Merge remote-tracking branch 'refs/remotes/origin/dev'
Conflicts: script/testflockfev.bzz src/roscontroller.cpp src/testflockfev.bzz
This commit is contained in:
isvogor
commit
aa68d7d761
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@ -1,3 +1,7 @@
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src/test*
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.cproject
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.project
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.basm
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.bo
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.bdb
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.bdbg
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|
|
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@ -21,6 +21,12 @@ struct pos_struct
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pos_struct(){}
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};
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#define function_register(TABLE, FNAME, FPOINTER) \
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buzzvm_push(VM, (TABLE)); \
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buzzvm_pushs(VM, buzzvm_string_register(VM, (FNAME), 1)); \
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buzzvm_pushcc(VM, buzzvm_function_register(VM, (FPOINTER))); \
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buzzvm_tput(VM);
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typedef struct pos_struct Pos_struct ;
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uint16_t* u64_cvt_u16(uint64_t u64);
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@ -28,13 +34,17 @@ uint16_t* u64_cvt_u16(uint64_t u64);
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int buzz_listen(const char* type,
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int msg_size);
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void neighbour_pos_callback(std::map< int, Pos_struct> neighbours_pos_map);
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void add_user(int id, double latitude, double longitude, float altitude);
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void update_users();
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int make_table(buzzobj_t* t);
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int buzzusers_add(int id, double latitude, double longitude, double altitude);
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int buzzusers_reset();
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int buzz_update_users_stigmergy(buzzobj_t tbl);
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void in_msg_append(uint64_t* payload);
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void in_msg_process(uint64_t* payload);
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uint64_t* obt_out_msg();
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uint64_t* out_msg_process();
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void update_sensors();
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int buzz_script_set(const char* bo_filename,
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const char* bdbg_filename, int robot_id);
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|
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@ -46,12 +46,13 @@ void rc_call(int rc_cmd);
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void set_battery(float voltage,float current,float remaining);
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/* sets current position */
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void set_currentpos(double latitude, double longitude, double altitude);
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void set_userspos(double latitude, double longitude, double altitude);
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/*retuns the current go to position */
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double* getgoto();
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/* updates flight status*/
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void flight_status_update(uint8_t state);
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/* Update neighbors table */
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void neighbour_pos_callback(int id, float range, float bearing, float elevation);
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void update_neighbors(buzzvm_t vm);
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/*Flight status*/
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void set_obstacle_dist(float dist[]);
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@ -83,7 +84,6 @@ int buzzuav_update_battery(buzzvm_t vm);
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* Updates current position in Buzz
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*/
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int buzzuav_update_currentpos(buzzvm_t vm);
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buzzobj_t buzzuav_update_userspos(buzzvm_t vm);
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/*
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* Updates flight status and rc command in Buzz, put it in a tabel to acess it
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|
|
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@ -137,7 +137,7 @@ private:
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void Rosparameters_get(ros::NodeHandle& n_c_priv);
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/*compiles buzz script from the specified .bzz file*/
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void Compile_bzz();
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std::string Compile_bzz(std::string bzzfile_name);
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/*Flight controller service call*/
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void flight_controller_service_call();
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|
|
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@ -2,16 +2,18 @@
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<launch>
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/test1.bzz" />
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<rosparam file="$(find rosbuzz)/launch/launch_config/m100.yaml"/>
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<param name="bzzfile_name" value="$(env ROS_WS)/src/testflockfev.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="fcclient_name" value="/dji_mavcmd" />
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<!--param name="fcclient_name" value="/dji_mavcmd" -->
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="xbee_status_srv" value="/xbee_status"/>
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<param name="robot_id" value="3"/>
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<param name="No_of_Robots" value="3"/>
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<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
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<param name="xbee_plugged" value="true"/>
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<!--param name="robot_id" value="3"-->
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<!--param name="No_of_Robots" value="3"-->
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<param name="stand_by" value="$(env ROS_WS)/src/stand_by.bo"/>
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</node>
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|
|
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|
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@ -0,0 +1,92 @@
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#
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# Returns the string character at the given position.
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# PARAM s: The string
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||||
# PARAM n: The position of the wanted character
|
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# RETURN The character at the wanted position, or nil
|
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#
|
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string.charat = function(s, n) {
|
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return string.sub(s, n, n+1)
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||||
}
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|
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#
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# Returns the index of the first occurrence of the given string m
|
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# within another string s. If none is found, this function returns
|
||||
# nil.
|
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# PARAM s: The string
|
||||
# PARAM m: The string to match
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# RETURN: The position of the first match, or nil
|
||||
#
|
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string.indexoffirst = function(s, m) {
|
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var ls = string.length(s)
|
||||
var lm = string.length(m)
|
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var i = 0
|
||||
while(i < ls-lm+1) {
|
||||
if(string.sub(s, i, i+lm) == m) return i
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||||
i = i + 1
|
||||
}
|
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return nil
|
||||
}
|
||||
|
||||
#
|
||||
# Returns the index of the last occurrence of the given string m
|
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# within another string s. If none is found, this function returns
|
||||
# nil.
|
||||
# PARAM s: The string
|
||||
# PARAM m: The string to match
|
||||
# RETURN: The position of the last match, or nil
|
||||
#
|
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string.indexoflast = function(s, m) {
|
||||
var ls = string.length(s)
|
||||
var lm = string.length(m)
|
||||
var i = ls - lm + 1
|
||||
while(i >= 0) {
|
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if(string.sub(s, i, i+lm) == m) return i
|
||||
i = i - 1
|
||||
}
|
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return nil
|
||||
}
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|
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# Splits a string s using the delimiters in d. The string list is
|
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# returned in a table indexed by value (starting at 0).
|
||||
# PARAM s: The string
|
||||
# PARAM d: A string containing the delimiters
|
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# RETURN: A table containing the tokens
|
||||
string.split = function(s, d) {
|
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var i1 = 0 # index to move along s (token start)
|
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var i2 = 0 # index to move along s (token end)
|
||||
var c = 0 # token count
|
||||
var t = {} # token list
|
||||
var ls = string.length(s)
|
||||
var ld = string.length(d)
|
||||
# Go through string s
|
||||
while(i2 < ls) {
|
||||
# Try every delimiter
|
||||
var j = 0 # index to move along d
|
||||
var f = nil # whether the delimiter was found or not
|
||||
while(j < ld and (not f)) {
|
||||
if(string.charat(s, i2) == string.charat(d, j)) {
|
||||
# Delimiter found
|
||||
f = 1
|
||||
# Is it worth adding a new token?
|
||||
if(i2 > i1) {
|
||||
t[c] = string.sub(s, i1, i2)
|
||||
c = c + 1
|
||||
}
|
||||
# Start new token
|
||||
i1 = i2 + 1
|
||||
}
|
||||
else {
|
||||
# Next delimiter
|
||||
j = j + 1
|
||||
}
|
||||
}
|
||||
# Next string character
|
||||
i2 = i2 + 1
|
||||
}
|
||||
# Is it worth adding a new token?
|
||||
if(i2 > i1) {
|
||||
t[c] = string.sub(s, i1, i2)
|
||||
}
|
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# Return token list
|
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return t;
|
||||
}
|
||||
|
|
@ -0,0 +1,107 @@
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|||
#
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||||
# Create a new namespace for vector2 functions
|
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#
|
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math.vec2 = {}
|
||||
|
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#
|
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# Creates a new vector2.
|
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# PARAM x: The x coordinate.
