entity Discovery.