/*
* (c) Copyright, Real-Time Innovations, 2021.  All rights reserved.
* RTI grants Licensee a license to use, modify, compile, and create derivative
* works of the software solely for use with RTI Connext DDS. Licensee may
* redistribute copies of the software provided that all such copies are subject
* to this license. 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.
*/

/* logging_publisher.c

A publication of data of type logging

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

rtiddsgen -language C -example <arch> logging.idl

Example publication of type logging automatically generated by
'rtiddsgen'. To test it, follow these steps:

(1) Compile this file and the example subscription.

(2) Start the subscription on the same domain used for RTI Connext

(3) Start the publication on the same domain used for RTI Connext

(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 publisher and subscriber programs, and can
add and remove them dynamically from the domain.
*/

#include <stdio.h>
#include <stdlib.h>
#include "ndds/ndds_c.h"
#include "logging.h"
#include "loggingSupport.h"

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

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

        retcode = DDS_DomainParticipantFactory_delete_participant(
            DDS_TheParticipantFactory, participant);
        if (retcode != DDS_RETCODE_OK) {
            fprintf(stderr, "delete_participant error %d\n", retcode);
            status = -1;
        }
    }

    /* RTI Data Distribution Service 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 = DDS_DomainParticipantFactory_finalize_instance();
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "finalize_instance error %d\n", retcode);
        status = -1;
    }
    */

    return status;
}

int publisher_main(int domainId, int sample_count)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Publisher *publisher = NULL;
    DDS_Topic *topic = NULL;
    DDS_DataWriter *writer = NULL;
    loggingDataWriter *logging_writer = NULL;
    logging *instance = NULL;
    DDS_ReturnCode_t retcode;
    DDS_InstanceHandle_t instance_handle = DDS_HANDLE_NIL;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Time_t sourceTimestamp = {0, 0};

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

    /*
     * Start - modifying the generated example to showcase the usage of
     * the Logging API.
     */

    /*
     * Set NDDS_CONFIG_LOG_VERBOSITY_WARNING NDDS_Config_LogVerbosity.
     * Set NDDS_CONFIG_LOG_PRINT_FORMAT_MAXIMAL NDDS_Config_LogPrintFormat
     * for NDDS_CONFIG_LOG_LEVEL_WARNING.
     */
    NDDS_Config_Logger_set_verbosity(
            NDDS_Config_Logger_get_instance(),
            NDDS_CONFIG_LOG_VERBOSITY_WARNING);
    if (!NDDS_Config_Logger_set_print_format_by_log_level(
            NDDS_Config_Logger_get_instance(),
            NDDS_CONFIG_LOG_PRINT_FORMAT_MAXIMAL,
            NDDS_CONFIG_LOG_LEVEL_WARNING)) {
        fprintf(stderr, "NDDS_Config_Logger_set_print_format_by_log_level error\n");
        publisher_shutdown(participant);
        return -1;
    }

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

    /* Register type before creating topic */
    type_name = loggingTypeSupport_get_type_name();
    retcode = loggingTypeSupport_register_type(
        participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "register_type error %d\n", retcode);
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use
    the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
        participant, "Example logging",
        type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        fprintf(stderr, "create_topic error\n");
        publisher_shutdown(participant);
        return -1;
    }
    /* To customize data writer QoS, use
    the configuration file USER_QOS_PROFILES.xml */
    writer = DDS_Publisher_create_datawriter(
        publisher, topic,
        &DDS_DATAWRITER_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
        fprintf(stderr, "create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }
    logging_writer = loggingDataWriter_narrow(writer);
    if (logging_writer == NULL) {
        fprintf(stderr, "DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Create data sample for writing */
    instance = loggingTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);
    if (instance == NULL) {
        fprintf(stderr, "loggingTypeSupport_create_data error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Write data */
    retcode = loggingDataWriter_write(
        logging_writer, instance, &instance_handle);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "write error %d\n", retcode);
    }

    /*
     * Force a warning by writing a sample where the source time stamp is older
     * than that of a previously sent sample. When using
     * DDS_BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS: If source timestamp is
     * older than in previous write a warnings message will be logged.
     */
    retcode = loggingDataWriter_write_w_timestamp(
        logging_writer, instance, &instance_handle, &sourceTimestamp);
    if (retcode != DDS_RETCODE_BAD_PARAMETER) {
        fprintf(stderr, "write error %d\n", retcode);
    }

    /*
     * End - modifying the generated example to showcase the usage of
     * the Logging API.
     */

    /* Delete data sample */
    retcode = loggingTypeSupport_delete_data_ex(instance, DDS_BOOLEAN_TRUE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "loggingTypeSupport_delete_data error %d\n", retcode);
    }
    /* Cleanup and delete delete all entities */
    return publisher_shutdown(participant);
}

int main(int argc, char *argv[])
{
    int domain_id = 0;
    int sample_count = 0; /* infinite loop */

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

    return publisher_main(domain_id, sample_count);
}

