Spiri/ROSBuzz_MISTLab
13
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

timeout change

Browse Source
This commit is contained in:
David St-Onge 2017-04-05 17:58:03 -04:00
parent 0dbccdde44
commit 7c5340cdd6
3 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
include/roscontroller.h
View File

@ -72,10 +72,10 @@ private:
int armstate; int armstate;
int barrier; int barrier;
int message_number=0; int message_number=0;
int no_of_robots=0; uint8_t no_of_robots=0;
/*tmp to be corrected*/ /*tmp to be corrected*/
int no_cnt=0; uint8_t no_cnt=0;
int old_val=0; uint8_t old_val=0;
std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name; std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name;
std::string stream_client_name; std::string stream_client_name;
std::string relative_altitude_sub_name; std::string relative_altitude_sub_name;

4
src/roscontroller.cpp
View File

@ -712,9 +712,9 @@ namespace rosbzz_node{
old_val=neighbours_pos_map.size()+1; old_val=neighbours_pos_map.size()+1;
} }
else if(old_val==neighbours_pos_map.size()+1){ else if(no_cnt!=0 && old_val==neighbours_pos_map.size()+1){
no_cnt++; no_cnt++;
if(no_cnt==3){ if(no_cnt>=4){
no_of_robots=neighbours_pos_map.size()+1; no_of_robots=neighbours_pos_map.size()+1;
no_cnt=0; no_cnt=0;
} }

3
src/testflockfev.bzz
View File

@ -86,7 +86,7 @@ function barrier_ready() {
# #
# Executes the barrier # Executes the barrier
# #
WAIT_TIMEOUT = 100 WAIT_TIMEOUT = 200
timeW=0 timeW=0
function barrier_wait(threshold, transf) { function barrier_wait(threshold, transf) {
barrier.get(id) barrier.get(id)
@ -136,6 +136,7 @@ function land() {
uav_land() uav_land()
} }
else { else {
timeW=0
barrier = nil barrier = nil
statef=idle statef=idle
} }