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ROSBuzz_MISTLab
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more work on vstig

This commit is contained in:
dave 2017-05-07 16:02:23 -04:00
parent a38ce4f010
commit 2566ac5de2
2 changed files with 67 additions and 30 deletions
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90
src/buzz_utility.cpp
View File

@ -39,17 +39,24 @@ namespace buzz_utility{
} }
void update_users(){ void update_users(){
/* Reset neighbor information */ if(users_map.size()>0) {
buzzusers_reset(); /* Reset users information */
/* Get robot id and update neighbor information */ buzzusers_reset();
map< int, Pos_struct >::iterator it; /* Get user id and update user information */
for (it=users_map.begin(); it!=users_map.end(); ++it){ map< int, Pos_struct >::iterator it;
//ROS_INFO("Buzz_utility will save user %i.", it->first); for (it=users_map.begin(); it!=users_map.end(); ++it){
buzzusers_add(it->first, //ROS_INFO("Buzz_utility will save user %i.", it->first);
(it->second).x, buzzusers_add(it->first,
(it->second).y, (it->second).x,
(it->second).z); (it->second).y,
} (it->second).z);
buzzusers_add(it->first+1,
(it->second).x,
(it->second).y,
(it->second).z);
}
}else
ROS_INFO("[%i] No new users",Robot_id);
} }
int buzzusers_reset() { int buzzusers_reset() {
@ -67,8 +74,7 @@ namespace buzz_utility{
//buzzvm_gload(VM); //buzzvm_gload(VM);
buzzvm_push(VM, t); buzzvm_push(VM, t);
buzzvm_pushi(VM, 2); buzzvm_pushi(VM, 2);
buzzvm_call(VM, 0); buzzvm_callc(VM);
//buzzvm_gstore(VM);
return VM->state; return VM->state;
} }
@ -82,15 +88,14 @@ namespace buzz_utility{
buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1)); buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1));
//buzzvm_gload(VM); //buzzvm_gload(VM);
buzzvm_pushi(VM, 1); buzzvm_pushi(VM, 1);
buzzvm_call(VM, 0); buzzvm_callc(VM);
buzzvm_type_assert(VM, 1, BUZZTYPE_TABLE); buzzvm_type_assert(VM, 1, BUZZTYPE_TABLE);
buzzobj_t nbr = buzzvm_stack_at(VM, 1); buzzobj_t nbr = buzzvm_stack_at(VM, 1);
//buzzvm_dump(VM);
/* Get "data" field */ /* Get "data" field */
buzzvm_pushs(VM, buzzvm_string_register(VM, "data", 1)); buzzvm_pushs(VM, buzzvm_string_register(VM, "data", 1));
buzzvm_tget(VM); buzzvm_tget(VM);
if(buzzvm_stack_at(VM, 1)->o.type == BUZZTYPE_NIL) { if(buzzvm_stack_at(VM, 1)->o.type == BUZZTYPE_NIL) {
/* Empty data, create a new table */ ROS_INFO("Empty data, create a new table");
buzzvm_pop(VM); buzzvm_pop(VM);
buzzvm_push(VM, nbr); buzzvm_push(VM, nbr);
buzzvm_pushs(VM, buzzvm_string_register(VM, "data", 1)); buzzvm_pushs(VM, buzzvm_string_register(VM, "data", 1));
@ -123,7 +128,17 @@ namespace buzz_utility{
buzzvm_push(VM, entry); buzzvm_push(VM, entry);
buzzvm_tput(VM); buzzvm_tput(VM);
ROS_INFO("Buzz_utility saved new user: %i (%f,%f,%f)", id, latitude, longitude, altitude); ROS_INFO("Buzz_utility saved new user: %i (%f,%f,%f)", id, latitude, longitude, altitude);
//buzzvm_dump(VM); // forcing the new table into the stigmergy....
buzzobj_t newt = buzzvm_stack_at(VM, 0);
buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
buzzvm_gload(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
buzzvm_tget(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1));
buzzvm_push(VM, nbr);
buzzvm_pushi(VM, 2);
buzzvm_callc(VM);
//buzzvm_gstore(VM);
return VM->state; return VM->state;
} }
/**************************************************************************/ /**************************************************************************/
@ -355,19 +370,22 @@ static int create_stig_tables() {
// call the stigmergy.create() method // call the stigmergy.create() method
// buzzvm_closure_call(VM, 1); // buzzvm_closure_call(VM, 1);
