From 05c584d085da11668f99a9b18865105c8749f2ca Mon Sep 17 00:00:00 2001 From: dave Date: Mon, 17 Jul 2017 09:49:41 -0400 Subject: [PATCH] minor graph optim --- buzz_scripts/graphform.bzz | 241 ++++++++++++------ buzz_scripts/include/Graph_drone.graph | 5 - .../include/graphs/Graph_droneL.graph | 6 + .../include/graphs/Graph_droneO.graph | 6 + .../include/graphs/Graph_droneP.graph | 6 + .../include/graphs/Graph_droneY.graph | 6 + buzz_scripts/include/graphs/frame_01186.png | Bin 0 -> 68471 bytes buzz_scripts/include/graphs/frame_01207.png | Bin 0 -> 78891 bytes buzz_scripts/include/graphs/frame_01394.png | Bin 0 -> 76528 bytes buzz_scripts/include/graphs/frame_01424.png | Bin 0 -> 98463 bytes buzz_scripts/include/graphs/shapes_L.bzz | 57 +++++ buzz_scripts/include/graphs/shapes_O.bzz | 57 +++++ buzz_scripts/include/graphs/shapes_P.bzz | 57 +++++ buzz_scripts/include/graphs/shapes_Y.bzz | 57 +++++ .../{shapes.bzz => graphs/shapes_square.bzz} | 0 15 files changed, 409 insertions(+), 89 deletions(-) delete mode 100644 buzz_scripts/include/Graph_drone.graph create mode 100644 buzz_scripts/include/graphs/Graph_droneL.graph create mode 100644 buzz_scripts/include/graphs/Graph_droneO.graph create mode 100644 buzz_scripts/include/graphs/Graph_droneP.graph create mode 100644 buzz_scripts/include/graphs/Graph_droneY.graph create mode 100644 buzz_scripts/include/graphs/frame_01186.png create mode 100644 buzz_scripts/include/graphs/frame_01207.png create mode 100644 buzz_scripts/include/graphs/frame_01394.png create mode 100644 buzz_scripts/include/graphs/frame_01424.png create mode 100644 buzz_scripts/include/graphs/shapes_L.bzz create mode 100644 buzz_scripts/include/graphs/shapes_O.bzz create mode 100644 buzz_scripts/include/graphs/shapes_P.bzz create mode 100644 buzz_scripts/include/graphs/shapes_Y.bzz rename buzz_scripts/include/{shapes.bzz => graphs/shapes_square.bzz} (100%) diff --git a/buzz_scripts/graphform.bzz b/buzz_scripts/graphform.bzz index dff7dd0..82fbe07 100644 --- a/buzz_scripts/graphform.bzz +++ b/buzz_scripts/graphform.bzz @@ -7,7 +7,7 @@ include "update.bzz" include "barrier.bzz" # don't use a stigmergy id=11 with this header. include "uavstates.bzz" # require an 'action' function to be defined here. -include "shapes.bzz" +include "graphs/shapes_square.bzz" ROBOT_RADIUS=50 ROBOT_DIAMETER=2.0*ROBOT_RADIUS @@ -51,6 +51,10 @@ m_navigation={.x=0,.y=0} #Current label being requested or chosen (-1 when none) m_nLabel=-1 +m_messageID={} +#neighbor distance to lock the current pattern +lock_neighbor_id={} +lock_neighbor_dis={} #Label request id m_unRequestId=0 @@ -212,27 +216,128 @@ function pow(base,exponent){ } } +# +#pack message into 1 number +# +function packmessage(send_table){ + var send_value + send_value=10000*send_table.State+1000*send_table.Lable+100*send_table.ReqLable+10*send_table.ReqID+send_table.Response + return send_value +} +# +#pack guide message into 1 number +# +function pack_guide_msg(send_table){ + var send_value + var r_id=send_table.Label#id of target robot + var pon#positive or negative ,0 postive, 1 negative + if(send_table.Bearing>=0){ + pon=0 + } + else{ + pon=1 + } + var b=math.abs(send_table.Bearing) + send_value=r_id*1000+pon*100+b + return send_value +} +# +#unpack message +# +function unpackmessage(recv_value){ + var wan=(recv_value-recv_value%10000)/10000 + recv_value=recv_value-wan*10000 + var qian=(recv_value-recv_value%1000)/1000 + recv_value=recv_value-qian*1000 + var bai=(recv_value-recv_value%100)/100 + recv_value=recv_value-bai*100 + var shi=(recv_value-recv_value%10)/10 + recv_value=recv_value-shi*10 + var ge=recv_value + var return_table={.State=0.0,.Lable=0.0,.Reqlable=0.0,.ReqID=0.0,.Response=0.0} + return_table.State=wan + return_table.Lable=qian + return_table.ReqLable=bai + return_table.ReqID=shi + return_table.Response=ge + return return_table +} +# +#unpack guide message +# +function unpack_guide_msg(recv_value){ +log(id,"I pass value=",recv_value) + var qian=(recv_value-recv_value%1000)/1000 + recv_value=recv_value-qian*1000 + var bai=(recv_value-recv_value%100)/100 + recv_value=recv_value-bai*100 + var b=recv_value + var return_table={.Label=0.0,.Bearing=0.0} + return_table.Label=qian + if(bai==1){ + b=b*-1.0 + } + return_table.Bearing=b + return return_table +} + +#get the target distance to neighbr nei_id +function target4label(nei_id){ + var return_val="miss" + var i=0 + while(i1){ - var cDir={.x=0.0,.y=0.0} - var cDir1={.x=0.0,.y=0.0} - var cDir2={.x=0.0,.y=0.0} - cDir1=math.vec2.newp(FlockInteraction(mypred1.range,m_vecNodes_fixed[m_nLabel].d1,EPSILON),mypred1.bearing) - cDir2=math.vec2.newp(FlockInteraction(mypred2.range,m_vecNodes_fixed[m_nLabel].d2,EPSILON),mypred2.bearing) - #cDir1=math.vec2.newp((mypred1.range-m_vecNodes_fixed[m_nLabel].d1),mypred1.bearing) - #cDir2=math.vec2.newp((mypred2.range-m_vecNodes_fixed[m_nLabel].d2),mypred2.bearing) - cDir=math.vec2.add(cDir1,cDir2) - - cDir=math.vec2.scale(cDir,5) - m_navigation.x=cDir.x - m_navigation.y=cDir.y - #log(m_nLabel,"error:",mypred1.range-m_vecNodes_fixed[m_nLabel].d1,"and",mypred2.range-m_vecNodes_fixed[m_nLabel].d2) - log(";",m_nLabel,";",mypred1.range-m_vecNodes_fixed[m_nLabel].d1) +if(m_nLabel!=0){ + m_navigation=motion_vector() } #move -uav_moveto(m_navigation.x/100.0,m_navigation.y/100.0) +goto(m_navigation.x,m_navigation.y) } function action(){ @@ -760,7 +833,7 @@ function step(){ #navigation #broadcast messag - neighbors.broadcast("m",m_selfMessage) + neighbors.broadcast("m",packmessage(m_selfMessage)) # #clean message storage @@ -784,8 +857,8 @@ function step(){ function Reset(){ #m_vecNodes={} #m_vecNodes = parse_graph("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_drone.graph")#change the .graph file when necessary - m_vecNodes_fixed={} - m_vecNodes_fixed=parse_graph_fixed("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_fixed.graph") +# m_vecNodes_fixed={} +# m_vecNodes_fixed=parse_graph_fixed("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_fixed.graph") m_nLabel=-1 #start listening diff --git a/buzz_scripts/include/Graph_drone.graph b/buzz_scripts/include/Graph_drone.graph deleted file mode 100644 index edd6764..0000000 --- a/buzz_scripts/include/Graph_drone.graph +++ /dev/null @@ -1,5 +0,0 @@ -0 -1 -1 -1 3000.0 -1 0 1000.0 0.0 5000.0 -2 0 1000.0 1.57 7000.0 -3 0 1000.0 3.14 9000.0 -4 0 1000.0 4.71 11000.0 diff --git a/buzz_scripts/include/graphs/Graph_droneL.graph b/buzz_scripts/include/graphs/Graph_droneL.graph new file mode 100644 index 0000000..6747976 --- /dev/null +++ b/buzz_scripts/include/graphs/Graph_droneL.graph @@ -0,0 +1,6 @@ +0 -1 -1 -1 3000.0 +1 0 200.0 0.0 5000.0 +2 0 200.0 1.57 7000.0 +3 1 200.0 0.0 9000.0 +4 2 200.0 1.57 11000.0 +5 