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

int main(int argc, char *argv[])
{
    struct DDS_SampleInfo info;
    DDS_ExceptionCode_t ex;

    DDS_DomainParticipantFactory* factory = DDS_DomainParticipantFactory_get_instance();
    DDS_DomainParticipant* participant = DDS_DomainParticipantFactory_create_participant(factory, 0,
                    &DDS_PARTICIPANT_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE );
    sleep(10);
    DDS_PublicationBuiltinTopicDataDataReader* publicationsDR = DDS_PublicationBuiltinTopicDataDataReader_narrow(
                    DDS_Subscriber_lookup_datareader(DDS_DomainParticipant_get_builtin_subscriber(participant),
                                    "DCPSPublication"));

    DDS_SubscriptionBuiltinTopicDataDataReader* subscriptionsDR = DDS_SubscriptionBuiltinTopicDataDataReader_narrow(
                    DDS_Subscriber_lookup_datareader(DDS_DomainParticipant_get_builtin_subscriber(participant),
                                    "DCPSSubscription"));

    DDS_PublicationBuiltinTopicData publicationData;
    DDS_PublicationBuiltinTopicData_initialize(&publicationData);

    DDS_SubscriptionBuiltinTopicData subscriptionData;
    DDS_SubscriptionBuiltinTopicData_initialize(&subscriptionData);

    DDS_WaitSet* waitSet = DDS_WaitSet_new();
    DDS_WaitSet_attach_condition(waitSet,DDS_Entity_get_statuscondition(publicationsDR));
    DDS_StatusCondition_set_enabled_statuses(DDS_Entity_get_statuscondition(publicationsDR), DDS_DATA_AVAILABLE_STATUS);

    DDS_WaitSet_attach_condition(waitSet,DDS_Entity_get_statuscondition(subscriptionsDR));
    DDS_StatusCondition_set_enabled_statuses(DDS_Entity_get_statuscondition(subscriptionsDR), DDS_DATA_AVAILABLE_STATUS);
    struct DDS_ConditionSeq conditionSeq;
    for (;;) {
        while (DDS_PublicationBuiltinTopicDataDataReader_take_next_sample(publicationsDR, &publicationData, &info)
                        == DDS_RETCODE_OK) {

            if (info.view_state == DDS_NEW_VIEW_STATE && info.valid_data) {
                printf("DataWriter (New) name: \"%s\"  topic: \"%s\" type: \"%s\" @%u\n",
                                publicationData.publication_name.name, publicationData.topic_name,
                                publicationData.type_name, (int) publicationData.type_code);

                DDS_TypeCode_print_IDL(publicationData.type_code, 1, &ex);
            }
        }

        while (DDS_SubscriptionBuiltinTopicDataDataReader_take_next_sample(subscriptionsDR, &subscriptionData, &info)
                        == DDS_RETCODE_OK) {

            if (info.view_state == DDS_NEW_VIEW_STATE && info.valid_data) {
                printf("DataReader (New) name: \"%s\"  topic: \"%s\" type: \"%s\" @%u\n",
                                subscriptionData.subscription_name.name, subscriptionData.topic_name,
                                subscriptionData.type_name, (int) subscriptionData.type_code);

                DDS_TypeCode_print_IDL(subscriptionData.type_code, 1, &ex);
            }
        }
        printf("=========================================\n");
        DDS_WaitSet_wait(waitSet, &conditionSeq, &DDS_DURATION_INFINITE);
    }
}