Adapted graph script for tests.

buzz_scripts/include/taskallocate/graphformGPS.bzz

@@ -10,7 +10,7 @@ include "taskallocate/graphs/shapes_Y.bzz"
 ROBOT_RADIUS = 50
 ROBOT_DIAMETER = 2.0*ROBOT_RADIUS
 ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER
-ROOT_ID = 2
+ROOT_ID = 5
 
 #
 # Global variables
@@ -389,7 +389,7 @@ function TransitionToJoined(){
 	#write statues
 	#v_tag.put(m_nLabel, m_lockstig)
   	barrier_create()
-	barrier_ready()
+	barrier_ready(940)
 
 	m_navigation.x=0.0
 	m_navigation.y=0.0
@@ -568,7 +568,7 @@ function set_rc_goto() {
 
     goal = gps_from_vec(math.vec2.newp(math.vec2.length(S2Target)/100.0, math.atan(S2Target.y,S2Target.x)))
 	print("Saving GPS goal: ",goal.latitude, goal.longitude)
-    uav_storegoal(goal.latitude, goal.longitude, pose.position.altitude)
+    storegoal(goal.latitude, goal.longitude, pose.position.altitude)
     m_gotjoinedparent = 1
   }
 }
@@ -655,8 +655,7 @@ function DoJoined(){
 	      return
 	   }
 	}
-
-  barrier_wait(ROBOTS, "GRAPH_TRANSTOLOCK", "GRAPH_JOINED")
+  barrier_wait(ROBOTS, "GRAPH_TRANSTOLOCK", "GRAPH_JOINED",941)
   BroadcastGraph()
 }
 #
@@ -681,17 +680,17 @@ function DoLock() {
   goto_abs(m_navigation.x, m_navigation.y, 0.0, 0.0)
   BroadcastGraph()
 
-  if(loop) {
-	  if(timeout_graph==0) {
-		if(graphid < 3)
-			graphid = graphid + 1
-		else
-			graphid = 0
-		timeout_graph = 40
-		BVMSTATE="TASK_ALLOCATE"
-	  }
-  	timeout_graph = timeout_graph - 1
-  }
+#  if(loop) {
+#	  if(timeout_graph==0) {
+#		if(graphid < 3)
+#			graphid = graphid + 1
+#		else
+#			graphid = 0
+#		timeout_graph = 40
+#		BVMSTATE="TASK_ALLOCATE"
+#	  }
+#  	timeout_graph = timeout_graph - 1
+#  }
 }
 
 #

buzz_scripts/main.bzz

@@ -32,6 +32,7 @@ goal_list = {
 function init() {
   	init_stig()
 	init_swarm()
+	initGraph()
 
 	TARGET_ALTITUDE = 5 + (id-LOWEST_ROBOT_ID)*3.0 # m
 	loop = 1
@@ -108,8 +109,10 @@ function step() {
  
 # Executed once when the robot (or the simulator) is reset.
 function reset() {
+	resetGraph()
 }
  
 # Executed once at the end of experiment.
 function destroy() {
+	destroyGraph()
 }