/*******************************************************************************

 * (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.

 * ******************************************************************************/
/* msg_subscriber.c

   A subscription example

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

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

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

   (1) Compile this file and the example publication.

   (2) Start the subscription on the same domain used for RTI Data Distribution
       Service  with the command
       objs/<arch>/msg_subscriber <domain_id> <sample_count>

   (3) Start the publication on the same domain used for RTI Data Distribution
       Service with the command
       objs/<arch>/msg_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>/msg_publisher <domain_id>
       objs/<arch>/msg_subscriber <domain_id>

       On Windows:

       objs\<arch>\msg_publisher <domain_id>
       objs\<arch>\msg_subscriber <domain_id>


modification history
------------ -------
* Set user_data QoS fields in participant and datareader with
  strings given on command line

* Do not ignore data readers since it is a bad security practice.

* Fix null char in participant user_data field.
*/

#include "msg.h"
#include "msgSupport.h"
#include "ndds/ndds_c.h"
#include <stdio.h>
#include <stdlib.h>

void msgListener_on_requested_deadline_missed(
        void *listener_data,
        DDS_DataReader *reader,
        const struct DDS_RequestedDeadlineMissedStatus *status)
{
}

void msgListener_on_requested_incompatible_qos(
        void *listener_data,
        DDS_DataReader *reader,
        const struct DDS_RequestedIncompatibleQosStatus *status)
{
}

void msgListener_on_sample_rejected(
        void *listener_data,
        DDS_DataReader *reader,
        const struct DDS_SampleRejectedStatus *status)
{
}

void msgListener_on_liveliness_changed(
        void *listener_data,
        DDS_DataReader *reader,
        const struct DDS_LivelinessChangedStatus *status)
{
}

void msgListener_on_sample_lost(
        void *listener_data,
        DDS_DataReader *reader,
        const struct DDS_SampleLostStatus *status)
{
}

void msgListener_on_subscription_matched(
        void *listener_data,
        DDS_DataReader *reader,
        const struct DDS_SubscriptionMatchedStatus *status)
{
}

void msgListener_on_data_available(void *listener_data, DDS_DataReader *reader)
{
    msgDataReader *msg_reader = NULL;
    struct msgSeq data_seq = DDS_SEQUENCE_INITIALIZER;
    struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
    DDS_ReturnCode_t retcode;
    int i;

    msg_reader = msgDataReader_narrow(reader);
    if (msg_reader == NULL) {
        printf("DataReader narrow error\n");
        return;
    }

    retcode = msgDataReader_take(
            msg_reader,
            &data_seq,
            &info_seq,
            DDS_LENGTH_UNLIMITED,
            DDS_ANY_SAMPLE_STATE,
            DDS_ANY_VIEW_STATE,
            DDS_ANY_INSTANCE_STATE);
    if (retcode == DDS_RETCODE_NO_DATA) {
        return;
    } else if (retcode != DDS_RETCODE_OK) {
        printf("take error %d\n", retcode);
        return;
    }

    for (i = 0; i < msgSeq_get_length(&data_seq); ++i) {
        if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
            msgTypeSupport_print_data(msgSeq_get_reference(&data_seq, i));
        }
    }

    retcode = msgDataReader_return_loan(msg_reader, &data_seq, &info_seq);
    if (retcode != DDS_RETCODE_OK) {
        printf("return loan error %d\n", retcode);
    }
}

/* Delete all entities */
static int subscriber_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 Data Distribution Service provides the finalize_instance() method on
       domain participant factory for users 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
        subscriber_main(int domain_id, int sample_count, char *participant_auth)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Subscriber *subscriber = NULL;
    DDS_Topic *topic = NULL;
    struct DDS_DataReaderListener reader_listener =
            DDS_DataReaderListener_INITIALIZER;
    DDS_DataReader *reader = NULL;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Duration_t poll_period = { 1, 0 };
    struct DDS_DomainParticipantQos participant_qos =
            DDS_DomainParticipantQos_INITIALIZER;
    int len, max;

    retcode = DDS_DomainParticipantFactory_get_default_participant_qos(
            DDS_TheParticipantFactory,
            &participant_qos);
    if (retcode != DDS_RETCODE_OK) {
        printf("get_default_participant_qos error\n");
        return -1;
    }

    /* The maximum length for USER_DATA QoS field is set by default
       to 256 bytes. To increase it programmatically uncomment the
       following line of code. */
    /*
    participant_qos.resource_limits.participant_user_data_max_length = 1024;
    */

    /* We include the subscriber credentials into de USER_DATA QoS. */
    len = strlen(participant_auth) + 1;
    max = participant_qos.resource_limits.participant_user_data_max_length;

    if (len > max) {
        printf("error, participant user_data exceeds resource limits\n");
    } else {
        /*
         *  DDS_Octet is defined to be 8 bits.  If chars are not 8 bits
         *  on your system, this will not work.
         */
        DDS_OctetSeq_from_array(
                &participant_qos.user_data.value,
                (DDS_Octet *) (participant_auth),
                len);
    }

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

    /* Done!  All the listeners are installed, so we can enable the
     * participant now.
     */
    if (DDS_Entity_enable((DDS_Entity *) participant) != DDS_RETCODE_OK) {
        printf("***Error: Failed to Enable Participant\n");
        return -1;
    }

    /* To customize subscriber QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    subscriber = DDS_DomainParticipant_create_subscriber(
            participant,
            &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 = msgTypeSupport_get_type_name();
    retcode = msgTypeSupport_register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
            participant,
            "Example msg",
            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;
    }

    /* Set up a data reader listener */
    reader_listener.on_requested_deadline_missed =
            msgListener_on_requested_deadline_missed;
    reader_listener.on_requested_incompatible_qos =
            msgListener_on_requested_incompatible_qos;
    reader_listener.on_sample_rejected = msgListener_on_sample_rejected;
    reader_listener.on_liveliness_changed = msgListener_on_liveliness_changed;
    reader_listener.on_sample_lost = msgListener_on_sample_lost;
    reader_listener.on_subscription_matched =
            msgListener_on_subscription_matched;
    reader_listener.on_data_available = msgListener_on_data_available;

    /* To customize data reader QoS, use
       the configuration file USER_QOS_PROFILES.xml */
    reader = DDS_Subscriber_create_datareader(
            subscriber,
            DDS_Topic_as_topicdescription(topic),
            &DDS_DATAREADER_QOS_DEFAULT,
            &reader_listener,
            DDS_STATUS_MASK_ALL);
    if (reader == NULL) {
        printf("create_datareader error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    /* Main loop */
    for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
        /*
         printf("msg subscriber sleeping for %d sec...\n",
         poll_period.sec);
         */
        NDDS_Utility_sleep(&poll_period);
    }

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

int main(int argc, char *argv[])
{
    int domain_id = 0;
    int sample_count = 0; /* infinite loop */

    /*
     * Changes for Builtin_Topics
     * Get arguments for auth strings and pass to subscriber_main()
     */

    char *participant_auth = "password";

    if (argc >= 2) {
        domain_id = atoi(argv[1]);
    }
    if (argc >= 3) {
        sample_count = atoi(argv[2]);
    }
    if (argc >= 4) {
        participant_auth = argv[3];
    }

    /* 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);
    */

    subscriber_main(domain_id, sample_count, participant_auth);
    return 0;
}