buzzvm_pushi(VM, 1); buzzvm_pushi(VM, 1);
buzzvm_call(VM, 0); buzzvm_callc(VM);
buzzvm_gstore(VM); buzzvm_gstore(VM);
/*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1)); //buzzusers_reset();
buzzvm_gload(VM); buzzobj_t t = buzzheap_newobj(VM->heap, BUZZTYPE_TABLE);
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1)); buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
buzzvm_gload(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
buzzvm_tget(VM); buzzvm_tget(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1)); buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1));
buzzvm_pusht(VM); buzzvm_push(VM, t);
// buzzvm_closure_call(VM, 2);
buzzvm_pushi(VM, 2); buzzvm_pushi(VM, 2);
buzzvm_call(VM, 0); buzzvm_callc(VM);
//buzzvm_gstore(VM);*/ //buzzvm_gstore(VM);
buzzusers_reset(); //buzzvm_dump(VM);
/*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1)); /*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
buzzvm_gload(VM); buzzvm_gload(VM);
@ -433,7 +451,7 @@ static int create_stig_tables() {
ROS_ERROR("[%i] Error registering hooks", Robot_id); ROS_ERROR("[%i] Error registering hooks", Robot_id);
return 0; return 0;
} }
/* Create vstig tables */
if(create_stig_tables() != BUZZVM_STATE_READY) { if(create_stig_tables() != BUZZVM_STATE_READY) {
buzzvm_destroy(&VM); buzzvm_destroy(&VM);
buzzdebug_destroy(&DBG_INFO); buzzdebug_destroy(&DBG_INFO);
@ -488,6 +506,15 @@ static int create_stig_tables() {
fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME); fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME);
return 0; return 0;
} }
/* Create vstig tables */
if(create_stig_tables() != BUZZVM_STATE_READY) {
buzzvm_destroy(&VM);
buzzdebug_destroy(&DBG_INFO);
ROS_ERROR("[%i] Error creating stigmergy tables", Robot_id);
//cout << "ERROR!!!! ---------- " << VM->errormsg << endl;
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
return 0;
}
// Execute the global part of the script // Execute the global part of the script
buzzvm_execute_script(VM); buzzvm_execute_script(VM);
@ -529,6 +556,15 @@ static int create_stig_tables() {
fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME); fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME);
return 0; return 0;
} }
/* Create vstig tables */
if(create_stig_tables() != BUZZVM_STATE_READY) {
buzzvm_destroy(&VM);
buzzdebug_destroy(&DBG_INFO);
ROS_ERROR("[%i] Error creating stigmergy tables", Robot_id);
//cout << "ERROR!!!! ---------- " << VM->errormsg << endl;
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
return 0;
}
// Execute the global part of the script // Execute the global part of the script
buzzvm_execute_script(VM); buzzvm_execute_script(VM);
@ -657,6 +693,8 @@ static int create_stig_tables() {
buzzuav_closures::buzzuav_update_battery(VM); buzzuav_closures::buzzuav_update_battery(VM);
buzzuav_closures::buzzuav_update_prox(VM); buzzuav_closures::buzzuav_update_prox(VM);
buzzuav_closures::buzzuav_update_currentpos(VM); buzzuav_closures::buzzuav_update_currentpos(VM);
buzzuav_closures::update_neighbors(VM);
update_users();
buzzuav_closures::buzzuav_update_flight_status(VM); buzzuav_closures::buzzuav_update_flight_status(VM);
int a = buzzvm_function_call(VM, "step", 0); int a = buzzvm_function_call(VM, "step", 0);

7
src/testflocksim.bzz
View File

@ -206,10 +206,9 @@ neighbors.listen("cmd",
# Read a value from the structure # Read a value from the structure
t = vt.get("p") t = vt.get("p")
log(t) log(t)
#table_print(t) table_print(t)
#t = vt.get("u")
#table_print(t)
# Get the number of keys in the structure # Get the number of keys in the structure
log("The vstig has ", vt.size(), " elements") log("The vstig has ", vt.size(), " elements")
} }