/*******************************************************************************
 (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.
 ******************************************************************************/
/* cfc_subscriber.cxx

 A subscription example

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

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

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

 (1) Compile this file and the example publication.

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

 (3) Start the publication with the command
 objs/<arch>/cfc_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>/cfc_publisher <domain_id>
 objs/<arch>/cfc_subscriber <domain_id>

 On Windows:

 objs\<arch>\cfc_publisher <domain_id>
 objs\<arch>\cfc_subscriber <domain_id>


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

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

/* Changes for Custom_Flowcontroller */
/* For timekeeping */
#include <time.h>
clock_t init;

class cfcListener: public DDSDataReaderListener {
public:
    virtual void on_requested_deadline_missed(DDSDataReader* /*reader*/,
            const DDS_RequestedDeadlineMissedStatus& /*status*/) {
    }

    virtual void on_requested_incompatible_qos(DDSDataReader* /*reader*/,
            const DDS_RequestedIncompatibleQosStatus& /*status*/) {
    }

    virtual void on_sample_rejected(DDSDataReader* /*reader*/,
            const DDS_SampleRejectedStatus& /*status*/) {
    }

    virtual void on_liveliness_changed(DDSDataReader* /*reader*/,
            const DDS_LivelinessChangedStatus& /*status*/) {
    }

    virtual void on_sample_lost(DDSDataReader* /*reader*/,
            const DDS_SampleLostStatus& /*status*/) {
    }

    virtual void on_subscription_matched(DDSDataReader* /*reader*/,
            const DDS_SubscriptionMatchedStatus& /*status*/) {
    }

    virtual void on_data_available(DDSDataReader* reader);
};

void cfcListener::on_data_available(DDSDataReader* reader) {
    cfcDataReader *cfc_reader = NULL;
    cfcSeq data_seq;
    DDS_SampleInfoSeq info_seq;
    DDS_ReturnCode_t retcode;
    int i;

    cfc_reader = cfcDataReader::narrow(reader);
    if (cfc_reader == NULL) {
        printf("DataReader narrow error\n");
        return;
    }

    retcode = cfc_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) {
        return;
    } else if (retcode != DDS_RETCODE_OK) {
        printf("take error %d\n", retcode);
        return;
    }

    for (i = 0; i < data_seq.length(); ++i) {
        if (info_seq[i].valid_data) {
            /* Start changes for Custom_Flowcontroller */

            /* print the time we get each sample. */
            double elapsed_ticks = clock() - init;
            double elapsed_secs = elapsed_ticks / CLOCKS_PER_SEC;

            printf("@ t=%.2fs, got x = %d\n", elapsed_secs, data_seq[i].x);

            /* End changes for Custom_Flowcontroller */
        }
    }

    retcode = cfc_reader->return_loan(data_seq, info_seq);
    if (retcode != DDS_RETCODE_OK) {
        printf("return loan error %d\n", retcode);
    }
}

/* Delete all entities */
static int subscriber_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 the 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 subscriber_main(int domainId, int sample_count) {
    DDSDomainParticipant *participant = NULL;
    DDSSubscriber *subscriber = NULL;
    DDSTopic *topic = NULL;
    cfcListener *reader_listener = NULL;
    DDSDataReader *reader = NULL;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    DDS_Duration_t receive_period = { 1, 0 };
    int status = 0;

    /* Start changes for Custom_Flowcontroller */
    /* for timekeeping */
    init = clock();

    /* To customize the 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");
        subscriber_shutdown(participant);
        return -1;
    }

    /* If you want to change the Participant'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_participant call above.
     */
    /* By default, discovery will communicate via shared memory for platforms
     * that support it.  Because we disable shared memory on the publishing
     * side, we do so here to ensure the reader and writer discover each other.
     */
    /* Get default participant QoS to customize */
/*    DDS_DomainParticipantQos participant_qos;
    retcode = DDSTheParticipantFactory->get_default_participant_qos(
            participant_qos);
    if (retcode != DDS_RETCODE_OK) {
        printf("get_default_participant_qos error\n");
        return -1;
    }

    participant_qos.transport_builtin.mask = DDS_TRANSPORTBUILTIN_UDPv4;

*/    /* To create participant with default QoS, use DDS_PARTICIPANT_QOS_DEFAULT
     instead of participant_qos */
/*    participant = DDSTheParticipantFactory->create_participant(domainId,
            participant_qos, NULL, DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        printf("create_participant error\n");
        subscriber_shutdown(participant);
        return -1;
    }
*/
    /* End changes for custom_flowcontroller */

    /* To customize the subscriber QoS, use 
     the configuration file USER_QOS_PROFILES.xml */
    subscriber = participant->create_subscriber(DDS_SUBSCRIBER_QOS_DEFAULT,
            NULL, DDS_STATUS_MASK_NONE);
    if (subscriber == NULL) {
        printf("create_subscriber error\n");
        subscriber_shutdown(participant);
        return -1;
    }

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

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

    /* Create a data reader listener */
    reader_listener = new cfcListener();

    /* To customize the data reader QoS, use 
     the configuration file USER_QOS_PROFILES.xml */
    reader = subscriber->create_datareader(topic, DDS_DATAREADER_QOS_DEFAULT,
            reader_listener, DDS_STATUS_MASK_ALL);
    if (reader == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);
        delete reader_listener;
        return -1;
    }

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

        NDDSUtility::sleep(receive_period);
    }

    /* Delete all entities */
    status = subscriber_shutdown(participant);
    delete reader_listener;

    return status;
}

#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 subscriber_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 subscriber_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("sub", RTI_OSAPI_THREAD_PRIORITY_NORMAL, 0x8, 0x150000,
            (FUNCPTR)subscriber_main, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);

}
#endif

