minor graph optim
This commit is contained in:
dave
parent
af301a1c62
commit
05c584d085
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@ -7,7 +7,7 @@ include "update.bzz"
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include "barrier.bzz" # don't use a stigmergy id=11 with this header.
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include "uavstates.bzz" # require an 'action' function to be defined here.
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include "shapes.bzz"
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include "graphs/shapes_square.bzz"
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ROBOT_RADIUS=50
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ROBOT_DIAMETER=2.0*ROBOT_RADIUS
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@ -51,6 +51,10 @@ m_navigation={.x=0,.y=0}
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#Current label being requested or chosen (-1 when none)
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m_nLabel=-1
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m_messageID={}
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#neighbor distance to lock the current pattern
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lock_neighbor_id={}
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lock_neighbor_dis={}
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#Label request id
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m_unRequestId=0
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@ -212,27 +216,128 @@ function pow(base,exponent){
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}
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}
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#
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#pack message into 1 number
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#
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function packmessage(send_table){
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var send_value
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send_value=10000*send_table.State+1000*send_table.Lable+100*send_table.ReqLable+10*send_table.ReqID+send_table.Response
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return send_value
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}
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#
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#pack guide message into 1 number
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#
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function pack_guide_msg(send_table){
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var send_value
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var r_id=send_table.Label#id of target robot
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var pon#positive or negative ,0 postive, 1 negative
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if(send_table.Bearing>=0){
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pon=0
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}
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else{
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pon=1
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}
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var b=math.abs(send_table.Bearing)
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send_value=r_id*1000+pon*100+b
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return send_value
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}
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#
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#unpack message
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#
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function unpackmessage(recv_value){
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var wan=(recv_value-recv_value%10000)/10000
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recv_value=recv_value-wan*10000
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var qian=(recv_value-recv_value%1000)/1000
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recv_value=recv_value-qian*1000
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var bai=(recv_value-recv_value%100)/100
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recv_value=recv_value-bai*100
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var shi=(recv_value-recv_value%10)/10
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recv_value=recv_value-shi*10
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var ge=recv_value
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var return_table={.State=0.0,.Lable=0.0,.Reqlable=0.0,.ReqID=0.0,.Response=0.0}
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return_table.State=wan
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return_table.Lable=qian
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return_table.ReqLable=bai
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return_table.ReqID=shi
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return_table.Response=ge
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return return_table
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}
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#
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#unpack guide message
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#
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function unpack_guide_msg(recv_value){
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log(id,"I pass value=",recv_value)
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var qian=(recv_value-recv_value%1000)/1000
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recv_value=recv_value-qian*1000
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var bai=(recv_value-recv_value%100)/100
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recv_value=recv_value-bai*100
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var b=recv_value
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var return_table={.Label=0.0,.Bearing=0.0}
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return_table.Label=qian
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if(bai==1){
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b=b*-1.0
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}
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return_table.Bearing=b
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return return_table
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}
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#get the target distance to neighbr nei_id
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function target4label(nei_id){
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var return_val="miss"
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var i=0
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while(i<size(lock_neighbor_id)){
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if(lock_neighbor_id[i]==nei_id){
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return_val=lock_neighbor_dis[i]
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}
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i=i+1
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}
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return return_val
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}
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#calculate LJ vector for neibhor stored in i
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function LJ_vec(i){
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var dis=m_MessageRange[i]
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var bearing=m_MessageBearing[i]
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var nei_id=m_messageID[i]
