// **************************************************************************** // (c) Copyright, Real-Time Innovations, All rights reserved. // // Permission to modify and use for internal purposes granted. // This software is provided "as is", without warranty, express or implied. // // **************************************************************************** import java.util.ArrayList; import java.util.List; import com.rti.dds.domain.DomainParticipant; import com.rti.dds.domain.DomainParticipantFactory; import com.rti.dds.domain.DomainParticipantFactoryQos; import com.rti.dds.infrastructure.RETCODE_ERROR; import com.rti.dds.infrastructure.RETCODE_NO_DATA; import com.rti.dds.infrastructure.StatusKind; import com.rti.dds.subscription.DataReader; import com.rti.dds.subscription.DataReaderAdapter; import com.rti.dds.subscription.SampleInfo; import com.rti.dds.subscription.Subscriber; import com.rti.dds.topic.Topic; import com.rti.dds.type.builtin.StringDataReader; import com.rti.dds.type.builtin.StringTypeSupport; //**************************************************************************** public class HelloSubscriber extends DataReaderAdapter { // For clean shutdown sequence private static boolean shutdown_flag = false; public static final void main(String[] args) { DomainParticipant participant = DomainParticipantFactory.get_instance().create_participant( 0, // Domain ID = 0 DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE); if (participant == null) { System.err.println("Unable to create domain participant"); return; } // Create the topic "Hello World" for the String type Topic topic = participant.create_topic( "Hello, World", StringTypeSupport.get_type_name(), DomainParticipant.TOPIC_QOS_DEFAULT, null, // listener StatusKind.STATUS_MASK_NONE); if (topic == null) { System.err.println("Unable to create topic."); return; } // Create the data reader using the default publisher StringDataReader dataReader = (StringDataReader) participant.create_datareader( topic, Subscriber.DATAREADER_QOS_DEFAULT, new HelloSubscriber(), // Listener StatusKind.DATA_AVAILABLE_STATUS); if (dataReader == null) { System.err.println("Unable to create DDS Data Reader"); return; } System.out.println("Ready to read data."); System.out.println("Press CTRL+C to terminate."); for (;;) { try { Thread.sleep(2000); if(shutdown_flag) break; } catch (InterruptedException e) { // Nothing to do... } } System.out.println("Shutting down..."); participant.delete_contained_entities(); DomainParticipantFactory.get_instance().delete_participant(participant); } /* * This method gets called back by DDS when one or more data samples have * been received. */ public void on_data_available(DataReader reader) { StringDataReader stringReader = (StringDataReader) reader; SampleInfo info = new SampleInfo(); for (;;) { try { String sample = stringReader.take_next_sample(info); if (info.valid_data) { System.out.println(sample); if (sample.equals("")) { shutdown_flag = true; } } } catch (RETCODE_NO_DATA noData) { // No more data to read break; } catch (RETCODE_ERROR e) { // An error occurred e.printStackTrace(); } } } }