testrth.cpp

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#include <ros/ros.h>
#include "micros_swarm/micros_swarm.h"

using namespace micros_swarm;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "micros_swarm_framework_main_node");
    ros::NodeHandle nh;
    
    RuntimeHandle rth;
    rth.setRobotID(1);
    
    Base base(1,1,1,2,2,2,1);
    rth.setRobotBase(base);
    rth.printRobotBase();
    std::cout<<std::endl;
    
    rth.insertOrUpdateNeighbor(2, 0, 0, 0, 1, 1, 1,2, 2, 2);
    rth.insertOrUpdateNeighbor(3, 1, 2, 3, 2, 2, 2,3, 3, 3);
    rth.insertOrUpdateNeighbor(4, 2, 2, 2, 1, 2, 3,3, 3, 3);
    rth.printNeighbor();
    std::cout<<"------"<<std::endl;
    rth.insertOrUpdateNeighbor(2, 1, 2, 3, 4, 5, 6,7, 8, 9);
    rth.deleteNeighbor(3);
    rth.deleteNeighbor(16);
    rth.printNeighbor();
    std::cout<<std::endl;
    
    rth.insertOrUpdateSwarm(1, true);
    rth.insertOrUpdateSwarm(2, false);
    rth.insertOrUpdateSwarm(3, true);
    rth.printSwarm();
    std::cout<<"------"<<std::endl;
    rth.insertOrUpdateSwarm(2, true);
    rth.deleteSwarm(1);
    rth.deleteSwarm(16);
    rth.printSwarm();
    std::cout<<rth.getSwarmFlag(1)<<std::endl;
    std::cout<<rth.getSwarmFlag(2)<<std::endl;
    std::cout<<std::endl;
    
    std::vector<int> s1, s2;
    s1.push_back(1); s1.push_back(2); s1.push_back(3);
    s2.push_back(4); s2.push_back(5); s2.push_back(6);
    rth.insertOrRefreshNeighborSwarm(2, s1);
    rth.insertOrRefreshNeighborSwarm(3, s2);
    rth.printNeighborSwarm();
    std::cout<<rth.inNeighborSwarm(2, 2)<<std::endl;
    std::cout<<rth.inNeighborSwarm(2, 4)<<std::endl;
    std::cout<<rth.inNeighborSwarm(3, 5)<<std::endl;
    std::cout<<rth.inNeighborSwarm(3, 1)<<std::endl;
    std::cout<<"------"<<std::endl;
    rth.joinNeighborSwarm(2, 4);
    rth.joinNeighborSwarm(2, 5);
    rth.leaveNeighborSwarm(2, 2);
    rth.leaveNeighborSwarm(2, 3);
    rth.leaveNeighborSwarm(2, 17);
    rth.printNeighborSwarm();
    std::cout<<"------"<<std::endl;
    rth.deleteNeighborSwarm(2);
    rth.deleteNeighborSwarm(9);
    rth.printNeighborSwarm();
    std::cout<<std::endl;
    
    rth.createVirtualStigmergy(1);
    rth.createVirtualStigmergy(2);
    std::vector<uint8_t> val1;
    val1.push_back(1);
    rth.insertOrUpdateVirtualStigmergy(1, "key1", val1, 1, time(0), 0, 1);
    std::vector<uint8_t> val2;
    val2.push_back(2);
    rth.insertOrUpdateVirtualStigmergy(1, "key2", val2, 1, time(0), 0, 1);
    std::vector<uint8_t> val3;
    val3.push_back(3);
    rth.insertOrUpdateVirtualStigmergy(1, "key3", val3, 1, time(0), 0, 1);
    rth.printVirtualStigmergy();
    VirtualStigmergyTuple vst1;
    rth.getVirtualStigmergyTuple(1, "key2", vst1);
    vst1.print();
    VirtualStigmergyTuple vst2;
    rth.getVirtualStigmergyTuple(2, "key3", vst2);
    vst2.print();
    std::cout<<rth.getVirtualStigmergySize(1)<<std::endl;;
    std::cout<<rth.getVirtualStigmergySize(2)<<std::endl;
    rth.deleteVirtualStigmergyValue(1, "key2");
    rth.deleteVirtualStigmergyValue(1, "key6");
    rth.deleteVirtualStigmergyValue(2, "key3");
    rth.deleteVirtualStigmergyValue(5, "key7");
    rth.printVirtualStigmergy();
    VirtualStigmergyTuple vst3;
    rth.getVirtualStigmergyTuple(2, "key7", vst3);
    vst3.print();
    VirtualStigmergyTuple vst4;
    rth.getVirtualStigmergyTuple(7, "key11", vst4);
    vst4.print();
    rth.deleteVirtualStigmergy(2);
    rth.deleteVirtualStigmergy(5);
    rth.printVirtualStigmergy();
    
    ros::spin();
    return 0;
}