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var target=target4label(nei_id)
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var cDir={.x=0.0,.y=0.0}
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if(target!="miss"){
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cDir=math.vec2.newp(FlockInteraction(dis,target,EPSILON),bearing)
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}
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#log(id,"dis=",dis,"target=",target,"label=",nei_id)
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return cDir
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}
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#calculate the motion vector
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function motion_vector(){
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var i=0
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var m_vector={.x=0.0,.y=0.0}
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while(i<m_neighbourCunt){
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#calculate and add the motion vector
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m_vector=math.vec2.add(m_vector,LJ_vec(i))
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#log(id,"x=",m_vector.x,"y=",m_vector.y)
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i=i+1
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}
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m_vector=math.vec2.scale(m_vector,1000.0)
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return m_vector
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}
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function start_listen(){
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neighbors.listen("m",
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function(vid,value,rid){
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#store the received message
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var temp_id=rid
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m_receivedMessage.State=i2s(value.State)
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m_receivedMessage.Lable=value.Lable
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m_receivedMessage.ReqLable=value.ReqLable
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m_receivedMessage.ReqID=value.ReqID
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m_receivedMessage.Response=i2r(value.Response)
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var recv_val=unpackmessage(value)
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Get_DisAndAzi(temp_id)
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#add the received message
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#
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m_MessageState[m_neighbourCunt]=i2s(value.State)
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m_MessageLable[m_neighbourCunt]=value.Lable
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m_MessageReqLable[m_neighbourCunt]=value.ReqLable
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m_MessageReqID[m_neighbourCunt]=value.ReqID
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m_MessageResponse[m_neighbourCunt]=i2r(value.Response)
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m_MessageState[m_neighbourCunt]=i2s(recv_val.State)
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m_MessageLable[m_neighbourCunt]=recv_val.Lable
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m_MessageReqLable[m_neighbourCunt]=recv_val.ReqLable
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m_MessageReqID[m_neighbourCunt]=recv_val.ReqID
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m_MessageResponse[m_neighbourCunt]=i2r(recv_val.Response)
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m_MessageRange[m_neighbourCunt]=m_receivedMessage.Range
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m_MessageBearing[m_neighbourCunt]=m_receivedMessage.Bearing
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m_messageID[m_neighbourCunt]=rid
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m_neighbourCunt=m_neighbourCunt+1
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})
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}
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@ -294,7 +399,7 @@ function TransitionToFree(){
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function TransitionToAsking(un_label){
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m_eState="STATE_ASKING"
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m_nLabel=un_label
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m_unRequestId=rng.uniform(0,65536)+id#don't know why the random numbers are the same, add id to make the ReqID different
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m_unRequestId=id #don't know why the random numbers are the same, add id to make the ReqID different
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m_selfMessage.State=s2i(m_eState)
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m_selfMessage.ReqLable=m_nLabel
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m_selfMessage.ReqID=m_unRequestId
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@ -313,10 +418,11 @@ function TransitionToJoining(){
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neighbors.listen("r",
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function(vid,value,rid){
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var recv_table={.Label=0,.Bearing=0.0}
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recv_table=unpack_guide_msg(value)
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#store the received message
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if(value.Label==m_nLabel){
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m_cMeToPred.GlobalBearing=value.Bearing
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if(recv_table.Label==m_nLabel){
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m_cMeToPred.GlobalBearing=recv_table.Bearing
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}
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})
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@ -340,6 +446,9 @@ function TransitionToJoined(){
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uav_moveto(m_navigation.x/100.0,m_navigation.y/100.0)
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}
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#
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#Transistion to state Lock, lock the current formation
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#
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#
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#Transistion to state Lock, lock the current formation
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#
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@ -348,10 +457,18 @@ function TransitionToLock(){
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m_selfMessage.State=s2i(m_eState)
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m_selfMessage.Lable=m_nLabel
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m_vecNodes[m_nLabel].State="ASSIGNED"
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#record neighbor distance
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lock_neighbor_id={}
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lock_neighbor_dis={}
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var i=0
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while(i<m_neighbourCunt){
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lock_neighbor_id[i]=m_messageID[i]
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lock_neighbor_dis[i]=m_MessageRange[i]
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i=i+1
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}
