merged..
This commit is contained in:
isvogor
parent
c960c96cb5
commit
013bac1c5b
|
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@ -30,13 +30,15 @@
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<!-- run rosbuzz -->
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<!-- run rosbuzz -->
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
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<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/testflockfev.bzz" />
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<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/testflockfev.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="xbee_status_srv" value="/xbee_status"/>
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<param name="xbee_status_srv" value="/xbee_status"/>
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<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/stand_by.bo"/>
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<param name="xbee_plugged" value="false"/>
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<param name="name" value="solos1"/>
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<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/stand_by.bzz"/>
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</node>
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</node>
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</launch>
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</launch>
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@ -27,15 +27,15 @@
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<!-- run rosbuzz -->
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<!-- run rosbuzz -->
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
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<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testflockfev.bzz" />
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<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/script/testalone.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="rcservice_name" value="buzzcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="in_payload" value="inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="out_payload" value="outMavlink"/>
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<param name="xbee_status_srv" value="/xbee_status"/>
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<param name="xbee_status_srv" value="xbee_status"/>
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<param name="xbee_plugged" value="false"/>
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<param name="xbee_plugged" value="false"/>
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<param name="name" value="solos1"/>
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<param name="name" value="solos1"/>
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<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
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<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/script/stand_by.bzz"/>
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</node>
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</node>
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<!--
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<!--
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@ -1,7 +1,8 @@
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# We need this for 2D vectors
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# We need this for 2D vectors
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# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
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# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
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include "vec2.bzz"
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#include "/home/ubuntu/buzz/src/include/vec2.bzz"
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#include "vec2.bzz"
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####################################################################################################
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####################################################################################################
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# Updater related
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# Updater related
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# This should be here for the updater to work, changing position of code will crash the updater
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# This should be here for the updater to work, changing position of code will crash the updater
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@ -20,7 +21,7 @@ function init() {
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# Executed at each time step.
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# Executed at each time step.
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function step() {
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function step() {
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log("Altitude: ", position.altitude)
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if(flight.rc_cmd==22) {
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if(flight.rc_cmd==22) {
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flight.rc_cmd=0
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flight.rc_cmd=0
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uav_takeoff(TARGET_ALTITUDE)
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uav_takeoff(TARGET_ALTITUDE)
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@ -31,7 +32,6 @@ function step() {
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flight.rc_cmd=0
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flight.rc_cmd=0
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uav_goto()
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uav_goto()
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}
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}
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# test moveto cmd
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# test moveto cmd
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#if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0)
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#if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0)
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# uav_moveto(0.5, 0.5)
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# uav_moveto(0.5, 0.5)
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@ -0,0 +1,862 @@
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!83
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'updated
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'update_ack
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'update_no
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'updated_neigh
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'neighbors
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'broadcast
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'TARGET_ALTITUDE
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'CURSTATE
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'TURNEDOFF
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'TARGET
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'EPSILON
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'lj_magnitude
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'lj_vector
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'math
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'vec2
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'newp
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'distance
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'azimuth
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'lj_sum
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'add
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'hexagon
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'statef
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'HEXAGON
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'map
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'reduce
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'new
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'count
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'scale
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'log
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'Time:
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'timeW
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'WAIT_TIMEOUT
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'land
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'BARRIER_VSTIG
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'barrier_set
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'barrier_wait
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'barrier
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'stigmergy
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'create
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'barrier_ready
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'put
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'id
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'get
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'BARRIERWAIT
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'size
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'idle
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'IDLE
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'takeoff
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'TAKEOFF
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'TakeOff:
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'flight
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'status
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'Relative position:
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'position
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'altitude
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'ROBOTS
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'Altitude:
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'cmd
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'uav_takeoff
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'LAND
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'Land:
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'uav_land
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'init
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's
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'swarm
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'join
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'step
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'rc_cmd
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'cmd 22
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'cmd 21
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'To land
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'uav_goto
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'uav_arm
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'uav_disarm
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'listen
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'print
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'Got (
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',
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') from robot #
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'Current state:
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'Swarm size:
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'reset
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'destroy
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pushs 3
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pushcn @__label_1
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gstore
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pushs 11
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pushcn @__label_2
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gstore
