added discomp
This commit is contained in:
dave
parent
50c995c3e3
commit
22dbad2a5b
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@ -10,6 +10,7 @@ include "utils/quickhull.bzz"
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include "act/naviguation.bzz"
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include "act/CA.bzz"
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include "act/neighborcomm.bzz"
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include "taskallocate/discomp.bzz"
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TARGET_ALTITUDE = 15.0 # m.
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BVMSTATE = "TURNEDOFF"
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@ -317,7 +318,12 @@ function voronoicentroid_done() {
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}
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# Custom state function for the developer to play with
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firstincus = 1
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function cusfun(){
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BVMSTATE="CUSFUN"
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if(firstincus) {
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discomp_init()
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firstincus = 0
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}
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discomp_step()
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}
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@ -0,0 +1,215 @@
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function discomp_init() {
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LANZAROTE18_LAT = pose.position.latitude
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LANZAROTE18_LON = pose.position.longitude
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OUTPUT_NAME_HEADER = string.concat("/home/dave/",string.tostring(LANZAROTE18_LAT),"-",string.tostring(LANZAROTE18_LON))
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output_file_alg=io.fopen(string.concat(OUTPUT_NAME_HEADER, "-alg-",string.tostring(id), ".csv"), "w")
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output_file_rob=io.fopen(string.concat(OUTPUT_NAME_HEADER, "-rob-",string.tostring(id), ".csv"), "w")
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output_file_lej=io.fopen(string.concat(OUTPUT_NAME_HEADER, "-lej-",string.tostring(id), ".csv"), "w")
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output_file_tel=io.fopen(string.concat(OUTPUT_NAME_HEADER, "-tel-",string.tostring(id), ".csv"), "w")
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#######################################################################################
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# ALG LISTEN ##########################################################################
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#######################################################################################
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float_counter = {}
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float_counter[24]= 0.0
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float_counter[25]= 0.0
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float_counter[26]= 0.0
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float_counter[27]= 0.0
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float_counter[28]= 0.0
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# 24, 25, 26, 27, 28
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###############
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if (id!=24) { ####################################################################################### EDIT
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neighbors.listen("24floatcounter", ################################################################## EDIT
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function(vid, value, rid) {
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var num = 24 ################################################################################## EDIT
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if ((id != num) and (value > float_counter[num])) {
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float_counter[num] = value
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neighbors.broadcast(string.concat(string.tostring(num),"floatcounter"), value)
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}
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io.fwrite(output_file_alg, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(value)
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))
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}
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)
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}
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###############
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if (id!=25) { ####################################################################################### EDIT
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neighbors.listen("25floatcounter", ################################################################## EDIT
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function(vid, value, rid) {
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var num =25 ################################################################################## EDIT
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if ((id != num) and (value > float_counter[num])) {
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float_counter[num] = value
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neighbors.broadcast(string.concat(string.tostring(num),"floatcounter"), value)
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}
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io.fwrite(output_file_alg, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(value)
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))
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}
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)
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}
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###############
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if (id!=26) { ####################################################################################### EDIT
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neighbors.listen("26floatcounter", ################################################################## EDIT
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function(vid, value, rid) {
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var num = 26 ################################################################################## EDIT
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if ((id != num) and (value > float_counter[num])) {
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float_counter[num] = value
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neighbors.broadcast(string.concat(string.tostring(num),"floatcounter"), value)
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}
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io.fwrite(output_file_alg, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(value)
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))
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}
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)
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}
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###############
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if (id!=27) { ####################################################################################### EDIT
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neighbors.listen("27floatcounter", ################################################################## EDIT
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function(vid, value, rid) {
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var num = 27 ################################################################################## EDIT
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if ((id != num) and (value > float_counter[num])) {
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float_counter[num] = value
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neighbors.broadcast(string.concat(string.tostring(num),"floatcounter"), value)
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}
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io.fwrite(output_file_alg, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(value)
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))
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}
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)
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}
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###############
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if (id!=28) { ####################################################################################### EDIT
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neighbors.listen("28floatcounter", ################################################################## EDIT
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function(vid, value, rid) {
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var num = 28 ################################################################################## EDIT
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if ((id != num) and (value > float_counter[num])) {
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float_counter[num] = value
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neighbors.broadcast(string.concat(string.tostring(num),"floatcounter"), value)
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}
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io.fwrite(output_file_alg, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(value)
