#ifndef WEIGHUI_DDS_SUBSCRIBER_HPP
#define WEIGHUI_DDS_SUBSCRIBER_HPP

#include <atomic>
#include <condition_variable>
#include <memory>
#include <mutex>

#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 "WeighingDDSTypePubSubTypes.hpp"

class DdsSubscriberApp : public eprosima::fastdds::dds::DataReaderListener
{
public:
    DdsSubscriberApp(const int& domain_id);
    virtual ~DdsSubscriberApp();

    void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
    void on_subscription_matched(
            eprosima::fastdds::dds::DataReader* reader,
            const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;

    void run();
    void stop();

private:
    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* weightinfook_topic_;
    eprosima::fastdds::dds::DataReader* weightinfook_reader_;
    eprosima::fastdds::dds::TypeSupport weightinfook_type_;

    // WeightInfoError 主题订阅 (Warning 主题, 弹窗样式与 WeightInfoOk 完全一致)
    eprosima::fastdds::dds::Topic* weightinfoerror_topic_;
    eprosima::fastdds::dds::DataReader* weightinfoerror_reader_;
    eprosima::fastdds::dds::TypeSupport weightinfoerror_type_;

    eprosima::fastdds::dds::Topic* summary_topic_;
    eprosima::fastdds::dds::DataReader* summary_reader_;
    eprosima::fastdds::dds::TypeSupport summary_type_;

    // 实时重量 (weigh 程序发布)
    eprosima::fastdds::dds::Topic* scaleinfo_topic_;
    eprosima::fastdds::dds::DataReader* scaleinfo_reader_;
    eprosima::fastdds::dds::TypeSupport scaleinfo_type_;

    std::atomic<bool> stop_;
    uint32_t period_ms_ = 100;
    mutable std::mutex terminate_cv_mtx_;
    std::condition_variable terminate_cv_;
};

#endif