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pushs 12
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pushcn @__label_3
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gstore
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pushs 18
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pushcn @__label_4
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gstore
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pushs 20
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pushcn @__label_5
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gstore
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pushs 34
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pushcn @__label_12
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gstore
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pushs 39
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pushcn @__label_14
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gstore
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pushs 35
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pushcn @__label_15
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gstore
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pushs 45
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pushcn @__label_20
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gstore
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pushs 47
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pushcn @__label_21
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gstore
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pushs 32
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pushcn @__label_24
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gstore
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pushs 62
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pushcn @__label_27
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||||||
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gstore
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pushs 66
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pushcn @__label_28
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gstore
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|
pushs 81
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||||||
|
pushcn @__label_48
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gstore
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pushs 82
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pushcn @__label_49
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gstore
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nop
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@__label_0
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||||||
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pushs 0 |8,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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pushs 1 |8,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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|
gstore |8,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushs 2 |9,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushi 0 |9,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
gstore |9,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushs 6 |14,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushf 3.0 |14,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
gstore |14,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushs 7 |15,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushs 8 |15,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
gstore |15,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushs 9 |18,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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||||||
|
pushf 10.0 |18,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |19,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 10 |19,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushf 18.0 |19,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |20,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 33 |72,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |72,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |72,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 31 |95,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 300 |95,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |95,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |96,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |96,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |96,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
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|
|
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|
@__exitpoint
|
||||||
|
done
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|
|
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|
@__label_1
|
||||||
|
pushs 4 |11,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |11,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |11,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |11,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 0 |11,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |11,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 2 |11,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |11,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |11,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |11,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |12,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
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|
|
||||||
|
@__label_2
|
||||||
|
lload 3 |23,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |23,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
div |23,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
unm |23,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |23,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |23,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
div |23,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 4 |23,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pow |23,48,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |23,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |23,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
div |23,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |23,66,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pow |23,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
sub |23,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
mul |23,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret1 |23,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |24,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_3
|
||||||
|
pushs 13 |28,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |28,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 14 |28,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |28,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 15 |28,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |28,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 11 |28,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |28,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |28,41,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 16 |28,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |28,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 9 |28,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |28,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 10 |28,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |28,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 3 |28,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |28,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |28,74,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 17 |28,75,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |28,82,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |28,83,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |28,83,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret1 |28,83,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |29,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_4
|
||||||
|
pushs 13 |33,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |33,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 14 |33,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |33,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 19 |33,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |33,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |33,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 3 |33,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |33,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |33,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret1 |33,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |34,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_5
|
||||||
|
pushs 21 |38,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 20 |38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |39,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 22 |39,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |39,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |41,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |41,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 23 |41,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |41,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 12 |41,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |41,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |41,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |41,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 24 |41,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |41,45,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 18 |41,52,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |41,52,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 13 |41,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |41,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 14 |41,59,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |41,63,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 25 |41,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |41,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushf 0.0 |41,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushf 0.0 |41,73,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |41,77,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |41,77,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |41,78,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |41,78,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lstore 1 |41,78,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |42,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |42,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 26 |42,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |42,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |42,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |42,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |42,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gt |42,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_6 |42,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 13 |43,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |43,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 14 |43,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |43,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 27 |43,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |43,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |43,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushf 1.0 |43,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |43,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |43,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 26 |43,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |43,48,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |43,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |43,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
