Spiri/ROSBuzz_MISTLab
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robots var

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This commit is contained in:
vivek-shankar 2017-04-02 23:11:19 -04:00
parent 4aa8e36eb3
commit 854edc3697
1 changed files with 8 additions and 7 deletions
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15
src/roscontroller.cpp
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@ -73,8 +73,8 @@ namespace rosbzz_node{
multi_msg=true; multi_msg=true;
} }
/*Set ROBOTS variable for barrier in .bzz from neighbours count*/ /*Set ROBOTS variable for barrier in .bzz from neighbours count*/
no_of_robots=get_number_of_robots(); //no_of_robots=get_number_of_robots();
//if(neighbours_pos_map.size() >0) no_of_robots =neighbours_pos_map.size()+1; if(neighbours_pos_map.size() >0) no_of_robots =neighbours_pos_map.size()+1;
buzz_utility::set_robot_var(no_of_robots); buzz_utility::set_robot_var(no_of_robots);
/*Set no of robots for updates*/ /*Set no of robots for updates*/
updates_set_robots(no_of_robots); updates_set_robots(no_of_robots);
@ -656,8 +656,9 @@ namespace rosbzz_node{
}*/ }*/
int roscontroller::get_number_of_robots(){ int roscontroller::get_number_of_robots(){
if(count_robots.current !=0){ //if(count_robots.current !=0){
uint8_t current_count,odd_count,odd_val=0; /* std::map< int, int> count_count;
uint8_t index=0;
count_robots.history[count_robots.index]=neighbours_pos_map.size()+1; count_robots.history[count_robots.index]=neighbours_pos_map.size()+1;
//count_robots.current=neighbours_pos_map.size()+1; //count_robots.current=neighbours_pos_map.size()+1;
count_robots.index++; count_robots.index++;
@ -676,8 +677,8 @@ namespace rosbzz_node{
if(odd_count>current_count){ if(odd_count>current_count){
count_robots.current=odd_val; count_robots.current=odd_val;
} }
} //}
else{ /*else{
if(neighbours_pos_map.size()!=0){ if(neighbours_pos_map.size()!=0){
count_robots.history[count_robots.index]=neighbours_pos_map.size()+1; count_robots.history[count_robots.index]=neighbours_pos_map.size()+1;
//count_robots.current=neighbours_pos_map.size()+1; //count_robots.current=neighbours_pos_map.size()+1;
@ -687,7 +688,7 @@ namespace rosbzz_node{
count_robots.current=neighbours_pos_map.size()+1; count_robots.current=neighbours_pos_map.size()+1;
} }
} }
} }*/
return count_robots.current; return count_robots.current;
} }