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# PARAM y: The y coordinate.
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# RETURN: A new vector2.
|
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#
|
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math.vec2.new = function(x, y) {
|
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return { .x = x, .y = y }
|
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}
|
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|
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#
|
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# Creates a new vector2 from polar coordinates.
|
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# PARAM l: The length of the vector2.
|
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# PARAM a: The angle of the vector2.
|
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# RETURN: A new vector2.
|
||||
#
|
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math.vec2.newp = function(l, a) {
|
||||
return {
|
||||
.x = l * math.cos(a),
|
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.y = l * math.sin(a)
|
||||
}
|
||||
}
|
||||
|
||||
#
|
||||
# Calculates the length of the given vector2.
|
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# PARAM v: The vector2.
|
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# RETURN: The length of the vector.
|
||||
#
|
||||
math.vec2.length = function(v) {
|
||||
return math.sqrt(v.x * v.x + v.y * v.y)
|
||||
}
|
||||
|
||||
#
|
||||
# Calculates the angle of the given vector2.
|
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# PARAM v: The vector2.
|
||||
# RETURN: The angle of the vector.
|
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#
|
||||
math.vec2.angle = function(v) {
|
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return math.atan2(v.y, v.x)
|
||||
}
|
||||
|
||||
#
|
||||
# Returns the normalized form of a vector2.
|
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# PARAM v: The vector2.
|
||||
# RETURN: The normalized form.
|
||||
#
|
||||
math.vec2.norm = function(v) {
|
||||
var l = math.length(v)
|
||||
return {
|
||||
.x = v.x / l,
|
||||
.y = v.y / l
|
||||
}
|
||||
}
|
||||
|
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#
|
||||
# Calculates v1 + v2.
|
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# PARAM v1: A vector2.
|
||||
# PARAM v2: A vector2.
|
||||
# RETURN: v1 + v2
|
||||
#
|
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math.vec2.add = function(v1, v2) {
|
||||
return {
|
||||
.x = v1.x + v2.x,
|
||||
.y = v1.y + v2.y
|
||||
}
|
||||
}
|
||||
|
||||
#
|
||||
# Calculates v1 - v2.
|
||||
# PARAM v1: A vector2.
|
||||
# PARAM v2: A vector2.
|
||||
# RETURN: v1 + v2
|
||||
#
|
||||
math.vec2.sub = function(v1, v2) {
|
||||
return {
|
||||
.x = v1.x - v2.x,
|
||||
.y = v1.y - v2.y
|
||||
}
|
||||
}
|
||||
|
||||
#
|
||||
# Scales a vector by a numeric constant.
|
||||
# PARAM v: A vector2.
|
||||
# PARAM s: A number (float or int).
|
||||
# RETURN: s * v
|
||||
#
|
||||
math.vec2.scale = function(v, s) {
|
||||
return {
|
||||
.x = v.x * s,
|
||||
.y = v.y * s
|
||||
}
|
||||
}
|
||||
|
||||
#
|
||||
# Calculates v1 . v2 (the dot product)
|
||||
# PARAM v1: A vector2.
|
||||
# PARAM v2: A vector2.
|
||||
# RETURN: v1 . v2
|
||||
#
|
||||
math.vec2.dot = function(v1, v2) {
|
||||
return v1.x * v2.x + v1.y * v2.y
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -43,19 +43,15 @@ function hexagon() {
|
|||
math.vec2.scale(accum, 1.0 / neighbors.count())
|
||||
# Move according to vector
|
||||
#print("Robot ", id, "must push ",accum.length, "; ", accum.angle)
|
||||
# uav_moveto(accum.x,accum.y)
|
||||
uav_moveto(accum.x,accum.y)
|
||||
|
||||
if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
|
||||
timeW =0
|
||||
statef=land
|
||||
} else {
|
||||
if(timeW >= (WAIT_TIMEOUT / 2)){
|
||||
uav_moveto(5.0,0.0)
|
||||
} else {
|
||||
uav_moveto(0.0,5.0)
|
||||
}
|
||||
timeW = timeW+1
|
||||
}
|
||||
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
|
||||
# timeW =0
|
||||
# statef=land
|
||||
# } else {
|
||||
# timeW = timeW+1
|
||||
# uav_moveto(0.0,0.0)
|
||||
# }
|
||||
}
|
||||
|
||||
########################################
|
||||
|
|
@ -90,7 +86,7 @@ function barrier_ready() {
|
|||
#
|
||||
# Executes the barrier
|
||||
#
|
||||
WAIT_TIMEOUT = 300
|
||||
WAIT_TIMEOUT = 200
|
||||
timeW=0
|
||||
function barrier_wait(threshold, transf) {
|
||||
barrier.get(id)
|
||||
|
|
@ -8,7 +8,7 @@ include "/home/ubuntu/buzz/src/include/vec2.bzz"
|
|||
updated="update_ack"
|
||||
update_no=0
|
||||
function updated_neigh(){
|
||||
neighbors.broadcast(updated, update_no)
|
||||
neighbors.broadcast(updated, update_no)
|
||||
}
|
||||
|
||||
TARGET_ALTITUDE = 10.0
|
||||
|
|
@ -141,11 +141,26 @@ function land() {
|
|||
}
|
||||
}
|
||||
|
||||
function table_print(t) {
|
||||
foreach(t, function(key, value) {
|
||||
log(key, " -> ", value)
|
||||
})
|
||||
}
|
||||
|
||||
########################################
|
||||
#
|
||||
# MAIN FUNCTIONS
|
||||
#
|
||||
########################################
|
||||
|
||||
# Executed once at init time.
|
||||
function init() {
|
||||
s = swarm.create(1)
|
||||
# s.select(1)
|
||||
s.join()
|
||||
v = stigmergy.create(5)
|
||||
t = {}
|
||||
v.put("p",t)
|
||||
v.put("u",1)
|
||||
statef=idle
|
||||
CURSTATE = "IDLE"
|
||||
}
|
||||
|
|
@ -196,12 +211,22 @@ neighbors.listen("cmd",
|
|||
statef()
|
||||
log("Current state: ", CURSTATE)
|
||||
log("Swarm size: ",ROBOTS)
|
||||
log("User position: ", users.range)
|
||||
#log("User position: ", users.range)
|
||||
|
||||
# Read a value from the structure
|
||||
#x = usersvstig.get(46)
|
||||
#t = v.get("p")
|
||||
log(users)
|
||||
table_print(users)
|
||||
if(size(users)>0){
|
||||
tmp = {2 3}
|
||||
v.put("p", tmp)
|
||||
v.put("u",2)
|
||||
}
|
||||
|
||||
# Get the number of keys in the structure
|
||||
#log("The vstig has ", usersvstig.size(), " elements")
|
||||
log("The vstig has ", v.size(), " elements")
|
||||
table_print(v.get("p"))
|
||||
log(v.get("u"))
|
||||
}
|
||||
|
||||
# Executed once when the robot (or the simulator) is reset.
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,38 @@
|
|||
####################################################################################################
|
||||
# Updater related
|
||||
# This should be here for the updater to work, changing position of code will crash the updater
|
||||
####################################################################################################
|
||||
updated="update_ack"
|
||||
update_no=0
|
||||
function updated_neigh(){
|
||||
neighbors.broadcast(updated, update_no)
|
||||
}
|
||||
|
||||
function init(){
|
||||
s = swarm.create(1)
|
||||
s.join()
|
||||
v = stigmergy.create(5)
|
||||
#t= {}
|
||||
#v.put("p",t)
|
||||
v.put("u",1)
|
||||
}
|
||||
|
||||
function step() {
|
||||
log("Swarm size: ",ROBOTS)
|
||||
log("The vstig has ", v.size(), " elements")
|
||||
log(v.get("u"))
|
||||
if (id==1) {
|
||||
#tmp = { .x=3 }
|
||||
#v.put("p",tmp)
|
||||
v.put("u",2)
|
||||
}
|
||||
#log(v.get("p"))
|
||||
}
|
||||
|
||||
# Executed once when the robot (or the simulator) is reset.
|
||||
function reset() {
|
||||
}
|
||||
|
||||
# Executed once at the end of experiment.
|
||||
function destroy() {
|
||||
}
|
||||
|
|
@ -27,80 +27,72 @@ static int neigh=-1;
|
|||
static int updater_msg_ready ;
|
||||
static int updated=0;
|
||||
|
||||
/*Initialize updater*/
|
||||
void init_update_monitor(const char* bo_filename, const char* stand_by_script){
|
||||
fprintf(stdout,"intiialized file monitor.\n");
|
||||
fd=inotify_init1(IN_NONBLOCK);
|
||||
if ( fd < 0 ) {
|
||||
perror( "inotify_init error" );
|
||||
}
|
||||
/* watch /.bzz file for any activity and report it back to me */
|
||||
perror( "inotify_init error" );
|
||||
}
|
||||
/* watch /.bzz file for any activity and report it back to update */
|
||||
wd=inotify_add_watch(fd, bzz_file,IN_ALL_EVENTS );
|
||||
|
||||
/*load the .bo under execution into the updater*/
|
||||
uint8_t* BO_BUF = 0;
|
||||
FILE* fp = fopen(bo_filename, "rb");
|
||||
|
||||
if(!fp) {
|
||||
perror(bo_filename);
|
||||
|
||||
}
|
||||
fseek(fp, 0, SEEK_END);
|
||||
|
||||
size_t bcode_size = ftell(fp);
|
||||
rewind(fp);
|
||||
|
||||
BO_BUF = (uint8_t*)malloc(bcode_size);
|
||||
if(fread(BO_BUF, 1, bcode_size, fp) < bcode_size) {
|
||||
perror(bo_filename);
|
||||
|
||||
fclose(fp);
|
||||
//return 0;
|
||||
}
|
||||
fclose(fp);
|
||||
if(!fp) {
|
||||
perror(bo_filename);
|
||||
}
|
||||
fseek(fp, 0, SEEK_END);
|
||||
size_t bcode_size = ftell(fp);
|
||||
rewind(fp);
|
||||
BO_BUF = (uint8_t*)malloc(bcode_size);
|
||||
if(fread(BO_BUF, 1, bcode_size, fp) < bcode_size) {
|
||||
perror(bo_filename);
|
||||
fclose(fp);
|
||||
//return 0;
|
||||
}
|
||||
fclose(fp);
|
||||
/*Load stand_by .bo file into the updater*/
|
||||
uint8_t* STD_BO_BUF = 0;
|
||||
fp = fopen(stand_by_script, "rb");
|
||||
if(!fp) {
|
||||
perror(stand_by_script);
|
||||
|
||||
if(!fp) {
|
||||
perror(stand_by_script);
|
||||
|
||||
}
|
||||
fseek(fp, 0, SEEK_END);
|
||||
|
||||
size_t stdby_bcode_size = ftell(fp);
|
||||
rewind(fp);
|
||||
|
||||
STD_BO_BUF = (uint8_t*)malloc(stdby_bcode_size);
|
||||
if(fread(STD_BO_BUF, 1, stdby_bcode_size, fp) < stdby_bcode_size) {
|
||||
perror(stand_by_script);
|
||||
|
||||
fclose(fp);
|
||||
//return 0;
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
updater = (buzz_updater_elem_t)malloc(sizeof(struct buzz_updater_elem_s));
|
||||
/* Create a new table for updater*/
|
||||
updater->bcode = BO_BUF;
|
||||
updater->outmsg_queue = NULL;
|
||||
updater->inmsg_queue = NULL;
|
||||
updater->bcode_size = (size_t*) malloc(sizeof(size_t));
|
||||
updater->update_no = (uint8_t*) malloc(sizeof(uint16_t));
|
||||
*(uint16_t*)(updater->update_no) =0;
|
||||
*(size_t*)(updater->bcode_size)=bcode_size;
|
||||
updater->standby_bcode = STD_BO_BUF;
|
||||
updater->standby_bcode_size = (size_t*)malloc(sizeof(size_t));
|
||||
*(size_t*)(updater->standby_bcode_size)=stdby_bcode_size;
|
||||
updater->mode=(int*)malloc(sizeof(int));
|
||||
*(int*)(updater->mode)=CODE_RUNNING;
|
||||
//no_of_robot=barrier;
|
||||
updater_msg_ready=0;
|
||||
//neigh = 0;
|
||||
//updater->outmsg_queue=
|
||||
// update_table->barrier=nvs;
|
||||
}
|
||||
fseek(fp, 0, SEEK_END);
|
||||
size_t stdby_bcode_size = ftell(fp);
|
||||
rewind(fp);
|
||||
STD_BO_BUF = (uint8_t*)malloc(stdby_bcode_size);
|
||||
if(fread(STD_BO_BUF, 1, stdby_bcode_size, fp) < stdby_bcode_size) {
|
||||
perror(stand_by_script);
|
||||
fclose(fp);
|
||||
//return 0;
|
||||
}
|
||||
fclose(fp);
|
||||
/*Create the updater*/
|
||||
updater = (buzz_updater_elem_t)malloc(sizeof(struct buzz_updater_elem_s));
|
||||
/*Intialize the updater with the required data*/
|
||||
updater->bcode = BO_BUF;
|
||||
updater->outmsg_queue = NULL;
|
||||
