ROSBuzz_MISTLab/buzz_scripts/stand_by.bzz

include "act/states.bzz"
include "vstigenv.bzz"

updated="update_ack"
update_no=0
BVMSTATE = "UPDATESTANDBY"

# Executed once at init time.
function init(){
	barrier = stigmergy.create(101)
	barrier.put(id,1)
	barrier_val=0
	barrier.onconflict(function (k,l,r) {
	if(r. data < l. data or (r. data == l. data )) return l
	else return r
	})
	init_swarm()
	# start the swarm command listener
	nei_cmd_listen()
}

function stand_by(){
	barrier.get(id)
	barrier_val = barrier.size()

	neighbors.listen(updated,
	   function(vid, value, rid) {
	      if(value==update_no) barrier.put(rid,1)
	   }
)

}

# Executed at each time step.
function step() {
	stand_by()

}