From 6db4069f0dc13b488d55f2a69c9ab6ba2e162b49 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Sun, 2 Apr 2017 23:41:44 -0400
Subject: [PATCH] robot var fix

---
 include/roscontroller.h |  5 ++++-
 src/roscontroller.cpp   | 30 ++++++++++++++++++++++++++----
 2 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/include/roscontroller.h b/include/roscontroller.h
index aba888a..31f66fc 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -68,6 +68,9 @@ private:
 	int barrier;
 	int message_number=0;
 	int no_of_robots=0;
+	/*tmp to be corrected*/
+	int no_cnt=0;
+	int old_val=0;	
 	std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name;
 	bool rcclient;
 	bool multi_msg;
@@ -167,7 +170,7 @@ private:
 	/*Robot independent subscribers*/
 	void Subscribe(ros::NodeHandle n_c);
 	
-	int get_number_of_robots();
+	void get_number_of_robots();
 };
 
 }
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 1546527..26ff61b 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -74,7 +74,8 @@ namespace rosbzz_node{
 				}
 				/*Set ROBOTS variable for barrier in .bzz from neighbours count*/
 				//no_of_robots=get_number_of_robots();
-				if(neighbours_pos_map.size() >0) no_of_robots =neighbours_pos_map.size()+1;
+				get_number_of_robots();
+				//if(neighbours_pos_map.size() >0) no_of_robots =neighbours_pos_map.size()+1;
 				buzz_utility::set_robot_var(no_of_robots);
 				/*Set no of robots for updates*/
 				updates_set_robots(no_of_robots);
@@ -655,9 +656,31 @@ namespace rosbzz_node{
 	
 	
 	}*/
-	int roscontroller::get_number_of_robots(){
+	void roscontroller::get_number_of_robots(){
+		
+		if(no_of_robots==0){
+			no_of_robots=neighbours_pos_map.size()+1;
+						
+		}
+		else{
+			if(no_of_robots!=neighbours_pos_map.size()+1 && no_cnt==0){
+				no_cnt++;
+				old_val=neighbours_pos_map.size()+1;
+			
+			}			
+			else if(old_val==neighbours_pos_map.size()+1){
+				no_cnt++;
+				if(no_cnt==3){
+					no_of_robots=neighbours_pos_map.size()+1;
+					no_cnt=0;
+				}
+			}
+			else{
+				no_cnt=0;
+			}
+		}
 		//if(count_robots.current !=0){
-		/*	std::map< int,  int> count_count;
+			/*std::map< int,  int> count_count;
 			uint8_t index=0;
 			count_robots.history[count_robots.index]=neighbours_pos_map.size()+1;
 			//count_robots.current=neighbours_pos_map.size()+1;
@@ -689,7 +712,6 @@ namespace rosbzz_node{
 				} 
 			}
 		}*/
-	return count_robots.current;
 	}
 	
 }