updater->inmsg_queue = NULL;
|
||||
updater->bcode_size = (size_t*) malloc(sizeof(size_t));
|
||||
updater->update_no = (uint8_t*) malloc(sizeof(uint16_t));
|
||||
*(uint16_t*)(updater->update_no) =0;
|
||||
*(size_t*)(updater->bcode_size)=bcode_size;
|
||||
updater->standby_bcode = STD_BO_BUF;
|
||||
updater->standby_bcode_size = (size_t*)malloc(sizeof(size_t));
|
||||
*(size_t*)(updater->standby_bcode_size)=stdby_bcode_size;
|
||||
updater->mode=(int*)malloc(sizeof(int));
|
||||
*(int*)(updater->mode)=CODE_RUNNING;
|
||||
//no_of_robot=barrier;
|
||||
updater_msg_ready=0;
|
||||
//neigh = 0;
|
||||
//updater->outmsg_queue=
|
||||
// update_table->barrier=nvs;
|
||||
|
||||
}
|
||||
|
||||
/*Check for .bzz file chages*/
|
||||
int check_update(){
|
||||
|
||||
struct inotify_event *event;
|
||||
char buf[1024];
|
||||
int check =0;
|
||||
|
|
@ -108,7 +100,6 @@ int check_update(){
|
|||
int len=read(fd,buf,1024);
|
||||
while(i<len){
|
||||
event=(struct inotify_event *) &buf[i];
|
||||
|
||||
/* file was modified this flag is true in nano and self delet in gedit and other editors */
|
||||
//fprintf(stdout,"inside file monitor.\n");
|
||||
if(event->mask & (IN_MODIFY| IN_DELETE_SELF)){
|
||||
|
|
@ -123,20 +114,12 @@ int check_update(){
|
|||
check=1;
|
||||
old_update =1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* update index to start of next event */
|
||||
i+=sizeof(struct inotify_event)+event->len;
|
||||
|
||||
}
|
||||
|
||||
if (!check) old_update=0;
|
||||
/*if(update){
|
||||
buzz_script_set(update_bo, update_bdbg);
|
||||
update = 0;
|
||||
}*/
|
||||
return check;
|
||||
return check;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -163,57 +146,56 @@ void code_message_outqueue_append(){
|
|||
}
|
||||
|
||||
void code_message_inqueue_append(uint8_t* msg,uint16_t size){
|
||||
updater->inmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
|
||||
fprintf(stdout,"in ms append code size %d\n", (int) size);
|
||||
updater->inmsg_queue->queue = (uint8_t*)malloc(size);
|
||||
updater->inmsg_queue->size = (uint8_t*)malloc(sizeof(uint16_t));
|
||||
memcpy(updater->inmsg_queue->queue, msg, size);
|
||||
*(uint16_t*)(updater->inmsg_queue->size) = size;
|
||||
|
||||
updater->inmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
|
||||
fprintf(stdout,"in ms append code size %d\n", (int) size);
|
||||
updater->inmsg_queue->queue = (uint8_t*)malloc(size);
|
||||
updater->inmsg_queue->size = (uint8_t*)malloc(sizeof(uint16_t));
|
||||
memcpy(updater->inmsg_queue->queue, msg, size);
|
||||
*(uint16_t*)(updater->inmsg_queue->size) = size;
|
||||
}
|
||||
|
||||
void code_message_inqueue_process(){
|
||||
int size=0;
|
||||
fprintf(stdout,"[debug]Updater mode %d \n", *(int*)(updater->mode) );
|
||||
fprintf(stdout,"[debug] %u : current update number, %u : received update no \n",( *(uint16_t*) (updater->update_no) ), (*(uint16_t*)(updater->inmsg_queue->queue)) );
|
||||
fprintf(stdout,"[debug]Updater code size %u \n",(*(uint16_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)) ) );
|
||||
int size=0;
|
||||
fprintf(stdout,"[debug]Updater mode %d \n", *(int*)(updater->mode) );
|
||||
fprintf(stdout,"[debug] %u : current update number, %u : received update no \n",( *(uint16_t*) (updater->update_no) ), (*(uint16_t*)(updater->inmsg_queue->queue)) );
|
||||
fprintf(stdout,"[debug]Updater code size %u \n",(*(uint16_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)) ) );
|
||||
|
||||
if( *(int*) (updater->mode) == CODE_RUNNING){
|
||||
//fprintf(stdout,"[debug]Inside inmsg code running");
|
||||
if( *(uint16_t*)(updater->inmsg_queue->queue) > *(uint16_t*) (updater->update_no) ){
|
||||
//fprintf(stdout,"[debug]Inside update number comparision");
|
||||
uint16_t update_no=*(uint16_t*)(updater->inmsg_queue->queue);
|
||||
size +=sizeof(uint16_t);
|
||||
uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
|
||||
size +=sizeof(uint16_t);
|
||||
//fprintf(stdout,"in queue process Update no %d\n", (int) update_no);
|
||||
//fprintf(stdout,"in queue process bcode size %d\n", (int) update_bcode_size);
|
||||
//FILE *fp;
|
||||
//fp=fopen("update.bo", "wb");
|
||||
//fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
|
||||
//fclose(fp);
|
||||
if( test_set_code((uint8_t*)(updater->inmsg_queue->queue+size),
|
||||
(char*) dbgf_name,(size_t)update_bcode_size) ) {
|
||||
*(uint16_t*)(updater->update_no)=update_no;
|
||||
neigh=1;
|
||||
if( *(int*) (updater->mode) == CODE_RUNNING){
|
||||
//fprintf(stdout,"[debug]Inside inmsg code running");
|
||||
if( *(uint16_t*)(updater->inmsg_queue->queue) > *(uint16_t*) (updater->update_no) ){
|
||||
//fprintf(stdout,"[debug]Inside update number comparision");
|
||||
uint16_t update_no=*(uint16_t*)(updater->inmsg_queue->queue);
|
||||
size +=sizeof(uint16_t);
|
||||
uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
