//This C++ sample shows how to use Lock/Unlock
//These functions are provided for DEBUG ONLY
//Your application must take care about multiple threads access itself
//Lock/Unlock connection consumes time that is not needed if application is well synchronized

#include "Modacpp.h"
#include "conio.h"

#define MODASERVER    "localhost"
#define ROBOTNAME    "/robot1"
#define SENSORNAME    "ray1/sensor"

using namespace ModaCPP;


//Global variables
Connection *pConnection=NULL;
RobotPHX *pRobot=NULL;
DeviceDistance *pDistanceDevice=NULL;
HANDLE hThread=NULL;

//-------------------------------------------------------------------
void ReadThread(void)
{
bool bError=false;
while(!bError)
    {
    //Lock connection to disalow multiple access
    pConnection->Lock();
    if(pConnection->IsConnected())
        {
        float measure=pDistanceDevice->GetMeasure();
        _cprintf("measure: %f\r\n",measure);
        //sleep 1000 simulated ms
        pConnection->Sleep(1000);
        //Then unlock
        pConnection->Unlock();
        }
    else
        {
        bError=true;
        pConnection->Unlock();
        }
    }
//End
}

//-------------------------------------------------------------------
void main(void)
{
bool bError=false;

//Connect to MODA server
pConnection=new ModaCPP::Connection(true);
if(pConnection->Connect(MODASERVER))
    {
    //Find robot and sensor
    pRobot=pConnection->QueryRobotPHX(ROBOTNAME);
    if(pRobot)
        {
        pDistanceDevice=pRobot->QueryDeviceDistance(SENSORNAME);
        if(pDistanceDevice)
            {
            //Run the Read thread
            DWORD dwID;
            hThread=CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)ReadThread,0,0,&dwID);

            //the loop ....
            _cprintf("Connected : press anykey to stop\r\n");
            while(!_kbhit())
                {
                //Real system time wait
                Sleep(1000);

                pConnection->Lock();
                if(pConnection->IsConnected())    _cprintf("Connected ...\r\n");
                else                            _cprintf("Not connected ...\r\n");
                pConnection->Unlock();
                }
            }
        }

    //Disconnecting : Disconnect Lock/Unlock the object to protect itself
    _cprintf("Disconnecting\r\n");
    pConnection->Disconnect();

    if(hThread)
        {
        //wait for the read thread end
        WaitForSingleObject(hThread,INFINITE);
        CloseHandle(hThread);
        }
    }

//delete objects
if(pConnection) delete pConnection;
if(pRobot) delete pRobot;
if(pDistanceDevice) delete pDistanceDevice;
}