more fixes to rrt, added Vivek fix to MSG size and fix crashes due to UAVSTATE variable
This commit is contained in:
dave
parent
89b263e4df
commit
6018b681d7
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@ -0,0 +1,17 @@
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include "update.bzz"
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# Executed once at init time.
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function init() {
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}
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# Executed at each time step.
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function step() {
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}
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# Executed once when the robot (or the simulator) is reset.
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function reset() {
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}
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# Executed once at the end of experiment.
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function destroy() {
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}
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@ -237,7 +237,7 @@ function unpackmessage(recv_value){
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#unpack guide message
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#
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function unpack_guide_msg(recv_value){
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log(id,"I pass value=",recv_value)
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#log(id,"I pass value=",recv_value)
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var qian=(recv_value-recv_value%1000)/1000
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recv_value=recv_value-qian*1000
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var bai=(recv_value-recv_value%100)/100
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@ -497,10 +497,9 @@ function DoAsking(){
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#the request Label be the same as requesed
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#get a respond
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if(m_MessageState[i]=="STATE_JOINED"){
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log("received label = ",m_MessageReqLabel[i])
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#log("received label = ",m_MessageReqLabel[i])
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if(m_MessageReqLabel[i]==m_nLabel)
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if(m_MessageResponse[i]!="REQ_NONE"){
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log("get response")
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psResponse=i
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}}
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if(m_MessageState[i]=="STATE_JOINING" and m_MessageLabel[i]==m_nLabel){
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@ -604,13 +603,12 @@ function DoJoined(){
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while(i<m_neighbourCount){
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if(m_MessageState[i]=="STATE_ASKING"){
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ReqLabel=m_MessageReqLabel[i]
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log("ReqLabel var:",ReqLabel)
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log("M_vec var",m_vecNodes[ReqLabel].State)
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#log("ReqLabel var:",ReqLabel)
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#log("M_vec var",m_vecNodes[ReqLabel].State)
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if(m_vecNodes[ReqLabel].State=="UNASSIGNED")
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if(m_nLabel==m_vecNodes[ReqLabel].Pred){
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#is a request, store the index
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mapRequests[j]=i
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log("Into if m_nLabel")
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j=j+1
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}
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}
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@ -678,8 +676,7 @@ function DoJoined(){
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#if(v_tag.size()==ROBOTS){
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# TransitionToLock()
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#}
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#barrier_wait(ROBOTS, TransitionToLock, DoJoined, -1)
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barrier_wait(6, TransitionToLock, DoJoined, -1)
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barrier_wait(ROBOTS, TransitionToLock, DoJoined, -1)
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}
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#
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#Do Lock
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@ -732,7 +729,7 @@ function init() {
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#v_tag = stigmergy.create(m_lockstig)
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#uav_initstig()
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# go to diff. height since no collision avoidance implemented yet
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TARGET_ALTITUDE = 20.0 + id * 2.5
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#TARGET_ALTITUDE = 20.0 + id * 2.5
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statef=turnedoff
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UAVSTATE = "TURNEDOFF"
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}
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@ -40,7 +40,7 @@ function barrier_set(threshold, transf, resumef, bdt) {
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# Make yourself ready
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#
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function barrier_ready() {
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log("BARRIER READY -------")
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#log("BARRIER READY -------")
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barrier.put(id, 1)
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barrier.put("d", 0)
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}
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@ -52,7 +52,7 @@ function barrier_wait(threshold, transf, resumef, bdt) {
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barrier.put(id, 1)
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barrier.get(id)
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log("--->BS: ", barrier.size(), " (", BARRIER_VSTIG, ")")
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#log("--->BS: ", barrier.size(), " (", BARRIER_VSTIG, ")")
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if(barrier.size() - 1 >= threshold or barrier.get("d") == 1) {
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barrier.put("d", 1)
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timeW = 0
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@ -5,23 +5,25 @@
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#####
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include "mapmatrix.bzz"
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RRT_TIMEOUT = 200
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RRT_TIMEOUT = 500
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map = nil
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cur_cell = {}
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nei_cell = {}
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function UAVpathPlanner(m_navigation) {
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function UAVinit_map(m_navigation) {
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# create a map big enough for the goal
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init_map(2*math.round(math.vec2.length(m_navigation))+2)