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m_navigation.x=0.0
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m_navigation.y=0.0
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uav_moveto(m_navigation.x/100.0,m_navigation.y/100.0)
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goto(m_navigation.x,m_navigation.y)
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}
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#
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@ -582,7 +699,7 @@ function DoJoined(){
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if(m_nLabel==m_vecNodes[JoiningLable].Pred){
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##joining wrt this dot,send the global bearing
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var m_messageForJoining={.Label=JoiningLable,.Bearing=m_MessageBearing[i]-m_bias}
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neighbors.broadcast("r",m_messageForJoining)
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neighbors.broadcast("r",pack_guide_msg(m_messageForJoining))
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}
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}
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#if it is the pred
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@ -629,9 +746,9 @@ function DoJoined(){
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#check if should to transists to lock
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# if(v_tag.size()==ROBOTS){
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# TransitionToLock()
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# }
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if(v_tag.size()==ROBOTS){
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TransitionToLock()
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}
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}
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#
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@ -640,63 +757,19 @@ function DoJoined(){
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function DoLock(){
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m_selfMessage.State=s2i(m_eState)
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m_selfMessage.Lable=m_nLabel
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m_navigation.x=0.0
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m_navigation.y=0.0
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#collect preds information
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var i=0
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var mypred1={.range=0,.bearing=0}
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var mypred2={.range=0,.bearing=0}
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while(i<m_neighbourCunt){
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#is the first predecessor
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if(m_MessageLable[i]==m_vecNodes_fixed[m_nLabel].Pred1){
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mypred1.range=m_MessageRange[i]
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mypred1.bearing=m_MessageBearing[i]
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}
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#is the second predecessor
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if(m_MessageLable[i]==m_vecNodes_fixed[m_nLabel].Pred2){
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mypred2.range=m_MessageRange[i]
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mypred2.bearing=m_MessageBearing[i]
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}
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i=i+1
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}
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#calculate motion vection
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if(m_nLabel==0){
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m_navigation.x=0.0#change value so that robot 0 will move
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m_navigation.y=0.0
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log(";",m_nLabel,";",0)
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}
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if(m_nLabel==1){
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var tempvec={.Range=0.0,.Bearing=0.0}
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tempvec.Range=FlockInteraction(mypred1.range,m_vecNodes_fixed[m_nLabel].d1,EPSILON_FOR1)
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#tempvec.Range=mypred1.range-m_vecNodes_fixed[m_nLabel].d1
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tempvec.Bearing=mypred1.bearing
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m_navigation=math.vec2.newp(tempvec.Range,tempvec.Bearing)
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log(";",m_nLabel,";",mypred1.range-m_vecNodes_fixed[m_nLabel].d1)
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}
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if(m_nLabel>1){
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var cDir={.x=0.0,.y=0.0}
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var cDir1={.x=0.0,.y=0.0}
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var cDir2={.x=0.0,.y=0.0}
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cDir1=math.vec2.newp(FlockInteraction(mypred1.range,m_vecNodes_fixed[m_nLabel].d1,EPSILON),mypred1.bearing)
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cDir2=math.vec2.newp(FlockInteraction(mypred2.range,m_vecNodes_fixed[m_nLabel].d2,EPSILON),mypred2.bearing)
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#cDir1=math.vec2.newp((mypred1.range-m_vecNodes_fixed[m_nLabel].d1),mypred1.bearing)
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#cDir2=math.vec2.newp((mypred2.range-m_vecNodes_fixed[m_nLabel].d2),mypred2.bearing)
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cDir=math.vec2.add(cDir1,cDir2)
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cDir=math.vec2.scale(cDir,5)
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m_navigation.x=cDir.x
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m_navigation.y=cDir.y
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#log(m_nLabel,"error:",mypred1.range-m_vecNodes_fixed[m_nLabel].d1,"and",mypred2.range-m_vecNodes_fixed[m_nLabel].d2)
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log(";",m_nLabel,";",mypred1.range-m_vecNodes_fixed[m_nLabel].d1)
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if(m_nLabel!=0){
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m_navigation=motion_vector()
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}
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#move
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uav_moveto(m_navigation.x/100.0,m_navigation.y/100.0)
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goto(m_navigation.x,m_navigation.y)
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}
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function action(){
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@ -760,7 +833,7 @@ function step(){
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#navigation
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#broadcast messag
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neighbors.broadcast("m",m_selfMessage)
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neighbors.broadcast("m",packmessage(m_selfMessage))
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#
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#clean message storage
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@ -784,8 +857,8 @@ function step(){
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function Reset(){
