/**
* This method starts the arbitration of behaviours and runs an endless loop. <br>
* Note: Arbitrator does not run in a separate thread. The start() method will never return unless
* <br>
* 1. no action() method is running and <br>
* 2. no behaviour takeControl() returns <B> true </B> and <br>
* 3. the <i>returnWhenInacative </i> flag is true,
*/
public void start() {
// int i =0;
monitor.start();
while (_highestPriority == NONE) {
Thread.yield(); // wait for some behaviour to take contro
}
while (true) {
synchronized (monitor) {
if (_highestPriority != NONE) {
_active = _highestPriority;
} else if (_returnWhenInactive) { // no behaviour wants to run
monitor.more = false; // 9 shut down monitor thread
return;
}
}
// monotor released before action is called
if (_active != NONE) // _highestPrioirty could be NONE
{
visCall = 0;
_behaviour[_active].action();
_active = NONE; // no active behaviour at the moment
}
Thread.yield();
// i++;
// System.out.println("i " + i);
// if (i==10) return;
}
}
public void run() {
while (more) {
// System.out.println("call V");
MyArbitrator.objects = Launcher.findObjects();
// System.out.println(" Arbit ball "+
// MyArbitrator.objects[2].getCentre().x+","+MyArbitrator.objects[2].getCentre().y);
// System.out.println("ball " + MyArbitrator.objects[2].getCentre().x);
visCall++;
// System.out.println("Vision Called" + visCall);
// System.out.println(" mon while" + monitorw);
// ObjectItem[] objects = Launcher.findObjects();
// System.out.println("call V");
// FIND HIGHEST PRIORITY behaviour THAT WANTS CONTROL
synchronized (this) {
_highestPriority = NONE;
for (int i = maxPriority; i >= 0; i--) {
if (MyArbitrator._behaviour[i].takeControl(MyArbitrator.objects)) {
_highestPriority = i;
break;
}
}
int active = _active; // local copy: avoid out of bounds error in 134
if (active != NONE && _highestPriority > active) {
MyArbitrator._behaviour[active].suppress();
}
} // end synchronize block - main thread can run now
Thread.yield();
}
}
