/*******************************************************************************
 (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.
 ******************************************************************************/

import java.util.Objects;

import com.rti.dds.domain.DomainParticipant;
import com.rti.dds.domain.DomainParticipantFactory;
import com.rti.dds.infrastructure.ConditionSeq;
import com.rti.dds.infrastructure.Duration_t;
import com.rti.dds.infrastructure.RETCODE_NO_DATA;
import com.rti.dds.infrastructure.RETCODE_TIMEOUT;
import com.rti.dds.infrastructure.ResourceLimitsQosPolicy;
import com.rti.dds.infrastructure.StatusKind;
import com.rti.dds.infrastructure.WaitSet;
import com.rti.dds.subscription.InstanceStateKind;
import com.rti.dds.subscription.ReadCondition;
import com.rti.dds.subscription.SampleInfo;
import com.rti.dds.subscription.SampleInfoSeq;
import com.rti.dds.subscription.SampleStateKind;
import com.rti.dds.subscription.Subscriber;
import com.rti.dds.subscription.ViewStateKind;
import com.rti.dds.topic.Topic;

public class profilesSubscriber extends Application implements AutoCloseable {
    private DomainParticipant participant = null;  // Usually one per
                                                   // application
    private profilesDataReader reader = null;
    private final profilesSeq dataSeq = new profilesSeq();
    private final SampleInfoSeq infoSeq = new SampleInfoSeq();

    private int processData()
    {
        int samplesRead = 0;

        try {
            // Take available data from DataReader's queue
            reader.take(
                    dataSeq,
                    infoSeq,
                    ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
                    SampleStateKind.ANY_SAMPLE_STATE,
                    ViewStateKind.ANY_VIEW_STATE,
                    InstanceStateKind.ANY_INSTANCE_STATE);

            for (int i = 0; i < dataSeq.size(); ++i) {
                SampleInfo info = infoSeq.get(i);

                if (info.valid_data) {
                    System.out.println("Received" + dataSeq.get(i));
                }
                samplesRead++;
            }
        } catch (RETCODE_NO_DATA noData) {
            // No data to process, not a problem
        } finally {
            // Data loaned from Connext for performance. Return loan when done.
            reader.return_loan(dataSeq, infoSeq);
        }

        return samplesRead;
    }

    private void runApplication()
    {
        // Start communicating in a domain
        participant = Objects.requireNonNull(
                DomainParticipantFactory.get_instance().create_participant(
                        getDomainId(),
                        DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
                        null /* listener */,
                        StatusKind.STATUS_MASK_NONE));
        /* If you want to change the DomainParticipant'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_participant call above.
         *
         * This example uses a built-in QoS profile to enable
         * monitoring on the DomainParticipant.*/
        /* participant = DomainParticipantFactory.TheParticipantFactory.
            create_participant_with_profile(
                getDomainId(), "BuiltinQosLib", "Generic.Monitoring.Common",
                null /* listener * /, StatusKind.STATUS_MASK_NONE);
        */

        // A Subscriber allows an application to create one or more DataReaders
        Subscriber subscriber = participant.create_subscriber(
                DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
                null /* listener */,
                StatusKind.STATUS_MASK_NONE);

        // --- Create topic --- //

        // Register the datatype to use when creating the Topic
        String typeName = profilesTypeSupport.get_type_name();
        profilesTypeSupport.register_type(participant, typeName);

        // Create a Topic with a name and a datatype
        Topic topic = Objects.requireNonNull(participant.create_topic(
                "Example profiles",
                typeName,
                DomainParticipant.TOPIC_QOS_DEFAULT,
                null /* listener */,
                StatusKind.STATUS_MASK_NONE));

        // This DataReader reads data on "Example profiles" Topic
        reader = (profilesDataReader) Objects.requireNonNull(
                subscriber.create_datareader(
                        topic,
                        Subscriber.DATAREADER_QOS_DEFAULT,
                        null,
                        StatusKind.STATUS_MASK_ALL));

        /* If you want to change the DataWriter's QoS programatically 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.
         *
         * This example uses a built-in QoS profile to tune the QoS for
         * reliable streaming data. */
        /* profilesDataReader reader = (profilesDataReader)
           Objects.requireNonNull( subscriber.create_datareader_with_profile(
                topic, BuiltinQosProfiles.BUILTIN_QOS_LIB_EXP,
                BuiltinQosProfiles.PROFILE_PATTERN_RELIABLE_STREAMING,
                listener /* listener * /,
                StatusKind.STATUS_MASK_ALL);
        */

        // Create ReadCondition that triggers when data in reader's queue
        ReadCondition condition = reader.create_readcondition(
                SampleStateKind.ANY_SAMPLE_STATE,
                ViewStateKind.ANY_VIEW_STATE,
                InstanceStateKind.ANY_INSTANCE_STATE);

        // WaitSet will be woken when the attached condition is triggered, or
        // timeout
        WaitSet waitset = new WaitSet();
        waitset.attach_condition(condition);
        final Duration_t waitTimeout = new Duration_t(4, 0);

        int samplesRead = 0;
        ConditionSeq activeConditions = new ConditionSeq();

        // Main loop. Wait for data to arrive and process when it arrives
        while (!isShutdownRequested() && samplesRead < getMaxSampleCount()) {
            try {
                // Wait fills in activeConditions or times out
                waitset.wait(activeConditions, waitTimeout);

                // Read condition triggered, process data
                samplesRead += processData();

            } catch (RETCODE_TIMEOUT timeout) {
                // No data received, not a problem
            }
        }
    }

    @Override public void close()
    {
        // Delete all entities (DataReader, Topic, Subscriber,
        // DomainParticipant)
        if (participant != null) {
            participant.delete_contained_entities();

            DomainParticipantFactory.get_instance().delete_participant(
                    participant);
        }
    }

    public static void main(String[] args)
    {
        // Create example and run: Uses try-with-resources,
        // subscriberApplication.close() automatically called
        try (profilesSubscriber subscriberApplication =
                     new profilesSubscriber()) {
            subscriberApplication.parseArguments(args);
            subscriberApplication.addShutdownHook();
            subscriberApplication.runApplication();
        }

        // Releases the memory used by the participant factory. Optional at
        // application exit.
        DomainParticipantFactory.finalize_instance();
    }
}