// 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 SubscriberApp.hpp
 * This header file contains the declaration of the subscriber functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#ifndef FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
#define FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP

#include <condition_variable>

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>

#include "System.hpp"

class SubscriberApp : public eprosima::fastdds::dds::DataReaderListener
{
public:

    SubscriberApp(
            const int& domain_id);

    virtual ~SubscriberApp();

    //! Subscription callback
    void on_data_available(
            eprosima::fastdds::dds::DataReader* reader) override;

    //! Subscriber matched method
    void on_subscription_matched(
            eprosima::fastdds::dds::DataReader* reader,
            const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;

    //! Run subscriber
    void run();

    //! Trigger the end of execution
    void stop();

private:

    //! Return the current state of execution
    bool is_stopped();

    std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
    eprosima::fastdds::dds::DomainParticipant* participant_;
    eprosima::fastdds::dds::Subscriber* subscriber_;
    eprosima::fastdds::dds::Topic* bar_topic_;
    eprosima::fastdds::dds::DataReader* bar_reader_;
    eprosima::fastdds::dds::TypeSupport bar_type_;
    eprosima::fastdds::dds::Topic* light_topic_;
    eprosima::fastdds::dds::DataReader* light_reader_;
    eprosima::fastdds::dds::TypeSupport light_type_;
    eprosima::fastdds::dds::Topic* infraredinfo_topic_;
    eprosima::fastdds::dds::DataReader* infraredinfo_reader_;
    eprosima::fastdds::dds::TypeSupport infraredinfo_type_;
    eprosima::fastdds::dds::Topic* infraredcommand_topic_;
    eprosima::fastdds::dds::DataReader* infraredcommand_reader_;
    eprosima::fastdds::dds::TypeSupport infraredcommand_type_;
    eprosima::fastdds::dds::Topic* license_topic_;
    eprosima::fastdds::dds::DataReader* license_reader_;
    eprosima::fastdds::dds::TypeSupport license_type_;
    eprosima::fastdds::dds::Topic* scaleinfo_topic_;
    eprosima::fastdds::dds::DataReader* scaleinfo_reader_;
    eprosima::fastdds::dds::TypeSupport scaleinfo_type_;
    eprosima::fastdds::dds::Topic* weightinfook_topic_;
    eprosima::fastdds::dds::DataReader* weightinfook_reader_;
    eprosima::fastdds::dds::TypeSupport weightinfook_type_;
    eprosima::fastdds::dds::Topic* weightinfoerror_topic_;
    eprosima::fastdds::dds::DataReader* weightinfoerror_reader_;
    eprosima::fastdds::dds::TypeSupport weightinfoerror_type_;
    uint16_t samples_received_;
    std::atomic<bool> stop_;
    uint32_t period_ms_ = 100; // in ms
    mutable std::mutex terminate_cv_mtx_;
    std::condition_variable terminate_cv_;
};

#endif // FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP