rosbuzz dev enabled in sim, fixed testaloneWP in dev

buzz_scripts/testaloneWP.bzz

@@ -1,27 +1,51 @@
-include "vec2.bzz"
 include "update.bzz"
-include "barrier.bzz"	# don't use a stigmergy id=80 (auto-increment up) with this header.
-include "uavstates.bzz"	# require an 'action' function to be defined here.
+# don't use a stigmergy id=11 with this header, for barrier 
+# it requires an 'action' function to be defined here.
+include "act/states.bzz"
+include "vstigenv.bzz"
+
+#State launched after takeoff
+AUTO_LAUNCH_STATE = "ACTION"
 
 function action() {
+  BVMSTATE = "ACTION"
   uav_storegoal(-1.0,-1.0,-1.0)
-  set_goto(picture)
+  goto_gps(picture)
 }
 
 # Executed once at init time.
 function init() {
-	statef=turnedoff
-	UAVSTATE = "TURNEDOFF"
-	TARGET_ALTITUDE = 15.0
+  	init_stig()
+	init_swarm()
+
+    # Starting state: TURNEDOFF to wait for user input.
+	BVMSTATE = "TURNEDOFF"
 }
 
 # Executed at each time step.
 function step() {
-	uav_rccmd()
+	rc_cmd_listen()
+
+	# update the vstig (status/net/batt/...)
+  	# uav_updatestig()
+
+	#
+	# State machine
+	#
+	if(BVMSTATE=="TURNEDOFF")
+		statef=turnedoff
+	else if(BVMSTATE=="STOP")	# ends on turnedoff
+		statef=stop
+	else if(BVMSTATE=="LAUNCH") # ends on AUTO_LAUNCH_STATE
+		statef=launch
+	else if(BVMSTATE=="IDLE")
+		statef=idle
+	else if(BVMSTATE=="ACTION")
+		statef=action
 
 	statef()
 
-	log("Current state: ", UAVSTATE)
+	log("Current state: ", BVMSTATE)
 }
  
 # Executed once when the robot (or the simulator) is reset.

src/buzzuav_closures.cpp

@@ -96,7 +96,7 @@ void setWPlist(string path)
 / set the absolute path for a csv list of waypoints
 ----------------------------------------------------------- */
 {
-  WPlistname = path + "include/graphs/waypointlist.csv";
+  WPlistname = path + "include/taskallocate/waypointlist.csv";
 }
 
 float constrainAngle(float x)