Arbitrator Class Reference

basically, this is a thread of execution in the Simulator most likely a robot, or set of robots. More...

#include <Simulation/Arbitrator.h>

Inheritance diagram for Arbitrator:

List of all members.

Public Types
enum	State { ARB_STARTING, ARB_ENDING, ARB_WAITING, ARB_RUNNING }
	enum defining the current current state of the arbitrator
Public Member Functions
	Arbitrator (const ConStruct &con)
	create's an arbitror, spawning off the other threads.
virtual	~Arbitrator ()
	Destructor Makes sure the thread exits and such like stuff.
virtual void	Render ()=0
	Render function may be useful for displaying states, possible paths etc. Should be overridden in subclass.
std::vector< Robot * > &	GetRobots ()
	gets the list of robots that this Arbitrator controls
void	WakeUp ()
	Wakes the Arbitrator's thread up.
void	Wait (const int cond_id)
	Tell's the arbitrator to stop it's thread for a bit.
virtual void	Execute ()=0
	Main execution function of arbitrator. This function is run in it's own thread in an arbitrator, and should therefore probobly contains an infinite loop.
virtual bool	ConditionHandler ()=0
	All wait conditions are defined in a big switch statement in this function.
virtual void	OnWakeUp ()=0
	Will be executed in the simulation thread (not the Arbitrator's thread) when the Simulation wake's the thread up after having put it to sleep.
Public Attributes
State	state
	This is basically the current state of the Arbitrator, waiting, running, exiting, etc.
Protected Attributes
std::vector< Robot * >	robots
	ordered list of robots arbitrator controls
int	cur_cond_id
	cond_id ConditionHandler is using. TODO: what is this?

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Detailed Description

basically, this is a thread of execution in the Simulator most likely a robot, or set of robots.

To create you're own classes that use the Simulator, derive from Arbitrator. Think of it like co-operative multitasking.

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Constructor & Destructor Documentation

Arbitrator::Arbitrator (  const ConStruct &  con  )

create's an arbitror, spawning off the other threads. Parameters: con,:  the ConStruct specifying the Arbitrators configuration

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Member Function Documentation

virtual bool Arbitrator::ConditionHandler (   )  [pure virtual]

All wait conditions are defined in a big switch statement in this function. If it returns false, then we don't we stop the Execute thread. If it returns true then we we run the Execute thread. It should not contain a loop. OVERRIDE THIS FUNCTION!

virtual void Arbitrator::Execute (   )  [pure virtual]

Main execution function of arbitrator. This function is run in it's own thread in an arbitrator, and should therefore probobly contains an infinite loop. OVERRIDE THIS FUNCTION!

void Arbitrator::Wait (  const int  cond_id  )

Tell's the arbitrator to stop it's thread for a bit. Parameters: cond_id,:  the current condition of the thread Called by an arbitrator thread, causes the thread to go to sleep until WakeUp() is called by the main thread.

void Arbitrator::WakeUp (   )

Wakes the Arbitrator's thread up. This would be called from the main thread to wakup the Arbitrator thread. Presumably after Wait() has been called.

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Member Data Documentation

std::vector<Robot*> Arbitrator::robots [protected]

ordered list of robots arbitrator controls necessary so that Simulation can access robot data

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The documentation for this class was generated from the following files:

• /home/snake/Construct/include/Simulation/Arbitrator.h
• /home/snake/Construct/src/Simulation/Arbitrator.cpp

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