space_multi_thread_balance_quantity.h

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#ifndef SPACE_MULTI_THREAD_BALANCE_QUANTITY_H
#define SPACE_MULTI_THREAD_BALANCE_QUANTITY_H
 
#include <argos3/core/simulator/space/space.h>
#include <pthread.h>
 
namespace argos {
 
   class CSpaceMultiThreadBalanceQuantity : public CSpace {
 
      /****************************************/
      /****************************************/
 
   private:
 
      struct SUpdateThreadData {
         UInt32 ThreadId;
         CSpaceMultiThreadBalanceQuantity* Space;
 
         SUpdateThreadData(UInt32 un_thread_id,
                           CSpaceMultiThreadBalanceQuantity* pc_space) :
            ThreadId(un_thread_id),
            Space(pc_space) {}
      };
 
      /****************************************/
      /****************************************/
 
   private:
 
      SUpdateThreadData** m_psUpdateThreadData;
 
      pthread_t* m_ptUpdateThreads;
 
      UInt32 m_unSenseControlStepPhaseDoneCounter;
      UInt32 m_unActPhaseDoneCounter;
      UInt32 m_unPhysicsPhaseDoneCounter;
      UInt32 m_unMediaPhaseDoneCounter;
      UInt32 m_unEntityIterPhaseDoneCounter;
 
      pthread_mutex_t m_tSenseControlStepConditionalMutex;
      pthread_mutex_t m_tActConditionalMutex;
      pthread_mutex_t m_tPhysicsConditionalMutex;
      pthread_mutex_t m_tMediaConditionalMutex;
      pthread_mutex_t m_tEntityIterConditionalMutex;
 
      pthread_cond_t m_tSenseControlStepConditional;
      pthread_cond_t m_tActConditional;
      pthread_cond_t m_tPhysicsConditional;
      pthread_cond_t m_tMediaConditional;
      pthread_cond_t m_tEntityIterConditional;
 
      bool m_bIsControllableEntityAssignmentRecalculationNeeded;
 
   public:
 
      CSpaceMultiThreadBalanceQuantity();
      virtual ~CSpaceMultiThreadBalanceQuantity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
      virtual void Destroy();
 
      virtual void UpdateControllableEntitiesAct();
      virtual void UpdatePhysics();
      virtual void UpdateMedia();
      virtual void UpdateControllableEntitiesSenseStep();
      virtual void IterateOverControllableEntities(
          const TControllableEntityIterCBType& c_cb);
 
   protected:
 
      virtual void AddControllableEntity(CControllableEntity& c_entity);
      virtual void RemoveControllableEntity(CControllableEntity& c_entity);
 
   private:
 
      void StartThreads();
      void UpdateThread(UInt32 un_id);
 
      void UpdateThreadEntityAct(UInt32 un_id, CRange<size_t>& c_range);
 
      void UpdateThreadPhysics(const CRange<size_t>& c_range);
 
     void UpdateThreadMedia(const CRange<size_t>& c_range);
 
      void UpdateThreadIterateOverEntities(UInt32 un_id, CRange<size_t>& c_range);
 
      void UpdateThreadEntitySenseControl(UInt32 un_id, CRange<size_t>& c_range);
 
      virtual void ControllableEntityIterationWaitAbort();
 
      friend void* LaunchUpdateThreadBalanceQuantity(void* p_data);
 
   };
 
}
 
#endif