+ _executedNodes.push(_start);
+ sem_init(&_nodes, 0, 1);
+ sem_init(&_list, 0, 1);
+
+ int executions = 1;
+ while (executions > 0){
+ cerr << "Waiting for a node to finish execution" << endl;
+ int retval;
+ sem_getvalue(&_nodes, &retval);
+ cerr << "Semaphore before wait: " << retval << endl;
+ sem_wait(&_nodes);
+ sem_getvalue(&_nodes, &retval);
+ cerr << "Semaphore after wait: " << retval << endl;
+ --executions;
+
+ cerr << "Getting node: ";
+ sem_wait(&_list);
+ cerr << "Number of nodes in queue: " << _executedNodes.size() << endl;
+ Node* node = _executedNodes.front();
+ _executedNodes.pop();
+ sem_post(&_list);
+ cerr << (int) node << endl;
+ cerr << node->action()->name() << ", and children.. ";
+ vector<Node*> children = node->children();
+ cerr << " done" << endl;
+ if (node == _finish)
+ return;
+ cerr << "Iterating over the children, number: " << children.size() << endl;
+ for(vector<Node*>::iterator child = children.begin(); child != children.end(); ++child){
+ if ((*child)->satisfyConditions(node->effects())){
+ ++executions;
+ cerr << "Creating new thread" << endl;
+ pthread_attr_t tattr;
+ pthread_t tid;
+ pthread_attr_init(&tattr);
+ pthread_attr_setscope(&tattr, PTHREAD_SCOPE_SYSTEM);
+ ExecutionStuff* es = new ExecutionStuff;
+ es->nodes = &_nodes;
+ es->list = &_list;
+ es->node = *child;
+ es->execQueue = &_executedNodes;
+ pthread_create(&tid, &tattr, executeNode, es);
+ //executeNode(es);
+ }
+ }
+
+ }