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();
      virtual void IterateOverControllableEntities(
          const TControllableEntityIterCBType& c_cb);
 
   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_tStartEntityIterPhaseMutex;
      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_tStartEntityIterPhaseCond;
      pthread_cond_t m_tFetchTaskCond;
 
      UInt32 m_unSenseControlPhaseIdleCounter;
      UInt32 m_unActPhaseIdleCounter;
      UInt32 m_unPhysicsPhaseIdleCounter;
      UInt32 m_unMediaPhaseIdleCounter;
      UInt32 m_unEntityIterPhaseIdleCounter;
 
   };
 
}
 
#endif