Barrier-synch is a mechanism for more than two threads to synchronize
at the same time (Fig. 8).
For this purpose, an instance of the barrier class
is created and threads that participate in
the synchronization register themselves in the object.
Then, each thread sends the :wait message to the barrier object,
and the thread is blocked.
When the last thread registered in the object sends its
:wait message, the waits are released and all waiting
threads get a return value of T.
Barrier-sync plays an important role of global clocking in a
multi-robot simulation.
k-okada
2013-05-21