div |43,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |43,51,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |43,51,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_6 |48,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |48,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |48,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 29 |48,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |48,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |48,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |48,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |48,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |49,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |49,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 31 |49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gte |49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_8 |49,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |50,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |50,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |50,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |51,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 32 |51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_9 |52,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_8 |52,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |53,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |53,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 31 |53,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |53,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |53,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
div |53,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gte |53,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_10 |53,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_11 |55,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_10 |55,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_11 |58,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |59,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |59,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |59,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |59,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
add |59,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |59,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_9 |60,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |61,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_12
|
||||||
|
pushs 21 |79,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushl @__label_13 |79,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |81,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 36 |82,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 37 |82,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |82,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 38 |82,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |82,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 33 |82,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |82,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |82,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |82,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |82,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |83,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_13
|
||||||
|
pushs 35 |80,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |80,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |80,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |80,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |80,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |80,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |81,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_14
|
||||||
|
pushs 36 |89,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |89,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 40 |89,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |89,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 41 |89,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |89,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |89,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |89,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |89,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |90,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_15
|
||||||
|
pushs 36 |98,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |98,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 42 |98,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |98,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 41 |98,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |98,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |98,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |98,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |99,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 43 |99,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |99,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 36 |100,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |100,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 44 |100,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |100,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |100,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |100,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |100,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gte |100,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_16 |100,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 36 |101,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushnil |101,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |101,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |102,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |102,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |102,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_17 |103,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_16 |103,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |103,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |103,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 31 |103,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |103,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gte |103,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_18 |103,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 36 |104,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushnil |104,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |104,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |105,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 32 |105,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |105,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |105,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |106,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |106,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |106,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_18 |108,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_17 |108,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |108,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |108,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |108,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |108,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
add |108,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |108,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |109,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_20
|
||||||
|
pushs 21 |114,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 45 |114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |115,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 46 |115,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |115,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |117,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_21
|
||||||
|
pushs 7 |120,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 48 |120,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |120,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |121,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 47 |121,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |121,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |121,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |122,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |122,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 49 |122,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |122,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |122,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 51 |122,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |122,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |122,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |122,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |123,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |123,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 52 |123,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 53 |123,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |123,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 54 |123,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |123,45,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |123,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |123,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |125,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |125,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 51 |125,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |125,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |125,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |125,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 53 |125,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |125,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 54 |125,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |125,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 6 |125,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |125,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 6 |125,80,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |125,80,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushf 20.0 |125,81,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
div |125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
sub |125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gte |125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
and |125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_22 |125,87,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 34 |126,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |126,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 55 |126,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |126,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 20 |126,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |126,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |126,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |126,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 39 |128,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |128,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |128,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |128,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_23 |131,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_22 |131,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |132,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |132,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 56 |132,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 6 |132,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |132,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |132,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |132,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |133,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |133,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |133,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |133,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |133,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 22 |133,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |133,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |133,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 58 |134,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |134,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 6 |134,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |134,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |134,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |134,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_23 |135,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |136,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_24
