/*******************************************************************************
 (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.
 ******************************************************************************/
/* partitions_publisher.c

  A publication of data of type partitions

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

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

  Example publication of type partitions 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>/partitions_subscriber <domain_id> <sample_count>

  (3) Start the publication with the command
      objs/<arch>/partitions_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>/partitions_publisher <domain_id>
      objs/<arch>/partitions_subscriber <domain_id>

      On Windows:

      objs\<arch>\partitions_publisher <domain_id>
      objs\<arch>\partitions_subscriber <domain_id>


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

#include "ndds/ndds_c.h"
#include "partitions.h"
#include "partitionsSupport.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;
    partitionsDataWriter *partitions_writer = NULL;
    partitions *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 = { 1, 0 };
    struct DDS_PublisherQos publisher_qos = DDS_PublisherQos_INITIALIZER;
    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;
    }

    /* If you want to change the Partition name programmatically rather than
     * using the XML, you will need to add the following lines to your code
     * and comment out the create_publisher() call bellow.
     */
    retcode = DDS_DomainParticipant_get_default_publisher_qos(
            participant,
            &publisher_qos);
    if (retcode != DDS_RETCODE_OK) {
        printf("get_default_publisher_qos error\n");
        return -1;
    }

    /* We modify the Publisher QoS to include two partition names. By
     * default these will be "ABC" and "foo". */
    /*
    DDS_StringSeq_ensure_length(&publisher_qos.partition.name, 2, 2);
    *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 0) =
      DDS_String_dup("ABC");
    *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 1) =
      DDS_String_dup("foo");
    publisher = DDS_DomainParticipant_create_publisher(participant,
                                                       &publisher_qos,
                                                       NULL,
                                                       DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
      printf("create_publisher 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,
            DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
        printf("create_publisher error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Register type before creating topic */
    type_name = partitionsTypeSupport_get_type_name();
    retcode = partitionsTypeSupport_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 partitions",
            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;
    }


    retcode = DDS_Publisher_get_default_datawriter_qos(
            publisher,
            &datawriter_qos);
    if (retcode != DDS_RETCODE_OK) {
        printf("get_default_datawriter_qos error\n");
        return -1;
    }
    /* In this example we set a Reliable datawriter, with Transient Local
     * durability. By default we set up these QoS settings via XML. If you
     * want to to it programmatically, use the following code, and comment out
     * the create_datawriter call bellow.
     */
    /*
    datawriter_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
    datawriter_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
    datawriter_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
    datawriter_qos.history.depth = 3;

    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;
    }
    */

    writer = DDS_Publisher_create_datawriter(
            publisher,
            topic,
            &DDS_DATAWRITER_QOS_DEFAULT,
            NULL,
            DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
        printf("create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }

    printf("Setting partition to '%s', '%s'...\n",
           DDS_StringSeq_get(&publisher_qos.partition.name, 0),
           DDS_StringSeq_get(&publisher_qos.partition.name, 1));

    partitions_writer = partitionsDataWriter_narrow(writer);
    if (partitions_writer == NULL) {
        printf("DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Create data sample for writing */

    instance = partitionsTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);

    if (instance == NULL) {
        printf("partitionsTypeSupport_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 = partitionsDataWriter_register_instance(
      partitions_writer, instance);
    */

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

        retcode = partitionsDataWriter_write(
                partitions_writer,
                instance,
                &instance_handle);
        if (retcode != DDS_RETCODE_OK) {
            printf("write error %d\n", retcode);
        }

        /* Every 5 samples we will change the Partition name. These are the
         * partition expressions we are going to try:
         * "bar", "A*", "A?C", "X*Z", "zzz", "A*C"
         */
        if ((count + 1) % 25 == 0) {
            /* Matches "ABC" -- name[1] here can match name[0] there,
             * as long as there is some overlapping name */
            *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 0) =
                    DDS_String_dup("zzz");
            *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 1) =
                    DDS_String_dup("A*C");

            printf("Setting partition to '%s', '%s'...\n",
                   DDS_StringSeq_get(&publisher_qos.partition.name, 0),
                   DDS_StringSeq_get(&publisher_qos.partition.name, 1));
            DDS_Publisher_set_qos(publisher, &publisher_qos);
        } else if ((count + 1) % 20 == 0) {
            /* Strings that are regular expressions aren't tested for
             * literal matches, so this won't match "X*Z" */
            *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 0) =
                    DDS_String_dup("X*Z");
            printf("Setting partition to '%s', '%s'...\n",
                   DDS_StringSeq_get(&publisher_qos.partition.name, 0),
                   DDS_StringSeq_get(&publisher_qos.partition.name, 1));
            DDS_Publisher_set_qos(publisher, &publisher_qos);
        } else if ((count + 1) % 15 == 0) {
            /* Matches "ABC" */
            *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 0) =
                    DDS_String_dup("A?C");
            printf("Setting partition to '%s', '%s'...\n",
                   DDS_StringSeq_get(&publisher_qos.partition.name, 0),
                   DDS_StringSeq_get(&publisher_qos.partition.name, 1));
            DDS_Publisher_set_qos(publisher, &publisher_qos);
        } else if ((count + 1) % 10 == 0) {
            /* Matches "ABC" */
            *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 0) =
                    DDS_String_dup("A*");
            printf("Setting partition to '%s', '%s'...\n",
                   DDS_StringSeq_get(&publisher_qos.partition.name, 0),
                   DDS_StringSeq_get(&publisher_qos.partition.name, 1));
            DDS_Publisher_set_qos(publisher, &publisher_qos);
        } else if ((count + 1) % 5 == 0) {
            /* No literal match for "bar"*/
            *DDS_StringSeq_get_reference(&publisher_qos.partition.name, 0) =
                    DDS_String_dup("bar");
            printf("Setting partition to '%s', '%s'...\n",
                   DDS_StringSeq_get(&publisher_qos.partition.name, 0),
                   DDS_StringSeq_get(&publisher_qos.partition.name, 1));
            DDS_Publisher_set_qos(publisher, &publisher_qos);
        }

        NDDS_Utility_sleep(&send_period);
    }

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

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