/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
//#include <time.h>

class TestThread : public ArASyncTask
{
public:
  TestThread(int number, ArMutex &mutex);
  ~TestThread(void) {}

  virtual void * runThread(void *arg);

  int myNum;
  ArMutex &myMutex;
};

TestThread::TestThread(int number, ArMutex &mutex) :
  myNum(number),
  myMutex(mutex)
{
}

void *TestThread::runThread(void *arg)
{
  unsigned int interval;

puts("new thread running...");
  while (myRunning)
  {
    // Yield the processor here so that the other threads get a chance
    // to get the lock. calling ArThread::yield() will give sequential
    // running of the threads.
    //yield();

    // Sleeping of 1 microsecond randomizes the order of running of the
    // threads.
    ArUtil::sleep(1);

    myMutex.lock();
    interval=rand()%10000;
    printf("Thread %d: Locked. Going to sleep for %dms\n", myNum, interval);
    ArUtil::sleep(interval);
    printf("Thread %d: Unlocking...\n", myNum);
    myMutex.unlock();
  }

  return NULL;
}

int main(int argc, char **argv) 
{
puts("Aria init...");
fflush(stdout);
  Aria::init(Aria::SIGHANDLE_THREAD, false);

  ArMutex mutex;
  mutex.setLogName("mutex");

  ArMutex::setLockWarningTime(1);
  ArMutex::setUnlockWarningTime(5);
  TestThread thread1(1, mutex), thread2(2, mutex), thread3(3, mutex),
    thread4(4, mutex);

  thread1.setThreadName("thread1");
  thread2.setThreadName("thread2");
  thread3.setThreadName("thread3");
  thread4.setThreadName("thread4");
puts("srand...");
  srand(time(0));


puts("creating 3 threads...");
  thread1.create();
  thread2.create();
  thread3.create();

  printf("main thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", ArThread::getThisThreadName(), ArThread::getThisOSThread(), (unsigned int) ArThread::getThisThread());
  printf("thread1 thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread1.getThreadName(), thread1.getOSThread(), (unsigned int) thread1.getThread());
  printf("thread2 thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread2.getThreadName(), thread2.getOSThread(), (unsigned int) thread2.getThread());
  printf("thread3 thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread3.getThreadName(), thread3.getOSThread(), (unsigned int) thread3.getThread());
  printf("thread4 (not created yet) thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread4.getThreadName(), thread4.getOSThread(), (unsigned int) thread4.getThread());

#ifndef MINGW
  if(ArThread::getThisOSThread() == thread1.getOSThread() ||
     ArThread::getThisOSThread() == thread2.getOSThread() ||
     ArThread::getThisOSThread() == thread3.getOSThread() ||
     ArThread::getThisOSThread() == thread4.getOSThread() ||
     thread1.getOSThread() == thread2.getOSThread() ||
     thread1.getOSThread() == thread3.getOSThread() ||
     thread1.getOSThread() == thread4.getOSThread() ||
     thread2.getOSThread() == thread1.getOSThread() ||
     thread2.getOSThread() == thread3.getOSThread() ||
     thread2.getOSThread() == thread4.getOSThread() ||
     thread3.getOSThread() == thread1.getOSThread() ||
     thread3.getOSThread() == thread2.getOSThread() ||
     thread3.getOSThread() == thread4.getOSThread() ||
     thread4.getOSThread() == thread1.getOSThread() ||
     thread4.getOSThread() == thread2.getOSThread() ||
     thread4.getOSThread() == thread3.getOSThread() )
  {
    puts("error, some thread IDs are the same!");
    return 5;
  }
#endif

puts("run thread 4 in main thread");
  thread4.runInThisThread();

puts("exit");
  Aria::exit(0);

  return(0);
}