/*******************************************************************************
  (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.
 ******************************************************************************/
/* ordered_group_subscriber.cxx

   A subscription example

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

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

Example subscription of type ordered_group 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>/ordered_group_subscriber <domain_id> <sample_count>

(3) Start the publication with the command
objs/<arch>/ordered_group_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>/ordered_group_publisher <domain_id> 
objs/<arch>/ordered_group_subscriber <domain_id> 

On Windows:

objs\<arch>\ordered_group_publisher <domain_id>  
objs\<arch>\ordered_group_subscriber <domain_id>   


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

#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <string>
#ifdef RTI_VX653
#include <vThreadsData.h>
#endif
#include "ordered_group.h"
#include "ordered_groupSupport.h"
#include "ndds/ndds_cpp.h"

////////////////////////////////////////////////////////////////////////
class ordered_groupSubscriberListener : public DDSSubscriberListener {
    public:    
        virtual void on_data_on_readers(DDSSubscriber* subscriber);
};

void ordered_groupSubscriberListener::on_data_on_readers(
        DDSSubscriber* subscriber)
{
    DDSDataReaderSeq MyDataReaders;
    DDS_ReturnCode_t retcode;

    int i;

    /* IMPORTANT for GROUP access scope: Invoking begin_access() */
    subscriber->begin_access(); 

    /* Obtain DataReaders. We obtain a sequence of DataReaders that specifies
       the order in which each sample should be read */
    retcode = subscriber->get_datareaders(MyDataReaders,DDS_ANY_SAMPLE_STATE,
            DDS_ANY_VIEW_STATE,DDS_ANY_INSTANCE_STATE);
    if (retcode != DDS_RETCODE_OK) {
        printf("ERROR error %d\n", retcode);
        /* IMPORTANT. Remember to invoke end_access() before a return call. 
           Also reset DataReaders sequence */
        MyDataReaders.ensure_length(0,0);			
        subscriber->end_access(); 
        return;
    }

    /* Read the samples received, following the DataReaders sequence */
    printf("Sequence of MyDataReaders1, Seq=%d\n", MyDataReaders.length());

    for (i = 0; i<MyDataReaders.length(); i++) {
        printf("Loop start, i=%d\n", i);

        std::string type_name;
        type_name =  MyDataReaders.get_at(i)->get_topicdescription()->get_type_name();

        if (type_name == "bite_msg_t") {
            std::cout << "type name: bite_msg_t" << std::endl;
            DDS_SampleInfo msgInfo;
            DDS_ReturnCode_t  msgRetcode;
            bite_msg_tDataReader *goreader_msg = NULL;
            bite_msg_t     msgData;
            bite_msg_t_initialize(&msgData);

            goreader_msg =
                bite_msg_tDataReader::narrow(MyDataReaders.get_at(i));
            if (goreader_msg == NULL) {
                printf("msg DataReader narrow error\n");
                MyDataReaders.ensure_length(0,0);
                subscriber->end_access();
                return;
            }

            msgRetcode = goreader_msg->take_next_sample(msgData, msgInfo);
            if (msgRetcode == DDS_RETCODE_NO_DATA) {
                continue;
            } else if (msgRetcode != DDS_RETCODE_OK) {
                printf("msg: take error %d\n", msgRetcode);
                continue;
            }

            if (msgInfo.valid_data) {
                bite_msg_tTypeSupport::print_data(&msgData);
            }
        }
        else if (type_name == "bite_iam_cmd_t") {
            std::cout << "type name: bite_iam_cmd_t" << std::endl;
            DDS_SampleInfo cmdInfo;
            DDS_ReturnCode_t  cmdRetcode;
            bite_iam_cmd_tDataReader *goreader_cmd = NULL;
            bite_iam_cmd_t cmdData;
            bite_iam_cmd_t_initialize(&cmdData);

            goreader_cmd =
                bite_iam_cmd_tDataReader::narrow(MyDataReaders.get_at(i));
            if (goreader_cmd == NULL) {
                printf("cmd DataReader narrow error\n");
                MyDataReaders.ensure_length(0,0);
                subscriber->end_access();
                return;
            }

            cmdRetcode = goreader_cmd->take_next_sample(cmdData, cmdInfo);
            if (cmdRetcode == DDS_RETCODE_NO_DATA) {
                continue;
            } else if (cmdRetcode != DDS_RETCODE_OK) {
                printf("cmd: take error %d\n", cmdRetcode);
                continue;
            }

