// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file Domain.cpp
 *
 */

#include <fastrtps/Domain.h>
#include <fastdds/rtps/RTPSDomain.h>
#include <fastdds/rtps/participant/RTPSParticipant.h>

#include <fastrtps/participant/Participant.h>
#include <fastrtps_deprecated/participant/ParticipantImpl.h>

#include <fastrtps/publisher/Publisher.h>
#include <fastrtps/subscriber/Subscriber.h>

#include <fastdds/dds/log/Log.hpp>

#include <fastrtps/xmlparser/XMLProfileManager.h>

#include <fastrtps/types/DynamicPubSubType.h>
#include <fastrtps/types/DynamicType.h>
#include <fastrtps/types/DynamicTypeMember.h>
#include <fastrtps/types/DynamicTypeBuilderFactory.h>
#include <fastrtps/types/DynamicDataFactory.h>
#include <fastrtps/types/TypeObjectFactory.h>

#include <chrono>
#include <thread>

using namespace eprosima::fastrtps::rtps;
using namespace eprosima::fastrtps::xmlparser;
using namespace eprosima::fastrtps::types;

namespace eprosima {
namespace fastrtps {

std::mutex Domain::m_mutex;
std::vector<Domain::t_p_Participant> Domain::m_participants;
bool Domain::default_xml_profiles_loaded = false;


Domain::Domain()
{
    // TODO Auto-generated constructor stub
}

Domain::~Domain()
{

}

void Domain::stopAll()
{
    {
        std::lock_guard<std::mutex> guard(m_mutex);
        while (m_participants.size() > 0)
        {
            delete(m_participants.back().second);
            m_participants.pop_back();
        }
    }

    // Deletes DynamicTypes and TypeObject factories
    types::DynamicTypeBuilderFactory::delete_instance();
    types::DynamicDataFactory::delete_instance();
    types::TypeObjectFactory::delete_instance();
    XMLProfileManager::DeleteInstance();

    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    eprosima::fastdds::dds::Log::KillThread();
}

bool Domain::removeParticipant(
        Participant* part)
{
    if (part != nullptr)
    {
        std::lock_guard<std::mutex> guard(m_mutex);

        for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
        {
            if (it->second->getGuid() == part->getGuid())
            {
                //FOUND
                delete(it->second);
                m_participants.erase(it);
                return true;
            }
        }
    }
    return false;
}

bool Domain::removePublisher(
        Publisher* pub)
{
    if (pub != nullptr)
    {
        std::lock_guard<std::mutex> guard(m_mutex);

        for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
        {
            if (it->second->getGuid().guidPrefix == pub->getGuid().guidPrefix)
            {
                //FOUND
                return it->second->removePublisher(pub);
            }
        }
    }
    return false;
}

bool Domain::removeSubscriber(
        Subscriber* sub)
{
    if (sub != nullptr)
    {
        std::lock_guard<std::mutex> guard(m_mutex);

        for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
        {
            if (it->second->getGuid().guidPrefix == sub->getGuid().guidPrefix)
            {
                //FOUND
                return it->second->removeSubscriber(sub);
            }
        }
    }
    return false;
}

Participant* Domain::createParticipant(
        const std::string& participant_profile,
        ParticipantListener* listen)
{
    if (false == default_xml_profiles_loaded)
    {
        XMLProfileManager::loadDefaultXMLFile();
        default_xml_profiles_loaded = true;
    }

    ParticipantAttributes participant_att;
    if ( XMLP_ret::XML_ERROR == XMLProfileManager::fillParticipantAttributes(participant_profile, participant_att))
    {
        logError(PARTICIPANT, "Problem loading profile '" << participant_profile << "'");
        return nullptr;
    }

    return createParticipant(participant_att, listen);
}

Participant* Domain::createParticipant(
        const eprosima::fastrtps::ParticipantAttributes& att,
        ParticipantListener* listen)
{
    Participant* pubsubpar = new Participant();
    ParticipantImpl* pspartimpl = new ParticipantImpl(att, pubsubpar, listen);

