/*******************************************************************************
 (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.
 ******************************************************************************/
/* listeners_publisher.c

   A publication of data of type listeners

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

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

   Example publication of type listeners 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>/listeners_subscriber <domain_id> <sample_count>

   (3) Start the publication with the command
   objs/<arch>/listeners_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>/listeners_publisher <domain_id>
   objs/<arch>/listeners_subscriber <domain_id>

   On Windows:

   objs\<arch>\listeners_publisher <domain_id>
   objs\<arch>\listeners_subscriber <domain_id>


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

#include "listeners.h"
#include "listenersSupport.h"
#include "ndds/ndds_c.h"
#include <stdio.h>
#include <stdlib.h>

void DataWriterListener_on_offered_deadline_missed(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_OfferedDeadlineMissedStatus *status)
{
    printf("DataWriterListener: on_offered_deadline_missed()\n");
}

void DataWriterListener_on_liveliness_lost(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_LivelinessLostStatus *status)
{
    printf("DataWriterListener: on_liveliness_lost()\n");
}

void DataWriterListener_on_offered_incompatible_qos(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_OfferedIncompatibleQosStatus *status)
{
    printf("DataWriterListener: on_offered_incompatible_qos()\n");
}

void DataWriterListener_on_publication_matched(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_PublicationMatchedStatus *status)
{
    printf("DataWriterListener: on_publication_matched()\n");
    if (status->current_count_change < 0) {
        printf("lost a subscription\n");
    } else {
        printf("found a subscription\n");
    }
}

void DataWriterListener_on_reliable_writer_cache_changed(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_ReliableWriterCacheChangedStatus *status)
{
    printf("DataWriterListener: on_reliable_writer_cache_changed()\n");
}

void DataWriterListener_on_reliable_reader_activity_changed(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_ReliableReaderActivityChangedStatus *status)
{
    printf("DataWriterListener: on_reliable_reader_activity_changed()\n");
}

void DataWratierListener_on_sample_removed(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_Cookie_t *cookie)
{
    printf("DataWriterListener: on_sample_removed()\n");
}

void DataWratierListener_on_instance_replaced(
        void *listener_data,
        DDS_DataWriter *writer,
        const DDS_InstanceHandle_t *handle)
{
    printf("DataWriterListener: on_instance_replaced()\n");
}

void DataWratierListener_on_application_acknowledgment(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_AcknowledgmentInfo *info)
{
    printf("DataWriterListener: on_application_acknowledgmentd()\n");
}

void DataWratierListener_on_service_request_accepted(
        void *listener_data,
        DDS_DataWriter *writer,
        const struct DDS_ServiceRequestAcceptedStatus *status)
{
    printf("DataWriterListener: on_service_request_accepted()\n");
}

/* 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;
    listenersDataWriter *listeners_writer = NULL;
    listeners *instance = NULL;
    DDS_ReturnCode_t retcode;
    DDS_InstanceHandle_t instance_handle = DDS_HANDLE_NIL;
    const char *type_name = NULL;

    struct DDS_DataWriterListener writer_listener =
            DDS_DataWriterListener_INITIALIZER;

    DDS_Topic *inconsistent_topic = NULL;
    DDS_DataWriter *inconsistent_topic_writer = NULL;
    const char *inconsistent_topic_type_name = NULL;
    msgDataWriter *msg_writer = NULL;

    int count = 0;
    struct DDS_Duration_t send_period = { 1, 0 };
    struct DDS_Duration_t sleep_period = { 2, 0 };

    /* 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;
    }

    /* Create ande Delete Inconsistent Topic
     * ---------------------------------------------------------------
     * Here we create an inconsistent topic to trigger the subscriber
     * application's callback.
     * The inconsistent topic is created with the topic name used in
     * the Subscriber application, but with a different data type --
     * the msg data type defined in partitions.idl.
     * Once it is created, we sleep to ensure the applications discover
     * each other and delete the Data Writer and Topic.
     */

