#pragma once



#include "generic_ftc.h"
#include "abstract_requester.h"
#include "generic_ftc_threading.h"

#include <DDS/Core/core.hpp>
#include <DDS/FTS/connext.h>
#include <DDS/Generic/generic_logger.h>
#include <DDS/Generic/generic_base.h>
#include <DDS/QosProfile/DDS_DefaultQos.h>

#include <QObject>
#include <QMetaMethod>
#include <QTimer>

#include <queue>
#include <future>


namespace FTC
{
template <class C>
class HasStatusFunction
{
  template <class T>
  static std::true_type testSignature(void (T::*)(const Core::FtReplyState &));

  template <class T>
  static decltype(testSignature(&T::replyState)) test(std::nullptr_t);

  template <class T>
  static std::false_type test(...);

public:
  using type = decltype(test<C>(nullptr));
  static const bool value = type::value;
};

template <class C>
class HasRequestId
{
  template <class T>
  static std::true_type testSignature(const int32_t &(T::*)() const);
  template <class T>
  static std::true_type testSignature(int32_t (T::*)() const);

  template <class T>
  static decltype(testSignature(&T::requestId)) test(std::nullptr_t);

  template <class T>
  static std::false_type test(...);

public:
  using type = decltype(test<C>(nullptr));
  static const bool value = type::value;
};

template<typename GENERIC_FTC>
struct TopicNames
{};

template<typename TOPICTYPE_REQUEST, typename TOPICTYPE_REPLY, typename DUMMY>
class GenericFtcImpl final : public GenericFtc<TOPICTYPE_REQUEST, TOPICTYPE_REPLY>, public Threading
{
public:
  using RequestTopic = TOPICTYPE_REQUEST;
  using ReplyTopic = TOPICTYPE_REPLY;
  using TopicNameHelper = TopicNames<GenericFtcImpl<RequestTopic, ReplyTopic, DUMMY>>;

  GenericFtcImpl(const dds::domain::DomainParticipant &domainParticipant,
                 const dds::pub::Publisher &ddsPublisher,
                 const dds::sub::Subscriber &ddsSubscriber,
                 QObject *objToInform,
                 const std::string &partitionType,
                 int partitionId)
    : GenericFtc<RequestTopic, ReplyTopic>()
    , m_objToInform(objToInform)
    , m_requesterParams(domainParticipant)
    , m_partitionType(partitionType)
    , m_partitionId(partitionId)
    , m_logger(DDS::getLogger(TopicNameHelper::functionTopicName(), DDS::DataType::FUNCTION_TOPIC_CLIENT))
  {
  

    Q_ASSERT(domainParticipant != nullptr);
    Q_ASSERT(ddsPublisher != nullptr);
    Q_ASSERT(ddsSubscriber != nullptr);
    Q_ASSERT(objToInform != nullptr);

    
    m_requesterParams.request_topic_name(TopicNameHelper::requestTopicName());
    m_requesterParams.reply_topic_name(TopicNameHelper::replyTopicName());
    m_requesterParams.publisher(ddsPublisher);
    m_requesterParams.subscriber(ddsSubscriber);
    m_requesterParams.datareader_qos(DDS::QosProfile::dataReaderDefault(DDS::QosProfile::TopicType::FunctionTopic));
    m_requesterParams.datawriter_qos(DDS::QosProfile::dataWriterDefault(DDS::QosProfile::TopicType::FunctionTopic));
    DDS::QosProfile::print(m_requesterParams.datareader_qos(), m_logger);
    DDS::QosProfile::print(m_requesterParams.datawriter_qos(), m_logger);

    DEBUG_LOG(m_logger) << "=> Static request using request/reply topic names: "
                        << TopicNameHelper::requestTopicName()
                        << ", reply: "
                        << TopicNameHelper::replyTopicName();

    qRegisterMetaType<ReplyTopic>(TopicNameHelper::replyTopicTypeName());    
    preInit();
  }


