/*
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 "ArExport.h"
#include <errno.h>
#include <time.h>
#include <math.h>
#include <sys/time.h>
#include <string.h>
#include "ariaOSDef.h"
#include "ArCondition.h"
#include "ArLog.h"

#include <time.h>


ArStrMap ArCondition::ourStrMap;


AREXPORT ArCondition::ArCondition() :
  myFailedInit(false),
  myCond(),
  myMutex(false)
{
  myMutex.setLogName("ArCondition::myMutex");
  pthread_condattr_t attr;

  pthread_condattr_init(&attr);
  if (pthread_cond_init(&myCond, &attr) != 0)
  {
    ArLog::log(ArLog::Terse, "ArCondition::ArCondition: Unknown error trying to create the condition.");
    myFailedInit=true;
  }

  pthread_condattr_destroy(&attr);

  ourStrMap[STATUS_FAILED]="General failure";
  ourStrMap[STATUS_FAILED_DESTROY]=
  "Another thread is waiting on this condition so it can not be destroyed";
  ourStrMap[STATUS_FAILED_INIT] =
  "Failed to initialize thread. Requested action is imposesible";
  ourStrMap[STATUS_MUTEX_FAILED_INIT]="The underlying mutex failed to init";
  ourStrMap[STATUS_MUTEX_FAILED]="The underlying mutex failed in some fashion";
}

AREXPORT ArCondition::~ArCondition()
{
  int ret;

  ret=pthread_cond_destroy(&myCond);
  if (ret == EBUSY)
    ArLog::log(ArLog::Terse, "ArCondition::~ArCondition: Trying to destroy a condition that another thread is waiting on.");
  else if (ret != 0)
    ArLog::log(ArLog::Terse, "ArCondition::~ArCondition: Unknown error while trying to destroy the condition.");
}

AREXPORT int ArCondition::signal()
{
  if (myFailedInit)
  {
    ArLog::log(ArLog::Terse, "ArCondition::signal: Initialization of condition failed, failed to signal");
    return(STATUS_FAILED_INIT);
  }

  if (pthread_cond_signal(&myCond) != 0)
  {
    ArLog::log(ArLog::Terse, "ArCondition::signal: Unknown error while trying to signal the condition.");
    return(STATUS_FAILED);
  }

  return(0);
}

AREXPORT int ArCondition::broadcast()
{
  if (myFailedInit)
  {
    ArLog::log(ArLog::Terse, "ArCondition::broadcast: Initialization of condition failed, failed to broadcast");
    return(STATUS_FAILED_INIT);
  }

  if (pthread_cond_broadcast(&myCond) != 0)
  {
    ArLog::log(ArLog::Terse, "ArCondition::broadcast: Unknown error while trying to broadcast the condition.");
    return(STATUS_FAILED);
  }

  return(0);
}

AREXPORT int ArCondition::wait()
{
  int ret;

  if (myFailedInit)
  {
    ArLog::log(ArLog::Terse, "ArCondition::wait: Initialization of condition failed, failed to wait");
    return(STATUS_FAILED_INIT);
  }

  ret=myMutex.lock();
  if (ret != 0)
  {
    if (ret == ArMutex::STATUS_FAILED_INIT)
      return(STATUS_MUTEX_FAILED_INIT);
    else
      return(STATUS_MUTEX_FAILED);
  }

  ret=pthread_cond_wait(&myCond, &myMutex.getMutex());
  if (ret != 0)
  {
    if (ret == EINTR)
      return(STATUS_WAIT_INTR);
    else
    {
      ArLog::log(ArLog::Terse, "ArCondition::wait: Unknown error while trying to wait on the condition.");
      return(STATUS_FAILED);
    }
  }

  ret=myMutex.unlock();
  if (ret != 0)
  {
    if (ret == ArMutex::STATUS_FAILED_INIT)
      return(STATUS_MUTEX_FAILED_INIT);
    else
      return(STATUS_MUTEX_FAILED);
  }

  return(0);
}

AREXPORT int ArCondition::timedWait(unsigned int msecs)
{
  int ret;
  int retUnlock;

  if (myFailedInit)
  {
    ArLog::log(ArLog::Terse, "ArCondition::wait: Initialization of condition failed, failed to wait");
    return(STATUS_FAILED_INIT);
  }

  ret=myMutex.lock();
  if (ret != 0)
  {
    if (ret == ArMutex::STATUS_FAILED_INIT)
      return(STATUS_MUTEX_FAILED_INIT);
    else
      return(STATUS_MUTEX_FAILED);
  }

  /*
  gettimeofday(&tp, NULL);
  // convert time of day to pthread time structure
  spec.tv_sec = tp.tv_sec;
  spec.tv_nsec = tp.tv_usec * 1000;

  // add on time specified by msecs
  spec.tv_sec += (long int)rint(((float)msecs)/1000.0);
  // 1 millisecond = 1000 micro seconds = 1000000 nanoseconds
  spec.tv_nsec += (long int)( ( msecs % 1000 ) * 1000000);
//   printf("input millisecond=%d :: sec=%ld nsec=%ld curtime=%ld %ld\n", msecs, spec.tv_sec, spec.tv_nsec, tp.tv_sec, tp.tv_usec * 1000);
*/
  struct timespec spec;
#ifdef _POSIX_TIMERS
  clock_gettime(CLOCK_REALTIME, &spec);
#else
#warning posix realtime timer not available so using gettimeofday instead of clock_gettime
  struct timeval tp;
  gettimeofday(&tp, NULL);
  spec.tv_sec = tp.tv_sec;
  spec.tv_nsec = tp.tv_usec * 1000;
#endif

  spec.tv_sec += msecs / 1000;
  spec.tv_nsec += msecs * 1000 * 1000;
  if (spec.tv_nsec > 1000 * 1000 * 1000)
  {
    spec.tv_sec += 1;
    spec.tv_nsec -= 1000 * 1000 * 1000;
  }
  

  int timedWaitErrno;
  
  ret=pthread_cond_timedwait(&myCond, &myMutex.getMutex(), &spec);
  timedWaitErrno = errno;

  /*
  if (ret != 0)
    ArLog::logErrorFromOS(ArLog::Terse, "ArCondition::timedWait: Unknown error while trying to wait on the condition. Ret %d, %s", ret, strerror(ret));
  */

  // must unlock the mutex, even if we fail, since we reacquire lock
  // after timedwait times out
  retUnlock=myMutex.unlock();
  
  if (ret != 0)
  {
    if (ret == EINTR)
      return(STATUS_WAIT_INTR);
    else if (ret == ETIMEDOUT)
      return(STATUS_WAIT_TIMEDOUT);
    else
    {
      ArLog::logErrorFromOS(ArLog::Terse, "ArCondition::timedWait: Unknown error while trying to wait on the condition. Ret %d, %s.  Errno %d, %s.", 
			    ret, strerror(ret),
			    timedWaitErrno, strerror(timedWaitErrno));

      return(STATUS_FAILED);
    }
  }

  if (retUnlock != 0)
  {
    if (retUnlock == ArMutex::STATUS_FAILED_INIT)
      return(STATUS_MUTEX_FAILED_INIT);
    else
      return(STATUS_MUTEX_FAILED);
  }

  return(0);
}

AREXPORT const char * ArCondition::getError(int messageNumber) const
{
  ArStrMap::const_iterator it;
  if ((it = ourStrMap.find(messageNumber)) != ourStrMap.end())
    return (*it).second.c_str();
  else
    return NULL;
}