#include "publisher.h"
#include "pub_sub_base_p.h"

#include <dds/pub/AnyDataWriter.hpp>
#include <DDS/QosProfile/DDS_DefaultQos.h>
#include <NGLLogger/INGLLogger.h>

namespace DDSConnector
{

Publisher::Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition)
  : PubSubBase(domainParticipant, partition, "DDSConnector.Publisher")
  , m_ddsPublisher(nullptr)
{
  Q_ASSERT(domainParticipant != nullptr);
  initDDS();
}


Publisher::~Publisher()
{
  try
  {
    deleteDDS();
  } catch (...)
  {}
}

void Publisher::initDDS()
{
  if (m_partitions.empty())
    return;

  
  if (m_logger.isDebugEnabled()) {
    DEBUG_LOG(m_logger) << "Publisher (DataWriter) Qos: ";
    dds::core::QosProvider qosProvider = dds::core::QosProvider::Default();
    DDS::QosProfile::print(qosProvider.datawriter_qos(), m_logger);
  }

  dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();

  
  rti::core::policy::EntityName entityName;
  entityName.name(std::string("Pub ") + m_partitions.front());
  publisherQos << entityName;

  DEBUG_LOG(m_logger) << "Publish data on partition " << m_partitions.front();

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

  enableBatchedWriter(false);

  updatePartitionQoS(m_ddsPublisher);
}

void Publisher::enableBatchedWriter(bool bEnable)
{
  dds::pub::qos::DataWriterQos dwQos = m_ddsPublisher.default_datawriter_qos();
  auto batch = (bEnable ? rti::core::policy::Batch::Enabled() : rti::core::policy::Batch::Disabled());
  if (bEnable)
  {
    batch.max_data_bytes(64 * 1024);  
    batch.max_flush_delay(dds::core::Duration::from_millisecs(10));
  }
  dwQos << batch;
  m_ddsPublisher.default_datawriter_qos(dwQos);
}

void Publisher::deleteDDS()
{
  qDeleteAll(m_dtsMap);
  qDeleteAll(m_dynamicTypeMap);
  m_ddsPublisher = nullptr;
}

bool Publisher::write(const dds::core::xtypes::DynamicData &data, const std::string &topicName)
{
  DEBUG_LOG(m_logger) << "Publish dynamic data for topic (" << topicName << ")";

  try
  {

    dds::pub::AnyDataWriter* anyWriter = m_dynamicTypeMap.value(topicName);
    if (anyWriter == nullptr)
    {
      dds::topic::Topic<dds::core::xtypes::DynamicData> topic(m_domainParticipant, topicName, data.type());
      auto writer = dds::pub::DataWriter<dds::core::xtypes::DynamicData>(m_ddsPublisher, topic);
      anyWriter = new dds::pub::AnyDataWriter(writer);
      m_dynamicTypeMap.insert(topicName, anyWriter);
    }
    anyWriter->get<dds::core::xtypes::DynamicData>().write(data);

  }
  catch ( ... )
  {
    ERROR_LOG(m_logger) << "Failed to publish data for topic (" << topicName << ")";
    return false;
  }
  return true;
}


}