|
||||||
|
pushs 7 |138,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 59 |138,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |138,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |139,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 32 |139,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |139,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |139,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |140,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |140,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 60 |140,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |140,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |140,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 51 |140,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |140,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |140,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |140,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |141,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |141,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 51 |141,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |141,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |141,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |141,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |141,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |141,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 51 |141,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |141,40,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 3 |141,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |141,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
or |141,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_25 |141,45,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |142,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |142,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |142,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |142,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |142,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 21 |142,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |142,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |142,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 61 |143,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |143,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |143,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |143,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_26 |145,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_25 |145,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 30 |146,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |146,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |146,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 36 |147,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushnil |147,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |147,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |148,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 45 |148,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |148,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |148,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_26 |149,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |150,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_27
|
||||||
|
pushs 63 |154,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 64 |154,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |154,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 38 |154,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |154,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |154,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |154,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |154,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |154,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 63 |156,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |156,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 65 |156,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |156,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |156,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |156,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |157,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 45 |157,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |157,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |157,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |158,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 46 |158,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |158,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |159,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_28
|
||||||
|
pushs 50 |163,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |163,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |163,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |163,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 22 |163,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |163,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_29 |163,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |164,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |164,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 68 |164,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |164,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |164,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |165,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |165,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |165,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |165,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tput |165,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |166,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 47 |166,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |166,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |166,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |167,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 48 |167,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |167,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |168,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |168,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |168,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |168,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |168,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 22 |168,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |168,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |168,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_30 |169,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_29 |169,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |169,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |169,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |169,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |169,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 21 |169,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |169,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_31 |169,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |170,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |170,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 69 |170,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |170,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |170,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |171,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |171,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 70 |171,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 1 |171,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |171,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |172,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |172,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |172,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |172,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tput |172,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |173,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 32 |173,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |173,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |173,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |174,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 59 |174,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |174,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |175,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |175,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |175,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |175,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |175,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 21 |175,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |175,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |175,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_32 |176,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_31 |176,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |176,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |176,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |176,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |176,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 16 |176,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |176,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_33 |176,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |177,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |177,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |177,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |177,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tput |177,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |178,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 45 |178,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |178,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |178,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 71 |179,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |179,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |179,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |179,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_34 |180,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_33 |180,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |180,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |180,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |180,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |180,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 400 |180,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |180,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_35 |180,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |181,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |181,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |181,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |181,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tput |181,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 72 |182,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |182,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |182,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |182,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |183,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |183,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |183,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |183,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |183,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 400 |183,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |183,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |183,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_36 |184,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_35 |184,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |184,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |184,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |184,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |184,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 401 |184,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |184,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_37 |184,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 50 |185,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |185,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 67 |185,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |185,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tput |185,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 73 |186,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |186,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |186,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |186,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |187,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |187,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 5 |187,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |187,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |187,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 401 |187,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |187,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |187,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_37 |189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_36 |189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_34 |189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_32 |189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_30 |189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 4 |189,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |189,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 74 |189,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