  ~GenericFtcImpl()
  {
    Q_ASSERT(!m_dying);
    m_dying = true;

    decltype(m_modernRequests) modernRequests;
    decltype(m_classicRequests) classicRequests;
    {
      {
        std::lock_guard<std::mutex> l(m_conditionMutex);
        setWorkAvailable(false);
      }

      std::lock_guard<std::mutex> l(m_requestMutex);
      Q_ASSERT(m_classicRequests.empty());
      Q_ASSERT(m_modernRequests.empty());

      classicRequests.swap(m_classicRequests); 
      modernRequests.swap(m_modernRequests); 
    }

    for (; !modernRequests.empty(); modernRequests.pop())
    {
      ModernRequest<ReplyTopic> &request = modernRequests.front();
      fprintf(stderr, "[!] GenericFtcImpl::dtor: there was a modern request in the queue while the Ftc is being destroyed. Throwing!\n");
      Q_ASSERT(false);
      request.promise.set_exception(std::make_exception_ptr(std::runtime_error("Session aborted.")));
      emit request.requestWatcher->finished();
    }

    for (; !classicRequests.empty(); classicRequests.pop())
    {
      ClassicRequest &request = classicRequests.front();
      fprintf(stderr, "[!] GenericFtcImpl::dtor: there was a classic request in the queue while the Ftc is being destroyed. Throwing!\n");
      Q_ASSERT(false);
      sendError(request, 0, true );
    }
  }



  struct ClassicRequest
  {
    connext::WriteSample<RequestTopic> sample;
    QMetaMethod replySlot;
    QMetaMethod errorSlot;
    int uniqueId = 0;
  };


  bool requestDataClassic(const RequestTopic &requestTopic,
                   const char *replySlot,
                   const char *errorSlot,
                   int &uniqueId) override
  {
    Q_ASSERT(!m_dying);

    ClassicRequest request;
    if (!checkSlots(request, replySlot, errorSlot))
      return false;
    request.sample.set_data(requestTopic);
    request.uniqueId = ++m_uniqueId;
    uniqueId = request.uniqueId;

    createThread();

    {
      std::lock_guard<std::mutex> l(m_requestMutex);
      m_classicRequests.push(request);
    }

    runThread();

    return true;
  }



  template<typename ReplyTopic>
  struct ModernRequest
  {
    std::promise<ReplyTopic> promise;
    connext::WriteSample<RequestTopic> sample;
    Request2 *requestWatcher;
  };


  std::future<ReplyTopic> requestDataModern(const RequestTopic &requestTopic, Request2 *requestWatcher) override
  {
    Q_ASSERT(!m_dying);

    std::promise<ReplyTopic> promise;
    std::future<ReplyTopic> future = promise.get_future();

    connext::WriteSample<RequestTopic> sample;
    sample.set_data(requestTopic);

    createThread();

    {
      std::lock_guard<std::mutex> l(m_requestMutex);
      m_modernRequests.push({ std::move(promise), sample, requestWatcher });
    }

    runThread();

    return future;
  }


private:
  QString functionTopicName() const override
  {
    return QString::fromUtf8(TopicNameHelper::functionTopicName());
  }


  int partitionId() const override
  {
    return m_partitionId;
  }


  QString partitionType() const override
  {
    return QString::fromStdString(m_partitionType);
  }


  std::unique_ptr<connext::Requester<RequestTopic, ReplyTopic> > requester; 


  void cleanupThread() override 
  {
    
    requester.reset();
  }


  void threadDone() override
  {
    
    
    
    

    for (; !m_modernRequests.empty(); m_modernRequests.pop())
    {
      ModernRequest<ReplyTopic> &request = m_modernRequests.front();
      fprintf(stderr, "[!] GenericFtcImpl::threadDone: there was a modern request in the queue while the thread already ended. Throwing!\n");
      Q_ASSERT(false);
      request.promise.set_exception(std::make_exception_ptr(std::runtime_error("Worker thread timed out.")));
    }

    for (; !m_classicRequests.empty(); m_classicRequests.pop())
    {
      ClassicRequest &request = m_classicRequests.front();
      fprintf(stderr, "[!] GenericFtcImpl::dtor: there was a classic request in the queue while the thread already ended. Throwing!\n");
      Q_ASSERT(false);
      sendError(request, 0, true );
    }
  }


  void work() override 
  {
    try
    {
      decltype(m_classicRequests) classicRequests;
      decltype(m_modernRequests) modernRequests;

      Q_ASSERT(isWorkAvailable());
      if (!isWorkAvailable())
      {
        fprintf(stderr, "[!] GenericFtc::work: called while marked as no work available! run? %d (%s)\n", isRun(), threadName().toStdString().c_str());
      }
      setWorkAvailable(false); 
      