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init_map(2*math.round(math.vec2.length(m_navigation))+10)
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# center the robot on the grid
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cur_cell = math.vec2.new(math.round(len/2.0),math.round(len/2.0))
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cur_cell = math.vec2.new(math.round(map.nb_col/2.0),math.round(map.nb_row/2.0))
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}
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function UAVpathPlanner(m_navigation, m_pos) {
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# place the robot on the grid
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update_curcell(m_pos,0)
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# create the goal in the map grid
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mapgoal = math.vec2.add(m_navigation,cur_cell)
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# add all neighbors as obstacles in the grid
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neighbors.foreach(function(rid, data) {
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add_obstacle(math.vec2.add(math.vec2.newp(data.distance,data.azimuth),cur_cell), 0, 1.0)
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})
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# TODO: add proximity sensor obstacles to the grid
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mapgoal = math.vec2.new(math.round(mapgoal.x),math.round(mapgoal.y))
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# search for a path
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return RRTSTAR(mapgoal,math.vec2.new(5,5)) #map.nb_col/20.0,map.nb_row/20.0))
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}
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@ -32,7 +34,7 @@ function Kh4pathPlanner(m_goal, m_pos) {
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m_goal = math.vec2.new(math.round(m_goal.x*CM2KH4.x), math.round(m_goal.y*CM2KH4.y))
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# place the robot on the grid
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update_curcell(m_pos)
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update_curcell(m_pos,1)
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log("Starting from cell: ", cur_cell.x, " ", cur_cell.y)
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log("Going to cell: ", m_goal.x, " ", m_goal.y)
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@ -42,9 +44,14 @@ function Kh4pathPlanner(m_goal, m_pos) {
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return RRTSTAR(m_goal, math.vec2.new(10.0 * CM2KH4.x, 10.0 * CM2KH4.y))
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}
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function update_curcell(m_curpos) {
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cur_cell = math.vec2.sub(m_curpos, math.vec2.new(GRIDCM.xmin, GRIDCM.ymin))
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cur_cell = math.vec2.new(math.round(cur_cell.x*CM2KH4.x), math.round(cur_cell.y*CM2KH4.y))
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function update_curcell(m_curpos, kh4) {
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if(kh4) { # for khepera playground
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cur_cell = math.vec2.sub(m_curpos, math.vec2.new(GRIDCM.xmin, GRIDCM.ymin))
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cur_cell = math.vec2.new(math.round(cur_cell.x*CM2KH4.x), math.round(cur_cell.y*CM2KH4.y))
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} else { # for uav map relative to home
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cur_cell = math.vec2.add(cur_cell, m_curpos)
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cur_cell = math.vec2.new(math.round(m_curpos.x), math.round(m_curpos.y))
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}
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if(cur_cell.x>map.nb_row)
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cur_cell.x=map.nb_row
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if(cur_cell.y>map.nb_col)
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@ -55,9 +62,17 @@ function update_curcell(m_curpos) {
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cur_cell.y=1
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}
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function UAVgetneiobs (m_curpos) {
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update_curcell(m_curpos,0)
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# add all neighbors as obstacles in the grid
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neighbors.foreach(function(rid, data) {
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add_obstacle(math.vec2.add(math.vec2.newp(data.distance,data.azimuth),cur_cell), 0, 1.0)
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})
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}
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function getneiobs (m_curpos) {
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foundobstacle = 0
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update_curcell(m_curpos)
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update_curcell(m_curpos,1)
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old_nei = table_copy(nei_cell)
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#log("NeiObs debug: ", nei_cell[9], " ", nei_cell[3])
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@ -103,7 +118,7 @@ function getneiobs (m_curpos) {
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function getproxobs (m_curpos) {
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foundobstacle = 0
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update_curcell(m_curpos)
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update_curcell(m_curpos,1)
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reduce(proximity,
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function(key, value, acc) {
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@ -143,15 +158,15 @@ function getproxobs (m_curpos) {
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return foundobstacle
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}
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function check_path(m_path, goal_l, m_curpos) {
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function check_path(m_path, goal_l, m_curpos, kh4) {
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pathisblocked = 0
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nb=goal_l
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update_curcell(m_curpos)
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#m_curpos = math.vec2.sub(m_curpos,math.vec2.new(GRIDCM.xmin, GRIDCM.ymin))
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#Cvec = math.vec2.new(math.round(m_curpos.x*CM2KH4.x), math.round(m_curpos.y*CM2KH4.y))
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update_curcell(m_curpos,kh4)
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Cvec = cur_cell
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while(nb < m_path.nb_row and nb <= goal_l+1){
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Nvec = getvec(m_path, nb)
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if(kh4==0)
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Nvec=vec_from_gps(Nvec.x,Nvec.y)
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if(doesItIntersect(Cvec, Nvec)){
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log("Obstacle in the way ! (", Cvec.x, "/", Cvec.y, "->", Nvec.x, "/", Nvec.y, ")")
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pathisblocked = 1
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@ -293,7 +308,7 @@ function RRTSTAR(GOAL,TOL) {
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}
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if(goalReached){
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log("Goal found(",numberOfPoints,")!")
