predicate_manager.h

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#ifndef _PREDICATE_MANAGER_H_
#define _PREDICATE_MANAGER_H_

#include <string>
#include <map>
#include <vector>

#include <boost/function.hpp>

#include <ros/ros.h>

#include <predicate_manager/common_defs.h>
#include <predicate_manager/predicate.h>
#include <predicate_manager/event.h>

#include <predicate_manager/PredicateInfoMap.h>
#include <predicate_manager/PredicateUpdate.h>
#include <predicate_manager/EventInfoMap.h>
#include <predicate_manager/EventUpdate.h>

#define MAX_UPDATE_COUNTER 4294967295 ///maximum value for a 32-bit usigned int

namespace predicate_manager
{
class PredicateManager
{
public:
    typedef boost::shared_ptr<std::set<uint32_t> > ObserverPtr;
    typedef boost::unordered_map<NameID, ObserverPtr> NameIDObserver;
    typedef boost::unordered_map<NrID, ObserverPtr, cantor_pair_hash> NrIDObserver;
    typedef boost::unordered_map<NrID, bool, cantor_pair_hash> ValueMap;
    typedef std::vector<boost::shared_ptr<Predicate> > PredRefVector; 
    typedef std::vector<boost::shared_ptr<Event> > EvRefVector; 

    PredicateManager();

    void spin();

    void addPredicate ( Predicate& p );

    void addEvent ( Event& e );

    void predicateUpdateTrigger ( const NrID pred_nr_id, bool value );

    void eventTrigger ( const uint32_t ev_nr );

private:
    void PMUpdate();

    void consumePredicateMap ( const PredicateInfoMapConstPtr& msg );
    void consumePredicateUpdate ( const PredicateUpdateConstPtr& msg );
    void publishPredicateMap();
    void publishPredicateUpdate();
    void publishEventMap();
    void publishEventUpdate();
    void updateDependants ( const NrID pred_nr_id );
    void prepareLocalDependencies();
    void setDependencyReferences ( const NrID pred_nr_id, const NameID pred_name_id );
    void setNrOfPredicates ( const int pm_id, const std::size_t size );

    ros::NodeHandle nh_;

    bool started_; 
    bool any_changed_; 

    uint32_t pm_id_; 
    std::vector<std::size_t> nr_of_predicates_; 
    std::vector<bool> initialized_pms_; 
    double update_period_; 


    ros::Publisher predicate_maps_pub_; 
    ros::Publisher predicate_updates_pub_; 
    ros::Subscriber predicate_maps_sub_; 
    ros::Subscriber predicate_updates_sub_; 

    std::vector<uint32_t> pred_update_counters_; 
    PredRefVector local_pred_refs_; 
    ValueMap value_map_; 
    ValueMap last_value_map_; 
    NameIDSet registered_predicates_; 
    NameIDObserver pred_name_observer_; 
    NrIDObserver pred_nr_observer_; 


    ros::Publisher event_maps_pub_;
    ros::Publisher event_updates_pub_;

    uint32_t ev_update_counter_; 
    EvRefVector local_ev_refs_; 
    NameIDSet registered_events_; 
    NameIDObserver ev_name_observer_; 
    NrIDObserver ev_nr_observer_; 
    std::vector<uint32_t> events_to_publish_; 
};
}

#endif