/*******************************************************************************
 (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.
 ******************************************************************************/
/* profiles_subscriber.cxx

   A subscription example

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

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

   Example subscription of type profiles 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>/profiles_subscriber <domain_id> <sample_count>

   (3) Start the publication with the command
       objs/<arch>/profiles_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>/profiles_publisher <domain_id>
       objs/<arch>/profiles_subscriber <domain_id>

       On Windows:

       objs\<arch>\profiles_publisher <domain_id>
       objs\<arch>\profiles_subscriber <domain_id>


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

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

#define PROFILE_NAME_STRING_LEN 100

class profilesListener : public DDSDataReaderListener {
public:
    profilesListener(char listener_name[PROFILE_NAME_STRING_LEN])
    {
        strcpy(_listener_name, listener_name);
    }
    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);

private:
    char _listener_name[PROFILE_NAME_STRING_LEN];
};

void profilesListener::on_data_available(DDSDataReader *reader)
{
    profilesDataReader *profiles_reader = NULL;
    profilesSeq data_seq;
    DDS_SampleInfoSeq info_seq;
    DDS_ReturnCode_t retcode;
    int i;

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

    retcode = profiles_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;
    }

    printf("=============================================\n");
    printf("%s listener received\n", _listener_name);
    printf("=============================================\n");
    for (i = 0; i < data_seq.length(); ++i) {
        if (info_seq[i].valid_data) {
            profilesTypeSupport::print_data(&data_seq[i]);
        }
    }

    retcode = profiles_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;
    /* Volatile and transient local readers and profilesListeners */
    DDSDataReader *reader_volatile = NULL;
    DDSDataReader *reader_transient_local = NULL;
    profilesListener *reader_volatile_listener = NULL;
    profilesListener *reader_transient_local_listener = NULL;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    DDS_Duration_t receive_period = { 1, 0 };
    int status = 0;

    /* There are several different approaches for loading QoS profiles from XML
     * files (see Configuring QoS with XML chapter in the RTI Connext Core
     * Libraries and Utilities User's Manual). In this example we illustrate
     * two of them:
     *
     * 1) Creating a file named USER_QOS_PROFILES.xml, which is loaded,
     * automatically by the DomainParticipantFactory. In this case, the file
     * defines a QoS profile named volatile_profile that configures reliable,
     * volatile DataWriters and DataReaders.
     *
     * 2) Adding XML documents to the DomainParticipantFactory using its
     * Profile QoSPolicy (DDS Extension). In this case, we add
     * my_custom_qos_profiles.xml to the url_profile sequence, which stores
     * the URLs of all the XML documents with QoS policies that are loaded by
     * the DomainParticipantFactory aside from the ones that are automatically
     * loaded.
     * my_custom_qos_profiles.xml defines a QoS profile named
     * transient_local_profile that configures reliable, transient local
     * DataWriters and DataReaders.
     */

    /* To load my_custom_qos_profiles.xml, as explained above, we need to modify
     * the  DDSTheParticipantFactory Profile QoSPolicy */
    DDS_DomainParticipantFactoryQos factory_qos;
    DDSTheParticipantFactory->get_qos(factory_qos);

    /* We are only going to add one XML file to the url_profile sequence, so we
     * ensure a length of 1,1. */
    factory_qos.profile.url_profile.ensure_length(1, 1);

    /* The XML file will be loaded from the working directory. That means, you
     * need to run the example like this:
     * ./objs/<architecture>/profiles_publisher
     * (see README.txt for more information on how to run the example).
     *
     * Note that you can specify the absolute path of the XML QoS file to avoid
     * this problem.
     */
    factory_qos.profile.url_profile[0] =
            DDS_String_dup("my_custom_qos_profiles.xml");

    DDSTheParticipantFactory->set_qos(factory_qos);


    /* Our default Qos profile, volatile_profile, sets the participant name.
     * This is the only participant_qos policy that we change in our
     * example. As this is done in the default QoS profile, we don't need
     * to specify its name, so we can create the participant using the
     * create_participant() method rather than using
     * create_participant_with_profile().  */
    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;
    }

    /* We haven't changed the subscriber_qos in any of QoS profiles we use in
     * this example, so we can just use the create_topic() method. If you want
     * to load an specific profile in which you may have changed the
     * publisher_qos, use the create_publisher_with_profile() method. */
    subscriber = participant->create_subscriber(
            DDS_SUBSCRIBER_QOS_DEFAULT,
            NULL /* listener */,
            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 = profilesTypeSupport::get_type_name();
    retcode = profilesTypeSupport::register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    /* We haven't changed the topic_qos in any of QoS profiles we use in this
     * example, so we can just use the create_topic() method. If you want to
     * load an specific profile in which you may have changed the topic_qos,
     * use the create_topic_with_profile() method. */
    topic = participant->create_topic(
            "Example profiles",
            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 Data Readers listeners */
    reader_volatile_listener =
            new profilesListener((char *) "volatile_profile");
    reader_transient_local_listener =
            new profilesListener((char *) "transient_local_profile");

    /* Volatile reader -- As volatile_profile is the default qos profile
     * we don't need to specify the profile we are going to use, we can
     * just call create_datareader passing DDS_DATAWRITER_QOS_DEFAULT. */
    reader_volatile = subscriber->create_datareader(
            topic,
            DDS_DATAREADER_QOS_DEFAULT,
            reader_volatile_listener,
            DDS_STATUS_MASK_ALL);
    if (reader_volatile == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);
        delete reader_volatile_listener;
        return -1;
    }

    /* Transient Local writer -- In this case we use
     * create_datareader_with_profile, because we have to use a profile other
     * than the default one. This profile has been defined in
     * my_custom_qos_profiles.xml, but since we already loaded the XML file
     * we don't need to specify anything else. */
    reader_transient_local = subscriber->create_datareader_with_profile(
            topic,                     /* DDS_Topic* */
            "profiles_Library",        /* library_name */
            "transient_local_profile", /* profile_name */
            reader_transient_local_listener /* listener */,
            DDS_STATUS_MASK_ALL /* DDS_StatusMask */
    );
    if (reader_transient_local == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);
        delete reader_transient_local_listener;
        return -1;
    }
    printf("Created reader_transient_local");

    /* 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_volatile_listener;
    delete reader_transient_local_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