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Path = getPath(Q,numberOfPoints)
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Path = getPathGPS(Q,numberOfPoints)
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print_pos(Path)
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} else {
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log("FAILED TO FIND A PATH!!!")
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@ -395,8 +410,8 @@ function getPathGPS(Q,nb){
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while(nb!=1){
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npt=npt+1
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path.nb_row=npt
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path.mat[npt*2]=rmat(Q,nb,1)
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path.mat[npt*2+1]=rmat(Q,nb,2)
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path.mat[(npt-1)*2]=rmat(Q,nb,1)
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path.mat[(npt-1)*2+1]=rmat(Q,nb,2)
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nb = rmat(Q,nb,3);
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}
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@ -434,6 +449,6 @@ function getPath(Q,nb){
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pathR.mat[(path.nb_row-npt)*2+1]=tmpgoal.y
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npt = npt - 1
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}
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log("Double-check path: ", check_path(pathR, 1, cur_cell))
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#log("Double-check path: ", check_path(pathR, 1, cur_cell, 1))
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return pathR
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}
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@ -5,7 +5,7 @@
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########################################
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include "rrtstar.bzz"
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TARGET_ALTITUDE = 5.0 # m.
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TARGET_ALTITUDE = 15.0 # m.
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UAVSTATE = "TURNEDOFF"
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PICTURE_WAIT = 20 # steps
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GOTO_MAXVEL = 2 # m/steps
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@ -14,6 +14,7 @@ GOTODIST_TOL = 0.5 # m.
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GOTOANG_TOL = 0.1 # rad.
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cur_goal_l = 0
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rc_State = 0
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homegps = {.lat=0, .long=0}
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function uav_initswarm() {
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s = swarm.create(1)
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@ -35,8 +36,7 @@ function takeoff() {
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statef=takeoff
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if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
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#barrier_set(ROBOTS, action, land, -1)
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barrier_set(6, action, land, -1)
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barrier_set(ROBOTS, action, land, -1)
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barrier_ready()
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} else {
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log("Altitude: ", position.altitude)
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@ -53,8 +53,7 @@ function land() {
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uav_land()
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if(flight.status != 2 and flight.status != 3) {
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#barrier_set(ROBOTS,turnedoff,land, 21)
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barrier_set(6,turnedoff,land, 21)
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barrier_set(ROBOTS,turnedoff,land, 21)
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barrier_ready()
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}
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}
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@ -62,7 +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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gotoWP(transf);
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gotoWP(transf)
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}
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if(rc_goto.id==id){
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@ -90,21 +89,48 @@ function picture() {
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ptime=ptime+1
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}
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#
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# still requires to be tuned, replaning takes too much time..
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# DS 23/11/2017
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function gotoWPRRT(transf) {
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rc_goal = vec_from_gps(rc_goto.latitude, rc_goto.longitude)
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print(" has to move ", math.vec2.length(rc_goal))
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homegps.lat = position.latitude
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homegps.long = position.longitude
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m_pos = math.vec2.scale(vec_from_gps(homegps.lat, homegps.long),-1)
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print(" has to move ", math.vec2.length(rc_goal), "from ", m_pos.x, " ", m_pos.y)
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if(math.vec2.length(rc_goal)>GOTO_MAXDIST*5)
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log("Sorry this is too far.")
