core_public.h

/*
 * Copyright 2014 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
 *
 * This file is part of RoAH RSBB.
 *
 * RoAH RSBB is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * RoAH RSBB is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with RoAH RSBB.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef __CORE_PUBLIC_H__
#define __CORE_PUBLIC_H__

#include "core_includes.h"

#include "core_shared_state.h"
#include "core_public_channel.h"
#include "core_zone_manager.h"



class CorePublic
  : boost::noncopyable
{
    CoreSharedState& ss_;
    CoreZoneManager& zone_manager_;

    Publisher pub_;
    Timer pub_timer_;

    Time relevant_time_;

    void
    transmit (const TimerEvent& = TimerEvent())
    {
      Time now = Time::now();

      auto msg = boost::make_shared<roah_rsbb::CoreToPublic>();
      msg->clock = to_string (Time (now.sec, 0));

      multimap<Time, roah_rsbb::ScheduleInfo> map;
      zone_manager_.msg (now, map);
      for (auto const& i : map) {
        if (i.second.running) {
          relevant_time_ = i.first;
          break;
        }
      }
      {
        multimap<Time, roah_rsbb::ScheduleInfo>::iterator i = map.begin();
        while (i != map.end()) {
          if (i->first < relevant_time_) {
            i = map.erase (i);
          }
          else {
            break;
          }
        }
      }
      for (auto const& i : map) {
        msg->schedule.push_back (i.second);
      }

      pub_.publish (msg);
    }

  public:
    CorePublic (CoreSharedState& ss,
                CoreZoneManager& zone_manager)
      : ss_ (ss)
      , zone_manager_ (zone_manager)
      , pub_ (ss_.nh.advertise<roah_rsbb::CoreToPublic> ("/core/to_public", 1, true))
      , pub_timer_ (ss_.nh.createTimer (Duration (0.5), &CorePublic::transmit, this))
      , relevant_time_ (TIME_MIN)
    {
      transmit();
    }
};

#endif