      {
        std::lock_guard<std::mutex> l(m_requestMutex);

        if (!m_classicRequests.empty())
        {
          m_classicRequests.swap(classicRequests);
        }
        if (!m_modernRequests.empty())
        {
          m_modernRequests.swap(modernRequests);
        }        
      }

      cancellationPoint();

      if (classicRequests.empty() && modernRequests.empty())
      {
        fprintf(stderr, "[!] GenericFtc::work: called without having any requests! (%s)\n", threadName().toStdString().c_str());
        Q_ASSERT(false);
        return;
      }

      if (!requester)
      {
        
        
        
        
        
        
        

        requester.reset(new connext::Requester<RequestTopic, ReplyTopic>(m_requesterParams));
      }

      for (; !classicRequests.empty(); classicRequests.pop())
      {
        cancellationPoint();
        ClassicRequest &request = classicRequests.front();
        requester->send_request(request.sample);
        cancellationPoint();
        getRequestedDataClassic(*requester.get(), request);
        cancellationPoint();
      }

      for (; !modernRequests.empty(); modernRequests.pop())
      {
        cancellationPoint();
        ModernRequest<ReplyTopic> &request = modernRequests.front();
        requester->send_request(request.sample);
        cancellationPoint();
        try
        {
          getModernRequestedData(*requester.get(), request);
        }
        catch (...)
        {
          request.promise.set_exception(std::current_exception());

        QTimer::singleShot(0, request.requestWatcher, &Request2::finished);
        }
        cancellationPoint();
      }
    }
    catch (const dds::core::Exception &ex)
    {
      fprintf(stderr, "[!] GenericFtc::work: dds::core::exception: %s (%s)\n", ex.what(), threadName().toStdString().c_str());
    }
    catch (const std::exception &ex)
    {
      fprintf(stderr, "[!] GenericFtc::work: exception: %s (%s)\n", ex.what(), threadName().toStdString().c_str());
    }
    catch(...)
    {
      fprintf(stderr, "[!] GenericFtc::work: unknown exception occured !!! (%s)\n", threadName().toStdString().c_str());
    }
  }


  template <typename T, typename std::enable_if<HasStatusFunction<T>::value, int>::type = 0>
  static inline bool isInProgress(const connext::Sample<T> &reply)
  {
    return (reply.data().replyState() == Core::FtReplyState::InProgress);
  }


  template <typename T, typename std::enable_if<!HasStatusFunction<T>::value, int>::type = 0>
  static inline bool isInProgress(const connext::Sample<T> &)
  {
    
    return false;
  }

  

  void getRequestedDataClassic(connext::Requester<RequestTopic, ReplyTopic> &requester, ClassicRequest &request)
  {
    
#ifdef WIN32
    const dds::core::Duration MAX_WAIT(200);
#else
    const dds::core::Duration MAX_WAIT(20);
#endif

    bool inProgress = true;
    while (inProgress && isRun())
    {
      DEBUG_LOG(m_logger) << "Waiting for reply ";

      connext::Sample<ReplyTopic> reply;
      
      if (!requester.receive_reply(reply, MAX_WAIT))
      {
        WARNING_LOG(m_logger) << "Timed out waiting for reply";
        sendError(request, 3);
        return;
      }

      
      if (reply.info().valid())
      {
        if (request.sample.info().identity() != reply.info()->related_original_publication_virtual_sample_identity())
        {
          
          INFO_LOG(m_logger) << "#receiveReply - outdated. sample id: " << connext::DebugInfo::toReadable(request.sample.info().identity())
                             << ", virutal sample id: " << connext::DebugInfo::toReadable(reply.info()->related_original_publication_virtual_sample_identity());
          continue;
        }
        inProgress = isInProgress(reply);
        if (request.replySlot.isValid())
        {
          INFO_LOG(m_logger) << "#receiveReply for " << TopicNameHelper::replyTopicTypeName();
          
          request.replySlot.invoke(m_objToInform, Qt::QueuedConnection,
                                   QArgument<ReplyTopic>(TopicNameHelper::replyTopicTypeName(), reply.data()),  
                                   Q_ARG(int, request.uniqueId),
                                   Q_ARG(bool, !inProgress)); 
        }
        else
        {
          WARNING_LOG(m_logger) << "reply slot doesn't exist for " << dds::topic::topic_type_name<ReplyTopic>::value();
        }
        if (!inProgress)
          return;
      }
      else
        WARNING_LOG(m_logger) << "No valid data available ";

