log addition
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@ -8,7 +8,7 @@
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<param name="fcclient_name" value="/dji_mavcmd" />
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<param name="fcclient_name" value="/dji_mavcmd" />
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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="robot_id" value="1"/>
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<param name="robot_id" value="3"/>
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</node>
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</node>
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@ -175,6 +175,9 @@ namespace buzz_utility{
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buzzvm_pushs(VM, buzzvm_string_register(VM, "print", 1));
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buzzvm_pushs(VM, buzzvm_string_register(VM, "print", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
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buzzvm_gstore(VM);
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buzzvm_gstore(VM);
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buzzvm_pushs(VM, buzzvm_string_register(VM, "log", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
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buzzvm_gstore(VM);
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buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_goto", 1));
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buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_goto", 1));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_goto));
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buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_goto));
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buzzvm_gstore(VM);
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buzzvm_gstore(VM);
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@ -26,13 +26,23 @@ function barrier_set(threshold, transf) {
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# Make yourself ready
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# Make yourself ready
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#
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#
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function barrier_ready() {
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function barrier_ready() {
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barrier.put(id, 1)
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barrier.put(id, 1)
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print ("before put")
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barrier.get(id)
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print("barrier put : ")
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}
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}
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#
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#
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# Executes the barrier
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# Executes the barrier
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#
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#
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function table_print(t) {
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foreach(t, function(key, value) {
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log(key, " -> ", value)
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})
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}
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function barrier_wait(threshold, transf) {
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function barrier_wait(threshold, transf) {
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table_print(barrier)
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barrier.get(id)
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barrier.get(id)
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extradbg = barrier.size()
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extradbg = barrier.size()
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if(barrier.size() >= threshold) {
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if(barrier.size() >= threshold) {
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@ -44,6 +54,16 @@ function barrier_wait(threshold, transf) {
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# flight status
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# flight status
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function idle() {
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function idle() {
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neighbors.listen("cmd",
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function(vid, value, rid) {
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print("Got (", vid, ",", value, ") from robot #", rid)
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if(value==22) {
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statef=takeoff
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} else if(value==21) {
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statef=land
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}
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}
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)
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}
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}
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function takeoff() {
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function takeoff() {
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@ -86,20 +106,6 @@ statef=idle
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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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neighbors.listen("cmd",
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function(vid, value, rid) {
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print("Got (", vid, ",", value, ") from robot #", rid)
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if(value==22) {
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statef=takeoff
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} else if(value==21) {
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statef=land
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}
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}
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)
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print("Flight status: ",flight.status)
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if(flight.rc_cmd!=oldcmd) {
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if(flight.rc_cmd!=oldcmd) {
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if(flight.rc_cmd==22) {
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if(flight.rc_cmd==22) {
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