tget |189,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 57 |189,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushl @__label_39 |190,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |203,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |203,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |204,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |204,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |204,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |204,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |205,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |205,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 79 |205,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |205,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |205,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |205,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |205,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 28 |206,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |206,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 80 |206,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 55 |206,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |206,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 2 |206,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |206,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |207,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_39
|
||||||
|
pushs 75 |191,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |191,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 76 |191,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 1 |191,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 77 |191,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |191,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 78 |191,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 3 |191,59,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 6 |191,60,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |191,60,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |192,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 22 |192,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |192,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |192,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |192,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 46 |192,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |192,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
and |192,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_40 |192,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |193,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 47 |193,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |193,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |193,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_41 |194,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_40 |194,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |194,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 21 |194,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |194,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_42 |194,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 21 |195,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 32 |195,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |195,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gstore |195,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_43 |196,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_42 |196,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |196,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 400 |196,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |196,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |196,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |196,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 46 |196,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |196,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
and |196,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_44 |196,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 72 |197,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |197,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |197,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |197,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jump @__label_45 |198,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_44 |198,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
lload 2 |198,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 401 |198,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |198,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 7 |198,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |198,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 46 |198,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
eq |198,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
and |198,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
jumpz @__label_46 |198,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushs 73 |199,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
gload |199,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
pushi 0 |199,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
callc |199,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_46 |201,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_45 |201,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_43 |201,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
@__label_41 |201,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
ret0 |201,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_48
|
||||||
|
ret0 |211,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
|
|
||||||
|
@__label_49
|
||||||
|
ret0 |215,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,215 @@
|
||||||
|
# We need this for 2D vectors
|
||||||
|
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
|
||||||
|
include "/home/ubuntu/buzz/src/include/vec2.bzz"
|
||||||
|
####################################################################################################
|
||||||
|
# Updater related
|
||||||
|
# This should be here for the updater to work, changing position of code will crash the updater
|
||||||
|
####################################################################################################
|
||||||
|
updated="update_ack"
|
||||||
|
update_no=0
|
||||||
|
function updated_neigh(){
|
||||||
|
neighbors.broadcast(updated, update_no)
|
||||||
|
}
|
||||||
|
|
||||||
|
TARGET_ALTITUDE = 3.0
|
||||||
|
CURSTATE = "TURNEDOFF"
|
||||||
|
|
||||||
|
# Lennard-Jones parameters
|
||||||
|
TARGET = 10.0 #0.000001001
|
||||||
|
EPSILON = 18.0 #0.001
|
||||||
|
|
||||||
|
# Lennard-Jones interaction magnitude
|
||||||
|
function lj_magnitude(dist, target, epsilon) {
|
||||||
|
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
|
||||||
|
}
|
||||||
|
|
||||||
|
# Neighbor data to LJ interaction vector
|
||||||
|
function lj_vector(rid, data) {
|
||||||
|
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
|
||||||
|
}
|
||||||
|
|
||||||
|
# Accumulator of neighbor LJ interactions
|
||||||
|
function lj_sum(rid, data, accum) {
|
||||||
|
return math.vec2.add(data, accum)
|
||||||
|
}
|
||||||
|
|
||||||
|
# Calculates and actuates the flocking interaction
|
||||||
|
function hexagon() {
|
||||||
|
statef=hexagon
|
||||||
|
CURSTATE = "HEXAGON"
|
||||||
|
# Calculate accumulator
|
||||||
|
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
|
||||||
|
if(neighbors.count() > 0)
|
||||||
|
math.vec2.scale(accum, 1.0 / neighbors.count())
|
||||||
|
# Move according to vector
|
||||||
|
#print("Robot ", id, "must push ",accum.length, "; ", accum.angle)
|
||||||
|
# uav_moveto(accum.x,accum.y)
|
||||||
|
|
||||||
|
log("Time: ", timeW)
|
||||||
|
if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
|
||||||
|
timeW =0
|
||||||
|
statef=land
|
||||||
|
} else {
|
||||||
|
if(timeW >= (WAIT_TIMEOUT / 2)){
|
||||||
|
#uav_moveto(4.0,0.0)
|
||||||
|
} else {
|
||||||
|
#uav_moveto(4.0,0.0)
|
||||||
|
#uav_moveto(0.0,4.0)
|
||||||
|
}
|
||||||
|
timeW = timeW+1
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
########################################
|
||||||
|
#
|
||||||
|
# BARRIER-RELATED FUNCTIONS
|
||||||
|
#
|
||||||
|
########################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# Constants
|
||||||
|
#
|
||||||
|
BARRIER_VSTIG = 1
|
||||||
|
# ROBOTS = 3 # number of robots in the swarm
|
||||||
|
|
||||||
|
#
|
||||||
|
# Sets a barrier
|
||||||
|
#
|
||||||
|
function barrier_set(threshold, transf) {
|
||||||
|
statef = function() {
|
||||||
|
barrier_wait(threshold, transf);
|
||||||
|
}
|
||||||
|
barrier = stigmergy.create(BARRIER_VSTIG)
|
||||||
|
}
|
||||||
|
|
||||||
|
#
|
||||||
|
# Make yourself ready
|
||||||
|
#
|
||||||
|
function barrier_ready() {
|
||||||
|
barrier.put(id, 1)
|
||||||
|
}
|
||||||
|
|
||||||
|
#
|
||||||
|
# Executes the barrier
|
||||||
|
#
|
||||||
|
WAIT_TIMEOUT = 300
|
||||||
|
timeW=0
|
||||||
|
function barrier_wait(threshold, transf) {
|
||||||
|
barrier.get(id)
|
||||||
|
CURSTATE = "BARRIERWAIT"
|
||||||
|
if(barrier.size() >= threshold) {
|
||||||
|
barrier = nil
|
||||||
|
transf()
|
||||||
|
} else if(timeW>=WAIT_TIMEOUT) {
|
||||||
|
barrier = nil
|
||||||
|
statef=land
|
||||||
|
timeW=0
|
||||||
|
}
|
||||||
|
timeW = timeW+1
|
||||||
|
}
|
||||||
|
|
||||||
|
# flight status
|
||||||
|
|
||||||
|
function idle() {
|
||||||
|
statef=idle
|
||||||
|
CURSTATE = "IDLE"
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
function takeoff() {
|
||||||
|
CURSTATE = "TAKEOFF"
|
||||||
|
statef=takeoff
|
||||||
|
log("TakeOff: ", flight.status)
|
||||||
|
log("Relative position: ", position.altitude)
|
||||||
|
|
||||||
|
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
|
||||||
|
barrier_set(ROBOTS, hexagon)
|
||||||
|
#barrier_set(ROBOTS, land);
|
||||||
|
barrier_ready()
|
||||||
|
#statef=hexagon
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
log("Altitude: ", TARGET_ALTITUDE)
|
||||||
|
neighbors.broadcast("cmd", 22)
|
||||||
|
uav_takeoff(TARGET_ALTITUDE)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
function land() {
|
||||||
|
CURSTATE = "LAND"
|
||||||
|
statef=land
|
||||||
|
log("Land: ", flight.status)
|
||||||
|
if(flight.status == 2 or flight.status == 3){
|
||||||
|
neighbors.broadcast("cmd", 21)
|
||||||
|
uav_land()
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
timeW=0
|
||||||
|
barrier = nil
|
||||||
|
statef=idle
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# Executed once at init time.
