/*******************************************************************************
 (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.
 ******************************************************************************/
/* async_publisher.c

   A publication of data of type async

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

   rtiddsgen -language C -example <arch> async.idl

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

   (1) Compile this file and the example subscription.

   (2) Start the subscription with the command
       objs/<arch>/async_subscriber <domain_id> <sample_count>

   (3) Start the publication with the command
       objs/<arch>/async_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>/async_publisher <domain_id>
       objs/<arch>/async_subscriber <domain_id>

       On Windows:

       objs\<arch>\async_publisher <domain_id>
       objs\<arch>\async_subscriber <domain_id>


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

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

/* Delete all entities */
static int publisher_shutdown(DDS_DomainParticipant *participant)
{
    DDS_ReturnCode_t retcode;
    int status = 0;

    if (participant != NULL) {
        retcode = DDS_DomainParticipant_delete_contained_entities(participant);
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_contained_entities error %d\n", retcode);
            status = -1;
        }

        retcode = DDS_DomainParticipantFactory_delete_participant(
                DDS_TheParticipantFactory,
                participant);
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_participant error %d\n", retcode);
            status = -1;
        }
    }

    /* RTI Connext provides 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 = DDS_DomainParticipantFactory_finalize_instance();
        if (retcode != DDS_RETCODE_OK) {
            printf("finalize_instance error %d\n", retcode);
            status = -1;
        }
    */

    return status;
}

static int publisher_main(int domainId, int sample_count)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Publisher *publisher = NULL;
    DDS_Topic *topic = NULL;
    DDS_DataWriter *writer = NULL;
    asyncDataWriter *async_writer = NULL;
    async *instance = NULL;
    DDS_ReturnCode_t retcode;
    DDS_InstanceHandle_t instance_handle = DDS_HANDLE_NIL;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Duration_t send_period = { 0, 100000000 };
    /*    struct DDS_DataWriterQos datawriter_qos =
     * DDS_DataWriterQos_INITIALIZER;*/


    /* To customize participant QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    participant = DDS_DomainParticipantFactory_create_participant(
            DDS_TheParticipantFactory,
            domainId,
            &DDS_PARTICIPANT_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        printf("create_participant error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize publisher QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    publisher = DDS_DomainParticipant_create_publisher(
            participant,
            &DDS_PUBLISHER_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
        printf("create_publisher error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Register type before creating topic */
    type_name = asyncTypeSupport_get_type_name();
    retcode = asyncTypeSupport_register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
            participant,
            "Example async",
            type_name,
            &DDS_TOPIC_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        printf("create_topic error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize data writer QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    writer = DDS_Publisher_create_datawriter(
            publisher,
            topic,
            &DDS_DATAWRITER_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
        printf("create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* If you want to change the DataWriter's QoS programmatically rather than
     * using the XML file, you will need to add the following lines to your
     * code and comment out the create_datawriter call above.
     *
     * In this case, we set the publish mode qos to asynchronous publish mode,
     * which enables asynchronous publishing.  We also set the flow controller
     * to be the fixed rate flow controller, and we increase the history depth.
     */
    /*
/* Start changes for Asynchronous_Publication */

    /* Get default datawriter QoS to customize */
    /*    retcode = DDS_Publisher_get_default_datawriter_qos(publisher,
       &datawriter_qos); if (retcode != DDS_RETCODE_OK) {
            printf("get_default_datawriter_qos error\n");
            return -1;
        }

    */    /* Since samples are only being sent once per second, datawriter will need
       to keep them on queue.  History defaults to only keeping the last
       sample enqueued, so we increase that here.
    */
    /*    datawriter_qos.history.depth = 12;

    */    /* Set flowcontroller for datawriter */
    /*    datawriter_qos.publish_mode.kind = DDS_ASYNCHRONOUS_PUBLISH_MODE_QOS;
        datawriter_qos.publish_mode.flow_controller_name =
       DDS_FIXED_RATE_FLOW_CONTROLLER_NAME;

    */    /* To create datawriter with default QoS, use DDS_DATAWRITER_QOS_DEFAULT
       instead of datawriter_qos */

    /*    writer = DDS_Publisher_create_datawriter(
            publisher, topic,
            &datawriter_qos, NULL, DDS_STATUS_MASK_NONE);
        if (writer == NULL) {
            printf("create_datawriter error\n");
            publisher_shutdown(participant);
            return -1;
        }
    */
    async_writer = asyncDataWriter_narrow(writer);
    if (async_writer == NULL) {
        printf("DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Create data sample for writing */

    instance = asyncTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);

    if (instance == NULL) {
        printf("asyncTypeSupport_create_data error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* For a data type that has a key, if the same instance is going to be
       written multiple times, initialize the key here
       and register the keyed instance prior to writing */
    /*
        instance_handle = asyncDataWriter_register_instance(
            async_writer, instance);
    */

    /* Main loop */
    for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
        printf("Writing async, count %d\n", count);

        /* Modify the data to be written here */
        /* send count as data. */
        instance->x = count;

        /* Write data */
        retcode =
                asyncDataWriter_write(async_writer, instance, &instance_handle);
        if (retcode != DDS_RETCODE_OK) {
            printf("write error %d\n", retcode);
        }

        NDDS_Utility_sleep(&send_period);
    }

    /* Changes for Asynchronous_Publication */
    /* Give time for publisher to send out last few samples */
    send_period.sec = 1;
    NDDS_Utility_sleep(&send_period);

    /*
        retcode = asyncDataWriter_unregister_instance(
            async_writer, instance, &instance_handle);
        if (retcode != DDS_RETCODE_OK) {
            printf("unregister instance error %d\n", retcode);
        }
    */

    /* Delete data sample */
    retcode = asyncTypeSupport_delete_data_ex(instance, DDS_BOOLEAN_TRUE);
    if (retcode != DDS_RETCODE_OK) {
        printf("asyncTypeSupport_delete_data error %d\n", retcode);
    }

    /* Cleanup and delete delete all entities */
    return publisher_shutdown(participant);
}

#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
    NDDS_Config_Logger_set_verbosity_by_category(
        NDDS_Config_Logger_get_instance(),
        NDDS_CONFIG_LOG_CATEGORY_API,
        NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return publisher_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
    NDDS_Config_Logger_set_verbosity_by_category(
        NDDS_Config_Logger_get_instance(),
        NDDS_CONFIG_LOG_CATEGORY_API,
        NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return publisher_main(domainId, sample_count);
}
#endif

#ifdef RTI_VX653
const unsigned char *__ctype = NULL;

void usrAppInit()
{
    #ifdef USER_APPL_INIT
    USER_APPL_INIT; /* for backwards compatibility */
    #endif

    /* add application specific code here */
    taskSpawn(
            "pub",
            RTI_OSAPI_THREAD_PRIORITY_NORMAL,
            0x8,
            0x150000,
            (FUNCPTR) publisher_main,
            0,
            0,
            0,
            0,
            0,
            0,
            0,
            0,
            0,
            0);
}
#endif