/**
  * DdsHandler for DDS
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Gerlinde Rudolphus, SLTE, 2022-06-09
  */

#include "dds_handler.h"

#include "nme_dts.h"
#include "nme_fts.h"

#include <DDS/DTS/generic_dts_impl.h>
#include <DDS/Core/pacemaker.h>

namespace NmeaManagement
{

DdsHandler::DdsHandler(int domainId)
  : m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Any))
  , m_logger(getLogger("DdsHandler"))
{
  DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
}

DdsHandler::~DdsHandler()
{}

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

  // default initialize Publisher and Subscriber
  m_ddsConnector->initPublisherSubscriber();
  m_ddsConnector->enableBatchedWriter(false);

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

  m_ddsDts = NmeaManagement::Interface::Dts::create(m_ddsConnector);
  m_ddsFts = NmeaManagement::Interface::Fts::create(m_ddsConnector);

  if (!m_ddsDts->enableBatteryAlarm())
  {
    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableBatteryAlarm data topic server";
    return false;
  }

  if (!m_ddsDts->enableServiceControl())
  {
    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableServiceControl data topic server";
    return false;
  }

  if (!m_ddsDts->enableBatteryState())
  {
    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableBatteryState data topic server";
    return false;
  }

  if (!m_ddsDts->enablePositionExcon())
  {
    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enablePositionExcon data topic server";
    return false;
  }
  INFO_LOG(m_logger) << "Dts initialised";


  if (!m_ddsFts->enableAll())
  {
    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableAll function topic";
    return false;
  }
  INFO_LOG(m_logger) << "Fts initialised";

  // TODO: call at the end of main_handler init:
  this->pacemaker()->setNewState(Core::RunningState::Running);

  return true;
}

} // Namespace PDM