beautified
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@ -61,7 +61,7 @@ function land() {
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function set_goto(transf) {
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UAVSTATE = "GOTOGPS"
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statef=function() {
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gotoWPRRT(transf)
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gotoWP(transf)
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}
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if(rc_goto.id==id){
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@ -129,9 +129,9 @@ void destroy_out_msg_queue();
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/***************************************************/
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/*obatins updater state*/
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/***************************************************/
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//int get_update_mode();
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// int get_update_mode();
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//buzz_updater_elem_t get_updater();
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// buzz_updater_elem_t get_updater();
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/***************************************************/
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/*sets bzz file name*/
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/***************************************************/
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@ -155,7 +155,7 @@ int compile_bzz(std::string bzz_file);
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void updates_set_robots(int robots);
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//void set_packet_id(int packet_id);
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// void set_packet_id(int packet_id);
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//void collect_data(std::ofstream& logger);
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// void collect_data(std::ofstream& logger);
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#endif
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@ -85,7 +85,7 @@ void set_deque_full(bool state);
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void set_rssi(float value);
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void set_raw_packet_loss(float value);
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void set_filtered_packet_loss(float value);
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//void set_api_rssi(float value);
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// void set_api_rssi(float value);
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/*
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* sets current position
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*/
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@ -267,7 +267,7 @@ void code_message_outqueue_append()
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*(uint16_t*)(updater->outmsg_queue->queue + size) = (uint16_t) * (size_t*)(updater->patch_size);
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size += sizeof(uint16_t);
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memcpy(updater->outmsg_queue->queue + size, updater->patch, *(size_t*)(updater->patch_size));
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//size += (uint16_t) * (size_t*)(updater->patch_size);
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// size += (uint16_t) * (size_t*)(updater->patch_size);
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updater_msg_ready = 1;
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}
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@ -713,7 +713,8 @@ int compile_bzz(std::string bzz_file)
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double time_spent = (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC;
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time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0;
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// RID,update trigger,time steps taken,old byte code size, new bytecode size, patch size,update number,
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// Patch_packets_received_counter,Patch_request_packets_received,Patch_packets_sent_counter,Patch_request_packets_sent_counter
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//
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Patch_packets_received_counter,Patch_request_packets_received,Patch_packets_sent_counter,Patch_request_packets_sent_counter
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logger << (int)no_of_robot << "," << neigh << "," << (double)time_spent << "," << (int)timer_steps << ","
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<< old_byte_code_size << "," << *(size_t*)updater->bcode_size << "," << *(size_t*)updater->patch_size << ","
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<< (int)*(uint8_t*)updater->update_no << "," << (int)packet_id_;
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@ -154,7 +154,7 @@ void parse_gpslist()
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double lon = atof(strtok(NULL, DELIMS));
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double lat = atof(strtok(NULL, DELIMS));
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int alt = atoi(strtok(NULL, DELIMS));
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//int tilt = atoi(strtok(NULL, DELIMS));
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// int tilt = atoi(strtok(NULL, DELIMS));
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// DEBUG
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// ROS_INFO("%.6f, %.6f, %i %i %i",lat, lon, alt, tilt, tid);
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RB_arr.latitude = lat;
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@ -178,28 +178,29 @@ int buzz_exportmap(buzzvm_t vm)
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/ Buzz closure to export a 2D map
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/----------------------------------------*/
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{
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/* Make sure one parameter has been passed */
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buzzvm_lnum_assert(vm, 1);
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/* Get the parameter */
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buzzvm_lload(vm, 1);
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buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // matrix
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/* Get the table */
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buzzobj_t t = buzzvm_stack_at(vm, 1);
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/* Copy the values into a vector */
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std::vector<float> mat;
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for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
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/* Duplicate the table */
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buzzvm_dup(vm);
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/* Push the index */
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buzzvm_pushi(vm, i);
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/* Get the value */
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buzzvm_tget(vm);
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/* Store it in the vector (assume all values are float, no mistake...) */
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mat.push_back((float)buzzvm_stack_at(vm, 1)->f.value);
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/* Get rid of the value, now useless */
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buzzvm_pop(vm);
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}
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return buzzvm_ret0(vm);
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/* Make sure one parameter has been passed */
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buzzvm_lnum_assert(vm, 1);
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/* Get the parameter */
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buzzvm_lload(vm, 1);
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buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // matrix
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/* Get the table */
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buzzobj_t t = buzzvm_stack_at(vm, 1);
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/* Copy the values into a vector */
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std::vector<float> mat;
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for (int32_t i = 0; i < buzzdict_size(t->t.value); ++i)
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{
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/* Duplicate the table */
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buzzvm_dup(vm);
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/* Push the index */
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buzzvm_pushi(vm, i);
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/* Get the value */
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buzzvm_tget(vm);
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/* Store it in the vector (assume all values are float, no mistake...) */
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mat.push_back((float)buzzvm_stack_at(vm, 1)->f.value);
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/* Get rid of the value, now useless */
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buzzvm_pop(vm);
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}
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return buzzvm_ret0(vm);
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}
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int buzzuav_moveto(buzzvm_t vm)
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