            if (cmdInfo.valid_data) {
                bite_iam_cmd_tTypeSupport::print_data(&cmdData);
            }
        }
        else if (type_name == "bite_iam_reply_t") {
            std::cout << "type name: bite_iam_reply_t" << std::endl;
            DDS_SampleInfo replyInfo;
            DDS_ReturnCode_t  replyRetcode;
            bite_iam_reply_tDataReader *goreader_reply = NULL;
            bite_iam_reply_t replyData;
            bite_iam_reply_t_initialize(&replyData);

            goreader_reply =
                bite_iam_reply_tDataReader::narrow(MyDataReaders.get_at(i));
            if (goreader_reply == NULL) {
                printf("reply DataReader narrow error\n");
                MyDataReaders.ensure_length(0,0);
                subscriber->end_access();
                return;
            }

            replyRetcode = goreader_reply->take_next_sample(replyData, replyInfo);
            if (replyRetcode == DDS_RETCODE_NO_DATA) {
                continue;
            } else if (replyRetcode != DDS_RETCODE_OK) {
                printf("reply: take error %d\n", replyRetcode);
                continue;
            }

            if (replyInfo.valid_data) {
                bite_iam_reply_tTypeSupport::print_data(&replyData);
            }
        }
    }
    MyDataReaders.ensure_length(0,0);

    subscriber->end_access();

}
/////////////////////////////////////////////////////////////////////////

/* 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 *topic1 = NULL;
    DDSTopic *topic2 = NULL;
    DDSTopic *topic3 = NULL;

    ordered_groupSubscriberListener *subscriber_listener = NULL; 

    DDSDataReader *reader1 = NULL;
    DDSDataReader *reader2 = NULL;
    DDSDataReader *reader3 = NULL;

    DDS_ReturnCode_t retcode;
    const char *type_name1 = NULL;
    const char *type_name2 = NULL;
    const char *type_name3 = NULL;
    int count = 0;
    DDS_Duration_t receive_period = {4,0};
    int status = 0;

    /* To customize the participant QoS, use 
       the configuration file USER_QOS_PROFILES.xml */
    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 Subscriber listener and establish on_data_on_readers callback */

    subscriber_listener = new ordered_groupSubscriberListener();

    /* To customize the subscriber QoS, use 
       the configuration file USER_QOS_PROFILES.xml */
    subscriber = participant->create_subscriber(
            DDS_SUBSCRIBER_QOS_DEFAULT, subscriber_listener, 
            DDS_DATA_ON_READERS_STATUS);
    if (subscriber == NULL) {
        printf("create_subscriber error\n");
        subscriber_shutdown(participant);
        delete subscriber_listener;
        return -1;
    }






    /* Register the type before creating the topic */
    type_name1 = bite_msg_tTypeSupport::get_type_name();
    retcode = bite_msg_tTypeSupport::register_type(
            participant, type_name1);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    type_name2 = bite_iam_cmd_tTypeSupport::get_type_name();
    retcode = bite_iam_cmd_tTypeSupport::register_type(
            participant, type_name2);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    type_name3 = bite_iam_reply_tTypeSupport::get_type_name();
    retcode = bite_iam_reply_tTypeSupport::register_type(
            participant, type_name3);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }









    /* TOPICS */ 

    /* To customize the topic QoS, use 
       the configuration file USER_QOS_PROFILES.xml */
    topic1 = participant->create_topic(
            "Topic1",
            type_name1, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (topic1 == NULL) {
        printf("create_topic error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    topic2 = participant->create_topic(
            "Topic2",
            type_name2, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (topic2 == NULL) {
        printf("create_topic error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    topic3 = participant->create_topic(
            "Topic3",
            type_name3, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (topic3 == NULL) {
        printf("create_topic error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    /* DATAREADERS */

    /* To customize the data reader QoS, use 
       the configuration file USER_QOS_PROFILES.xml */
    reader1 = subscriber->create_datareader(
            topic1, DDS_DATAREADER_QOS_DEFAULT, NULL,
            DDS_STATUS_MASK_NONE);
    if (reader1 == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);        
        return -1;
    }

    reader2 = subscriber->create_datareader(
            topic2, DDS_DATAREADER_QOS_DEFAULT, NULL,
            DDS_STATUS_MASK_NONE);
    if (reader2 == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);        
        return -1;
    }

    reader3 = subscriber->create_datareader(
            topic3, DDS_DATAREADER_QOS_DEFAULT, NULL,
            DDS_STATUS_MASK_NONE);
    if (reader3 == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);        
        return -1;
    }

    /* Main loop */
    for (count=0; (sample_count == 0) || (count < sample_count); ++count) {

        printf("ordered_group subscriber sleeping for %d sec...\n",
                receive_period.sec);

        NDDSUtility::sleep(receive_period);
    }

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