/*******************************************************************************
 (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.
 ******************************************************************************/
using System;
using System.Collections.Generic;
using System.Text;
using System.Timers;
/* cfc_subscriber.cs

   A subscription example

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

   rtiddsgen -language C# -example <arch> cfc.idl

   Example subscription of type cfc 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>\cfc_subscriber <domain_id> <sample_count>

   (3) Start the publication with the command
       objs\<arch>\cfc_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>:
                          
       bin\<Debug|Release>\cfc_publisher <domain_id> <sample_count>  
       bin\<Debug|Release>\cfc_subscriber <domain_id> <sample_count>
              
       
modification history
------------ -------
*/

public class cfcSubscriber {

    public class cfcListener : DDS.DataReaderListener {

        public override void on_requested_deadline_missed(
            DDS.DataReader reader,
            ref DDS.RequestedDeadlineMissedStatus status) {}
    
        public override void on_requested_incompatible_qos(
            DDS.DataReader reader,
            DDS.RequestedIncompatibleQosStatus status) {}
    
        public override void on_sample_rejected(
            DDS.DataReader reader,
            ref DDS.SampleRejectedStatus status) {}

        public override void on_liveliness_changed(
            DDS.DataReader reader,
            ref DDS.LivelinessChangedStatus status) {}

        public override void on_sample_lost(
            DDS.DataReader reader,
            ref DDS.SampleLostStatus status) {}

        public override void on_subscription_matched(
            DDS.DataReader reader,
            ref DDS.SubscriptionMatchedStatus status) {}

        public override void on_data_available(DDS.DataReader reader) {
            cfcDataReader cfc_reader =
                (cfcDataReader)reader;
            
            try {
                cfc_reader.take(
                    data_seq,
                    info_seq,
                    DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
                    DDS.SampleStateKind.ANY_SAMPLE_STATE,
                    DDS.ViewStateKind.ANY_VIEW_STATE,
                    DDS.InstanceStateKind.ANY_INSTANCE_STATE);
            }
            catch(DDS.Retcode_NoData) {
                return;
            }
            catch(DDS.Exception e) {
                Console.WriteLine("take error {0}", e);
                return;
            }

            System.Int32 data_length = data_seq.length;
            for (int i = 0; i < data_length; ++i) {
                if (info_seq.get_at(i).valid_data) {
                    /* Start changes for custom_flowcontroller */
                    // print the time we get each sample.
                    Console.WriteLine("@ t={0}, got x = {1}",
                        (System.Double)intervals / 100.0,
                        data_seq.get_at(i).x);
                    /* End changes for custom_flowcontroller */
                }
            }

            try {
                cfc_reader.return_loan(data_seq, info_seq);
            }
            catch(DDS.Exception e) {
                Console.WriteLine("return loan error {0}", e);
            }
        }
        
        public void OnTimer( Object source, ElapsedEventArgs e ) {
            intervals++;
        }

        
        public cfcListener() {
            data_seq = new cfcSeq();
            info_seq = new DDS.SampleInfoSeq();
            timer.Elapsed += new ElapsedEventHandler(OnTimer);
            timer.Interval = 10; // every 10 ms 
            timer.Enabled = true;
            timer.Start();
        }

        private cfcSeq data_seq;
        private DDS.SampleInfoSeq info_seq;
        private Timer timer = new Timer();
        System.UInt32 intervals = 0;
    };

    public static void Main(string[] args) {

        // --- Get domain ID --- //
        int domain_id = 0;
        if (args.Length >= 1) {
            domain_id = Int32.Parse(args[0]);
        }

        // --- Get max loop count; 0 means infinite loop  --- //
        int sample_count = 0;
        if (args.Length >= 2) {
            sample_count = Int32.Parse(args[1]);
        }

        /* Uncomment this to turn on additional logging
        NDDS.ConfigLogger.get_instance().set_verbosity_by_category(
            NDDS.LogCategory.NDDS_CONFIG_LOG_CATEGORY_API, 
            NDDS.LogVerbosity.NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
        */