4 200.0 1.57 11000.0 \ No newline at end of file diff --git a/buzz_scripts/include/graphs/Graph_droneO.graph b/buzz_scripts/include/graphs/Graph_droneO.graph new file mode 100644 index 0000000..3724ba7 --- /dev/null +++ b/buzz_scripts/include/graphs/Graph_droneO.graph @@ -0,0 +1,6 @@ +0 -1 -1 -1 3000.0 +1 0 200.0 0.0 5000.0 +2 0 200.0 1.57 7000.0 +3 1 200.0 1.57 9000.0 +4 1 141.0 3.93 11000.0 +5 2 141.0 0.785 11000.0 \ No newline at end of file diff --git a/buzz_scripts/include/graphs/Graph_droneP.graph b/buzz_scripts/include/graphs/Graph_droneP.graph new file mode 100644 index 0000000..52a8d6a --- /dev/null +++ b/buzz_scripts/include/graphs/Graph_droneP.graph @@ -0,0 +1,6 @@ +0 -1 -1 -1 3000.0 +1 0 200.0 0.0 5000.0 +2 0 200.0 1.57 7000.0 +3 0 200.0 4.71 9000.0 +4 1 141.0 0.79 11000.0 +5 2 200.0 0.0 11000.0 \ No newline at end of file diff --git a/buzz_scripts/include/graphs/Graph_droneY.graph b/buzz_scripts/include/graphs/Graph_droneY.graph new file mode 100644 index 0000000..0aff949 --- /dev/null +++ b/buzz_scripts/include/graphs/Graph_droneY.graph @@ -0,0 +1,6 @@ +0 -1 -1 -1 3000.0 +1 0 200.0 4.71 5000.0 +2 0 141.0 2.36 7000.0 +3 0 141.0 0.79 9000.0 +4 2 141.0 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@@ -0,0 +1,57 @@ +#Table of the nodes in the graph +m_vecNodes={} +m_vecNodes_fixed={} +m_vecNodes[0] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing + .Lable = 0, # Lable of the point + .Pred = -1, # Lable of its predecessor + .distance = -1, # distance to the predecessor + .bearing = -1, # bearing form the predecessor to this dot + .height = 3000, # height of this dot + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[1] = { + .Lable = 1, + .Pred = 0, + .distance = 2000, + .bearing = 0.0, + .height = 5000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[2] = { + .Lable = 2, + .Pred = 0, + .distance = 2000, + .bearing = 1.57, + .height = 7000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[3] = { + .Lable = 3, + .Pred = 1, + .distance = 2000, + .bearing = 0.0, + .height = 9000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[4] = { + .Lable = 4, + .Pred = 2, + .distance = 2000, + .bearing = 1.57, + .height = 11000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[5] = { + .Lable = 5, + .Pred = 4, + .distance = 2000, + .bearing = 1.57, + .height = 14000, + .State="UNASSIGNED", + .StateAge=0 +} \ No newline at end of file diff --git a/buzz_scripts/include/graphs/shapes_O.bzz b/buzz_scripts/include/graphs/shapes_O.bzz new file mode 100644 index 0000000..300edd3 --- /dev/null +++ b/buzz_scripts/include/graphs/shapes_O.bzz @@ -0,0 +1,57 @@ +#Table of the nodes in the graph +m_vecNodes={} +m_vecNodes_fixed={} +m_vecNodes[0] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing + .Lable = 0, # Lable of the point + .Pred = -1, # Lable of its predecessor + .distance = -1, # distance to the predecessor + .bearing = -1, # bearing form the predecessor to this dot + .height = 3000, # height of this dot + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[1] = { + .Lable = 1, + .Pred = 0, + .distance = 2000, + .bearing = 0.0, + .height = 5000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[2] = { + .Lable = 2, + .Pred = 0, + .distance = 2000, + .bearing = 1.57, + .height = 7000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[3] = { + .Lable = 3, + .Pred = 1, + .distance = 2000, + .bearing = 1.57, + .height = 9000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[4] = { + .Lable = 4, + .Pred = 1, + .distance = 1414, + .bearing = 3.93, + .height = 11000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[5] = { + .Lable = 5, + .Pred = 2, + .distance = 1414, + .bearing = 0.785, + .height = 14000, + .State="UNASSIGNED", + .StateAge=0 +} \ No newline at end of file diff --git a/buzz_scripts/include/graphs/shapes_P.bzz b/buzz_scripts/include/graphs/shapes_P.bzz new file mode 100644 index 0000000..67d1091 --- /dev/null +++ b/buzz_scripts/include/graphs/shapes_P.bzz @@ -0,0 +1,57 @@ +#Table of the nodes in the graph +m_vecNodes={} +m_vecNodes_fixed={} +m_vecNodes[0] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing + .Lable = 0, # Lable of the point + .Pred = -1, # Lable of its predecessor + .distance = -1, # distance to the predecessor + .bearing = -1, # bearing form the predecessor to this dot + .height = 3000, # height of this dot + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[1] = { + .Lable = 1, + .Pred = 0, + .distance = 2000, + .bearing = 0.0, + .height = 5000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[2] = { + .Lable = 2, + .Pred = 0, + .distance = 2000, + .bearing = 1.57, + .height = 7000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[3] = { + .Lable = 3, + .Pred = 1, + .distance = 2000, + .bearing = 4.71, + .height = 9000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[4] = { + .Lable = 4, + .Pred = 1, + .distance = 1414, + .bearing = 0.79, + .height = 11000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[5] = { + .Lable = 5, + .Pred = 2, + .distance = 2000, + .bearing = 0.0, + .height = 14000, + .State="UNASSIGNED", + .StateAge=0 +} \ No newline at end of file diff --git a/buzz_scripts/include/graphs/shapes_Y.bzz b/buzz_scripts/include/graphs/shapes_Y.bzz new file mode 100644 index 0000000..cb83bbb --- /dev/null +++ b/buzz_scripts/include/graphs/shapes_Y.bzz @@ -0,0 +1,57 @@ +#Table of the nodes in the graph +m_vecNodes={} +m_vecNodes_fixed={} +m_vecNodes[0] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing + .Lable = 0, # Lable of the point + .Pred = -1, # Lable of its predecessor + .distance = -1, # distance to the predecessor + .bearing = -1, # bearing form the predecessor to this dot + .height = 3000, # height of this dot + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[1] = { + .Lable = 1, + .Pred = 0, + .distance = 2000, + .bearing = 4.71, + .height = 5000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[2] = { + .Lable = 2, + .Pred = 0, + .distance = 1414, + .bearing = 2.36, + .height = 7000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[3] = { + .Lable = 3, + .Pred = 0, + .distance = 1414, + .bearing = 0.79, + .height = 9000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[4] = { + .Lable = 4, + .Pred = 2, + .distance = 1414, + .bearing = 2.36, + .height = 11000, + .State="UNASSIGNED", + .StateAge=0 +} +m_vecNodes[5] = { + .Lable = 5, + .Pred = 3, + .distance = 1414, + .bearing = 0.79, + .height = 14000, + .State="UNASSIGNED", + .StateAge=0 +} \ No newline at end of file diff --git a/buzz_scripts/include/shapes.bzz b/buzz_scripts/include/graphs/shapes_square.bzz similarity index 100% rename from buzz_scripts/include/shapes.bzz rename to buzz_scripts/include/graphs/shapes_square.bzz