/**
* 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;
}
}