    // If DEFAULT_ROS2_MASTER_URI is specified then try to create default client if
    // that already exists.
    RTPSParticipant* part = RTPSDomain::clientServerEnvironmentCreationOverride(
        att.domainId,
        false,
        att.rtps,
        &pspartimpl->m_rtps_listener);

    if (part == nullptr)
    {
        // Creation procedure without enable
        part = RTPSDomain::createParticipant(att.domainId, false, att.rtps, &pspartimpl->m_rtps_listener);
    }

    if (part == nullptr)
    {
        logError(PARTICIPANT, "Problem creating RTPSParticipant");
        delete pspartimpl;
        return nullptr;
    }

    pspartimpl->mp_rtpsParticipant = part;
    t_p_Participant pubsubpair;
    pubsubpair.first = pubsubpar;
    pubsubpair.second = pspartimpl;

    {
        std::lock_guard<std::mutex> guard(m_mutex);
        m_participants.push_back(pubsubpair);
    }

    // Enable participant
    part->enable();

    return pubsubpar;
}

void Domain::getDefaultParticipantAttributes(
        ParticipantAttributes& participant_attributes)
{
    if (false == default_xml_profiles_loaded)
    {
        XMLProfileManager::loadDefaultXMLFile();
        default_xml_profiles_loaded = true;
    }

    return XMLProfileManager::getDefaultParticipantAttributes(participant_attributes);
}

Publisher* Domain::createPublisher(
        Participant* part,
        const std::string& publisher_profile,
        PublisherListener* listen)
{
    PublisherAttributes publisher_att;
    if ( XMLP_ret::XML_ERROR == XMLProfileManager::fillPublisherAttributes(publisher_profile, publisher_att))
    {
        logError(PUBLISHER, "Problem loading profile '" << publisher_profile << "'");
        return nullptr;
    }

    return createPublisher(part, publisher_att, listen);
}

Publisher* Domain::createPublisher(
        Participant* part,
        const PublisherAttributes& att,
        PublisherListener* listen)
{
    std::lock_guard<std::mutex> guard(m_mutex);
    for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
    {
        if (it->second->getGuid() == part->getGuid())
        {
            return part->mp_impl->createPublisher(att, listen);
        }
    }
    //TODO MOSTRAR MENSAJE DE ERROR WARNING y COMPROBAR QUE EL PUNTERO QUE ME PASA NO ES NULL
    return nullptr;
}

void Domain::getDefaultPublisherAttributes(
        PublisherAttributes& publisher_attributes)
{
    if (false == default_xml_profiles_loaded)
    {
        XMLProfileManager::loadDefaultXMLFile();
        default_xml_profiles_loaded = true;
    }

    return XMLProfileManager::getDefaultPublisherAttributes(publisher_attributes);
}

void Domain::getDefaultSubscriberAttributes(
        SubscriberAttributes& subscriber_attributes)
{
    if (false == default_xml_profiles_loaded)
    {
        XMLProfileManager::loadDefaultXMLFile();
        default_xml_profiles_loaded = true;
    }

    return XMLProfileManager::getDefaultSubscriberAttributes(subscriber_attributes);
}

Subscriber* Domain::createSubscriber(
        Participant* part,
        const std::string& subscriber_profile,
        SubscriberListener* listen)
{
    SubscriberAttributes subscriber_att;
    if ( XMLP_ret::XML_ERROR == XMLProfileManager::fillSubscriberAttributes(subscriber_profile, subscriber_att))
    {
        logError(PUBLISHER, "Problem loading profile '" << subscriber_profile << "'");
        return nullptr;
    }

    return createSubscriber(part, subscriber_att, listen);
}

Subscriber* Domain::createSubscriber(
        Participant* part,
        const SubscriberAttributes& att,
        SubscriberListener* listen)
{
    std::lock_guard<std::mutex> guard(m_mutex);
    for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
    {
        if (it->second->getGuid() == part->getGuid())
        {
            return part->mp_impl->createSubscriber(att, listen);
        }
    }
    return nullptr;
}

