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ROBOTS variable adaptation for updates

This commit is contained in:
vivek-shankar 2017-05-17 23:03:42 -04:00
parent 0124083b25
commit 8218474082
2 changed files with 9 additions and 8 deletions
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2
script/stand_by.bzz
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@ -21,7 +21,7 @@ barrier_val = barrier.size()
neighbors.listen(updated, neighbors.listen(updated,
function(vid, value, rid) { function(vid, value, rid) {
print(" got from",vid," ", " value = ",value," ","rid"," " ) print(" got from",vid," ", " value = ",value," ","rid"," " )
if(value==update_no) barrier_val=ROBOTS if(value==update_no) barrier.put(rid,1)
} }
) )

15
src/roscontroller.cpp
View File

@ -122,6 +122,7 @@ namespace rosbzz_node{
/*Set no of robots for updates TODO only when not updating*/ /*Set no of robots for updates TODO only when not updating*/
if(multi_msg) if(multi_msg)
updates_set_robots(no_of_robots); 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*/ /*run once*/
ros::spinOnce(); ros::spinOnce();
/*loop rate of ros*/ /*loop rate of ros*/
@ -918,21 +919,21 @@ namespace rosbzz_node{
}*/ }*/
void roscontroller::get_number_of_robots(){ void roscontroller::get_number_of_robots(){
int cur_robots=(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1;
if(no_of_robots==0){ if(no_of_robots==0){
no_of_robots=neighbours_pos_map.size()+1; no_of_robots=cur_robots;
} }
else{ else{
if(no_of_robots!=neighbours_pos_map.size()+1 && no_cnt==0){ if(no_of_robots!=cur_robots && no_cnt==0){
no_cnt++; 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++; no_cnt++;
if(no_cnt>=40){ if(no_cnt>=8){
no_of_robots=neighbours_pos_map.size()+1; no_of_robots=cur_robots;
no_cnt=0; no_cnt=0;
} }
} }