Commit after merge

CMakeLists.txt

@@ -5,8 +5,6 @@ if(UNIX)
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=gnu++11")
 endif()
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/buzz_scripts/graphform.bzz.in ${CMAKE_CURRENT_SOURCE_DIR}/buzz_scripts/graphform.bzz)
-
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED COMPONENTS
   roscpp

buzz_scripts/graphform.bzz_old

@@ -793,9 +793,9 @@ function step(){
 #
 function Reset(){
     m_vecNodes={}
-    m_vecNodes = parse_graph("${CMAKE_CURRENT_SOURCE_DIR}/buzz_scripts/include/Graph_drone.graph")#change the .graph file when necessary
+    m_vecNodes = parse_graph("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_drone.graph")#change the .graph file when necessary
     m_vecNodes_fixed={}
-    m_vecNodes_fixed=parse_graph_fixed("${CMAKE_CURRENT_SOURCE_DIR}/buzz_scripts/include/Graph_fixed.graph")
+    m_vecNodes_fixed=parse_graph_fixed("/home/dave/ROS_WS/src/rosbuzz/buzz_scripts/include/Graph_fixed.graph")
     m_nLabel=-1
 
 	#start listening

buzz_scripts/include/Graph_drone.graph

@@ -1,5 +1,5 @@
-0	-1	-1	-1
+0	-1	-1	-1  3000.0
-1	0	1000.0	0.0
+1	0	1000.0	0.0 5000.0
-2	0	1000.0	1.57
+2	0	1000.0	1.57    7000.0
-3	0	1000.0	3.14
+3	0	1000.0	3.14    9000.0
-4	0	1000.0	4.71
+4	0	1000.0	4.71    11000.0

buzz_scripts/include/Graph_fixed.graph

@@ -1,5 +1,5 @@
 0	-1	-1	-1	-1
-1	0	1000.0	-1	-1
+1	0	10.0	-1	-1
-2	0	1000.0	1	1414.2
+2	0	10.0	1	1414.2
-3	0	1000.0	2	1414.2
+3	0	10.0	2	1414.2
-4	0	1000.0	1	1414.2
+4	0	10.0	1	1414.2

buzz_scripts/include/shapes.bzz

@@ -0,0 +1,111 @@
+#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 = 1000,
+    .bearing = 0.0,
+    .height = 5000,
+    .State="UNASSIGNED",
+    .StateAge=0
+}
+m_vecNodes[2] = {
+    .Lable = 2,
+    .Pred = 0,
+    .distance = 1000,
+    .bearing = 1.57,
+    .height = 7000, 
+    .State="UNASSIGNED",
+    .StateAge=0
+}
+m_vecNodes[3] = {
+    .Lable = 3, 
+    .Pred = 0,
+    .distance = 1000,
+    .bearing = 3.14,
+    .height = 9000,
+    .State="UNASSIGNED",
+    .StateAge=0
+}
+m_vecNodes[4] = {
+    .Lable = 4,
+    .Pred = 0,
+    .distance = 1000,
+    .bearing = 4.71,
+    .height = 11000,
+    .State="UNASSIGNED",
+    .StateAge=0
+}
+
+#
+# Graph parsing
+#
+function parse_graph(fname) {
+	# Graph data
+	var gd = {}
+	# Open the file
+	var fd = io.fopen(fname, "r")
+	if(not fd) {
+		log("Can't open '", fname, "'")
+		return nil
+	}
+	# Parse the file line by line
+	var rrec # Record read from line
+	var grec # Record parsed into graph
+	io.fforeach(fd, function(line) {
+		  # Parse file line
+		  rrec = string.split(line, "\t ")
+		  # Make record
+		  gd[string.toint(rrec[0])] = {      # The .graph file is stored according the sequence of lable, predecessor, distance, bearing
+			  .Lable = string.toint(rrec[0]),   # Lable of the point
+			  .Pred = string.toint(rrec[1]),   # Lable of its predecessor
+			  .distance = string.tofloat(rrec[2]), # distance to the predecessor
+			  .bearing = string.tofloat(rrec[3]), # bearing form the predecessor to this dot
+              .height = string.tofloat(rrec[4]), # height of this dot
+			  .State="UNASSIGNED",
+              .StateAge=0
+		  }})
+	# All done
+	io.fclose(fd)
+	return gd
+}
+
+function parse_graph_fixed(fname) {
+	# Graph data
+	var gd = {}
+	# Open the file
+	var fd = io.fopen(fname, "r")
+	if(not fd) {
+		log("Can't open '", fname, "'")
+		return nil
+	}
+	# Parse the file line by line
+	var rrec # Record read from line
+	var grec # Record parsed into graph
+	io.fforeach(fd, function(line) {
+		  # Parse file line
+		  rrec = string.split(line, "\t ")
+		  # Make record
+		  gd[string.toint(rrec[0])] = {      # The .graph file is stored according the sequence of lable, pre1, dis2pr1, pre2, ids2pre2
+			  .Pred1 = string.toint(rrec[1]),   # Pred 1 lable
+			  .Pred2 = string.toint(rrec[3]),   # Pred 2 lable
+			  .d1 = string.tofloat(rrec[2]), # Pred 1 distance
+			  .d2 = string.tofloat(rrec[4]), # Pred 2 distance
+			  .Lable=string.toint(rrec[0]),
+			  .State="UNASSIGNED",
+              .StateAge=0              
+		  }})
+	# All done
+	io.fclose(fd)
+	return gd
+}

launch/rosbuzz-solo.launch

@@ -43,7 +43,7 @@
 	<!-- run rosbuzz -->
 	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
 		<rosparam file="$(find rosbuzz)/launch/launch_config/solo.yaml"/>
-		<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
+		<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/flock.bzz" />
 		<param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="buzzcmd" />
 		<param name="in_payload" value="inMavlink"/>
@@ -51,7 +51,7 @@
 		<param name="xbee_status_srv" value="xbee_status"/>
            	<param name="xbee_plugged" value="true"/>
                 <param name="name" value="solos1"/>
-		<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
+		<param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
 	</node>
 
 </launch>