/*
* (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.
*/

/* printing_subscriber.c

A subscription example

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

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

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

(1) Compile this file and the example publication.

(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 "printing.h"
#include "printingSupport.h"

void printingListener_on_requested_deadline_missed(
    void* listener_data,
    DDS_DataReader* reader,
    const struct DDS_RequestedDeadlineMissedStatus *status)
{
}

void printingListener_on_requested_incompatible_qos(
    void* listener_data,
    DDS_DataReader* reader,
    const struct DDS_RequestedIncompatibleQosStatus *status)
{
}

void printingListener_on_sample_rejected(
    void* listener_data,
    DDS_DataReader* reader,
    const struct DDS_SampleRejectedStatus *status)
{
}

void printingListener_on_liveliness_changed(
    void* listener_data,
    DDS_DataReader* reader,
    const struct DDS_LivelinessChangedStatus *status)
{
}

void printingListener_on_sample_lost(
    void* listener_data,
    DDS_DataReader* reader,
    const struct DDS_SampleLostStatus *status)
{
}

void printingListener_on_subscription_matched(
    void* listener_data,
    DDS_DataReader* reader,
    const struct DDS_SubscriptionMatchedStatus *status)
{
}

void printingListener_on_data_available(
    void* listener_data,
    DDS_DataReader* reader)
{
    printingDataReader *printing_reader = NULL;
    struct printingSeq data_seq = DDS_SEQUENCE_INITIALIZER;
    struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
    DDS_ReturnCode_t retcode;
    int i;

    printing_reader = printingDataReader_narrow(reader);
    if (printing_reader == NULL) {
        fprintf(stderr, "DataReader narrow error\n");
        return;
    }

    retcode = printingDataReader_take(
        printing_reader,
        &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) {
        fprintf(stderr, "take error %d\n", retcode);
        return;
    }

    for (i = 0; i < printingSeq_get_length(&data_seq); ++i) {
        if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
            printf("Received data\n");
            printingTypeSupport_print_data(
                printingSeq_get_reference(&data_seq, i));
        }
    }

    retcode = printingDataReader_return_loan(
        printing_reader,
        &data_seq, &info_seq);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "return loan error %d\n", retcode);
    }
}

/* Delete all entities */
static int subscriber_shutdown(
        DDS_DomainParticipant *participant,
        struct DDS_DomainParticipantQos *participant_qos,
        struct DDS_SubscriberQos *subscriber_qos,
        struct DDS_DataReaderQos *reader_qos)
{
    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;
        }
    }

    retcode = DDS_DomainParticipantQos_finalize(participant_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "finalize Participant qos error %d\n", retcode);
        status = -1;
    }
    retcode = DDS_SubscriberQos_finalize(subscriber_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "finalize Subscriber qos error %d\n", retcode);
        status = -1;
    }
    retcode = DDS_DataReaderQos_finalize(reader_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "finalize Reader qos error %d\n", retcode);
        status = -1;
    }

    /* RTI Data Distribution Service provides the finalize_instance() method on
    domain participant factory for users 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 subscriber_main(int domainId, int sample_count)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Subscriber *subscriber = NULL;
    DDS_Topic *topic = NULL;
    struct DDS_DataReaderListener reader_listener =
    DDS_DataReaderListener_INITIALIZER;
    DDS_DataReader *reader = NULL;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Duration_t poll_period = {4,0};
    struct DDS_DomainParticipantQos participant_qos =
            DDS_DomainParticipantQos_INITIALIZER;
    struct DDS_SubscriberQos subscriber_qos = DDS_SubscriberQos_INITIALIZER;
    struct DDS_DataReaderQos reader_qos = DDS_DataReaderQos_INITIALIZER;
    char *str = NULL;
    DDS_UnsignedLong strSize = 0;
    struct DDS_QosPrintFormat printFormat = DDS_QosPrintFormat_INITIALIZER;

    /* 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");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }

