void Thread::signal(int signal){
	int r;
	msg("Thread::signal(): '%s' received signal.\r\n", name->c_str()); 
	switch(signal)
	{
		case S_GO:
			msg("Thread::signal(): '%s' signal: S_GO\r\n", name->c_str()); 
			try { 	
				pthread_mutex_lock( &this->condition_mutex );
			}
			catch ( exception& e ) { 
				msg("EXCEPTION: Thread::signal(): '%s'.\r\n", e.what()); 
			}
			msg("Thread::signal(): '%s' is locked\r\n", name->c_str()); 
			r = pthread_cond_signal( &this->condition ); 
			msg("Thread::signal(%i): signal returns: %i\r\n", &this->condition ,r); 
			pthread_mutex_unlock( &this->condition_mutex );
			msg("Thread::signal(): '%s' is unlocked\r\n", name->c_str()); 
			break;;
		case S_PAUSE:
		break;;
		case S_DIE:
		break;;
		default:
			msg("Thread::signal(): Undefined signal '%i'.", signal);			
	};
	msg("Thread::signal(): Signal '%i' was processed.\r\n", signal); 
}

void Thread::do_loop(){
	bool loop = true,pause = true;
	int tic = itime();
	struct timespec next;        /* timeout value for the timed_wait function */
	msg("Thread::do_loop(): '%s' called me, and here i am.\r\n", name->c_str()); 
	if(name->compare("initHelper") == 0) pause = false;
	while( loop == true ){
		//if(tic == itime()) {
			msg("Thread::do_loop(): '%s' tries to lock its condition.\r\n", name->c_str()); 
			try { 	pthread_mutex_lock( &condition_mutex ); }
			catch ( exception& e ) { msg("Thread::do_loop(1): '%s'.\r\n", e.what()); }
			msg("Thread::do_loop(): '%s' locked its condition and tries to go to sleep.\r\n", name->c_str()); 
			try {
				if( pause == true ) {
					if( state == TS_NEW ){
						state = TS_READY;
						msg("NOTE: Thread '%s' is ready now.\r\n",name->c_str());
					}
					msg("Thread::do_loop(%d): '%s' id %i goes to sleep.\r\n", &this->condition,name->c_str(),this->id); 
					
					pthread_cond_wait( &(this->condition), &condition_mutex ); 
					msg("Thread::do_loop(): '%s' just awoke.\r\n", name->c_str()); 
					pause = false;
				} else {
					// Have a certain wait time ( half a second to be specific )
					next.tv_sec = itime();
					next.tv_nsec = wait;
					pthread_cond_timedwait( &condition, &condition_mutex, &next ); 
					msg("Thread::do_loop(): '%s' just awoke.\r\n", name->c_str()); 
				}
			}
			catch ( exception& e ) { 
				msg("Thread::do_loop(2): '%s'.\r\n", e.what()); 
			}
			
			//if( state == TS_READY ) state = TS_RUNNING;
			pthread_mutex_unlock( &condition_mutex );
			
			msg("Thread::do_loop(): Calling function for '%s'.\r\n", name->c_str()); 
			(*pfunction)(NULL);
			msg("Thread::do_loop(): Function for '%s' finished.\r\n", name->c_str());
			if(name->compare("initHelper") == 0) return;
			
			msg("Thread::do_loop(): Stop loop.\r\n", name->c_str());
			loop = false;
	}
	
}