swarm.h

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#ifndef SWARM_H_
#define SWARM_H_

#include <iostream>
#include <vector>
#include <set>
#include <ros/ros.h>

#include "micros_swarm/singleton.h"
#include "micros_swarm/runtime_handle.h"
#include "micros_swarm/msg_queue_manager.h"
#include "micros_swarm/packet_type.h"
#include "micros_swarm/serialize.h"
#include "gsdf_msgs/CommPacket.h"
#include "gsdf_msgs/JoinSwarm.h"
#include "gsdf_msgs/LeaveSwarm.h"

namespace micros_swarm{
    
    class Swarm{
        public:
            Swarm();
            Swarm(int swarm_id);
            Swarm(const Swarm& s);
            Swarm& operator=(const Swarm& s);
            ~Swarm();
            const int id() const;
            const std::set<int> members();
            void join();
            void leave();
            void select(const boost::function<bool()>& bf);
            void unselect(const boost::function<bool()>& bf);
            const bool in() const;
            //execute a function
            void execute(const boost::function<void()>& f);
            void breakup();
            const Swarm intersection(const Swarm& s, int new_swarm_id);
            const Swarm swarm_union(const Swarm& s, int new_swarm_id);
            const Swarm difference(const Swarm& s, int new_swarm_id);
            const Swarm negation(int new_swarm_id);
            void print() const;
        private:
            int swarm_id_; 
            boost::shared_ptr<micros_swarm::RuntimeHandle> rth_;
            boost::shared_ptr<micros_swarm::MsgQueueManager> mqm_;
    };
};
#endif