/*
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"

int main(int argc, char **argv) 
{
  Aria::init();
  ArMutex mutex;
  mutex.setLogName("test mutex");
  ArLog::log(ArLog::Normal, "This test succeeds if three (and only three) mutex lock/unlock time warning follow.");
  puts("setting test_mutex warning time to 1 sec");
  mutex.setUnlockWarningTime(1); // 1 sec
  puts("locking and unlocking immediately, should not warn...");
  mutex.lock();
  mutex.unlock(); // should not warn
  puts("locking and unlocking after 2 sec, should warn...");
  mutex.lock();
  ArUtil::sleep(2000); // 2 sec
  mutex.unlock(); // should warn
  puts("locking and unlocking after 0.5 sec, should not warn...");
  mutex.lock();
  ArUtil::sleep(500); // 0.5 sec
  mutex.unlock();	// should not warn
  puts("setting test_mutex warning time to 0.5 sec");
  mutex.setUnlockWarningTime(0.5); // 0.5 sec
  puts("locking and unlocking after 0.6 sec, should warn...");
  mutex.lock();
  ArUtil::sleep(600); // 0.6 sec
  mutex.unlock(); // should warn
  puts("locking and unlocking after 0.2 sec, should not warn...");
  mutex.lock();
  ArUtil::sleep(200); // 0.2 sec
  mutex.unlock(); // should not warn
  puts("locking and unlocking immediately, should not warn...");
  mutex.lock();
  mutex.unlock(); // should not warn
  puts("setting test_mutex warning time to 0.1 sec");
  mutex.setUnlockWarningTime(0.1);  // 0.1 sec
  puts("locking and unlocking after 0.2 sec, should warn...");
  mutex.lock();
  ArUtil::sleep(200); // 0.2 sec
  mutex.unlock(); // should warn
  mutex.setUnlockWarningTime(0.0); // off
  mutex.lock();
  ArUtil::sleep(100); // should not warn
  mutex.unlock();

  // Create and destroy a few mutexes, locking them, etc.
  ArMutex *m1 = new ArMutex();
  m1->setLogName("m1");
  m1->lock();
  ArMutex *m2 = new ArMutex();
  m2->lock();
  m2->setLogName("m2");
  puts("unlocking m1 before destroying it...");
  m1->unlock();
  delete m1;
  puts("NOT unlocking m2 before destroying it...");
  delete m2;

  puts("exiting with Aria::exit(0)...");
  Aria::exit(0);
}