|
||||
size +=sizeof(uint16_t);
|
||||
//fprintf(stdout,"in queue process Update no %d\n", (int) update_no);
|
||||
//fprintf(stdout,"in queue process bcode size %d\n", (int) update_bcode_size);
|
||||
//FILE *fp;
|
||||
//fp=fopen("update.bo", "wb");
|
||||
//fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
|
||||
//fclose(fp);
|
||||
if( test_set_code((uint8_t*)(updater->inmsg_queue->queue+size),
|
||||
(char*) dbgf_name,(size_t)update_bcode_size) ) {
|
||||
*(uint16_t*)(updater->update_no)=update_no;
|
||||
neigh=1;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//fprintf(stdout,"in queue freed\n");
|
||||
delete_p(updater->inmsg_queue->queue);
|
||||
delete_p(updater->inmsg_queue->size);
|
||||
delete_p(updater->inmsg_queue);
|
||||
//fprintf(stdout,"in queue freed\n");
|
||||
delete_p(updater->inmsg_queue->queue);
|
||||
delete_p(updater->inmsg_queue->size);
|
||||
delete_p(updater->inmsg_queue);
|
||||
}
|
||||
void update_routine(const char* bcfname,
|
||||
const char* dbgfname){
|
||||
dbgf_name=(char*)dbgfname;
|
||||
buzzvm_t VM = buzz_utility::get_vm();
|
||||
dbgf_name=(char*)dbgfname;
|
||||
buzzvm_t VM = buzz_utility::get_vm();
|
||||
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
|
||||
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
|
||||
buzzvm_gstore(VM);
|
||||
//fprintf(stdout,"[Debug : ]updater value = %i \n",updater->mode);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
|
||||
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
|
||||
buzzvm_gstore(VM);
|
||||
//fprintf(stdout,"[Debug : ]updater value = %i \n",updater->mode);
|
||||
if(*(int*)updater->mode==CODE_RUNNING){
|
||||
buzzvm_function_call(VM, "updated_neigh", 0);
|
||||
if(check_update()){
|
||||
|
|
@ -226,65 +208,55 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
|
|||
std::string name = bzzfile_name.substr(bzzfile_name.find_last_of("/\\") + 1);
|
||||
name = name.substr(0,name.find_last_of("."));
|
||||
bzzfile_in_compile << "bzzparse "<<bzzfile_name<<" "<<path<< name<<".basm";
|
||||
|
||||
FILE *fp;
|
||||
int comp=0;
|
||||
char buf[128];
|
||||
fprintf(stdout,"Update found \nUpdating script ...\n");
|
||||
|
||||
if ((fp = popen(bzzfile_in_compile.str().c_str(), "r")) == NULL) { // to change file edit
|
||||
fprintf(stdout,"Error opening pipe!\n");
|
||||
}
|
||||
|
||||
while (fgets(buf, 128, fp) != NULL) {
|
||||
fprintf(stdout,"OUTPUT: %s \n", buf);
|
||||
comp=1;
|
||||
}
|
||||
}
|
||||
while (fgets(buf, 128, fp) != NULL) {
|
||||
fprintf(stdout,"OUTPUT: %s \n", buf);
|
||||
comp=1;
|
||||
}
|
||||
bzzfile_in_compile.str("");
|
||||
bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
|
||||
|
||||
if ((fp = popen(bzzfile_in_compile.str().c_str(), "r")) == NULL) { // to change file edit
|
||||
fprintf(stdout,"Error opening pipe!\n");
|
||||
}
|
||||
while (fgets(buf, 128, fp) != NULL) {
|
||||
fprintf(stdout,"Error opening pipe!\n");
|
||||
}
|
||||
while (fgets(buf, 128, fp) != NULL) {
|
||||
fprintf(stdout,"OUTPUT: %s \n", buf);
|
||||
}
|
||||
|
||||
if(pclose(fp) || comp) {
|
||||
fprintf(stdout,"Errors in comipilg script so staying on old script\n");
|
||||
// return -1;
|
||||
}
|
||||
else {
|
||||
|
||||
}
|
||||
if(pclose(fp) || comp) {
|
||||
fprintf(stdout,"Errors in comipilg script so staying on old script\n");
|
||||
}
|
||||
else {
|
||||
uint8_t* BO_BUF = 0;
|
||||
FILE* fp = fopen(bcfname, "rb"); // to change file edit
|
||||
if(!fp) {
|
||||
perror(bcfname);
|
||||
|
||||
}
|
||||
fseek(fp, 0, SEEK_END);
|
||||
size_t bcode_size = ftell(fp);
|
||||
rewind(fp);
|
||||
BO_BUF = (uint8_t*)malloc(bcode_size);
|
||||
if(fread(BO_BUF, 1, bcode_size, fp) < bcode_size) {
|
||||
perror(bcfname);
|
||||
|
||||
fclose(fp);
|
||||
|
||||
}
|
||||
fclose(fp);
|
||||
if(!fp) {
|
||||
perror(bcfname);
|
||||
}
|
||||
fseek(fp, 0, SEEK_END);
|
||||
size_t bcode_size = ftell(fp);
|
||||
rewind(fp);
|
||||
BO_BUF = (uint8_t*)malloc(bcode_size);
|
||||
if(fread(BO_BUF, 1, bcode_size, fp) < bcode_size) {
|
||||
perror(bcfname);
|
||||
fclose(fp);
|
||||
}
|
||||
fclose(fp);
|
||||
if(test_set_code(BO_BUF, dbgfname,bcode_size)){
|
||||
uint16_t update_no =*(uint16_t*)(updater->update_no);
|
||||
*(uint16_t*)(updater->update_no) =update_no +1;
|
||||
code_message_outqueue_append();
|
||||
VM = buzz_utility::get_vm();
|
||||
fprintf(stdout,"Update no %d\n", *(uint16_t*)(updater->update_no));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
|
||||
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
|
||||
buzzvm_gstore(VM);
|
||||
neigh=-1;
|
||||
fprintf(stdout,"Sending code... \n");
|
||||
code_message_outqueue_append();
|
||||
uint16_t update_no =*(uint16_t*)(updater->update_no);
|
||||
*(uint16_t*)(updater->update_no) =update_no +1;
|
||||
code_message_outqueue_append();
|
||||
VM = buzz_utility::get_vm();
