/*******************************************************************************
 (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.
 ******************************************************************************/

#include <iostream>
#include <stdio.h>
#include <stdlib.h>

#include "poll.h"
#include "pollSupport.h"
#include "ndds/ndds_cpp.h"
#include "application.h"

using namespace application;

static int shutdown_participant(
        DDSDomainParticipant *participant,
        const char *shutdown_message,
        int status);

/* We remove all the listener code as we won't use any listener */

int run_subscriber_application(
        unsigned int domain_id,
        unsigned int sample_count)
{
    /* Poll for new samples every 5 seconds */
    DDS_Duration_t receive_period = { 5, 0 };

    // Start communicating in a domain, usually one participant per application
    DDSDomainParticipant *participant =
            DDSTheParticipantFactory->create_participant(
                    domain_id,
                    DDS_PARTICIPANT_QOS_DEFAULT,
                    NULL /* listener */,
                    DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        return shutdown_participant(
                participant,
                "create_participant error",
                EXIT_FAILURE);
    }

    // A Subscriber allows an application to create one or more DataReaders
    DDSSubscriber *subscriber = participant->create_subscriber(
            DDS_SUBSCRIBER_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (subscriber == NULL) {
        return shutdown_participant(
                participant,
                "create_subscriber error",
                EXIT_FAILURE);
    }

    // Register the datatype to use when creating the Topic
    const char *type_name = pollTypeSupport::get_type_name();
    DDS_ReturnCode_t retcode =
            pollTypeSupport::register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        return shutdown_participant(
                participant,
                "register_type error",
                EXIT_FAILURE);
    }

    // Create a Topic with a name and a datatype
    DDSTopic *topic = participant->create_topic(
            "Example poll",
            type_name,
            DDS_TOPIC_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        return shutdown_participant(
                participant,
                "create_topic error",
                EXIT_FAILURE);
    }

    // This DataReader reads data on "Example poll" Topic
    DDSDataReader *untyped_reader = subscriber->create_datareader(
            topic,
            DDS_DATAREADER_QOS_DEFAULT,
            NULL,
            DDS_STATUS_MASK_ALL);
    if (untyped_reader == NULL) {
        return shutdown_participant(
                participant,
                "create_datareader error",
                EXIT_FAILURE);
    }

    /* If you want to change datareader_qos.history.kind programmatically rather
     * than using the XML file, you will need to add the following lines to your
     * code and comment out the create_datareader call above. */

    /*
    DDS_DataReaderQos datareader_qos;
    retcode = subscriber->get_default_datareader_qos(datareader_qos);
    if (retcode != DDS_RETCODE_OK) {
        return shutdown_participant(
                participant,
                "get_default_datareader_qos error",
                EXIT_FAILURE);
    }

    datareader_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;

    DDSDataReader *untyped_reader = subscriber->create_datareader(
        topic, datareader_qos, NULL,
        DDS_STATUS_MASK_ALL);
    if (untyped_reader == NULL) {
        return shutdown_participant(
                participant,
                "create_datareader error",
                EXIT_FAILURE);
    }
    */

    pollDataReader *typed_reader = pollDataReader::narrow(untyped_reader);
    if (typed_reader == NULL) {
        return shutdown_participant(
                participant,
                "DataReader narrow error",
                EXIT_FAILURE);
    }

    // Main loop. Wait for data to arrive, and process when it arrives
    unsigned int samples_read = 0;
    while (!shutdown_requested && samples_read < sample_count) {
        NDDSUtility::sleep(receive_period);

        DDS_SampleInfoSeq info_seq;
        pollSeq data_seq;

        /* Check for new data calling the DataReader's take() method */
        retcode = typed_reader->take(
                data_seq,
                info_seq,
                DDS_LENGTH_UNLIMITED,
                DDS_ANY_SAMPLE_STATE,
                DDS_ANY_VIEW_STATE,
                DDS_ANY_INSTANCE_STATE);
        if (retcode == DDS_RETCODE_NO_DATA) {
            /// Not an error
            continue;
        } else if (retcode != DDS_RETCODE_OK) {
            // Is an error
            std::cerr << "take error: " << retcode << std::endl;
            continue;
        }

        int len = 0;
        double sum = 0;

        /* Iterate through the samples read using the take() method, getting
         * the number of samples got and, adding the value of x on each of
         * them to calculate the average afterwards. */
        for (int i = 0; i < data_seq.length(); ++i) {
            if (!info_seq[i].valid_data)
                continue;
            len++;
            sum += data_seq[i].x;
        }

        if (len > 0) {
            std::cout << "Got " << len << " samples.  Avg = " << sum / len
                      << std::endl;
            samples_read += len;
        }

        retcode = typed_reader->return_loan(data_seq, info_seq);
        if (retcode != DDS_RETCODE_OK) {
            std::cerr << "return loan error " << retcode << std::endl;
        }
    }

    // Cleanup
    return shutdown_participant(participant, "Shutting down", 0);
}

// Delete all entities
static int shutdown_participant(
        DDSDomainParticipant *participant,
        const char *shutdown_message,
        int status)
{
    DDS_ReturnCode_t retcode;

    std::cout << shutdown_message << std::endl;

    if (participant != NULL) {
        // Cleanup everything created by this Participant
        retcode = participant->delete_contained_entities();
        if (retcode != DDS_RETCODE_OK) {
            std::cerr << "delete_contained_entities error" << retcode
                      << std::endl;
            status = EXIT_FAILURE;
        }

        retcode = DDSTheParticipantFactory->delete_participant(participant);
        if (retcode != DDS_RETCODE_OK) {
            std::cerr << "delete_participant error" << retcode << std::endl;
            status = EXIT_FAILURE;
        }
    }
    return status;
}

int main(int argc, char *argv[])
{
    // Parse arguments and handle control-C
    ApplicationArguments arguments;
    parse_arguments(arguments, argc, argv);
    if (arguments.parse_result == PARSE_RETURN_EXIT) {
        return EXIT_SUCCESS;
    } else if (arguments.parse_result == PARSE_RETURN_FAILURE) {
        return EXIT_FAILURE;
    }
    setup_signal_handlers();

    // Sets Connext verbosity to help debugging
    NDDSConfigLogger::get_instance()->set_verbosity(arguments.verbosity);

    int status = run_subscriber_application(
            arguments.domain_id,
            arguments.sample_count);

    // Releases the memory used by the participant factory.  Optional at
    // application exit
    DDS_ReturnCode_t retcode = DDSDomainParticipantFactory::finalize_instance();
    if (retcode != DDS_RETCODE_OK) {
        std::cerr << "finalize_instance error" << retcode << std::endl;
        status = EXIT_FAILURE;
    }

    return status;
}
