/*******************************************************************************
 (c) 2005-2014 Copyright, Real-Time Innovations, Inc.  All rights reserved.
 RTI grants Licensee a license to use, modify, compile, and create derivative
 works of the Software.  Licensee has the right to distribute object form only
 for use with RTI products.  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.
 ******************************************************************************/
/* keys_publisher.cxx

A publication of data of type keys

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

rtiddsgen -language C++ -example <arch> keys.idl

Example publication of type keys automatically generated by 
'rtiddsgen'. To test them follow these steps:

(1) Compile this file and the example subscription.

(2) Start the subscription with the command
objs/<arch>/keys_subscriber <domain_id> <sample_count>

(3) Start the publication with the command
objs/<arch>/keys_publisher <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 publishers and subscribers programs, and can 
add and remove them dynamically from the domain.


Example:

To run the example application on domain <domain_id>:

On Unix: 

objs/<arch>/keys_publisher <domain_id> o
objs/<arch>/keys_subscriber <domain_id> 

On Windows:

objs\<arch>\keys_publisher <domain_id>  
objs\<arch>\keys_subscriber <domain_id>    


modification history
------------ -------       
*/

#include <stdio.h>
#include <stdlib.h>
#ifdef RTI_VX653
#include <vThreadsData.h>
#endif
#include "keys.h"
#include "keysSupport.h"
#include "ndds/ndds_cpp.h"

/* Delete all entities */
static int publisher_shutdown(
    DDSDomainParticipant *participant)
{
    DDS_ReturnCode_t retcode;
    int status = 0;

    if (participant != NULL) {
        retcode = participant->delete_contained_entities();
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_contained_entities error %d\n", retcode);
            status = -1;
        }

        retcode = DDSTheParticipantFactory->delete_participant(participant);
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_participant error %d\n", retcode);
            status = -1;
        }
    }

    /* RTI Connext provides finalize_instance() method on
    domain participant factory for people who want to release memory used
    by the participant factory. Uncomment the following block of code for
    clean destruction of the singleton. */
    /*
    retcode = DDSDomainParticipantFactory::finalize_instance();
    if (retcode != DDS_RETCODE_OK) {
    printf("finalize_instance error %d\n", retcode);
    status = -1;
    }
    */

    return status;
}

extern "C" int publisher_main(int domainId, int sample_count)
{
    DDSDomainParticipant *participant = NULL;
    DDSPublisher *publisher = NULL;
    DDSTopic *topic = NULL;
    DDSDataWriter *writer = NULL;
    keysDataWriter * keys_writer = NULL;

    /* Creates three instances */
    keys* instance[3] = {NULL, NULL, NULL};
    /* Creates three handles for managing the registrations */
    DDS_InstanceHandle_t handle[3] = {DDS_HANDLE_NIL, DDS_HANDLE_NIL, DDS_HANDLE_NIL};
    /* We only will send data over the instances marked as active */
    int active[3] = {1, 0, 0};

    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;  
    DDS_Duration_t send_period = {1,0};

    /* To customize participant QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    participant = DDSTheParticipantFactory->create_participant(
        domainId, DDS_PARTICIPANT_QOS_DEFAULT, 
        NULL /* listener */, DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        printf("create_participant error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize publisher QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    publisher = participant->create_publisher(
        DDS_PUBLISHER_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
        printf("create_publisher error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Register type before creating topic */
    type_name = keysTypeSupport::get_type_name();
    retcode = keysTypeSupport::register_type(
        participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    topic = participant->create_topic(
        "Example keys",
        type_name, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        printf("create_topic error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize data writer QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    writer = publisher->create_datawriter(
        topic, DDS_DATAWRITER_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
        printf("create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* If you want to set the writer_data_lifecycle QoS settings
    * programmatically rather than using the XML, you will need to add
    * the following lines to your code and comment out the create_datawriter
    * call above.
    */

    /*
    DDS_DataWriterQos datawriter_qos;
    retcode = publisher->get_default_datawriter_qos(datawriter_qos);
    if (retcode != DDS_RETCODE_OK) {
    printf("get_default_datawriter_qos error\n");
    return -1;
    }

    datawriter_qos.writer_data_lifecycle.autodispose_unregistered_instances = DDS_BOOLEAN_FALSE;

    writer = publisher->create_datawriter(
    topic, datawriter_qos, NULL,
    DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
    printf("create_datawriter error\n");
    publisher_shutdown(participant);
    return -1;
    }
    */

    keys_writer = keysDataWriter::narrow(writer);
    if (keys_writer == NULL) {
        printf("DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Create data samples for writing */
    instance[0] = keysTypeSupport::create_data();
    instance[1] = keysTypeSupport::create_data();
    instance[2] = keysTypeSupport::create_data();

    if (instance[0] == NULL || instance[1] == NULL || instance[2] == NULL) {
        printf("keysTypeSupport::create_data error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* RTI Connext could examine the key fields each time it needs to determine
    * which data-instance is being modified.
    * However, for performance and semantic reasons, it is better
    * for your application to declare all the data-instances it intends to
    * modify prior to actually writing any samples. This is known as registration.
    */