    /* First we register the msg type -- we name it
     * inconsistent_topic_type_name to avoid confusion.
     */
    printf("Creating Inconsistent Topic...  \n");

    inconsistent_topic_type_name = msgTypeSupport_get_type_name();
    retcode = msgTypeSupport_register_type(
            participant,
            inconsistent_topic_type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        publisher_shutdown(participant);
        return -1;
    }

    inconsistent_topic = DDS_DomainParticipant_create_topic(
            participant,
            "Example listeners",
            inconsistent_topic_type_name,
            &DDS_TOPIC_QOS_DEFAULT,
            NULL,
            DDS_STATUS_MASK_NONE);
    if (inconsistent_topic == NULL) {
        printf("create_topic error (inconsistent topic)\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* We have to associate a writer to the topic, as Topic information is not
     * actually propagated until the creation of an associated writer.
     */
    inconsistent_topic_writer = DDS_Publisher_create_datawriter(
            publisher,
            inconsistent_topic,
            &DDS_DATAWRITER_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (inconsistent_topic_writer == NULL) {
        printf("create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }

    msg_writer = msgDataWriter_narrow(inconsistent_topic_writer);
    if (msg_writer == NULL) {
        printf("DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Sleep to leave time for applications to discover each other */
    NDDS_Utility_sleep(&sleep_period);

    /* Before creating the "consistent" topic, we delete the Data Writer and the
     * inconsistent topic.
     */
    retcode = DDS_Publisher_delete_datawriter(
            publisher,
            inconsistent_topic_writer);
    if (retcode != DDS_RETCODE_OK) {
        printf("delete_datawriter error %d\n", retcode);
        publisher_shutdown(participant);
        return -1;
    }

    retcode =
            DDS_DomainParticipant_delete_topic(participant, inconsistent_topic);
    if (retcode != DDS_RETCODE_OK) {
        printf("delete_topic error %d\n", retcode);
        publisher_shutdown(participant);
        return -1;
    }

    printf("... Deleted Inconsistent Topic\n\n");

    /* Create Consistent Topic
     * -----------------------------------------------------------------
     * Once we have created the inconsistent topic with the wrong type,
     * we create a topic with the right type name -- listeners -- that we
     * will use to publish data.
     */

    /* Register type before creating topic */
    type_name = listenersTypeSupport_get_type_name();
    retcode = listenersTypeSupport_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 listeners",
            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;
    }


    /* We will use the Data Writer Listener defined above to print
     * a message when some of events are triggered in the DataWriter.
     * To do that, first we have to pass the writer_listener and then
     * we have to enable all status in the status mask.
     */

    /* Set up participant listener */
    writer_listener.on_offered_deadline_missed =
            DataWriterListener_on_offered_deadline_missed;
    writer_listener.on_liveliness_lost = DataWriterListener_on_liveliness_lost;
    writer_listener.on_offered_incompatible_qos =
            DataWriterListener_on_offered_incompatible_qos;
    writer_listener.on_publication_matched =
            DataWriterListener_on_publication_matched;
    writer_listener.on_reliable_writer_cache_changed =
            DataWriterListener_on_reliable_writer_cache_changed;
    writer_listener.on_reliable_reader_activity_changed =
            DataWriterListener_on_reliable_reader_activity_changed;
    writer_listener.on_sample_removed = DataWratierListener_on_sample_removed;
    writer_listener.on_instance_replaced =
            DataWratierListener_on_instance_replaced;
    writer_listener.on_application_acknowledgment =
            DataWratierListener_on_application_acknowledgment;
    writer_listener.on_service_request_accepted =
            DataWratierListener_on_service_request_accepted;

    writer = DDS_Publisher_create_datawriter(
            publisher,
            topic,
            &DDS_DATAWRITER_QOS_DEFAULT,
            &writer_listener /* listener */,
            DDS_STATUS_MASK_ALL /* enable all statuses */);
    if (writer == NULL) {
        printf("create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }
    listeners_writer = listenersDataWriter_narrow(writer);
    if (listeners_writer == NULL) {
        printf("DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Create data sample for writing */
    instance = listenersTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);


    if (instance == NULL) {
        printf("listenersTypeSupport_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 = listenersDataWriter_register_instance(
      listeners_writer, instance);
    */

    printf("Publishing data using Consinstent Topic... \n");
    /* Main loop */
    for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
        printf("Writing listeners, count %d\n", count);

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

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

        NDDS_Utility_sleep(&send_period);
    }

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

    /* Delete data sample */
    retcode = listenersTypeSupport_delete_data_ex(instance, DDS_BOOLEAN_TRUE);
    if (retcode != DDS_RETCODE_OK) {
        printf("listenersTypeSupport_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