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ROSBuzz_MISTLab
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Swarm table fix

This commit is contained in:
vivek-shankar 2017-05-06 18:42:27 -04:00
parent 817b2951d6
commit 50327cb6b6
3 changed files with 19 additions and 15 deletions
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10
launch/rosbuzzm100.launch
View File

@ -2,15 +2,17 @@
<launch>
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/test1.bzz" />
<rosparam file="$(find rosbuzz)/launch/launch_config/m100.yaml"/>
<param name="bzzfile_name" value="$(env ROS_WS)/src/testflockfev.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="fcclient_name" value="/dji_mavcmd" />
<!--param name="fcclient_name" value="/dji_mavcmd" -->
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="xbee_status_srv" value="/xbee_status"/>
<param name="robot_id" value="3"/>
<param name="No_of_Robots" value="3"/>
<param name="xbee_plugged" value="true"/>
<!--param name="robot_id" value="3"-->
<!--param name="No_of_Robots" value="3"-->
<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
</node>

12
src/buzz_utility.cpp
View File

@ -450,8 +450,8 @@ buzzvm_dup(VM);
buzzswarm_elem_t e = *(buzzswarm_elem_t*)data;
int* status = (int*)params;
if(*status == 3) return;
fprintf(stderr, "CHECKING SWARM MEMBERS:%i\n",buzzdarray_get(e->swarms, 0, uint16_t));
if(buzzdarray_size(e->swarms) != 1) {
fprintf(stderr, "CHECKING SWARM :%i, memeber: %i, age: %i \n",buzzdarray_get(e->swarms, 0, uint16_t), *(uint16_t*)key, e->age);
if(buzzdarray_size(e->swarms) != 1) {
fprintf(stderr, "Swarm list size is not 1\n");
*status = 3;
}
@ -504,16 +504,18 @@ buzzvm_dup(VM);
buzz_error_info());
buzzvm_dump(VM);
}
/* Update swarm membership */
buzzswarm_members_update(VM->swarmmembers);
//buzzvm_process_outmsgs(VM); //--> done in out_msg_process() function called each step
//usleep(10000);
/*Print swarm*/
//buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
//int SwarmSize = buzzdict_size(VM->swarmmembers)+1;
//fprintf(stderr, "Real Swarm Size: %i\n",SwarmSize);
/* Check swarm state -- Not crashing thanks to test added in check_swarm_members */
// int status = 1;
// buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
int status = 1;
buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
}
/****************************************/

12
src/roscontroller.cpp
View File

@ -26,7 +26,7 @@ namespace rosbzz_node{
if(xbeeplugged)
GetRobotId();
else
robot_id=strtol(robot_name.c_str() + 5, NULL, 10);;
robot_id= strtol(robot_name.c_str() + 5, NULL, 10);;
setpoint_counter = 0;
fcu_timeout = TIMEOUT;
home[0]=0.0;home[1]=0.0;home[2]=0.0;
@ -268,16 +268,16 @@ namespace rosbzz_node{
bzzfile_in_compile.str("");
std::string name = bzzfile_name.substr(bzzfile_name.find_last_of("/\\") + 1);
name = name.substr(0,name.find_last_of("."));
bzzfile_in_compile << "bzzparse "<<bzzfile_name<<" "<<path<< name<<".basm";
system(bzzfile_in_compile.str().c_str());
bzzfile_in_compile.str("");
bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
bzzfile_in_compile << "bzzc "<<bzzfile_name; //<<" "<<path<< name<<".basm";
system(bzzfile_in_compile.str().c_str());
//bzzfile_in_compile.str("");
//bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
//system(bzzfile_in_compile.str().c_str());
bzzfile_in_compile.str("");
bzzfile_in_compile <<path<<name<<".bo";
bcfname = bzzfile_in_compile.str();
bzzfile_in_compile.str("");
bzzfile_in_compile <<path<<name<<".bdbg";
bzzfile_in_compile <<path<<name<<".bdb";
dbgfname = bzzfile_in_compile.str();
}