runtime_core.h

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#ifndef RUNTIME_CORE_H_
#define RUNTIME_CORE_H_

#include <iostream>
#include <unistd.h>
#include <ros/ros.h>
#include <pluginlib/class_loader.h>

#include "micros_swarm/singleton.h"
#include "micros_swarm/packet_type.h"
#include "micros_swarm/serialize.h"
#include "micros_swarm/runtime_handle.h"
#include "micros_swarm/comm_interface.h"
#include "micros_swarm/msg_queue_manager.h"
#include "micros_swarm/packet_parser.h"
#include "micros_swarm/app_manager.h"

namespace micros_swarm{

    class RuntimeCore
    {
    public:
        ros::NodeHandle node_handle_;
        boost::shared_ptr<RuntimeHandle> rth_;
        boost::shared_ptr<CommInterface> communicator_;
        std::string comm_type_;
        pluginlib::ClassLoader<micros_swarm::CommInterface> ci_loader_;
        boost::shared_ptr<micros_swarm::MsgQueueManager> msg_queue_manager_;
        boost::shared_ptr<micros_swarm::PacketParser> parser_;
        boost::shared_ptr<AppManager> app_manager_;

        ros::Timer publish_robot_base_timer_;
        ros::Timer publish_swarm_list_timer_;
        ros::Timer barrier_timer_;
        ros::Timer spin_timer_;

        double publish_robot_base_duration_;
        double publish_swarm_list_duration_;
        double default_neighbor_distance_;
        int total_robot_numbers_;
        int robot_id_;
        int worker_num_;

        boost::thread* spin_thread_;

        RuntimeCore();
        ~RuntimeCore();
        void initialize();
        void shutdown();
        void setParameters();
        void spin_msg_queue();
        void publish_robot_base(const ros::TimerEvent&);
        void publish_swarm_list(const ros::TimerEvent&);
        void barrier_check(const ros::TimerEvent&);
    };
};

#endif