#include <runtime_handle.h>

Public Member Functions
bool	checkNeighborsOverlap (int robot_id)
void	clearNeighbors ()
void	createBlackBoard (int id)
void	createVirtualStigmergy (int id)
void	deleteBlackBoard (int id)
void	deleteBlackBoardValue (int id, const std::string &key)
void	deleteListenerHelper (const std::string &key)
void	deleteNeighbor (int robot_id)
void	deleteNeighborSwarm (int robot_id)
void	deleteSwarm (int swarm_id)
void	deleteVirtualStigmergy (int id)
void	deleteVirtualStigmergyValue (int id, const std::string &key)
int	getBarrierSize ()
int	getBlackBoardSize (int id)
void	getBlackBoardTuple (int id, const std::string &key, BlackBoardTuple &bb_tuple)
const boost::shared_ptr < ListenerHelper >	getListenerHelper (const std::string &key)
bool	getNeighborBase (int robot_id, NeighborBase &nb)
const float &	getNeighborDistance ()
void	getNeighbors (std::map< int, NeighborBase > &neighbors)
std::map< int, NeighborBase >	getNeighbors ()
int	getNeighborSize ()
const Base &	getRobotBase ()
int	getRobotID ()
int	getRobotStatus ()
int	getRobotType ()
bool	getSCDSPSOValue (const std::string &aKey, SCDSPSODataTuple &aT)
bool	getSwarmFlag (int swarm_id)
void	getSwarmList (std::vector< int > &swarm_list)
void	getSwarmMembers (int swarm_id, std::set< int > &swarm_members)
int	getVirtualStigmergySize (int id)
bool	getVirtualStigmergyTuple (int id, const std::string &key, VirtualStigmergyTuple &vstig_tuple)
bool	inNeighbors (int robot_id)
bool	inNeighborSwarm (int robot_id, int swarm_id)
void	insertBarrier (int robot_id)
void	insertOrRefreshNeighborSwarm (int robot_id, const std::vector< int > &swarm_list)
void	insertOrUpdateBlackBoard (int id, const std::string &key, const std::vector< uint8_t > &value, const ros::Time &timestamp, int robot_id)
void	insertOrUpdateListenerHelper (const std::string &key, const boost::shared_ptr< ListenerHelper > helper)
void	insertOrUpdateNeighbor (int robot_id, float distance, float azimuth, float elevation, float x, float y, float z, float vx, float vy, float vz)
void	insertOrUpdateSCDSPSOValue (const std::string &aKey, const SCDSPSODataTuple &aT)
void	insertOrUpdateSwarm (int swarm_id, bool value)
void	insertOrUpdateVirtualStigmergy (int id, const std::string &key, const std::vector< uint8_t > &value, unsigned int lclock, time_t wtime, unsigned int rcount, int robot_id)
bool	isBlackBoardTupleExist (int id, const std::string &key)
bool	isVirtualStigmergyTupleExist (int id, const std::string &key)
void	joinNeighborSwarm (int robot_id, int swarm_id)
void	leaveNeighborSwarm (int robot_id, int swarm_id)
void	printBlackBoard ()
void	printNeighbor ()
void	printNeighborSwarm ()
void	printRobotBase ()
void	printSwarm ()
void	printVirtualStigmergy ()
	RuntimeHandle ()
void	setNeighborDistance (float neighbor_distance)
void	setRobotBase (const Base &robot_base)
void	setRobotID (int robot_id)
void	setRobotStatus (int robot_status)
void	setRobotType (int robot_type)
void	updateVirtualStigmergyTupleReadCount (int id, const std::string &key, int count)
Private Attributes
std::set< int >	barrier_
boost::shared_mutex	barrier_mutex_
boost::shared_mutex	base_mutex_
boost::shared_mutex	bb_mutex_
std::map< int, std::map < std::string, BlackBoardTuple > >	blackboard_
boost::shared_ptr < CheckNeighborInterface >	cni_
boost::shared_mutex	id_mutex_
std::map< std::string, boost::shared_ptr < ListenerHelper > >	listener_helpers_
boost::shared_mutex	listener_helpers_mutex_
float	neighbor_distance_
boost::shared_mutex	neighbor_distance_mutex_
boost::shared_mutex	neighbor_mutex_
boost::shared_mutex	neighbor_swarm_mutex_
std::map< int, NeighborSwarmTuple >	neighbor_swarms_
std::map< int, NeighborBase >	neighbors_
Base	robot_base_
int	robot_id_
int	robot_status_
int	robot_type_
std::map< std::string, SCDSPSODataTuple >	scds_pso_tuple_
boost::shared_mutex	scds_pso_tuple_mutex_
boost::shared_mutex	status_mutex_
boost::shared_mutex	swarm_mutex_
std::map< int, bool >	swarms_
boost::shared_mutex	type_mutex_
std::map< int, std::map < std::string, VirtualStigmergyTuple > >	virtual_stigmergy_
boost::shared_mutex	vstig_mutex_

Detailed Description

Definition at line 39 of file runtime_handle.h.

