81 lines
1.8 KiB
Plaintext
81 lines
1.8 KiB
Plaintext
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include "update.bzz"
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# don't use a stigmergy id=11 with this header, for barrier
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# it requires an 'action' function to be defined here.
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include "act/states.bzz"
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include "plan/rrtstar.bzz"
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include "vstigenv.bzz"
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#State launched after takeoff
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AUTO_LAUNCH_STATE = "IDLE"
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#####
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# Vehicule type:
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# 0 -> outdoor flying vehicle
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# 1 -> indoor flying vehicle
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# 2 -> outdoor wheeled vehicle
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# 3 -> indoor wheeled vehicle
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V_TYPE = 0
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goal_list = {
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.0={.x = 45.5088103899, .y = -73.1540826153, .z = 2.5}
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}
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# Executed once at init time.
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function init() {
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init_stig()
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init_swarm()
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TARGET_ALTITUDE = 25.0 # m
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# start the swarm command listener
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# nei_cmd_listen()
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# Starting state: TURNEDOFF to wait for user input, LAUNCHED to auto-takeoff at startup.
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# BVMSTATE = "TURNEDOFF"
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BVMSTATE = "LAUNCHED"
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}
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# Executed at each time step.
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function step() {
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# listen to Remote Controller
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rc_cmd_listen()
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# update the vstig (status/net/batt/...)
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# uav_updatestig()
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#
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# graph state machine
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#
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if(BVMSTATE=="TURNEDOFF")
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statef=turnedoff
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else if(BVMSTATE=="STOP") # ends on turnedoff
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statef=stop
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else if(BVMSTATE=="LAUNCHED") # ends on AUTO_LAUNCH_STATE
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statef=launch
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else if(BVMSTATE=="IDLE")
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statef=idle
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else if(BVMSTATE=="TASK_ALLOCATE") #TODO: not tested in new structure
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statef=makegraph # or bidding
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else if(BVMSTATE=="PATHPLAN") # ends on navigate, defined in rrtstar
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statef=rrtstar
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else if(BVMSTATE=="NAVIGATE") # ends on idle, defined in rrtstar
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statef=navigate
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else if(BVMSTATE == "FOLLOW") #TODO: not tested in new structure
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statef=follow
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else if(BVMSTATE == "PICTURE") #TODO: not tested in new structure
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statef=take_picture
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statef()
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log("Current state: ", BVMSTATE)
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}
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# Executed once when the robot (or the simulator) is reset.
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function reset() {
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}
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# Executed once at the end of experiment.
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function destroy() {
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}
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