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))
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}
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)
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}
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###############
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#######################################################################################
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# ROB LISTEN ##########################################################################
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#######################################################################################
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# 24, 25, 26, 27, 28
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if (id!=24) { ####################################################################################### EDIT
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neighbors.listen("24secondhop", ##################################################################### EDIT
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function(vid, value, rid) {
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var num = 24 ################################################################################## EDIT
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io.fwrite(output_file_rob, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(float_counter[id]), ",", #counter used as a timer
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value
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))
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}
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)
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}
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###############
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if (id!=25) { ####################################################################################### EDIT
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neighbors.listen("25secondhop", ##################################################################### EDIT
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function(vid, value, rid) {
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var num = 25 ################################################################################## EDIT
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io.fwrite(output_file_rob, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(float_counter[id]), ",", #counter used as a timer
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value
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))
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}
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)
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}
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###############
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if (id!=26) { ####################################################################################### EDIT
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neighbors.listen("26secondhop", ##################################################################### EDIT
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function(vid, value, rid) {
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var num = 26 ################################################################################## EDIT
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io.fwrite(output_file_rob, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(float_counter[id]), ",", #counter used as a timer
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value
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))
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}
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)
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}
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###############
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if (id!=27) { ####################################################################################### EDIT
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neighbors.listen("27secondhop", ##################################################################### EDIT
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function(vid, value, rid) {
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var num = 27 ################################################################################## EDIT
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io.fwrite(output_file_rob, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(float_counter[id]), ",", #counter used as a timer
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value
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))
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}
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)
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}
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###############
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if (id!=28) { ####################################################################################### EDIT
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neighbors.listen("28secondhop", ##################################################################### EDIT
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function(vid, value, rid) {
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var num = 28 ################################################################################## EDIT
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io.fwrite(output_file_rob, string.concat( string.tostring(id), ",",
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string.tostring(num), ",",
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string.tostring(float_counter[id]), ",", #counter used as a timer
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value
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))
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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 discomp_step() {
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############### TELEMETRY START
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var latitude_telemetry = pose.position.latitude ##################################################################### EDIT
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var longitude_telemetry = pose.position.longitude ##################################################################### EDIT
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io.fwrite(output_file_tel,string.concat(string.tostring(id),",",string.tostring(float_counter[id]),",",string.tostring(latitude_telemetry),",",string.tostring(longitude_telemetry) ) )
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############### TELEMETRY END
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############### LOG ALG START
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float_counter[id] = float_counter[id] + (1.0)
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neighbors.broadcast(string.concat(string.tostring(id),"floatcounter"), float_counter[id])
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############### LOG ALG END
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############### LOG ROB START
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secondhop = ","
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neighbors.foreach(
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function(rid, data) {
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secondhop = string.concat(secondhop, ",",
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string.tostring(rid)
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)
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})
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neighbors.broadcast(string.concat(string.tostring(id),"secondhop"), secondhop)
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############### LOG ROB END
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############### LOG LEJ START
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neighofline = string.concat("neighof,",string.tostring(id))
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neighbors.foreach(
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function(rid, data) {
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neighofline = string.concat(neighofline, ",",
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string.tostring(rid), ",",
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string.tostring(data.distance), ",",
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string.tostring(data.azimuth)
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)
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})
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io.fwrite(output_file_lej,neighofline)
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############### LOG LEJ END
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}
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function discomp_destroy() {
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io.fclose(output_file_alg)
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io.fclose(output_file_rob)
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io.fclose(output_file_lej)
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io.fclose(output_file_tel)
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}
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@ -116,4 +116,5 @@ function reset() {
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# Executed once at the end of experiment.
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function destroy() {
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close_bidding()
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discomp_destroy()
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}
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