bool Domain::getRegisteredType(
        Participant* part,
        const char* typeName,
        fastdds::dds::TopicDataType** type)
{
    std::lock_guard<std::mutex> guard(m_mutex);
    for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
    {
        if (it->second->getGuid() == part->getGuid())
        {
            return part->mp_impl->getRegisteredType(typeName, type);
        }
    }
    return false;
}

bool Domain::registerType(
        Participant* part,
        fastdds::dds::TopicDataType* type)
{
    std::lock_guard<std::mutex> guard(m_mutex);
    //TODO El registro debería hacerse de manera que no tengamos un objeto del usuario sino que tengamos un objeto TopicDataTYpe propio para que no
    //haya problemas si el usuario lo destruye antes de tiempo.
    for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
    {
        if (it->second->getGuid() == part->getGuid())
        {
            return part->mp_impl->registerType(type);
        }
    }
    return false;
}

bool Domain::registerDynamicType(
        Participant* part,
        types::DynamicPubSubType* type)
{
    using namespace eprosima::fastrtps::types;
    TypeObjectFactory* typeFactory = TypeObjectFactory::get_instance();

    const TypeIdentifier* type_id_min = typeFactory->get_type_identifier(type->getName());

    if (type_id_min == nullptr)
    {
        DynamicTypeBuilderFactory* dynFactory = DynamicTypeBuilderFactory::get_instance();
        std::map<MemberId, DynamicTypeMember*> membersMap;
        type->GetDynamicType()->get_all_members(membersMap);
        std::vector<const MemberDescriptor*> members;
        for (auto it : membersMap)
        {
            members.push_back(it.second->get_descriptor());
        }
        TypeObject typeObj;
        dynFactory->build_type_object(type->GetDynamicType()->get_type_descriptor(), typeObj, &members);
        // Minimal too
        dynFactory->build_type_object(type->GetDynamicType()->get_type_descriptor(), typeObj, &members, false);
        const TypeIdentifier* type_id2 = typeFactory->get_type_identifier(type->getName());
        const TypeObject* type_obj = typeFactory->get_type_object(type->getName());
        if (type_id2 == nullptr)
        {
            logError(DYN_TYPES, "Cannot register dynamic type " << type->getName());
        }
        else
        {
            typeFactory->add_type_object(type->getName(), type_id2, type_obj);

            // Complete, just to make sure it is generated
            const TypeIdentifier* type_id_complete = typeFactory->get_type_identifier(type->getName(), true);
            const TypeObject* type_obj_complete = typeFactory->get_type_object(type->getName(), true);
            typeFactory->add_type_object(type->getName(), type_id_complete, type_obj_complete); // Add complete
        }
    }
    return registerType(part, type);
}

bool Domain::unregisterType(
        Participant* part,
        const char* typeName)
{
    //TODO El registro debería hacerse de manera que no tengamos un objeto del usuario sino que tengamos un objeto TopicDataTYpe propio para que no
    //haya problemas si el usuario lo destruye antes de tiempo.
    std::lock_guard<std::mutex> guard(m_mutex);
    for (auto it = m_participants.begin(); it != m_participants.end(); ++it)
    {
        if (it->second->getGuid() == part->getGuid())
        {
            return part->mp_impl->unregisterType(typeName);
        }
    }
    return true;
}

bool Domain::loadXMLProfilesFile(
        const std::string& xml_profile_file)
{
    if (false == default_xml_profiles_loaded)
    {
        XMLProfileManager::loadDefaultXMLFile();
        default_xml_profiles_loaded = true;
    }

    if ( XMLP_ret::XML_ERROR == XMLProfileManager::loadXMLFile(xml_profile_file))
    {
        logError(DOMAIN, "Problem loading XML file '" << xml_profile_file << "'");
        return false;
    }
    return true;
}

} // namespace fastrtps
} // namespace eprosima