    /* Test DDS_DomainParticipantQos_to_string */
    retcode = DDS_DomainParticipant_get_qos(participant, &participant_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "get participant qos");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    /*
     * First, we pass NULL for the str argument. This will cause the API to update
     * the strSize argument to contain the required size of the str buffer.
     * We then allocate a buffer of that size and obtain the QoS string.
     * The DDS_DomainParticipantQos_to_string API only prints differences with
     * respect to the document default values for the DomainParticipantQos object.
     */
    retcode = DDS_DomainParticipantQos_to_string(
            &participant_qos,
            str,
            &strSize);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "participant qos to string");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    str = DDS_String_alloc(strSize);
    if (str == NULL) {
        fprintf(stderr, "String allocation");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    retcode = DDS_DomainParticipantQos_to_string(
            &participant_qos,
            str,
            &strSize);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "participant qos to string");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        DDS_String_free(str);
        return -1;
    }
    printf("%s", str);
    DDS_String_free(str);
    str = NULL;

    /* To customize subscriber QoS, use
    the configuration file USER_QOS_PROFILES.xml */
    subscriber = DDS_DomainParticipant_create_subscriber(
        participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (subscriber == NULL) {
        fprintf(stderr, "create_subscriber error\n");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }

    /* Test DDS_SubscriberQos_to_string_w_params */
    retcode = DDS_Subscriber_get_qos(subscriber, &subscriber_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "get subscriber qos");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    /*
     * First, we pass NULL for the str argument. This will cause the API to update
     * the strSize argument to contain the required size of the str buffer.
     * We then allocate a buffer of that size and obtain the QoS string.
     * The DDS_SubscriberQos_to_string_w_params API prints all the QoS values for
     * the SubscriberQos object.
     */
    retcode = DDS_SubscriberQos_to_string_w_params(
            &subscriber_qos,
            str,
            &strSize,
            DDS_SUBSCRIBER_QOS_PRINT_ALL,
            &printFormat);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "subscriber qos to string");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    str = DDS_String_alloc(strSize);
    if (str == NULL) {
        fprintf(stderr, "String allocation");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    retcode = DDS_SubscriberQos_to_string_w_params(
            &subscriber_qos,
            str,
            &strSize,
            DDS_SUBSCRIBER_QOS_PRINT_ALL,
            &printFormat);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "subscriber qos to string");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        DDS_String_free(str);
        return -1;
    }
    printf("%s", str);
    DDS_String_free(str);
    str = NULL;

    /* Register the type before creating the topic */
    type_name = printingTypeSupport_get_type_name();
    retcode = printingTypeSupport_register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "register_type error %d\n", retcode);
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }

    /* To customize topic QoS, use
    the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
        participant, "Example printing",
        type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        fprintf(stderr, "create_topic error\n");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }

    /* Set up a data reader listener */
    reader_listener.on_requested_deadline_missed  =
    printingListener_on_requested_deadline_missed;
    reader_listener.on_requested_incompatible_qos =
    printingListener_on_requested_incompatible_qos;
    reader_listener.on_sample_rejected =
    printingListener_on_sample_rejected;
    reader_listener.on_liveliness_changed =
    printingListener_on_liveliness_changed;
    reader_listener.on_sample_lost =
    printingListener_on_sample_lost;
    reader_listener.on_subscription_matched =
    printingListener_on_subscription_matched;
    reader_listener.on_data_available =
    printingListener_on_data_available;

    /* To customize data reader QoS, use
    the configuration file USER_QOS_PROFILES.xml */
    reader = DDS_Subscriber_create_datareader(
        subscriber, DDS_Topic_as_topicdescription(topic),
        &DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
    if (reader == NULL) {
        fprintf(stderr, "create_datareader error\n");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }

    /* Test DDS_DataReaderQos_print */
    retcode = DDS_DataReader_get_qos(reader, &reader_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "get reader qos");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }
    retcode = DDS_DataReaderQos_print(&reader_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "print reader qos");
        subscriber_shutdown(
                participant,
                &participant_qos,
                &subscriber_qos,
                &reader_qos);
        return -1;
    }

    /* Main loop */
    for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
        printf("printing subscriber sleeping for %d sec...\n",
        poll_period.sec);

        NDDS_Utility_sleep(&poll_period);
    }

    /* Cleanup and delete all entities */
    return subscriber_shutdown(
            participant,
            &participant_qos,
            &subscriber_qos,
            &reader_qos);
}

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]);
    }

    /* Uncomment this to turn on additional printing
    NDDS_Config_Logger_set_verbosity_by_category(
        NDDS_Config_Logger_get_instance(),
        NDDS_CONFIG_LOG_CATEGORY_API,
        NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return subscriber_main(domain_id, sample_count);
}

