/*******************************************************************************
 (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 "waitsets.h"
#include "waitsetsSupport.h"
#include "ndds/ndds_cpp.h"
#include "application.h"

/* We don't need to use listeners as we are going to use Waitsets and Conditions
 * so we have removed the auto generated code for listeners here */

using namespace application;

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

int run_subscriber_application(
        unsigned int domain_id,
        unsigned int sample_count)
{
    struct DDS_Duration_t wait_timeout = { 1, 500000000 };

    // 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 = waitsetsTypeSupport::get_type_name();
    DDS_ReturnCode_t retcode =
            waitsetsTypeSupport::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 waitsets",
            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 waitsets" Topic
    DDSDataReader *untyped_reader = subscriber->create_datareader(
            topic,
            DDS_DATAREADER_QOS_DEFAULT,
            NULL,
            DDS_STATUS_MASK_NONE);
    if (untyped_reader == NULL) {
        return shutdown_participant(
                participant,
                "create_datareader error",
                EXIT_FAILURE);
    }

    /* If you want to change the DataReader's QoS 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.
     *
     * In this case, we reduce the liveliness timeout period to trigger the
     * StatusCondition DDS_LIVELINESS_CHANGED_STATUS
     */

    /*
    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.liveliness.lease_duration.sec = 2;
    datareader_qos.liveliness.lease_duration.nanosec = 0;

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

    /* Create read condition
     * ---------------------
     * Note that the Read Conditions are dependent on both incoming
     * data as well as sample state. Thus, this method has more
     * overhead than adding a DDS_DATA_AVAILABLE_STATUS StatusCondition.
     * We show it here purely for reference
     */
    DDSReadCondition *read_condition = untyped_reader->create_readcondition(
            DDS_NOT_READ_SAMPLE_STATE,
            DDS_ANY_VIEW_STATE,
            DDS_ANY_INSTANCE_STATE);
    if (read_condition == NULL) {
        return shutdown_participant(
                participant,
                "create_readcondition error",
                EXIT_FAILURE);
    }

    /* Get status conditions
     * ---------------------
     * Each entity may have an attached Status Condition. To modify the
     * statuses we need to get the reader's Status Conditions first.
     */
    DDSStatusCondition *status_condition =
            untyped_reader->get_statuscondition();
    if (status_condition == NULL) {
        return shutdown_participant(
                participant,
                "get_statuscondition error",
                EXIT_FAILURE);
    }

    /* Set enabled statuses
     * --------------------
     * Now that we have the Status Condition, we are going to enable the
     * statuses we are interested in: DDS_SUBSCRIPTION_MATCHED_STATUS and
     * DDS_LIVELINESS_CHANGED_STATUS.
     */
    retcode = status_condition->set_enabled_statuses(
            DDS_SUBSCRIPTION_MATCHED_STATUS | DDS_LIVELINESS_CHANGED_STATUS);
    if (retcode != DDS_RETCODE_OK) {
        return shutdown_participant(
                participant,
                "set_enabled_statuses error",
                EXIT_FAILURE);
    }

    /* Create and attach conditions to the WaitSet
     * -------------------------------------------
     * Finally, we create the WaitSet and attach both the Read Conditions
     * and the Status Condition to it.
     */
    DDSWaitSet *waitset = new DDSWaitSet();

    // Attach Read Conditions
    retcode = waitset->attach_condition(read_condition);
    if (retcode != DDS_RETCODE_OK) {
        return shutdown_participant(
                participant,
                "attach_condition error",
                EXIT_FAILURE);
    }

    // Attach Status Conditions
    retcode = waitset->attach_condition(status_condition);
    if (retcode != DDS_RETCODE_OK) {
        return shutdown_participant(
                participant,
                "attach_condition error",
                EXIT_FAILURE);
    }

    // Narrow the reader into your specific data type
    waitsetsDataReader *typed_reader =
            waitsetsDataReader::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) {
        DDSConditionSeq active_conditions_seq;

        /* wait() blocks execution of the thread until one or more attached
         * Conditions become true, or until a user-specified timeout expires.
         */
        retcode = waitset->wait(active_conditions_seq, wait_timeout);
        // We get to timeout if no conditions were triggered
        if (retcode == DDS_RETCODE_TIMEOUT) {
            std::cout << "Wait timed out!! No conditions were triggered.\n";
            continue;
        } else if (retcode != DDS_RETCODE_OK) {
            std::cerr << "wait returned error: " << retcode << std::endl;
            break;
        }

        // Get the number of active conditions
        int active_conditions = active_conditions_seq.length();
        std::cout << "Got " << active_conditions << " active conditions\n";

        for (int i = 0; i < active_conditions; ++i) {
            /* Now we compare the current condition with the Status
             * Conditions and the Read Conditions previously defined. If
             * they match, we print the condition that was triggered.*/

            // Compare with Status Conditions
            if (active_conditions_seq[i] == status_condition) {
                /* Get the status changes so we can check which status
                 * condition triggered. */
                DDS_StatusMask triggeredmask =
                        typed_reader->get_status_changes();

                // Liveliness changed
                if (triggeredmask & DDS_LIVELINESS_CHANGED_STATUS) {
                    DDS_LivelinessChangedStatus st;
                    typed_reader->get_liveliness_changed_status(st);
                    std::cout << "Liveliness changed => Active writers = "
                              << st.alive_count << std::endl;
                }

                // Subscription matched
                if (triggeredmask & DDS_SUBSCRIPTION_MATCHED_STATUS) {
                    DDS_SubscriptionMatchedStatus st;
                    typed_reader->get_subscription_matched_status(st);
                    std::cout << "Subscription matched => Cumulative matches = "
                              << st.total_count << std::endl;
                }
            }

            // Compare with Read Conditions
            else if (active_conditions_seq[i] == read_condition) {
                /* Current conditions match our conditions to read data, so
                 * we can read data just like we would do in any other
                 * example. */
                waitsetsSeq data_seq;
                DDS_SampleInfoSeq info_seq;

                /* You may want to call take_w_condition() or
                 * read_w_condition() on the Data Reader. This way you will use
                 * the same status masks that were set on the Read Condition.
                 * This is just a suggestion, you can always use
                 * read() or take() like in any other example.
                 */
                retcode = DDS_RETCODE_OK;
                while (retcode != DDS_RETCODE_NO_DATA) {
                    retcode = typed_reader->take_w_condition(
                            data_seq,
                            info_seq,
                            DDS_LENGTH_UNLIMITED,
                            read_condition);

                    for (int j = 0; j < data_seq.length(); ++j) {
                        if (!info_seq[j].valid_data) {
                            std::cout << "Got metadata\n";
                            continue;
                        }
                        samples_read++;
                        waitsetsTypeSupport::print_data(&data_seq[j]);
                    }
                    typed_reader->return_loan(data_seq, info_seq);
                }
            }
        }
    }

    // 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;
}
