/*
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(void)
{

  Aria::init();


  ArLog::log(ArLog::Normal, "\nTesting ArTime with large values:");
  ArTime startLarge, testlarge;
  
  ArLog::log(ArLog::Normal, "Setting an ArTime object \"startLarge\" to now...");
  startLarge.setToNow();
  ArLog::log(ArLog::Normal, "mSecSince %ld secSince %ld", 
	     startLarge.mSecSince(), startLarge.secSince());

  long adding=pow(2,31) - 10 * 1000;
  ArLog::log(ArLog::Normal, "Adding %d milliseconds", adding);
  startLarge.addMSec(adding);
  ArLog::log(ArLog::Normal, "mSecSince %ld secSince %ld", 
	     startLarge.mSecSince(), startLarge.secSince());
  ArLog::log(ArLog::Normal, "mSecSinceLL %lld secSinceLL %lld", 
	     startLarge.mSecSinceLL(), startLarge.secSinceLL());


  ArLog::log(ArLog::Normal, "Adding %d milliseconds", adding);
  startLarge.addMSec(adding);
  ArLog::log(ArLog::Normal, "mSecSince %ld secSince %ld", 
	     startLarge.mSecSince(), startLarge.secSince());
  ArLog::log(ArLog::Normal, "mSecSinceLL %lld secSinceLL %lld", 
	     startLarge.mSecSinceLL(), startLarge.secSinceLL());

  ArLog::log(ArLog::Normal, "\nTesting platform localtime (broken-down) struct:");
  struct tm t;
  ArUtil::localtime(&t);
  ArLog::log(ArLog::Normal, "ArUtil::localtime() returned: year=%d mon=%d mday=%d hour=%d min=%d sec=%d",
    t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
  time_t yesterday = time(NULL) - (24*60*60) ;
  ArUtil::localtime(&yesterday, &t);
  ArLog::log(ArLog::Normal, "ArUtil::localtime(time(NULL) - 24hours, struct tm*) returned: year=%d mon=%d mday=%d hour=%d min=%d sec=%d",
    t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);

  ArLog::log(ArLog::Normal, "\nCurrent time as strings:");
  char year[5], month[3], day[3], hour[3], min[3], sec[3];
  ArUtil::putCurrentYearInString(year, 5);
  ArUtil::putCurrentMonthInString(month, 3);
  ArUtil::putCurrentDayInString(day, 3);
  ArUtil::putCurrentHourInString(hour, 3);
  ArUtil::putCurrentMinuteInString(min, 3);
  ArUtil::putCurrentSecondInString(sec, 3);
  ArLog::log(ArLog::Normal, "  Year:%s, Month:%s, Day:%s, Hour:%s, Min:%s, Sec:%s",
      year, month, day, hour, min, sec);

  ArLog::log(ArLog::Normal, "\nTesting ArTime:");
  ArTime start, test;
  
  ArLog::log(ArLog::Normal, "Setting an ArTime object \"start\" to now...");
  start.setToNow();
  start.log();
  ArLog::log(ArLog::Normal, "Sleeping 4 secs");
  ArUtil::sleep(4000);
  ArLog::log(ArLog::Normal, "Setting an ArTime object \"test\" to now...");
  test.setToNow();
  test.log();

  ArLog::log(ArLog::Normal, "ms of \"test\" since start %ld", test.mSecSince(start));
  ArLog::log(ArLog::Normal, "seconds \"test\" since start %ld", test.secSince(start));
  ArLog::log(ArLog::Normal, "ms of start since \"test\" %ld", start.mSecSince(test));
  ArLog::log(ArLog::Normal, "seconds \"start\" test %ld", start.secSince(test));
  ArLog::log(ArLog::Normal, "\"start\" is before \"test\"? %d", test.isBefore(start));
  ArLog::log(ArLog::Normal, "\"start\" is after \"test\"? %d", test.isAfter(start));
  ArLog::log(ArLog::Normal, "\"test\" is before \"start\"? %d", start.isBefore(test));
  ArLog::log(ArLog::Normal, "\"test\" is after \"start\"? %d", start.isAfter(test));
  ArLog::log(ArLog::Normal, "ms from \"start\" to now %ld", start.mSecTo());
  ArLog::log(ArLog::Normal, "s from \"start\" to now %ld", start.secTo());
  ArLog::log(ArLog::Normal, "ms since \"start\" %ld", start.mSecSince());
  ArLog::log(ArLog::Normal, "s since \"start\" %ld", start.secSince());
  ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
  ArLog::log(ArLog::Normal, "s from \"test\" stamp to now %ld", test.secTo());

  ArLog::log(ArLog::Normal, "Testing addMSec, adding 200 mSec");
  test.addMSec(200);
  ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
  ArLog::log(ArLog::Normal, "Testing addMSec, subtracting 300 mSec");
  test.addMSec(-300);
  ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
  ArLog::log(ArLog::Normal, "Testing addMSec, adding 20.999 seconds");
  test.addMSec(20999);
  ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
  ArLog::log(ArLog::Normal, "Testing addMSec, subtracting 23.5 seconds");
  test.addMSec(-23500);
  ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
  
  ArTime timeDone;
  ArLog::log(ArLog::Normal, "Setting ArTime object \"done\" to now.");
  timeDone.setToNow();
  timeDone.addMSec(1000);
  ArLog::log(ArLog::Normal, "Making sure the add works in the right direction, adding a second to a timestamp set now");
  ArLog::log(ArLog::Normal, "Reading: %ld", timeDone.mSecTo());
  ArLog::log(ArLog::Normal, "Sleeping 20 ms");
  ArUtil::sleep(20);
  ArLog::log(ArLog::Normal, "Reading: %ld", timeDone.mSecTo());
  ArLog::log(ArLog::Normal, "Sleeping 2 seconds");
  ArUtil::sleep(2000);
  ArLog::log(ArLog::Normal, "Reading: %ld", timeDone.mSecTo());

  /*
  puts("\nslamming ArUtil::localtime() from a bunch of threads with the same input time...");
  time_t now = time(NULL);
  class LocaltimeTestThread : public virtual ArASyncTask 
  {
  private:
    time_t time;
  public:
    LocaltimeTestThread(time_t t) : time(t) {}
    virtual void *runThread(void *) {
      struct tm t;
      ArUtil::localtime(&time, &t);
      ArLog::log(ArLog::Normal, "ArUtil::localtime() returned: year=%d mon=%d mday=%d hour=%d min=%d sec=%d", t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
      return 0;
    }
  };

  for(int i = 0; i < 200; ++i)
    (new LocaltimeTestThread(now))->runAsync();
  ArUtil::sleep(5000);
  */

  ArLog::log(ArLog::Normal, "test is done.");

}