    /* In order to register the instances, we must set their associated keys first */
    instance[0]->code = 0;
    instance[1]->code = 1;
    instance[2]->code = 2;

    /* The keys must have been set before making this call */
    printf("Registering instance %d\n", instance[0]->code);
    handle[0] = keys_writer->register_instance(*instance[0]);

    /* Modify the data to be sent here */
    instance[0]->x = 1000;
    instance[1]->x = 2000;
    instance[2]->x = 3000;

    /* Main loop */
    for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
        NDDSUtility::sleep(send_period);

        switch (count) {
        case 5: { /* Start sending the second and third instances */
            printf("----Registering instance %d\n", instance[1]->code);
            printf("----Registering instance %d\n", instance[2]->code);
            handle[1] = keys_writer->register_instance(*instance[1]);
            handle[2] = keys_writer->register_instance(*instance[2]);
            active[1] = 1;
            active[2] = 1;
                } break;
        case 10: { /* Unregister the second instance */
            printf("----Unregistering instance %d\n", instance[1]->code);
            retcode = keys_writer->unregister_instance(*instance[1], handle[1]);
            if (retcode != DDS_RETCODE_OK) {
                printf("unregister instance error %d\n", retcode);
                return -1;
            }
            active[1] = 0;
                 } break;
        case 15: { /* Dispose the third instance */
            printf("----Disposing \\instance %d\n", instance[2]->code);
            retcode = keys_writer->dispose(*instance[2], handle[2]);
            if (retcode != DDS_RETCODE_OK) {
                printf("dispose instance error %d\n", retcode);
                return -1;
            }
            active[2] = 0;
                 } break;
        }

        /* Modify the data to be sent here */
        instance[0]->y = count;
        instance[1]->y = count;
        instance[2]->y = count;

        for (int i = 0; i < 3; ++i) {
            if (active[i]) {
                printf("Writing instance %d, x: %d, y: %d\n",
                    instance[i]->code, instance[i]->x, instance[i]->y);
                retcode = keys_writer->write(*instance[i], handle[i]);
                if (retcode != DDS_RETCODE_OK) {
                    printf("write error %d\n", retcode);
                    return -1;
                }
            }
        }

    }

    /* Delete data samples */
    for (int i = 0; i < 3; ++i) {
        retcode = keysTypeSupport::delete_data(instance[i]);
        if (retcode != DDS_RETCODE_OK) {
            printf("keysTypeSupport::delete_data error %d\n", retcode);
        }
    }

    /* Delete all entities */
    return publisher_shutdown(participant);
}

#if defined(RTI_WINCE)
int wmain(int argc, wchar_t** argv)
{
    int domainId = 0;
    int sample_count = 0; /* infinite loop */ 

    if (argc >= 2) {
        domainId = _wtoi(argv[1]);
    }
    if (argc >= 3) {
        sample_count = _wtoi(argv[2]);
    }

    /* Uncomment this to turn on additional logging
    NDDSConfigLogger::get_instance()->
    set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API, 
    NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return publisher_main(domainId, sample_count);
}

#elif !(defined(RTI_VXWORKS) && !defined(__RTP__)) && !defined(RTI_PSOS)
int main(int argc, char *argv[])
{
    int domainId = 0;
    int sample_count = 0; /* infinite loop */

    if (argc >= 2) {
        domainId = atoi(argv[1]);
    }
    if (argc >= 3) {
        sample_count = atoi(argv[2]);
    }

    /* Uncomment this to turn on additional logging
    NDDSConfigLogger::get_instance()->
    set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API, 
    NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return publisher_main(domainId, sample_count);
}
#endif

#ifdef RTI_VX653
const unsigned char* __ctype = *(__ctypePtrGet());

extern "C" void usrAppInit ()
{
#ifdef  USER_APPL_INIT
    USER_APPL_INIT;         /* for backwards compatibility */
#endif

    /* add application specific code here */
    taskSpawn("pub", RTI_OSAPI_THREAD_PRIORITY_NORMAL, 0x8, 0x150000, (FUNCPTR)publisher_main, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);

}
#endif

