// 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 Subscriber.cxx
 * This file contains the implementation of the subscriber functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include "Subscriber.hpp"

#include <condition_variable>
#include <stdexcept>

#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>

#include "WeighingDDSTypePubSubTypes.hpp"

#include "msg.hpp"

using namespace eprosima::fastdds::dds;

SubscriberApp::SubscriberApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , subscriber_(nullptr)
    , bar_topic_(nullptr)
    , bar_reader_(nullptr)
    , bar_type_(new WeighingSystem::BarCommandUpdatePubSubType())
    , samples_received_(0)
    , stop_(false)
{
    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("IoCtrl_sub_participant");
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
    pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
    factory_ = DomainParticipantFactory::get_shared_instance();
    participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
    if (participant_ == nullptr)
    {
        throw std::runtime_error("InternalSystem::IoCtrlReq Participant initialization failed");
    }

    // Create the subscriber                            
    SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;    
    participant_->get_default_subscriber_qos(sub_qos); 
    subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());  ← 新增
    if (subscriber_ == nullptr)                        
    {                                                  
        throw std::runtime_error("IoCtrl Subscriber initialization failed"); 
    }              

    // Register the type                               
    bar_type_.register_type(participant_);
    
    // 创建 BarCommandUpdate Topic
    TopicQos bar_topic_qos = TOPIC_QOS_DEFAULT;        
    participant_->get_default_topic_qos(bar_topic_qos);
    bar_topic_ = participant_->create_topic("BarCommandUpdate", bar_type_.get_type_name(), bar_topic_qos);
    if (bar_topic_ == nullptr)
    {
        throw std::runtime_error("BarCommandUpdate Topic initialization failed");
    }

    // 创建 BarCommandUpdate Reader
    DataReaderQos bar_reader_qos = DATAREADER_QOS_DEFAULT;
    subscriber_->get_default_datareader_qos(bar_reader_qos);   // ← 现在 subscriber_ 已创建
    bar_reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    bar_reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    bar_reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    bar_reader_qos.history().depth = 1;
    bar_reader_ = subscriber_->create_datareader(bar_topic_, bar_reader_qos, this, StatusMask::all());
    if (bar_reader_ == nullptr)
    {
        throw std::runtime_error("BarCommandUpdate DataReader initialization failed");
    }
}

SubscriberApp::~SubscriberApp()
{
    if (nullptr != participant_)
    {
        // Delete DDS entities contained within the DomainParticipant
        participant_->delete_contained_entities();

        // Delete DomainParticipant
        factory_->delete_participant(participant_);
    }
}

void SubscriberApp::on_subscription_matched(
        DataReader* reader,
        const SubscriptionMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        std::cout << reader->get_topicdescription()->get_name() << " Subscriber matched." << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        std::cout << reader->get_topicdescription()->get_name() << " Subscriber unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
    }
}

void SubscriberApp::on_data_available(
        DataReader* reader)
{
    SampleInfo info;
    std::string topic_name = reader->get_topicdescription()->get_name();
    std::cout << topic_name << std::endl;

    if (topic_name == "BarCommandUpdate")
    {
        WeighingSystem::BarCommandUpdate sample_;
        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
        {
            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
            {
                std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_);
                MsgData::BarCommandUpdate_queue_.push(std::move(sample_));
                lock.unlock();
            }
        }
    }
}

void SubscriberApp::run(std::shared_ptr<MsgHandler> handler)
{
    while (!is_stopped())
    {
        std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_, std::try_to_lock);
        if (lock.owns_lock())
        {
            //BarCommandUpdate 分支
            if(!MsgData::BarCommandUpdate_queue_.empty())   
            {                                                    
                WeighingSystem::BarCommandUpdate cmd = std::move(MsgData::BarCommandUpdate_queue_.front());
                MsgData::BarCommandUpdate_queue_.pop();           
                lock.unlock();                                    
                handler->HandleBarCommand(cmd);                   
            }        
            else
            {
                lock.unlock();
            }
        }
        
        {
            std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
            terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this](){return is_stopped();});
        }
    }
}

bool SubscriberApp::is_stopped()
{
    return stop_.load();
}

void SubscriberApp::stop()
{
    stop_.store(true);
    terminate_cv_.notify_all();
}