/*
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
*/
#ifndef ARCONDITION_H
#define ARCONDITION_H


#if !defined(WIN32) || defined(MINGW)
#include <pthread.h>
#include "ArMutex.h"
#endif
#include "ariaTypedefs.h"


/** Threading condition wrapper class
 @ingroup UtilityClasses
*/
class ArCondition
{
public:

  enum {
    STATUS_FAILED=1, ///< General failure
    STATUS_FAILED_DESTROY, ///< Another thread is waiting on this condition so it can not be destroyed
    STATUS_FAILED_INIT, ///< Failed to initialize thread. Requested action is imposesible
    STATUS_WAIT_TIMEDOUT, ///< The timedwait timed out before signaling
    STATUS_WAIT_INTR, ///< The wait was interupted by a signal
    STATUS_MUTEX_FAILED_INIT, ///< The underlying mutex failed to init
    STATUS_MUTEX_FAILED ///< The underlying mutex failed in some fashion
  };

  /** @internal */
#if defined(WIN32) && !defined(MINGW)
  typedef HANDLE CondType;
#else
  typedef pthread_cond_t CondType;
#endif

  /// Constructor
  AREXPORT ArCondition();
  /// Desctructor
  AREXPORT virtual ~ArCondition();

  /// Signal the thread waiting
  AREXPORT int signal();
  /// Broadcast a signal to all threads waiting
  AREXPORT int broadcast();
  /** @brief Wait for a signal */
  AREXPORT int wait();
  /// Wait for a signal for a period of time in milliseconds
  AREXPORT int timedWait(unsigned int msecs);
  /// Translate error into string
  AREXPORT const char *getError(int messageNumber) const;

  // Set a name to be included in log messages
  void setLogName(const char *logName) {myLogName = logName;}
  const char *getLogName() 
  { 
    return (myLogName=="")?"unnamed":myLogName.c_str(); 
  }


protected:

  static ArStrMap ourStrMap;

  bool myFailedInit;
  CondType myCond;
#if defined(WIN32) && !defined(MINGW)
  int myCount;
#else
  ArMutex myMutex;
#endif
  std::string myLogName;
};


#endif // ARCONDITION_H