|
||||||
|
function init() {
|
||||||
|
s = swarm.create(1)
|
||||||
|
# s.select(1)
|
||||||
|
s.join()
|
||||||
|
statef=idle
|
||||||
|
CURSTATE = "IDLE"
|
||||||
|
}
|
||||||
|
|
||||||
|
# Executed at each time step.
|
||||||
|
function step() {
|
||||||
|
if(flight.rc_cmd==22) {
|
||||||
|
log("cmd 22")
|
||||||
|
flight.rc_cmd=0
|
||||||
|
statef = takeoff
|
||||||
|
CURSTATE = "TAKEOFF"
|
||||||
|
neighbors.broadcast("cmd", 22)
|
||||||
|
} else if(flight.rc_cmd==21) {
|
||||||
|
log("cmd 21")
|
||||||
|
log("To land")
|
||||||
|
flight.rc_cmd=0
|
||||||
|
statef = land
|
||||||
|
CURSTATE = "LAND"
|
||||||
|
neighbors.broadcast("cmd", 21)
|
||||||
|
} else if(flight.rc_cmd==16) {
|
||||||
|
flight.rc_cmd=0
|
||||||
|
statef = idle
|
||||||
|
uav_goto()
|
||||||
|
} else if(flight.rc_cmd==400) {
|
||||||
|
flight.rc_cmd=0
|
||||||
|
uav_arm()
|
||||||
|
neighbors.broadcast("cmd", 400)
|
||||||
|
} else if (flight.rc_cmd==401){
|
||||||
|
flight.rc_cmd=0
|
||||||
|
uav_disarm()
|
||||||
|
neighbors.broadcast("cmd", 401)
|
||||||
|
}
|
||||||
|
neighbors.listen("cmd",
|
||||||
|
function(vid, value, rid) {
|
||||||
|
print("Got (", vid, ",", value, ") from robot #", rid)
|
||||||
|
if(value==22 and CURSTATE=="IDLE") {
|
||||||
|
statef=takeoff
|
||||||
|
} else if(value==21) {
|
||||||
|
statef=land
|
||||||
|
} else if(value==400 and CURSTATE=="IDLE") {
|
||||||
|
uav_arm()
|
||||||
|
} else if(value==401 and CURSTATE=="IDLE"){
|
||||||
|
uav_disarm()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
)
|
||||||
|
statef()
|
||||||
|
log("Current state: ", CURSTATE)
|
||||||
|
log("Swarm size: ",ROBOTS)
|
||||||
|
}
|
||||||
|
|
||||||
|
# Executed once when the robot (or the simulator) is reset.
|
||||||
|
function reset() {
|
||||||
|
}
|
||||||
|
|
||||||
|
# Executed once at the end of experiment.
|
||||||
|
function destroy() {
|
||||||
|
}
|
||||||
|
|
@ -115,6 +115,7 @@ namespace rosbzz_node{
|
||||||
timer_step+=1;
|
timer_step+=1;
|
||||||
maintain_pos(timer_step);
|
maintain_pos(timer_step);
|
||||||
|
|
||||||
|
std::cout<< "HOME: " << home[0] << ", " << home[1] <<std::endl;
|
||||||
}
|
}
|
||||||
/* Destroy updater and Cleanup */
|
/* Destroy updater and Cleanup */
|
||||||
//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
|
//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue