#ifndef DPS_DDS_LISTENER_H
#define DPS_DDS_LISTENER_H

#include "CR_Component.h"
#include "OS_Debug.h"
#include "ndds/ndds_cpp.h"
#include "ndds/ndds_namespace_cpp.h"


template< typename Tdatareader, typename Tdataseq >
class DPS_DDSListener : public DDS::DataReaderListener
{
public:
	DPS_DDSListener( CR_Component* _component, const TDstring& _message ) : component( _component ), message( _message ) {}
	~DPS_DDSListener();

	virtual void on_requested_deadline_missed( DDS::DataReader* reader, const DDS::RequestedDeadlineMissedStatus& status ) {}
	virtual void on_requested_incompatible_qos( DDS::DataReader* reader, const DDS::RequestedIncompatibleQosStatus& status ) {}
	virtual void on_sample_rejected( DDS::DataReader* reader, const DDS::SampleRejectedStatus& status ) {}
	virtual void on_liveliness_changed( DDS::DataReader* reader, const DDS::LivelinessChangedStatus& status ) {}
	virtual void on_sample_lost( DDS::DataReader* reader, const DDS::SampleLostStatus& status ) {}
	virtual void on_subscription_matched( DDS::DataReader* reader, const DDS::SubscriptionMatchedStatus& status) {}
	virtual void on_data_available( DDS::DataReader* reader );

	CR_Component* component;
	TDstring message;
};

template< typename Tdatareader, typename Tdataseq >
DPS_DDSListener< Tdatareader, Tdataseq >::~DPS_DDSListener()
{
	component = NULL;
}

template< typename Tdatareader, typename Tdataseq >
void DPS_DDSListener< Tdatareader, Tdataseq >::on_data_available( DDS::DataReader* reader )
{
	if (component == NULL)
		return;

	// narrow
	Tdatareader * data_reader = Tdatareader::narrow( reader );
	if( data_reader == NULL )
	{
		OS_DEBUG( "data_reader narrow error\n" );
		return;
	}

	// take
	Tdataseq data_seq;
	DDS::SampleInfoSeq info_seq;
	DDS::ReturnCode_t retcode = data_reader->take( data_seq, info_seq, DDS::LENGTH_UNLIMITED,
												   DDS::ANY_SAMPLE_STATE, DDS::ANY_VIEW_STATE,
												   DDS::ANY_INSTANCE_STATE );
	if( retcode == DDS::RETCODE_NO_DATA )
	{
		return;
	}
	else if( retcode != DDS::RETCODE_OK )
	{
		OS_DEBUG( "take error %d\n", retcode );
		return;
	}

	// notify
	for( DDS_Long i = 0; i < data_seq.length( ); ++i )
	{
		if( info_seq[i].valid_data )
		{
			component->Notify( message, &data_seq[i] );
		}
	}

	// return loan
	retcode = data_reader->return_loan( data_seq, info_seq );
	if( retcode != DDS::RETCODE_OK )
	{
		OS_DEBUG( "return loan error %d\n", retcode );
	}
}

#endif // DPS_DDS_LISTENER_H