/*******************************************************************************
 (c) 2005-2015 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.
 ******************************************************************************/

#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#ifdef RTI_VX653
#include <vThreadsData.h>
#endif
#include "flights.h"
#include "flightsSupport.h"
#include "ndds/ndds_cpp.h"
#include <map>
using namespace std;
map<string,DDSQueryCondition*> registered_queries_;
/* We remove all the listener code as we won't use any listener */

/* 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;
}

DDSQueryCondition * GenerateQuery(const std::string & key_name, const int key_value,
                                  DDSDataReader* base_data_reader_ )
{
  DDS_StringSeq query_params;
  query_params.ensure_length(1, 1);

  //const std::string params = "'" + std::to_string(key_value) + "'";
  const std::string params = std::to_string(key_value);
  query_params[0] = DDS_String_dup(params.c_str());
  const std::string query = key_name + " = %0";
  if (registered_queries_.find(query) == registered_queries_.end())
    {
      auto dds_query = base_data_reader_->create_querycondition(DDS_NOT_READ_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE, query.c_str(), query_params);
      if (dds_query == nullptr)
        {
          return dds_query;
        }
      registered_queries_[query] = dds_query;
    }
  return registered_queries_[query];
}

extern "C" int subscriber_main(int domainId, int sample_count)
{
  DDSDomainParticipant *participant = NULL;
  DDSSubscriber *subscriber = NULL;
  DDSTopic *topic = NULL;
  DDSDataReader *reader = NULL;
  DDS_ReturnCode_t retcode;
  const char *type_name = NULL;
  int count = 0;

  /* Poll for new samples every second. */
  DDS_Duration_t receive_period = { 1, 0 };
  int status = 0;

  /* Create the Participant. */
  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;
    }

  /* Create a Subscriber. */
  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 = FlightTypeSupport::get_type_name();
  retcode = FlightTypeSupport::register_type(participant, type_name);
  if (retcode != DDS_RETCODE_OK) {
      printf("register_type error %d\n", retcode);
      subscriber_shutdown(participant);
      return -1;
    }

  /* Create a Topic. */
  topic = participant->create_topic(
        "Example Flight",
        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;
    }

  /* Call create_datareader passing NULL in the listener parameter. */
  reader = subscriber->create_datareader(
        topic,
        DDS_DATAREADER_QOS_DEFAULT,
        NULL,
        DDS_STATUS_MASK_ALL);
  if (reader == NULL) {
      printf("create_datareader error\n");
      subscriber_shutdown(participant);
      return -1;
    }

  FlightDataReader *flight_reader = FlightDataReader::narrow(reader);
  if (reader == NULL) {
      printf("DataReader narrow error\n");
      return -1;
    }


  GenerateQuery("altitude",5000,flight_reader);


  /* Main loop */
  for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
      /* Poll for a new samples every second. */
      NDDSUtility::sleep(receive_period);


      /* Iterate through the samples read using the read_w_condition method */
      for(auto i:registered_queries_)
        {
          DDS_StringSeq param;

          auto query = i.second;
          cout << " get_query_expression::" << query->get_query_expression() <<endl;
          query->get_query_parameters(param);
          for(auto i = 0; i <param.length(); i++)
            cout << "get_query_parameters" << i << ":: " << param[i] <<endl;

          DDS_SampleInfoSeq info_seq;
          FlightSeq data_seq;
          retcode = flight_reader->read_w_condition(
                data_seq,
                info_seq,
                DDS_LENGTH_UNLIMITED,
                query);
          if (retcode == DDS_RETCODE_NO_DATA) {
              // Not an error
              continue;
            } else if (retcode != DDS_RETCODE_OK) {
              // Is an error
              printf("take error: %d\n", retcode);
              break;
            }

          for (int i = 0; i < data_seq.length(); ++i) {
              if (info_seq[i].valid_data) {
                  printf("\t[trackId: %d, company: %s, altitude: %d]\n",
                         data_seq[i].trackId,
                         data_seq[i].company,
                         data_seq[i].altitude);
                }
            }

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

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

  return status;
}

#if !(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