#pragma once

#include <QtCore/QMap>
#include <NGLLogger/INGLLogger.h>
#include <DDS/DTS/generic_dts_impl.h>
#include <DDS/Generic/generic_data_writer.h>

#include "pub_sub_base.h"

namespace DDSConnector
{
class DDSCONNECTOR_EXPORT Publisher : public PubSubBase
{
public:
  Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition);
  ~Publisher();

  void enableBatchedWriter(bool bEnable);
  dds::pub::Publisher getDdsPublisher() const { return m_ddsPublisher; }

  
  template <typename T>
  bool write(const T &data)
  {
    using myDWO = DDSGeneric::GenericDataWriter<T>;
    using myDTS = DTS::GenericDtsImpl< myDWO >;

    std::string dwoType = DDS::topic_type_name<T>::value();
    DEBUG_LOG(m_logger) << "dwoType = " << dwoType;

    myDTS *dts = static_cast<myDTS *>(m_dtsMap.value(dwoType));
    if (dts == nullptr)
    {
      dts = new myDTS(m_domainParticipant, m_ddsPublisher);
      m_dtsMap.insert(dwoType, dts);
    }

    return dts->write(data);
  }

  
  bool write(const dds::core::xtypes::DynamicData &data)
  {
    return write(data, data.type().name());
  }

  bool write(const dds::core::xtypes::DynamicData &data, const std::string &topicName);


protected:
  void initDDS();
  void deleteDDS();

protected:
  dds::pub::Publisher            m_ddsPublisher;

  
  QMap<std::string, DTS::Base*> m_dtsMap;

  
  
  QMap<std::string, dds::pub::AnyDataWriter*> m_dynamicTypeMap;
};

}