space_multi_thread_balance_length.h

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#ifndef SPACE_MULTI_THREAD_BALANCE_LENGTH_H
#define SPACE_MULTI_THREAD_BALANCE_LENGTH_H

namespace argos {
   class CSpace;
}

#include <argos3/core/simulator/space/space.h>

namespace argos {

   class CSpaceMultiThreadBalanceLength : public CSpace {

   public:

      CSpaceMultiThreadBalanceLength() {}
      virtual ~CSpaceMultiThreadBalanceLength() {}

      virtual void Init(TConfigurationNode& t_tree);
      virtual void Destroy();

      virtual void Update();
      virtual void UpdateControllableEntitiesAct();
      virtual void UpdatePhysics();
      virtual void UpdateMedia();
      virtual void UpdateControllableEntitiesSenseStep();

   private:

      void StartThreads();
      void SlaveThread();
      friend void* LaunchThreadBalanceLength(void* p_data);

   private:

      struct SThreadLaunchData {
         UInt32 ThreadId;
         CSpaceMultiThreadBalanceLength* Space;
         
         SThreadLaunchData(UInt32 un_thread_id,
                           CSpaceMultiThreadBalanceLength* pc_space) :
            ThreadId(un_thread_id),
            Space(pc_space) {}
      };

      pthread_t* m_ptThreads;

      SThreadLaunchData** m_psThreadData;

      size_t m_unTaskIndex;

      pthread_mutex_t m_tStartSenseControlPhaseMutex;
      pthread_mutex_t m_tStartActPhaseMutex;
      pthread_mutex_t m_tStartPhysicsPhaseMutex;
      pthread_mutex_t m_tStartMediaPhaseMutex;
      pthread_mutex_t m_tFetchTaskMutex;

      pthread_cond_t m_tStartSenseControlPhaseCond;
      pthread_cond_t m_tStartActPhaseCond;
      pthread_cond_t m_tStartPhysicsPhaseCond;
      pthread_cond_t m_tStartMediaPhaseCond;
      pthread_cond_t m_tFetchTaskCond;

      UInt32 m_unSenseControlPhaseIdleCounter;
      UInt32 m_unActPhaseIdleCounter;
      UInt32 m_unPhysicsPhaseIdleCounter;
      UInt32 m_unMediaPhaseIdleCounter;

   };

}

#endif