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#m_vecNodes={}
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#m_vecNodes = parse_graph("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_drone.graph")#change the .graph file when necessary
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m_vecNodes_fixed={}
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m_vecNodes_fixed=parse_graph_fixed("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_fixed.graph")
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# m_vecNodes_fixed={}
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# m_vecNodes_fixed=parse_graph_fixed("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_fixed.graph")
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m_nLabel=-1
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#start listening
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@ -1,5 +0,0 @@
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0 -1 -1 -1 3000.0
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1 0 1000.0 0.0 5000.0
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2 0 1000.0 1.57 7000.0
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3 0 1000.0 3.14 9000.0
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4 0 1000.0 4.71 11000.0
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@ -0,0 +1,6 @@
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0 -1 -1 -1 3000.0
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1 0 200.0 0.0 5000.0
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2 0 200.0 1.57 7000.0
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3 1 200.0 0.0 9000.0
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4 2 200.0 1.57 11000.0
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5 4 200.0 1.57 11000.0
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@ -0,0 +1,6 @@
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0 -1 -1 -1 3000.0
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1 0 200.0 0.0 5000.0
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2 0 200.0 1.57 7000.0
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3 1 200.0 1.57 9000.0
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4 1 141.0 3.93 11000.0
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5 2 141.0 0.785 11000.0
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@ -0,0 +1,6 @@
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0 -1 -1 -1 3000.0
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1 0 200.0 0.0 5000.0
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2 0 200.0 1.57 7000.0
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3 0 200.0 4.71 9000.0
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4 1 141.0 0.79 11000.0
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5 2 200.0 0.0 11000.0
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@ -0,0 +1,6 @@
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0 -1 -1 -1 3000.0
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1 0 200.0 4.71 5000.0
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2 0 141.0 2.36 7000.0
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3 0 141.0 0.79 9000.0
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4 2 141.0 2.36 11000.0
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5 3 141.0 0.79 11000.0
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#Table of the nodes in the graph
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m_vecNodes={}
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m_vecNodes_fixed={}
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m_vecNodes[0] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing
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.Lable = 0, # Lable of the point
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.Pred = -1, # Lable of its predecessor
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.distance = -1, # distance to the predecessor
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.bearing = -1, # bearing form the predecessor to this dot
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.height = 3000, # height of this dot
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.State="UNASSIGNED",
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.StateAge=0
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}
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m_vecNodes[1] = {
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.Lable = 1,
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.Pred = 0,
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.distance = 2000,
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.bearing = 0.0,
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.height = 5000,
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.State="UNASSIGNED",
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.StateAge=0
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}
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m_vecNodes[2] = {
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.Lable = 2,
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.Pred = 0,
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.distance = 2000,
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.bearing = 1.57,
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.height = 7000,
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.State="UNASSIGNED",
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.StateAge=0
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}
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m_vecNodes[3] = {
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.Lable = 3,
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.Pred = 1,
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.distance = 2000,
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.bearing = 0.0,
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.height = 9000,
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.State="UNASSIGNED",
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.StateAge=0
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}
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m_vecNodes[4] = {
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.Lable = 4,
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.Pred = 2,
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.distance = 2000,
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.bearing = 1.57,
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.height = 11000,
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.State="UNASSIGNED",
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.StateAge=0
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}
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m_vecNodes[5] = {
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.Lable = 5,
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.Pred = 4,
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.distance = 2000,
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.bearing = 1.57,
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.height = 14000,
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.State="UNASSIGNED",
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.StateAge=0
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}
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@ -0,0 +1,57 @@
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#Table of the nodes in the graph
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m_vecNodes={}
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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
|
||||
}
|
||||
|
|
@ -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
|
||||
}
|
||||
|
|
@ -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
|
||||
}
|
||||
Loading…
Reference in New Issue