// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file HelloWorldPublisher.cpp
 *
 */

#include "HelloWorldPublisher.h"

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>

#include <thread>

using namespace eprosima::fastdds::dds;
using namespace eprosima::fastdds::rtps;
using namespace eprosima::fastrtps::rtps;

HelloWorldPublisher::HelloWorldPublisher()
    : participant_(nullptr)
    , publisher_(nullptr)
    , topic_(nullptr)
    , writer_(nullptr)
    , type_(new HelloWorldPubSubType())
{
}

bool HelloWorldPublisher::init()
{
    hello_ = std::make_shared<HelloWorld>();
    hello_->index(0);
    hello_->message("HelloWorld");

    //CREATE THE PARTICIPANT
    DomainParticipantQos pqos;
    pqos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
    pqos.wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
    pqos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
    pqos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
    pqos.name("Participant_pub");

    // Explicit configuration of SharedMem transport
    pqos.transport().use_builtin_transports = false;

    auto shm_transport = std::make_shared<SharedMemTransportDescriptor>();
    shm_transport->segment_size(2 * 1024 * 1024);
    pqos.transport().user_transports.push_back(shm_transport);

    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);

    if (participant_ == nullptr)
    {
        return false;
    }

    //REGISTER THE TYPE
    type_.register_type(participant_);

    //CREATE THE PUBLISHER
    publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT);

    if (publisher_ == nullptr)
    {
        return false;
    }

    //CREATE THE TOPIC
    topic_ = participant_->create_topic("HelloWorldSharedMemTopic", "HelloWorld", TOPIC_QOS_DEFAULT);

    if (topic_ == nullptr)
    {
        return false;
    }

    //CREATE THE DATAWRITER
    DataWriterQos wqos;
    wqos.history().kind = KEEP_LAST_HISTORY_QOS;
    wqos.history().depth = 30;
    wqos.resource_limits().max_samples = 50;
    wqos.resource_limits().allocated_samples = 20;
    wqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 2;
    wqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
    wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
    wqos.publish_mode().kind = ASYNCHRONOUS_PUBLISH_MODE;

    writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);

    if (writer_ == nullptr)
    {
        return false;
    }

    return true;
}

HelloWorldPublisher::~HelloWorldPublisher()
{
    if (writer_ != nullptr)
    {
        publisher_->delete_datawriter(writer_);
    }
    if (publisher_ != nullptr)
    {
        participant_->delete_publisher(publisher_);
    }
    if (topic_ != nullptr)
    {
        participant_->delete_topic(topic_);
    }
    DomainParticipantFactory::get_instance()->delete_participant(participant_);
}

void HelloWorldPublisher::PubListener::on_publication_matched(
        eprosima::fastdds::dds::DataWriter*,
        const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        matched_ = info.total_count;
        first_connected_ = true;
        std::cout << "Publisher matched." << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched_ = info.total_count;
        std::cout << "Publisher unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
    }
}

void HelloWorldPublisher::runThread(
        uint32_t samples,
        uint32_t sleep)
{
    if (samples == 0)
    {
        while (!stop)
        {
            if (publish(false))
            {
                std::cout << "Message: " << hello_->message() << " with index: " << hello_->index() << " SENT" <<
                    std::endl;
            }
            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
        }
    }
    else
    {
        for (uint32_t i = 0; i < samples; ++i)
        {
            if (!publish())
            {
                --i;
            }
            else
            {
                std::cout << "Message: " << hello_->message() << " with index: " << hello_->index() << " SENT" <<
                    std::endl;
            }
            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
        }
    }
}

void HelloWorldPublisher::run(
        uint32_t samples,
        uint32_t sleep)
{
    stop = false;
    std::thread thread(&HelloWorldPublisher::runThread, this, samples, sleep);
    if (samples == 0)
    {
        std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
        std::cin.ignore();
        stop = true;
    }
    else
    {
        std::cout << "Publisher running " << samples << " samples." << std::endl;
    }
    thread.join();
}

bool HelloWorldPublisher::publish(
        bool waitForListener)
{
    if (listener_.first_connected_ || !waitForListener || listener_.matched_ > 0)
    {
        hello_->index(hello_->index() + 1);
        size_t data_size = hello_->data().size();
        std::string s = "BigData" + std::to_string(hello_->index() % 10);
        strcpy(&hello_->data()[data_size - s.length() - 1], s.c_str());

        writer_->write(hello_.get());

        return true;
    }
    return false;
}
