From 82184740821e92cbc771be6180157d2aff73b5fe Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Wed, 17 May 2017 23:03:42 -0400
Subject: [PATCH] ROBOTS variable adaptation for updates

---
 script/stand_by.bzz   |  2 +-
 src/roscontroller.cpp | 15 ++++++++-------
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/script/stand_by.bzz b/script/stand_by.bzz
index d51e99e..1349089 100644
--- a/script/stand_by.bzz
+++ b/script/stand_by.bzz
@@ -21,7 +21,7 @@ barrier_val = barrier.size()
 neighbors.listen(updated,
    function(vid, value, rid) {
 	print("  got from",vid,"  ", " value = ",value," ","rid"," " )
-      if(value==update_no) barrier_val=ROBOTS
+      if(value==update_no) barrier.put(rid,1)
    }
 )
 
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index d7d8206..36c6044 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -122,6 +122,7 @@ namespace rosbzz_node{
 				/*Set no of robots for updates TODO only when not updating*/
 				if(multi_msg)
 				updates_set_robots(no_of_robots);
+				ROS_INFO("ROBOTS: %i , acutal : %i",(int)no_of_robots,(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1); 
 	    			/*run once*/
 	    			ros::spinOnce();
 				/*loop rate of ros*/
@@ -918,21 +919,21 @@ namespace rosbzz_node{
 	
 	}*/
 	void roscontroller::get_number_of_robots(){
-		
+		int cur_robots=(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1;
 		if(no_of_robots==0){
-			no_of_robots=neighbours_pos_map.size()+1;
+			no_of_robots=cur_robots;
 						
 		}
 		else{
-			if(no_of_robots!=neighbours_pos_map.size()+1 && no_cnt==0){
+			if(no_of_robots!=cur_robots && no_cnt==0){
 				no_cnt++;
-				old_val=neighbours_pos_map.size()+1;
+				old_val=cur_robots;
 			
 			}			
-			else if(no_cnt!=0 && old_val==neighbours_pos_map.size()+1){
+			else if(no_cnt!=0 && old_val==cur_robots){
 				no_cnt++;
-				if(no_cnt>=40){
-					no_of_robots=neighbours_pos_map.size()+1;
+				if(no_cnt>=8){
+					no_of_robots=cur_robots;
 					no_cnt=0;
 				}
 			}