#include "initialisation.h"

#include <NGLLogger/NGLLoggerBootstrap.h>

#include <DDS/QosProfile/DDS_DefaultQos.h>
#include <Common/ProjectConfig/project_defines.h>


Initialisation::Initialisation()
  : m_domainParticipant(nullptr)
  , m_domainParticipantSub(nullptr)
  , m_domainId(0)
  , m_exerciseId(-1)
  , m_ddsPublisher(nullptr)
  , m_ddsSubscriber(nullptr)
  , m_subListener(new DDSGeneric::SubscriberListener)
  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.Initialisation"))
{
  if (!DDS::QosProfile::setDefault())
    ERROR_LOG(m_logger) << "Error setting default QoS from xml-file ";

}

Initialisation::~Initialisation()
{
  cleanupSubscriberListener();
  m_ddsSubscriber = nullptr;
  m_ddsPublisher = nullptr;
}

void Initialisation::cleanupSubscriberListener()
{
  if (m_ddsSubscriber != nullptr && m_subListener != nullptr)
  {
    m_ddsSubscriber.listener(nullptr, dds::core::status::StatusMask::none());
    delete m_subListener;
    m_subListener = nullptr;
   }
}


bool Initialisation::initDDS(int domainId, int exerciseId, PubSub pubsub)
{
  if (m_domainParticipant == nullptr)
    m_domainParticipant = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());

  

  if (pubsub == USE_PUBLISHER || pubsub == USE_PUB_SUB)
  {
    dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();

    DEBUG_LOG(m_logger) << "Publish on partition " << IDL::exercisePartition(exerciseId);

    
    dds::core::policy::Partition partitionQos;
    partitionQos.name( { IDL::exercisePartition(exerciseId) } );
    publisherQos << partitionQos;

    m_ddsPublisher = dds::pub::Publisher(m_domainParticipant,
                                         publisherQos);
  }

  if (pubsub == USE_SUBSCRIBER || pubsub == USE_PUB_SUB)
  {
    dds::domain::DomainParticipant domainPart = m_domainParticipant;
    if ( domainPart == nullptr || m_domainParticipantSub == nullptr)
    {
      m_domainParticipantSub = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());
      domainPart = m_domainParticipantSub;
    }

    dds::sub::qos::SubscriberQos subscriberQos = domainPart.default_subscriber_qos();

    DEBUG_LOG(m_logger) << "Subsribing on partition " << IDL::exercisePartition(exerciseId);

    
    dds::core::policy::Partition partitionQos;
    partitionQos.name( { IDL::exercisePartition(exerciseId) } );
    subscriberQos << partitionQos;

    m_ddsSubscriber = dds::sub::Subscriber(domainPart,
                                           subscriberQos,
                                           m_subListener,
                                           m_subListener->mask());
  }

  if (m_domainId == 0)
    m_domainId = domainId;

  if (m_exerciseId < 0)
    m_exerciseId = exerciseId;

  return true;
}