|
||||
fprintf(stdout,"Update no %d\n", *(uint16_t*)(updater->update_no));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
|
||||
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
|
||||
buzzvm_gstore(VM);
|
||||
neigh=-1;
|
||||
fprintf(stdout,"Sending code... \n");
|
||||
code_message_outqueue_append();
|
||||
}
|
||||
delete_p(BO_BUF);
|
||||
}
|
||||
|
|
@ -330,7 +302,6 @@ return (uint8_t*)updater->outmsg_queue->queue;
|
|||
|
||||
uint8_t* getupdate_out_msg_size(){
|
||||
//fprintf(stdout,"[Debug from get out size in util: ]size = %i \n",*(uint16_t*)updater->outmsg_queue->size);
|
||||
|
||||
return (uint8_t*)updater->outmsg_queue->size;
|
||||
}
|
||||
|
||||
|
|
@ -397,17 +368,17 @@ int test_set_code(uint8_t* BO_BUF, const char* dbgfname,size_t bcode_size ){
|
|||
}
|
||||
|
||||
void destroy_out_msg_queue(){
|
||||
//fprintf(stdout,"out queue freed\n");
|
||||
delete_p(updater->outmsg_queue->queue);
|
||||
delete_p(updater->outmsg_queue->size);
|
||||
delete_p(updater->outmsg_queue);
|
||||
updater_msg_ready=0;
|
||||
//fprintf(stdout,"out queue freed\n");
|
||||
delete_p(updater->outmsg_queue->queue);
|
||||
delete_p(updater->outmsg_queue->size);
|
||||
delete_p(updater->outmsg_queue);
|
||||
updater_msg_ready=0;
|
||||
}
|
||||
int get_update_status(){
|
||||
return updated;
|
||||
}
|
||||
void set_read_update_status(){
|
||||
updated=0;
|
||||
updated=0;
|
||||
}
|
||||
int get_update_mode(){
|
||||
return (int)*(int*)(updater->mode);
|
||||
|
|
@ -420,44 +391,44 @@ buzz_updater_elem_t get_updater(){
|
|||
return updater;
|
||||
}
|
||||
void destroy_updater(){
|
||||
delete_p(updater->bcode);
|
||||
delete_p(updater->bcode_size);
|
||||
delete_p(updater->standby_bcode);
|
||||
delete_p(updater->standby_bcode_size);
|
||||
delete_p(updater->mode);
|
||||
delete_p(updater->update_no);
|
||||
if(updater->outmsg_queue){
|
||||
delete_p(updater->outmsg_queue->queue);
|
||||
delete_p(updater->outmsg_queue->size);
|
||||
delete_p(updater->outmsg_queue);
|
||||
}
|
||||
if(updater->inmsg_queue){
|
||||
delete_p(updater->inmsg_queue->queue);
|
||||
delete_p(updater->inmsg_queue->size);
|
||||
delete_p(updater->inmsg_queue);
|
||||
}
|
||||
//
|
||||
inotify_rm_watch(fd,wd);
|
||||
close(fd);
|
||||
}
|
||||
delete_p(updater->bcode);
|
||||
delete_p(updater->bcode_size);
|
||||
delete_p(updater->standby_bcode);
|
||||
delete_p(updater->standby_bcode_size);
|
||||
delete_p(updater->mode);
|
||||
delete_p(updater->update_no);
|
||||
if(updater->outmsg_queue){
|
||||
delete_p(updater->outmsg_queue->queue);
|
||||
delete_p(updater->outmsg_queue->size);
|
||||
delete_p(updater->outmsg_queue);
|
||||
}
|
||||
if(updater->inmsg_queue){
|
||||
delete_p(updater->inmsg_queue->queue);
|
||||
delete_p(updater->inmsg_queue->size);
|
||||
delete_p(updater->inmsg_queue);
|
||||
}
|
||||
//
|
||||
inotify_rm_watch(fd,wd);
|
||||
close(fd);
|
||||
}
|
||||
|
||||
void set_bzz_file(const char* in_bzz_file){
|
||||
bzz_file=in_bzz_file;
|
||||
bzz_file=in_bzz_file;
|
||||
}
|
||||
|
||||
void updates_set_robots(int robots){
|
||||
no_of_robot=robots;
|
||||
no_of_robot=robots;
|
||||
}
|
||||
|
||||
void collect_data(){
|
||||
//fprintf(stdout,"start and end time in data collection Info : %f,%f",(double)begin,(double)end);
|
||||
double time_spent = (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC;
|
||||
time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0;
|
||||
//int bytecodesize=(int);
|
||||
fprintf(stdout,"Data logger Info : %i , %i , %f , %ld , %i , %d \n",(int)no_of_robot,neigh,time_spent,*(size_t*)updater->bcode_size,(int)no_of_robot,*(uint8_t*)updater->update_no);
|
||||
//FILE *Fileptr;
|
||||
//Fileptr=fopen("/home/ubuntu/ROS_WS/update_logger.csv", "a");
|
||||
//fprintf(Fileptr,"%i,%i,%i,%i,%i,%u\n",(int)buzz_utility::get_robotid(),neigh,timer_steps,(int)*(size_t*)updater->bcode_size,(int)no_of_robot, *(uint8_t*)updater->update_no);
|
||||
//fclose(Fileptr);
|
||||
//fprintf(stdout,"start and end time in data collection Info : %f,%f",(double)begin,(double)end);
|
||||
double time_spent = (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC;
|
||||
time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0;
|
||||
//int bytecodesize=(int);
|
||||
fprintf(stdout,"Data logger Info : %i , %i , %f , %ld , %i , %d \n",(int)no_of_robot,neigh,time_spent,*(size_t*)updater->bcode_size,(int)no_of_robot,*(uint8_t*)updater->update_no);
|
||||
//FILE *Fileptr;
|
||||
//Fileptr=fopen("/home/ubuntu/ROS_WS/update_logger.csv", "a");
|
||||
//fprintf(Fileptr,"%i,%i,%i,%i,%i,%u\n",(int)buzz_utility::get_robotid(),neigh,timer_steps,(int)*(size_t*)updater->bcode_size,(int)no_of_robot, *(uint8_t*)updater->update_no);
|
||||
//fclose(Fileptr);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@
|
|||
* @copyright 2016 MistLab. All rights reserved.
