/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
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 *     notice, this list of conditions and the following disclaimer.
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 */

#include <chrono>
#include <future>

#include <gtest/gtest.h>

#include "dart/simulation/World.hpp"

#include "TestHelpers.hpp"

using namespace dart;
using namespace dynamics;

//==============================================================================
void createAndDestroyFrames(int threadNum)
{
  for (std::size_t i = 0; i < 100; ++i)
  {
    EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
    EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);

    SimpleFrame someFrame(
        Frame::World(),
        "Frame_" + std::to_string(threadNum) + std::to_string(i));

    EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
    EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
  }
}

//==============================================================================
TEST(Concurrency, FrameDeletion)
{
  // Regression test for issue #576
  std::vector<std::future<void>> futures;
  for (std::size_t i = 0; i < 10; ++i)
    futures.push_back(
        std::async(std::launch::async, &createAndDestroyFrames, i));

  for (std::size_t i = 0; i < futures.size(); ++i)
  {
    EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
    EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
    futures[i].get();
  }

  EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
  EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
}