      

    }
  }
  

  void getModernRequestedData(connext::Requester<RequestTopic, ReplyTopic> &requester, ModernRequest<ReplyTopic> &request) noexcept(false)
  {
    
#ifdef WIN32
    const dds::core::Duration MAX_WAIT(200);
#else
    const dds::core::Duration MAX_WAIT(20);
#endif

    while (isRun())
    {
      connext::Sample<ReplyTopic> reply;
      
      if (!requester.receive_reply(reply, MAX_WAIT))
      {
        WARNING_LOG(m_logger) << "Timeout while waiting for reply!";
        throw std::runtime_error("Timeout while waiting for reply!");
      }

      

      if (!reply.info().valid())
      {
        WARNING_LOG(m_logger) << "No valid data available!";
        
        throw std::runtime_error("No valid data available!");
      }

      if (request.sample.info().identity() != reply.info()->related_original_publication_virtual_sample_identity())
      {
        
        INFO_LOG(m_logger) << "#receiveReply - outdated. sample id: " << connext::DebugInfo::toReadable(request.sample.info().identity())
                           << ", virutal sample id: " << connext::DebugInfo::toReadable(reply.info()->related_original_publication_virtual_sample_identity());
        continue;
      }

      Q_ASSERT(!isInProgress(reply));
      if (isInProgress(reply))
      {
        ERROR_LOG(m_logger) << "Used ModernRequest for a request with FtReplyState! Your data will most likely be imcomplete!";
      }

      INFO_LOG(m_logger) << "#receiveReply for " << TopicNameHelper::replyTopicTypeName();

      request.promise.set_value(reply.data());

        QTimer::singleShot(0, request.requestWatcher, &Request2::finished);

      return;

      

    }
  }
  

  void sendErrorInternal(const QMetaMethod &errorSlot, int reason, int uniqueId, int requestId, bool directConnection = false)
  {
    if (errorSlot.isValid())
    {
      errorSlot.invoke(m_objToInform, directConnection ? Qt::DirectConnection : Qt::QueuedConnection,
                       Q_ARG(int, reason),
                       Q_ARG(int, uniqueId),
                       Q_ARG(int, requestId));
    }
  }
  

  template < typename T = TOPICTYPE_REQUEST, typename std::enable_if < HasRequestId<T>::value, int >::type = 0 >
  void sendError(const ClassicRequest &request, int reason, bool directConnection = false)
  {
    sendErrorInternal(request.errorSlot, reason, request.uniqueId, request.sample.data().requestId(), directConnection);
  }
  

  template < typename T = TOPICTYPE_REQUEST, typename std::enable_if < !HasRequestId<T>::value, int >::type = 0 >
  void sendError(const ClassicRequest &request, int reason, bool directConnection = false)
  {
    sendErrorInternal(request.errorSlot, reason, request.uniqueId, -1, directConnection);
  }
  

  bool checkSlots(ClassicRequest &request, const char *replySlot, const char *errorSlot)
  {
    const QByteArray baReply = QByteArray::number(QSIGNAL_CODE) +
                               "signalSignature(" +
                               TopicNameHelper::replyTopicTypeName() +
                               ",int,bool)";
    request.replySlot = DDS::Helper::getMethod(m_logger, m_objToInform, replySlot, baReply.data());
    if (!request.replySlot.isValid())
      return false;

    if (errorSlot)
    {
      const QByteArray baError = QByteArray::number(QSIGNAL_CODE) + "signalSignature(int,int,int)";
      request.errorSlot = DDS::Helper::getMethod(m_logger, m_objToInform, errorSlot, baError.data());
      if (!request.errorSlot.isValid())
        return false;
    }
    else
      request.errorSlot = QMetaMethod();
    return true;
  }
  


  
  QObject *m_objToInform;
  int m_uniqueId { 0 };

  
  std::queue<ModernRequest<ReplyTopic> > m_modernRequests;
  std::queue<ClassicRequest> m_classicRequests;

  connext::RequesterParams m_requesterParams;
  bool m_dying { false };
  std::string m_partitionType;
  int m_partitionId;
  std::mutex m_requestMutex;
  NGL::INGLLogger &m_logger;
};

}