|
||||
*/
|
||||
|
||||
#include <buzz_utility.h>
|
||||
#include "buzz_utility.h"
|
||||
|
||||
namespace buzz_utility{
|
||||
|
||||
|
|
@ -19,38 +19,141 @@ namespace buzz_utility{
|
|||
static buzzdebug_t DBG_INFO = 0;
|
||||
static uint8_t MSG_SIZE = 50; // Only 100 bytes of Buzz messages every step
|
||||
static int MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets
|
||||
static int Robot_id = 0;
|
||||
buzzobj_t usersvstig;
|
||||
buzzobj_t key;
|
||||
static int Robot_id = 0;
|
||||
|
||||
std::map< int, Pos_struct> users_map;
|
||||
|
||||
/****************************************/
|
||||
/*adds neighbours position*/
|
||||
void neighbour_pos_callback(std::map< int, Pos_struct> neighbours_pos_map){
|
||||
/* Reset neighbor information */
|
||||
buzzneighbors_reset(VM);
|
||||
/* Get robot id and update neighbor information */
|
||||
map< int, Pos_struct >::iterator it;
|
||||
for (it=neighbours_pos_map.begin(); it!=neighbours_pos_map.end(); ++it){
|
||||
buzzneighbors_add(VM,
|
||||
it->first,
|
||||
(it->second).x,
|
||||
(it->second).y,
|
||||
(it->second).z);
|
||||
}
|
||||
|
||||
void add_user(int id, double latitude, double longitude, float altitude)
|
||||
{
|
||||
Pos_struct pos_arr;
|
||||
pos_arr.x=latitude;
|
||||
pos_arr.y=longitude;
|
||||
pos_arr.z=altitude;
|
||||
map< int, buzz_utility::Pos_struct >::iterator it = users_map.find(id);
|
||||
if(it!=users_map.end())
|
||||
users_map.erase(it);
|
||||
users_map.insert(make_pair(id, pos_arr));
|
||||
//ROS_INFO("Buzz_utility got updated/new user: %i (%f,%f,%f)", id, latitude, longitude, altitude);
|
||||
}
|
||||
|
||||
void update_users(){
|
||||
if(users_map.size()>0) {
|
||||
/* Reset users information */
|
||||
buzzusers_reset();
|
||||
/* Get user id and update user information */
|
||||
map< int, Pos_struct >::iterator it;
|
||||
for (it=users_map.begin(); it!=users_map.end(); ++it){
|
||||
//ROS_INFO("Buzz_utility will save user %i.", it->first);
|
||||
buzzusers_add(it->first,
|
||||
(it->second).x,
|
||||
(it->second).y,
|
||||
(it->second).z);
|
||||
buzzusers_add(it->first+1,
|
||||
(it->second).x,
|
||||
(it->second).y,
|
||||
(it->second).z);
|
||||
}
|
||||
}else
|
||||
ROS_INFO("[%i] No new users",Robot_id);
|
||||
}
|
||||
|
||||
int buzzusers_reset() {
|
||||
if(VM->state != BUZZVM_STATE_READY) return VM->state;
|
||||
/* Make new table */
|
||||
buzzobj_t t = buzzheap_newobj(VM->heap, BUZZTYPE_TABLE);
|
||||
//make_table(&t);
|
||||
if(VM->state != BUZZVM_STATE_READY) return VM->state;
|
||||
/* Register table as global symbol */
|
||||
/*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
|
||||
buzzvm_gload(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
|
||||
buzzvm_tget(VM);*/
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
|
||||
buzzvm_push(VM, t);
|
||||
buzzvm_gstore(VM);
|
||||
//buzzvm_pushi(VM, 2);
|
||||
//buzzvm_callc(VM);
|
||||
return VM->state;
|
||||
}
|
||||
|
||||
int buzzusers_add(int id, double latitude, double longitude, double altitude) {
|
||||
if(VM->state != BUZZVM_STATE_READY) return VM->state;
|
||||
/* Get users "p" table */
|
||||
/*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
|
||||
buzzvm_gload(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "get", 1));
|
||||
buzzvm_tget(VM);*/
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
|
||||
buzzvm_gload(VM);
|
||||
//buzzvm_pushi(VM, 1);
|
||||
//buzzvm_callc(VM);
|
||||
buzzvm_type_assert(VM, 1, BUZZTYPE_TABLE);
|
||||
buzzobj_t nbr = buzzvm_stack_at(VM, 1);
|
||||
/* Get "data" field */
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "data", 1));
|
||||
buzzvm_tget(VM);
|
||||
if(buzzvm_stack_at(VM, 1)->o.type == BUZZTYPE_NIL) {
|
||||
ROS_INFO("Empty data, create a new table");
|
||||
buzzvm_pop(VM);
|
||||
buzzvm_push(VM, nbr);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "data", 1));
|
||||
buzzvm_pusht(VM);
|
||||
buzzobj_t data = buzzvm_stack_at(VM, 1);
|
||||
buzzvm_tput(VM);
|
||||
buzzvm_push(VM, data);
|
||||
}
|
||||
/* When we get here, the "data" table is on top of the stack */
|
||||
/* Push user id */
|
||||
buzzvm_pushi(VM, id);
|
||||
/* Create entry table */
|
||||
buzzobj_t entry = buzzheap_newobj(VM->heap, BUZZTYPE_TABLE);
|
||||
/* Insert latitude */
|
||||
buzzvm_push(VM, entry);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "la", 1));
|
||||
buzzvm_pushf(VM, latitude);
|
||||
buzzvm_tput(VM);
|
||||
/* Insert longitude */
|
||||
buzzvm_push(VM, entry);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "lo", 1));
|
||||
buzzvm_pushf(VM, longitude);
|
||||
buzzvm_tput(VM);
|
||||
/* Insert altitude */
|
||||
buzzvm_push(VM, entry);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "al", 1));
|
||||
buzzvm_pushf(VM, altitude);
|
||||
buzzvm_tput(VM);
|
||||
/* Save entry into data table */
|
||||
buzzvm_push(VM, entry);
|
||||
buzzvm_tput(VM);
|
||||
ROS_INFO("Buzz_utility saved new user: %i (%f,%f,%f)", id, latitude, longitude, altitude);
|
||||
// forcing the new table into the stigmergy....
|
||||
/*buzzobj_t newt = buzzvm_stack_at(VM, 0);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
|
||||
buzzvm_gload(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
|
||||
buzzvm_tget(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1));
|
||||
buzzvm_push(VM, nbr);
|
||||
buzzvm_pushi(VM, 2);
|
||||
buzzvm_callc(VM);*/
|
||||
//buzzvm_gstore(VM);
|
||||
return VM->state;
|
||||
}
|
||||
/**************************************************************************/
|
||||
/*Deserializes uint64_t into 4 uint16_t, freeing out is left to the user */
|
||||
/**************************************************************************/
|
||||
uint16_t* u64_cvt_u16(uint64_t u64){
|
||||
uint16_t* out = new uint16_t[4];
|
||||
uint32_t int32_1 = u64 & 0xFFFFFFFF;
|
||||
uint32_t int32_2 = (u64 & 0xFFFFFFFF00000000 ) >> 32;
|
||||
out[0] = int32_1 & 0xFFFF;
|
||||
out[1] = (int32_1 & (0xFFFF0000) ) >> 16;
|
||||
out[2] = int32_2 & 0xFFFF;
|
||||
out[3] = (int32_2 & (0xFFFF0000) ) >> 16;
|
||||
//cout << " values " <<out[0] <<" "<<out[1] <<" "<<out[2] <<" "<<out[3] <<" ";
|
||||
return out;
|
||||
uint16_t* out = new uint16_t[4];
|
||||
uint32_t int32_1 = u64 & 0xFFFFFFFF;
|
||||
uint32_t int32_2 = (u64 & 0xFFFFFFFF00000000 ) >> 32;
|
||||
out[0] = int32_1 & 0xFFFF;
|
||||
out[1] = (int32_1 & (0xFFFF0000) ) >> 16;
|
||||
out[2] = int32_2 & 0xFFFF;
|
||||
out[3] = (int32_2 & (0xFFFF0000) ) >> 16;
|
||||
//cout << " values " <<out[0] <<" "<<out[1] <<" "<<out[2] <<" "<<out[3] <<" ";
|
||||
return out;
|
||||
}
|
||||
|
||||
int get_robotid() {
|
||||
|
|
@ -68,7 +171,7 @@ namespace buzz_utility{
|
|||
/*|__________________________________________________________________________|____________________________________|*/
|
||||
