ROSBuzz_MISTLab/buzz_scripts/include/barrier.bzz

########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################

#
# Constants
#
BARRIER_VSTIG = 11

#
# Sets a barrier
#
function barrier_set(threshold, transf, resumef, bdt) {
  statef = function() {
    barrier_wait(threshold, transf, resumef, bdt);
  }
  barrier = stigmergy.create(BARRIER_VSTIG)
}

#
# Make yourself ready
#
function barrier_ready() {
  barrier.put(id, 1)
}

#
# Executes the barrier
#
BARRIER_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf, resumef, bdt) {
  #barrier.get(id)
  barrier.put(id, 1)
  UAVSTATE = "BARRIERWAIT"
  if(bdt!=-1)
    neighbors.broadcast("cmd", brd)
  if(barrier.size() >= threshold) {
#    getlowest()
    transf()
  } else if(timeW >= BARRIER_TIMEOUT) {
    barrier = nil
    resumef()
    timeW=0
  }
  timeW = timeW+1
}

# get the lowest id of the fleet, but requires too much bandwidth
function getlowest(){
  Lid = 20;
  u=20
  while(u>=0){
				tab = barrier.get(u)
				if(tab!=nil){
          if(tab<Lid)
            Lid=tab
        }
        u=u-1
  }
  log("--> LOWEST ID:",Lid)
}