scds_pso_tuple.cpp

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#include "micros_swarm/scds_pso_tuple.h"

namespace micros_swarm{

    SCDSPSOTuple::SCDSPSOTuple()
    {
        rth_ = Singleton<RuntimeHandle>::getSingleton();
        mqm_ = Singleton<MsgQueueManager>::getSingleton();
    }

    SCDSPSOTuple::SCDSPSOTuple(const SCDSPSOTuple& t)
    {
        rth_ = Singleton<RuntimeHandle>::getSingleton();
        mqm_ = Singleton<MsgQueueManager>::getSingleton();
    }

    SCDSPSOTuple& SCDSPSOTuple::operator=(const SCDSPSOTuple& t)
    {
        if(this == &t) {
            return *this;
        }
        rth_ = Singleton<RuntimeHandle>::getSingleton();
        mqm_ = Singleton<MsgQueueManager>::getSingleton();
        return *this;
    }

    SCDSPSOTuple::~SCDSPSOTuple()
    {
        rth_.reset();
        mqm_.reset();
    }

    void SCDSPSOTuple::put(const std::string& key, const SCDSPSODataTuple& data)
    {
        rth_->insertOrUpdateSCDSPSOValue(key, data);

        gsdf_msgs::SCDSPSOPut scds_put;
        scds_put.key = key;
        scds_put.pos = data.pos;
        scds_put.val = data.val;
        scds_put.robot_id = data.robot_id;
        scds_put.gen = data.gen;
        scds_put.timestamp = data.timestamp;
        std::vector<uint8_t> scds_put_vec = serialize_ros(scds_put);

        gsdf_msgs::CommPacket p;
        p.header.source = rth_->getRobotID();
        p.header.type = SCDS_PSO_PUT;
        p.header.data_len = scds_put_vec.size();
        p.header.version = 1;
        p.header.checksum = 0;
        p.content.buf = scds_put_vec;
        std::vector<uint8_t> msg_data = serialize_ros(p);
        mqm_->getOutMsgQueue("scds_pso")->push(msg_data);
    }

    SCDSPSODataTuple SCDSPSOTuple::get(const std::string& key)
    {
        SCDSPSODataTuple data;
        if (!rth_->getSCDSPSOValue(key, data)) {
            std::cout<<"scds pso tuple, "<<key<<" is not exist."<<std::endl;
            exit(-1);
        }

        gsdf_msgs::SCDSPSOGet scds_get;
        scds_get.key = key;
        scds_get.pos = data.pos;
        scds_get.val = data.val;
        scds_get.robot_id = data.robot_id;
        scds_get.gen = data.gen;
        scds_get.timestamp = data.timestamp;
        std::vector<uint8_t> scds_get_vec = serialize_ros(scds_get);

        gsdf_msgs::CommPacket p;
        p.header.source = rth_->getRobotID();
        p.header.type = SCDS_PSO_GET;
        p.header.data_len = scds_get_vec.size();
        p.header.version = 1;
        p.header.checksum = 0;
        p.content.buf = scds_get_vec;
        std::vector<uint8_t> msg_data = serialize_ros(p);
        mqm_->getOutMsgQueue("scds_pso")->push(msg_data);

        return data;
    }
}