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ROSBuzz_MISTLab
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timeout change

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
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6
include/roscontroller.h
View File

@ -72,10 +72,10 @@ private:
int armstate;
int barrier;
int message_number=0;
int no_of_robots=0;
uint8_t no_of_robots=0;
/*tmp to be corrected*/
int no_cnt=0;
int old_val=0;
uint8_t no_cnt=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 stream_client_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;
}
else if(old_val==neighbours_pos_map.size()+1){
else if(no_cnt!=0 && old_val==neighbours_pos_map.size()+1){
no_cnt++;
if(no_cnt==3){
if(no_cnt>=4){
no_of_robots=neighbours_pos_map.size()+1;
no_cnt=0;
}

3
src/testflockfev.bzz
View File

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