        // --- Run --- //
        try {
            cfcSubscriber.subscribe(
                domain_id, sample_count);
        }
        catch(DDS.Exception) {
            Console.WriteLine("error in subscriber");
        }
    }

    static void subscribe(int domain_id, int sample_count) {

        // --- Create participant --- //

        /* To customize the participant QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.DomainParticipant participant =
            DDS.DomainParticipantFactory.get_instance().create_participant(
                domain_id,
                DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
                null /* listener */,
                DDS.StatusMask.STATUS_MASK_NONE);
        if (participant == null) {
            shutdown(participant);
            throw new ApplicationException("create_participant error");
        }

        /* If you want to change the Participant'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.
         */
        /* By default, discovery will communicate via shared memory for 
         * platforms that support it.  Because we disable shared memory on the 
         * publishing side, we do so here to ensure the reader and writer 
         * discover each other.
         */
        /* Get default participant QoS to customize */
/*
        DDS.DomainParticipantQos participant_qos = 
                new DDS.DomainParticipantQos();
        try {
            DDS.DomainParticipantFactory.get_instance().
                get_default_participant_qos(participant_qos);
        } catch (DDS.Exception e) {
            Console.WriteLine("get_default_participant_qos error {0}", e);
              throw e;
        }

        // By default, data will be sent via shared memory _and_ UDPv4.  Because
        // the flowcontroller limits writes across all interfaces, this halves
        // the effective send rate.  To avoid this, we enable only the UDPv4 
        // transport

        participant_qos.transport_builtin.mask = 
                (int) DDS.TransportBuiltinKind.TRANSPORTBUILTIN_UDPv4;

        // To create participant with default QoS, use 
        // DDS_PARTICIPANT_QOS_DEFAULT instead of participant_qos 
        
        DDS.DomainParticipant participant = 
            DDS.DomainParticipantFactory.get_instance().create_participant(
                domain_id,
                participant_qos,
                null,
                DDS.StatusMask.STATUS_MASK_NONE);
        if (participant == null) {
            shutdown(participant);
            throw new ApplicationException("create_participant error");
        }
*/
        /* End changes for custom_flowcontroller */
        // --- Create subscriber --- //

        /* To customize the subscriber QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.Subscriber subscriber = participant.create_subscriber(
            DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (subscriber == null) {
            shutdown(participant);
            throw new ApplicationException("create_subscriber error");
        }

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

        /* Register the type before creating the topic */
        System.String type_name = cfcTypeSupport.get_type_name();
        try {
            cfcTypeSupport.register_type(
                participant, type_name);
        }
        catch(DDS.Exception e) {
            Console.WriteLine("register_type error {0}", e);
            shutdown(participant);
            throw e;
        }

        /* To customize the topic QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.Topic topic = participant.create_topic(
            "Example cfc",
            type_name,
            DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (topic == null) {
            shutdown(participant);
            throw new ApplicationException("create_topic error");
        }

        // --- Create reader --- //

        /* Create a data reader listener */
        cfcListener reader_listener =
            new cfcListener();

        /* To customize the data reader QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.DataReader reader = subscriber.create_datareader(
            topic,
            DDS.Subscriber.DATAREADER_QOS_DEFAULT,
            reader_listener,
            DDS.StatusMask.STATUS_MASK_ALL);
        if (reader == null) {
            shutdown(participant);
            reader_listener = null;
            throw new ApplicationException("create_datareader error");
        }

        // --- Wait for data --- //

        /* Main loop */
        const System.Int32 receive_period = 1000; // milliseconds
        for (int count=0;
             (sample_count == 0) || (count < sample_count);
             ++count) {

            System.Threading.Thread.Sleep(receive_period);
        }

        // --- Shutdown --- //

        /* Delete all entities */
        shutdown(participant);
        reader_listener = null;
    }


    static void shutdown(
        DDS.DomainParticipant participant) {

        /* Delete all entities */

        if (participant != null) {
            participant.delete_contained_entities();
            DDS.DomainParticipantFactory.get_instance().delete_participant(
                ref participant);
        }

        /* RTI Connext provides 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. */
        /*
        try {
            DDS.DomainParticipantFactory.finalize_instance();
        }
        catch(DDS.Exception e) {
            Console.WriteLine("finalize_instance error {0}", e);
            throw e;
        }
        */
    }
}