ROSBuzz_MISTLab/buzz_scripts/include/vstigenv.bzz

STATUS_VSTIG = 10
GROUND_VSTIG = 11
WAIT4STEP = 10
v_status = {}
v_ground = {}

function uav_initstig() {
	v_status = stigmergy.create(STATUS_VSTIG)
	v_ground = stigmergy.create(GROUND_VSTIG)
}

counter=WAIT4STEP
function uav_updatestig() {
	if(counter<=0) {
		var ls={.g=0,.b=battery.capacity,.x=xbee_status.rssi,.f=flight.status}
	    log("Pushing ", ls, "on vstig with id:", id)
	    v_status.put(id, ls)
		counter=WAIT4STEP
	} else
		counter=counter-1
}
	
function checkusers() {
    	# Read a value from the structure
        if(size(users)>0)
            log("Got a user!")

#		log(users)      
#		users_print(users.dataG)
#		if(size(users.dataG)>0)
#			vt.put("p", users.dataG)
				
        # Get the number of keys in the structure
        #log("The vstig has ", vt.size(), " elements")
	#			users_save(vt.get("p"))
	#			table_print(users.dataL)
}

function users_save(t) {
	if(size(t)>0) {
		foreach(t, function(id, tab) {
				#log("id: ",id," Latitude ", tab.la, "Longitude ", tab.lo)
				add_user_rb(id,tab.la,tab.lo)
			})
	}
}

# printing the contents of a table: a custom function
function usertab_print(t) {
  if(size(t)>0) {
		foreach(t, function(u, tab) {
				log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
			})
	}
}

function stattab_print() {
	if(v_status.size()>0) {
		u=0
		while(u<8){
			tab = v_status.get(u)
			if(tab!=nil) {
				log("id: ", u)
				log("- GPS ", tab.g)
				log("- Battery ", tab.b)
				log("- Xbee ", tab.x)
				log("- Status ", tab.f)
			}
			u=u+1
		}
	}
}