#include <RTI.hh>
#include <fedtime.hh>
#include <NullFederateAmbassador.hh>
#include <libhla/MessageBuffer.hh>
#include <memory>
#include <iostream>
#include <cstdlib>
#include <unistd.h>
using namespace std;


// VARIABLES GLOBALES
namespace{
    
    RTIfedTime temps(0.0);
    RTIfedTime lookahead(1.0);
    RTIfedTime endTime(10);
    bool timeRegulation = false;
    bool timeConstrained = false;

    int drone_ID;
    int X_ID;
    int H_ID;
}

class Federe_Interactif : public RTI::RTIambassador, public NullFederateAmbassador
{
    double X;
    bool que;
public:
    RTI::ObjectHandle myHandle;
    Federe_Interactif() {X=42;tag=false;que=false;}
    virtual ~Federe_Interactif() throw (RTI::FederateInternalError) {}
    bool tag;

        void askOwner()
    {
	RTI::ObjectHandle h =
	    getObjectInstanceHandle("quad_obj");
	std::cout<<h<<" VS "<<myHandle<<" and "<<H_ID<<std::endl;    
//    bool r = myFedere_Interactif->isAttributeOwnedByFederate(h,X_ID);
//	std::cout<<"IS H owned "<<r<<std::endl;
	queryAttributeOwnership(h,X_ID);
	while(!que){
	    tick();
	}
    }

private:


};


void callCFE (const char* const);
void callJFE (char * name);
void callRFE (void);

void PubSub();

//VARIABLE
Federe_Interactif* myFedere_Interactif = new Federe_Interactif();

int main(int argc, char **argv)
{

  int i;
  float d;
  char c, entree;
  string commande;
  std::cout<<argc<<std::endl;
  if (argc!=3)
  {
      cout<<"prog federate_name absolute_path_to_fom"<<std::endl;
      exit(1);
  }

    //CREER
    callCFE (argv[2]);

    //REJOINDRE
    callJFE (argv[1]);

    PubSub();
    myFedere_Interactif->askOwner();

  callRFE();
  exit(1);
}


// FEDERARION MANAGEMENT
// createFederationExecution
void callCFE (const char* const path){
    int test = 1;
    try {
       myFedere_Interactif->createFederationExecution("Federation_Interactive",path);
    }
    catch (RTI::Exception& e) {
        test = 0;
        std::cout << "catch " << e._name << " reason " << e._reason <<std::endl;
    }
    if (test)
       std::cout << "federation creee" << std::endl;
    else
       std::cout << "federation non creee" << std::endl;
}
// deleteFederationExecution
void callDFE (void) {
    int test = 1;
    try {
       myFedere_Interactif->destroyFederationExecution("Federation_Interactive");
    }
    catch (RTI::Exception& e) {
        test = 0;
        std::cout << "catch " << e._name << " reason " << e._reason <<std::endl;
    }
    if (test)
       std::cout << "federation detruite" << std::endl;
    else
       std::cout << "federation non detruite" << std::endl;
}
// joinFederationExecution
void callJFE (char *name) {
    int test = 1;
    try {
       myFedere_Interactif->joinFederationExecution(name, "Federation_Interactive", myFedere_Interactif);
    }
    catch (RTI::Exception& e) {
        test = 0;
        std::cout << "catch " << e._name << " reason " << e._reason <<std::endl;
    }
    if (test)
       std::cout << "federation rejointe" << std::endl;
    else
       std::cout << "federation non rejointe" << std::endl;
}
// resignFederationExecution
void callRFE (void) {
    int test = 1;
    try {
       myFedere_Interactif->resignFederationExecution(RTI::DELETE_OBJECTS_AND_RELEASE_ATTRIBUTES);
    }
    catch (RTI::Exception& e) {
        test = 0;
        std::cout << "catch " << e._name << " reason " << e._reason <<std::endl;
    }
    if (test)
       std::cout << "federation quittee" << std::endl;
    else
       std::cout << "federation non quittee" << std::endl;
}


void PubSub(){

    {
	drone_ID  = myFedere_Interactif->getObjectClassHandle("quad");

	X_ID =  myFedere_Interactif->getAttributeHandle("X", drone_ID);
	H_ID =  myFedere_Interactif->getAttributeHandle("H", drone_ID);
    }
    
    //Pub 
    {
    auto_ptr<RTI::AttributeHandleSet> attributes
	(RTI::AttributeHandleSetFactory::create(1));    
    attributes->add(X_ID);    
    myFedere_Interactif->publishObjectClass(drone_ID, *attributes);
    myFedere_Interactif->myHandle = myFedere_Interactif->registerObjectInstance(drone_ID,"quad_obj");

    }

    //sub
    {
    auto_ptr<RTI::AttributeHandleSet> attributes
	(RTI::AttributeHandleSetFactory::create(1));
    
    attributes->add(H_ID);    
    myFedere_Interactif->subscribeObjectClassAttributes(drone_ID, *attributes, RTI::RTI_TRUE);
    }
   
}