#include "XNDDSManager.h"

namespace XNSim {
XNDDSManager::XNDDSManager() : XNBaseFrameObject(new XNDDSManagerPrivate()) {
  SetUniqueId(enumValue(XNCoreObjectID::DDSManager));
  SetObjectName("XNDDSManager");
}

XNDDSManager::~XNDDSManager() {}

XNDDSManager::XNDDSManager(PrivateType *p) : XNBaseFrameObject(p) {}

XN_BOOL XNDDSManager::Initialize() {
  T_D();
  d->_status = XNFrameObjectStatus::Initialized;
  d->participant_ = nullptr;
  d->topics_.clear();
  LOG_INFO("DDS管理器初始化成功!");
  return true;
}

XN_BOOL XNDDSManager::PrepareForExecute() {
  T_D();
  d->_status = XNFrameObjectStatus::Ready;
  LOG_INFO("DDS管理器准备就绪!");
  return true;
}

void XNDDSManager::SetDomainID(XN_UINT32 domainID) {
  T_D();
  XNDDSParticipantQos participantQos;
  participantQos.name("XNDDSManager");
  d->participant_ =
      XN_DDS::DomainParticipantFactory::get_instance()->create_participant(
          domainID, participantQos);
  if (d->participant_ == nullptr) {
    LOG_ERROR("0x2130 DDS管理器创建域参与者失败!");
  }
}
} // namespace XNSim