Arbitrator.h

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#ifndef ARBITRATOR_H
#define ARBITRATOR_H

#ifdef WIN32
#  include <Windows.h>
#  include <Winbase.h>
#  define THREAD_T DWORD
#  define COND_T HANDLE
#else
#  include <pthread.h>
#  define THREAD_T pthread_t
#  define COND_T pthread_cond_t
#endif


#include "entity.h"
#include "robot.h"

class Arbitrator : public Entity{
public:
  typedef enum State{
    ARB_STARTING,
    ARB_ENDING,
    ARB_WAITING,
    ARB_RUNNING
  };

  Arbitrator(const ConStruct& con);
  virtual ~Arbitrator();

  virtual void Render() = 0;

  std::vector<Robot*>& GetRobots() { return robots;};

protected:

  std::vector<Robot*> robots;

  int cur_cond_id;

public:
  State state;
  
  //wakes up arbitrator thread
  void WakeUp();

  //suspends thread until indexed condition is true
  void Wait(const int cond_id);

  //the following functions are where the meat of your arbitrator will be implemented

  virtual void Execute() = 0;

  virtual bool ConditionHandler() = 0;

  virtual void OnWakeUp() = 0;

private:
  COND_T wakeup_done;

  COND_T resume_execute;

  THREAD_T thread_id;
#ifdef WIN32

  HANDLE thread;
#endif

};

#endif

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