#include <stdio.h>
#include <iostream>
#include "ndds/ndds_cpp.h"

DDS_TypeCode *createTypeCode()
{
    DDS_TypeCodeFactory * factory = NULL;
    DDS_TypeCode * structTc = NULL;
    DDS_ExceptionCode_t ex = DDS_NO_EXCEPTION_CODE;
    DDS_StructMemberSeq structMembers;
    factory = DDS_TypeCodeFactory::get_instance();

    structTc = factory->create_struct_tc("test_type", structMembers, ex);
    structTc->add_member("double_val_first", DDS_TYPECODE_MEMBER_ID_INVALID, factory->get_primitive_tc(DDS_TK_DOUBLE),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    structTc->add_member("double_seq", DDS_TYPECODE_MEMBER_ID_INVALID,
                    factory->create_sequence_tc(20, factory->get_primitive_tc(DDS_TK_DOUBLE), ex),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    structTc->add_member("bool_1", DDS_TYPECODE_MEMBER_ID_INVALID, factory->get_primitive_tc(DDS_TK_BOOLEAN),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    structTc->add_member("ulong_val", DDS_TYPECODE_MEMBER_ID_INVALID, factory->get_primitive_tc(DDS_TK_ULONG),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    structTc->add_member("double_val", DDS_TYPECODE_MEMBER_ID_INVALID, factory->get_primitive_tc(DDS_TK_DOUBLE),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    structTc->add_member("double_val_second", DDS_TYPECODE_MEMBER_ID_INVALID, factory->get_primitive_tc(DDS_TK_DOUBLE),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    structTc->add_member("ulonglong_val", DDS_TYPECODE_MEMBER_ID_INVALID, factory->get_primitive_tc(DDS_TK_ULONGLONG),
                    DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
    return structTc;
}

int main(int argc, char *argv[])
{
    DDS_ExceptionCode_t ex;
    DDS_ReturnCode_t rc;
    DDS_DynamicData seqData(NULL, DDS_DYNAMIC_DATA_PROPERTY_DEFAULT);
    DDS_TypeCode* tc = createTypeCode();
    DDS_DynamicData* data; // = new DDS_DynamicData(tc, DDS_DYNAMIC_DATA_PROPERTY_DEFAULT);
    tc->print_IDL(0, ex);
    DDSDynamicDataTypeSupport* ts = new DDSDynamicDataTypeSupport(tc, DDS_DYNAMIC_DATA_TYPE_PROPERTY_DEFAULT);
    {
        DDS_DoubleSeq seq;
        seq.maximum(0);
        seq.length(0);
        data = ts->create_data();
        rc = data->set_double_seq("double_seq", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, seq);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_ulong("ulong_val", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_double("double_val", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1.0);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_ulonglong("ulonglong_val", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_boolean("bool_1", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, true);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_double("double_val_second", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1.0);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_double("double_val_first", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1.0);
        std::cout << "rc: " << rc << std::endl;
        ts->print_data(data);
        ts->delete_data(data);
    }
    std::cout << "=======================" << std::endl;
    {
        DDS_DoubleSeq seq;
        data = ts->create_data();
        rc = data->set_double_seq("double_seq", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, seq);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_double("double_val", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1.0);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_ulong("ulong_val", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_ulonglong("ulonglong_val", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_boolean("bool_1", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, true);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_double("double_val_second", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1.0);
        std::cout << "rc: " << rc << std::endl;
        rc = data->set_double("double_val_first", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 1.0);
        std::cout << "rc: " << rc << std::endl;
        ts->print_data(data);
        ts->delete_data(data);

    }
}