#include "dds_handler.h"

#include <DDS/DDSConnector/publisher.h>
#include <DDS/DDSConnector/dds_connector.h>
#include <DDS/Core/pacemaker.h>
#include <DDS/DTC/generic_dtc_impl.h>
#include <DDS/DTS/generic_dts_impl.h>

namespace TrainingAreaBase
{

DdsHandler::DdsHandler(int domainId, int exerciseId) : m_ddsConnector(new DDSConnector::DdsConnector(domainId, IDL::PartitionType::Exercise, exerciseId))  
  , m_curMSecSinceEpoch(0)
  , m_exerciseId(exerciseId),
    m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger()) {
  DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
}

DdsHandler::~DdsHandler()
{
  m_pacemaker->setNewState(Core::RunningState::StoppedNormally);
  m_pacemaker = nullptr;
  m_dtcPartitionTime = nullptr;
  m_dtsEmergencyCall = nullptr;
  m_dtsEmergencyCallPublisher = nullptr;
  m_dtsTab = nullptr;
  m_ftsTab = nullptr;
  m_ftcPpm = nullptr;
  m_ftcNom = nullptr;
  m_dtcOpm = nullptr;
  m_ddsConnector = nullptr;
}

bool DdsHandler::init(const QStringList &qosFileList)
{
  if (!m_ddsConnector->init(qosFileList))
  {
    ERROR_LOG(m_logger) << "Error initializing dds connections - aborting";
    return false;
  }

  
  m_ddsConnector->initPublisherSubscriber();

  
  m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);

  
  m_dtcPartitionTime.reset(m_ddsConnector->createDTC<DTC::PartitionTimeImpl>());
  assert(m_dtcPartitionTime.get());
  m_dtcPartitionTime->setSubscriberCallback([this](const Core::PartitionTime & data, DataModification)
  {
    m_curMSecSinceEpoch = data.timeStamp();
  });

  
  m_dtsTab = TrainingAreaBase::Interface::Dts::create(m_ddsConnector);

  
  bool bRet = m_dtsTab->enableAll();
  
  m_dtsTab->enableEmergencyCall(false);

  
  m_dtsEmergencyCallPublisher = std::make_shared<DDSConnector::Publisher>(m_ddsConnector->getDomainParticipant(),
                                                                          DDSConnector::DdsConnector::getPartitionString(IDL::PartitionType::AllExercises));
  m_dtsEmergencyCall = std::make_shared<DTS::EmergencyCallImpl>(m_ddsConnector->getDomainParticipant(),
                                                                m_dtsEmergencyCallPublisher->getDdsPublisher(),
                                                                DDS::Helper::getShortTopicName(DDS::topic_type_name<TrainingAreaBase::EmergencyCall>::value()));


  INFO_LOG(m_logger) << "Dts TrainingAreaBase initialised";

  m_ftsTab = TrainingAreaBase::Interface::Fts::create(m_ddsConnector);
  bRet &= m_ftsTab->enableAll();
  INFO_LOG(m_logger) << "Fts TrainingAreaBase initialised";

  m_ftcPpm = ParticipantManagement::Interface::Ftc::create(m_ddsConnector);
  bRet &= m_ftcPpm->enableSetMissionActionFulfilled();

  m_ftcNom = NotificationManagement::Interface::Ftc::create(m_ddsConnector);
  bRet &= m_ftcNom->enableCreateNotification();

  m_dtcOpm = OperatorManagement::Interface::Dtc::create(m_ddsConnector);
  bRet &= m_dtcOpm->enableUser();


  return bRet;
}

}