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else {
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if(Path==nil){
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Path = UAVpathPlanner(rc_goal)
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# create the map
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if(map==nil)
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UAVinit_map(rc_goal)
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# add proximity sensor and neighbor obstacles to the map
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while(Path==nil) {
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#getproxobs(m_pos)
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UAVgetneiobs (m_pos)
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Path = UAVpathPlanner(rc_goal, m_pos)
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}
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cur_goal_l = 1
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} else if(cur_goal_l<=Path.nb_row) {
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cur_gps=getvec(Path,cur_goal_l) #x=latitude, y=longitude
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cur_pt=vec_from_gps(cur_gps.x,cur_gps.y)
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print(" first to ", cur_pt.x,cur_pt.y)
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print(" heading to ", cur_pt.x,cur_pt.y)
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if(math.vec2.length(cur_pt)>GOTODIST_TOL) {
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m_pos = math.vec2.scale(vec_from_gps(homegps.lat, homegps.long),-1)
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UAVgetneiobs(m_pos)
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if(check_path(Path,cur_goal_l,m_pos,0)) {
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uav_moveto(0.0, 0.0, rc_goto.altitude-position.altitude)
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Path = nil
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rc_goal = vec_from_gps(rc_goto.latitude, rc_goto.longitude)
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while(Path == nil) {
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#getproxobs(m_pos)
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UAVgetneiobs (m_pos)
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Path = UAVpathPlanner(rc_goal, m_pos)
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}
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cur_goal_l = 1
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}
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cur_pt = math.vec2.scale(cur_pt, GOTO_MAXVEL/math.vec2.length(cur_pt))
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uav_moveto(cur_pt.x, cur_pt.y, rc_goto.altitude-position.altitude)
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}
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@ -17,7 +17,6 @@ namespace buzz_utility{
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static char* BO_FNAME = 0;
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static uint8_t* BO_BUF = 0;
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static buzzdebug_t DBG_INFO = 0;
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static uint32_t MSG_SIZE = 250; // Only 250 bytes of Buzz messages every step (limited to Xbee frame size)
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static uint32_t MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets
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static uint8_t Robot_id = 0;
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static std::vector<uint8_t*> IN_MSG;
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@ -229,7 +228,7 @@ void in_message_process(){
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buzzmsg_payload_t m = buzzoutmsg_queue_first(VM);
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/* Make sure the next message makes the data buffer with buzz messages to be less than MAX SIZE Bytes */
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//ROS_INFO("read size : %i", (int)(tot + buzzmsg_payload_size(m) + sizeof(uint16_t)));
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if((uint32_t)(tot + buzzmsg_payload_size(m) + sizeof(uint16_t)) > MSG_SIZE) {
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if((uint32_t)(tot + buzzmsg_payload_size(m) + sizeof(uint16_t)) > MAX_MSG_SIZE) {
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buzzmsg_payload_destroy(&m);
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break;
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}
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@ -467,11 +466,9 @@ int create_stig_tables() {
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if(VM) buzzvm_destroy(&VM);
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Robot_id = robot_id;
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VM = buzzvm_new((int)robot_id);
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ROS_INFO(" Robot ID -1: %i" , robot_id);
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/* Get rid of debug info */
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if(DBG_INFO) buzzdebug_destroy(&DBG_INFO);
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DBG_INFO = buzzdebug_new();
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ROS_INFO(" Robot ID -2: %i" , robot_id);
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/* Read bytecode and fill in data structure */
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FILE* fd = fopen(bo_filename, "rb");
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if(!fd) {
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@ -490,7 +487,6 @@ int create_stig_tables() {
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return 0;
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}
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fclose(fd);
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ROS_INFO(" Robot ID -3: %i" , robot_id);
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/* Read debug information */
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if(!buzzdebug_fromfile(DBG_INFO, bdbg_filename)) {
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buzzvm_destroy(&VM);
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@ -498,7 +494,6 @@ int create_stig_tables() {
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perror(bdbg_filename);
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return 0;
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}
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ROS_INFO(" Robot ID -4: %i" , robot_id);
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/* Set byte code */
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if(buzzvm_set_bcode(VM, BO_BUF, bcode_size) != BUZZVM_STATE_READY) {
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buzzvm_destroy(&VM);
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@ -506,7 +501,6 @@ int create_stig_tables() {
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ROS_ERROR("[%i] %s: Error loading Buzz script", Robot_id, bo_filename);
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return 0;
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}
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ROS_INFO(" Robot ID -5: %i" , robot_id);
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/* Register hook functions */
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if(buzz_register_hooks() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
|
|
@ -514,7 +508,11 @@ int create_stig_tables() {
|
|||
ROS_ERROR("[%i] Error registering hooks", Robot_id);
|
||||
return 0;
|
||||
}
|
||||
ROS_INFO(" Robot ID -6: %i" , robot_id);
|
||||
|
||||
// Initialize UAVSTATE variable
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "UAVSTATE", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "TURNEDOFF", 1));
|
||||
buzzvm_gstore(VM);
|
||||
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
|
|
@ -578,6 +576,12 @@ int create_stig_tables() {
|
|||
ROS_ERROR("[%i] Error registering hooks (update)", Robot_id);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Initialize UAVSTATE variable
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "UAVSTATE", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "TURNEDOFF", 1));
|
||||
buzzvm_gstore(VM);
|
||||
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
|
|
@ -634,6 +638,12 @@ int create_stig_tables() {
|
|||
ROS_ERROR("[%i] Error registering hooks (update init)", Robot_id);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Initialize UAVSTATE variable
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "UAVSTATE", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "TURNEDOFF", 1));
|
||||
buzzvm_gstore(VM);
|
||||
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
|
|
|
|||
Loading…
Reference in New Issue