/*******************************************************************************
 (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.
 ******************************************************************************/
/* msg_subscriber.cxx

   A subscription example

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

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

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

   (1) Compile this file and the example publication.

   (2) Start the subscription on the same domain used for RTI Data Distribution
       Service with the command
       objs/<arch>/msg_subscriber <domain_id> <sample_count>

   (3) Start the publication on the same domain used for RTI Data Distribution
       with the command
       objs/<arch>/msg_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>/msg_publisher <domain_id>
       objs/<arch>/msg_subscriber <domain_id>

       On Windows:

       objs\<arch>\msg_publisher <domain_id>
       objs\<arch>\msg_subscriber <domain_id>


modification history
------------ -------
* Set user_data QoS fields in participant and datareader with
  strings given on command line
* Updated for 4.1 to 4.2: participant_index changed to participant_id
* Refactor and remove unused variables and classes
* Fix not including null char in participant user_data password.
*/

#include "msg.h"
#include "msgSupport.h"
#include "ndds/ndds_cpp.h"
#include <stdio.h>
#include <stdlib.h>

class msgListener : 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 msgListener::on_data_available(DDSDataReader *reader)
{
    msgDataReader *msg_reader = NULL;
    msgSeq data_seq;
    DDS_SampleInfoSeq info_seq;
    DDS_ReturnCode_t retcode;
    int i;

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

    retcode = msg_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) {
            msgTypeSupport::print_data(&data_seq[i]);
        }
    }

    retcode = msg_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 Data Distribution Service provides finalize_instance() method for
       people who want to release memory used by the participant factory
       singleton. Uncomment the following block of code for clean destruction of
       the participant factory 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 domain_id,
        int sample_count,
        const char *participant_auth)
{
    DDSDomainParticipant *participant = NULL;
    DDSSubscriber *subscriber = NULL;
    DDSTopic *topic = NULL;
    msgListener *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 Builtin_Topics */
    /* Set user_data qos field for participant */

    /* 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;
    }

    /* The maximum length for USER_DATA QoS field is set by default
       to 256 bytes. To increase it programmatically uncomment the
       following line of code. */
    /*
    participant_qos.resource_limits.participant_user_data_max_length = 1024;
    */

    /* user_data is opaque to DDS, so we include trailing \0 for string */
    int len = strlen(participant_auth) + 1;
    int max = participant_qos.resource_limits.participant_user_data_max_length;

    if (len > max) {
        printf("error, participant user_data exceeds resource limits\n");
    } else {
        /* DDS_Octet is defined to be 8 bits.  If chars are not 8 bits
         * on your system, this will not work.
         */
        participant_qos.user_data.value.from_array(
                reinterpret_cast<const DDS_Octet *>(participant_auth),
                len);
    }

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

    /* The participant is disabled by default. We enable it now */
    if (participant->enable() != DDS_RETCODE_OK) {
        printf("***Error: Failed to Enable Participant\n");
        return 0;
    }

    /* To customize the subscriber QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    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 = msgTypeSupport::get_type_name();
    retcode = msgTypeSupport::register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    topic = participant->create_topic(
            "Example msg",
            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 msgListener();

    /* To customize 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;
}

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

    if (argc >= 2) {
        domain_id = atoi(argv[1]);
    }
    if (argc >= 3) {
        sample_count = atoi(argv[2]);
    }
    if (argc >= 4) {
        participant_auth = argv[3];
    }

    /* 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(domain_id, sample_count, participant_auth);
}