ROSBuzz_MISTLab/buzz_scripts/include/vstigenv.bzz

########################################
#
# FLEET V.STIGMERGY-RELATED FUNCTIONS
#
########################################
#
# Constants
#
STATUS_VSTIG = 20
GROUND_VSTIG = 21
WAIT4STEP = 5
vstig_buzzy = 0

#
# Init var
#
var v_status = {}
var v_ground = {}
vstig_counter = WAIT4STEP


function init_swarm() {
	s = swarm.create(1)
	s.join()
}

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

function uav_updatestig() {
	# TODO: Push values on update only?
	if(vstig_counter<=0) {
		vstig_buzzy = 1
		var ls = battery.capacity*10 + s2i(BVMSTATE)
	    #log("Pushing ", ls, "on vstig with id:", id)
	    v_status.put(id, ls)
		vstig_counter=WAIT4STEP
	} else if(vstig_counter==WAIT4STEP-1){ # ensure comm. delay between fetch and update stig
		vstig_buzzy = 1
		vstig_counter=vstig_counter-1
		stattab_send()
	} else {
		vstig_buzzy = 0
		vstig_counter=vstig_counter-1
	}
}

function unpackstatus(recv_value,state_struct){
    #state_struct.gp=(recv_value-recv_value%1000000)/1000000
    #recv_value=recv_value-state_struct.gp*1000000
    state_struct.ba=(recv_value-recv_value%10)/10
    recv_value=recv_value-state_struct.ba*10
    #state_struct.xb=(recv_value-recv_value%10)/10
    #recv_value=recv_value-state_struct.xb*10
    state_struct.st=recv_value
	return state_struct
}
	
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) {
		var state_struct = {.id = -1, .gp = 0, .ba = 0, .xb = 0, .st = 0}
		neighbors.foreach(function(rid, data) {
			var nei_state = v_status.get(rid)
			if(nei_state!=nil){
					state_struct.id=u
					state_struct = unpackstatus(nei_state, state_struct)
					table_print(state_struct)
				}					
				u=u+1
			} )
	}
}

function stattab_send() {
	if(v_status.size()>0) {
			var state_struct = {.id = -1, .gp = -1, .ba = -1, .xb = -1, .st = 0}
			neighbors.foreach(function(rid, data) {
				var nei_state = v_status.get(rid)
				if(nei_state!=nil){
					state_struct.id=rid
					state_struct = unpackstatus(nei_state,state_struct)
					add_neighborStatus(state_struct)
				}
			} )
	}
}