Constructor & Destructor Documentation

micros_swarm::RuntimeHandle::RuntimeHandle ( )

Definition at line 27 of file runtime_handle.cpp.

Member Function Documentation

bool micros_swarm::RuntimeHandle::checkNeighborsOverlap ( int robot_id )

Definition at line 516 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::clearNeighbors ( )

Definition at line 120 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::createBlackBoard ( int id )

Definition at line 540 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::createVirtualStigmergy ( int id )

Definition at line 366 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteBlackBoard ( int id )

Definition at line 621 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteBlackBoardValue	(	int	id,
		const std::string &	key
	)

Definition at line 627 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteListenerHelper ( const std::string & key )

Definition at line 712 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteNeighbor ( int robot_id )

Definition at line 158 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteNeighborSwarm ( int robot_id )

Definition at line 345 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteSwarm ( int swarm_id )

Definition at line 228 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteVirtualStigmergy ( int id )

Definition at line 470 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::deleteVirtualStigmergyValue	(	int	id,
		const std::string &	key
	)

Definition at line 476 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getBarrierSize ( )

Definition at line 724 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getBlackBoardSize ( int id )

Definition at line 608 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::getBlackBoardTuple	(	int	id,
		const std::string &	key,
		BlackBoardTuple &	bb_tuple
	)

Definition at line 595 of file runtime_handle.cpp.

const boost::shared_ptr< ListenerHelper > micros_swarm::RuntimeHandle::getListenerHelper ( const std::string & key )

Definition at line 698 of file runtime_handle.cpp.

bool micros_swarm::RuntimeHandle::getNeighborBase	(	int	robot_id,
		NeighborBase &	nb
	)

Definition at line 107 of file runtime_handle.cpp.

const float & micros_swarm::RuntimeHandle::getNeighborDistance ( )

Definition at line 667 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::getNeighbors ( std::map< int, NeighborBase > & neighbors )

Definition at line 101 of file runtime_handle.cpp.

std::map< int, NeighborBase > micros_swarm::RuntimeHandle::getNeighbors ( )

Definition at line 129 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getNeighborSize ( )

Definition at line 135 of file runtime_handle.cpp.

const Base & micros_swarm::RuntimeHandle::getRobotBase ( )

Definition at line 78 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getRobotID ( )

Definition at line 42 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getRobotStatus ( )

Definition at line 66 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getRobotType ( )

Definition at line 54 of file runtime_handle.cpp.

bool micros_swarm::RuntimeHandle::getSCDSPSOValue	(	const std::string &	aKey,
		SCDSPSODataTuple &	aT
	)

Definition at line 730 of file runtime_handle.cpp.

bool micros_swarm::RuntimeHandle::getSwarmFlag ( int swarm_id )

Definition at line 204 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::getSwarmList ( std::vector< int > & swarm_list )

Definition at line 216 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::getSwarmMembers	(	int	swarm_id,
		std::set< int > &	swarm_members
	)

Definition at line 330 of file runtime_handle.cpp.

int micros_swarm::RuntimeHandle::getVirtualStigmergySize ( int id )

Definition at line 458 of file runtime_handle.cpp.

bool micros_swarm::RuntimeHandle::getVirtualStigmergyTuple	(	int	id,
		const std::string &	key,
		VirtualStigmergyTuple &	vstig_tuple
	)

Definition at line 421 of file runtime_handle.cpp.

bool micros_swarm::RuntimeHandle::inNeighbors ( int robot_id )

Definition at line 164 of file runtime_handle.cpp.

bool micros_swarm::RuntimeHandle::inNeighborSwarm	(	int	robot_id,
		int	swarm_id
	)

Definition at line 245 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertBarrier ( int robot_id )

Definition at line 718 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrRefreshNeighborSwarm	(	int	robot_id,
		const std::vector< int > &	swarm_list
	)

Definition at line 312 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrUpdateBlackBoard	(	int	id,
		const std::string &	key,
		const std::vector< uint8_t > &	value,
		const ros::Time &	timestamp,
		int	robot_id
	)

Definition at line 556 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrUpdateListenerHelper	(	const std::string &	key,
		const boost::shared_ptr< ListenerHelper >	helper
	)

Definition at line 682 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrUpdateNeighbor	(	int	robot_id,
		float	distance,
		float	azimuth,
		float	elevation,
		float	x,
		float	y,
		float	z,
		float	vx,
		float	vy,
		float	vz
	)

Definition at line 141 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrUpdateSCDSPSOValue	(	const std::string &	aKey,
		const SCDSPSODataTuple &	aT
	)

Definition at line 741 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrUpdateSwarm	(	int	swarm_id,
		bool	value
	)

Definition at line 189 of file runtime_handle.cpp.

void micros_swarm::RuntimeHandle::insertOrUpdateVirtualStigmergy	(	int	id,
		const std::string &	key,
		const std::vector< uint8_t > &	value,
		unsigned int	lclock,
		time_t	wtime,
		unsigned int	rcount,
		int	robot_id
	)