#include <sys/mman.h>
#include <native/task.h>
#include <native/event.h>
#include <native/timer.h>

#define MY_EVENT    0x00000001ll
#define MY_PRIORITY 99

static RT_TASK mainTask;

int main(int argc, char** argv) {
    const double ONE_SEC = 1e9;
    const RTIME timeout = (RTIME)(5 * ONE_SEC);
    RT_EVENT event;
    unsigned long mask;
    RTIME start, end;
    int res;

    mlockall(MCL_CURRENT | MCL_FUTURE);

    res = rt_task_shadow(&mainTask, "main_task", MY_PRIORITY, 0);
    if (res < 0) {
        printf("rt_task_shadow(): %d (%s)\n", res, strerror(-res));
    }

    res = rt_task_set_mode(0, T_PRIMARY, NULL);
    if (res < 0) {
        printf("rt_task_set_mode(): %d (%s)\n", res, strerror(-res));
    }

    res = rt_event_create(&event, NULL, 0, EV_PRIO);
    if (res < 0) {
        printf("rt_event_create(): %d (%s)\n", res, strerror(-res));
    }

    start = rt_timer_read();
    res = rt_event_wait(&event, MY_EVENT, &mask, EV_ALL, rt_timer_ns2ticks(timeout));
    end = rt_timer_read();
    
    if (res < 0 && res != -ETIMEDOUT) {
        printf("rt_event_wait(): %d (%s)\n", res, strerror(-res));
    }

    printf("time - measured %g s, wanted %g s\n", rt_timer_ticks2ns(end - start)/ONE_SEC, timeout/ONE_SEC);
    
    res = rt_event_delete(&event);
    if (res < 0) {
        printf("rt_event_delete(): %d (%s)\n", res, strerror(-res));
    }

    return 0;
}