/*******************************************************************************************************************/
|
||||
|
||||
void in_msg_process(uint64_t* payload){
|
||||
void in_msg_append(uint64_t* payload){
|
||||
|
||||
/* Go through messages and add them to the FIFO */
|
||||
uint16_t* data= u64_cvt_u16((uint64_t)payload[0]);
|
||||
|
|
@ -97,15 +200,14 @@ namespace buzz_utility{
|
|||
}
|
||||
}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
|
||||
free(pl);
|
||||
/* Process messages */
|
||||
buzzvm_process_inmsgs(VM);
|
||||
|
||||
}
|
||||
/***************************************************/
|
||||
/*Obtains messages from buzz out message Queue*/
|
||||
/***************************************************/
|
||||
|
||||
uint64_t* out_msg_process(){
|
||||
buzzvm_process_outmsgs(VM);
|
||||
uint64_t* obt_out_msg(){
|
||||
|
||||
uint8_t* buff_send =(uint8_t*)malloc(MAX_MSG_SIZE);
|
||||
memset(buff_send, 0, MAX_MSG_SIZE);
|
||||
/*Taking into consideration the sizes included at the end*/
|
||||
|
|
@ -151,8 +253,8 @@ namespace buzz_utility{
|
|||
cout<<" payload from out msg "<<*(payload_64+i)<<endl;
|
||||
}*/
|
||||
/* Send message */
|
||||
return payload_64;
|
||||
}
|
||||
return payload_64;
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
/*Buzz script not able to load*/
|
||||
|
|
@ -177,7 +279,7 @@ namespace buzz_utility{
|
|||
VM->pc,
|
||||
VM->errormsg);
|
||||
}
|
||||
return msg;
|
||||
return msg;
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
|
|
@ -189,15 +291,15 @@ namespace buzz_utility{
|
|||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "log", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_moveto", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_moveto", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_moveto));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_goto", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_goto", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_goto));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_arm", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_arm", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_arm));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_disarm", 1));
|
||||
|
|
@ -212,7 +314,8 @@ namespace buzz_utility{
|
|||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_land", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_land));
|
||||
buzzvm_gstore(VM);
|
||||
return BUZZVM_STATE_READY;
|
||||
|
||||
return VM->state;
|
||||
}
|
||||
|
||||
/**************************************************/
|
||||
|
|
@ -224,15 +327,15 @@ namespace buzz_utility{
|
|||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "log", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_moveto", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_moveto", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_goto", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_goto", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_arm", 1));
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_arm", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_disarm", 1));
|
||||
|
|
@ -247,86 +350,124 @@ namespace buzz_utility{
|
|||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_land", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
|
||||
buzzvm_gstore(VM);
|
||||
return BUZZVM_STATE_READY;
|
||||
|
||||
return VM->state;
|
||||
}
|
||||
|
||||
static int create_stig_tables() {
|
||||
|
||||
// usersvstig = stigmergy.create(123)
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
|
||||
// get the stigmergy table from the global scope
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "stigmergy", 1));
|
||||
buzzvm_gload(VM);
|
||||
// get the create method from the stigmergy table
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "create", 1));
|
||||
buzzvm_tget(VM);
|
||||
// value of the stigmergy id
|
||||
buzzvm_pushi(VM, 5);
|
||||
// call the stigmergy.create() method
|
||||
buzzvm_dump(VM);
|
||||
// buzzvm_closure_call(VM, 1);
|
||||
buzzvm_pushi(VM, 1);
|
||||
buzzvm_callc(VM);
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_dump(VM);
|
||||
|
||||
//buzzusers_reset();
|
||||
buzzobj_t t = buzzheap_newobj(VM->heap, BUZZTYPE_TABLE);
|
||||
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
|
||||
buzzvm_gload(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
|
||||
buzzvm_tget(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1));
|
||||
buzzvm_push(VM, t);
|
||||
buzzvm_dump(VM);
|
||||
// buzzvm_closure_call(VM, 2);
|
||||
buzzvm_pushi(VM, 2);
|
||||
buzzvm_callc(VM);
|
||||
//buzzvm_gstore(VM);
|
||||
//buzzvm_dump(VM);
|
||||
|
||||
/*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
|
||||
buzzvm_gload(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
|
||||
buzzvm_tget(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "u", 1));
|
||||
buzzvm_pusht(VM);
|
||||
buzzvm_pushi(VM, 2);
|
||||
buzzvm_call(VM, 0);
|
||||
buzzvm_gstore(VM);*/
|
||||
|
||||
return VM->state;
|
||||
}
|
||||
/****************************************/
|
||||
/*Sets the .bzz and .bdbg file*/
|
||||
/****************************************/
|
||||
|
||||
int buzz_script_set(const char* bo_filename,
|
||||
const char* bdbg_filename, int robot_id) {
|
||||
cout << " Robot ID: " <<robot_id<< endl;
|
||||
/* Reset the Buzz VM */
|
||||
if(VM) buzzvm_destroy(&VM);
|
||||
Robot_id = robot_id;
|
||||
VM = buzzvm_new((int)robot_id);
|
||||
/* Get rid of debug info */
|
||||
if(DBG_INFO) buzzdebug_destroy(&DBG_INFO);
|
||||
DBG_INFO = buzzdebug_new();
|
||||
/* Read bytecode and fill in data structure */
|
||||
FILE* fd = fopen(bo_filename, "rb");
|
||||
if(!fd) {
|
||||
perror(bo_filename);
|
||||
ROS_INFO(" Robot ID: " , robot_id);
|
||||
/* Reset the Buzz VM */
|
||||
if(VM) buzzvm_destroy(&VM);
|
||||
Robot_id = robot_id;
|
||||
VM = buzzvm_new((int)robot_id);
|
||||
/* Get rid of debug info */
|
||||
if(DBG_INFO) buzzdebug_destroy(&DBG_INFO);
|
||||
DBG_INFO = buzzdebug_new();
|
||||
/* Read bytecode and fill in data structure */
|
||||
FILE* fd = fopen(bo_filename, "rb");
|
||||
if(!fd) {
|
||||
perror(bo_filename);
|
||||
return 0;
|
||||
}
|
||||
fseek(fd, 0, SEEK_END);
|
||||
size_t bcode_size = ftell(fd);
|
||||
rewind(fd);
|
||||
BO_BUF = (uint8_t*)malloc(bcode_size);
|
||||
if(fread(BO_BUF, 1, bcode_size, fd) < bcode_size) {
|
||||
perror(bo_filename);
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
fclose(fd);
|
||||
}
|
||||
fseek(fd, 0, SEEK_END);
|
||||
size_t bcode_size = ftell(fd);
|
||||
rewind(fd);
|
||||
BO_BUF = (uint8_t*)malloc(bcode_size);
|
||||
if(fread(BO_BUF, 1, bcode_size, fd) < bcode_size) {
|
||||
perror(bo_filename);
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
fclose(fd);
|
||||
return 0;
|
||||
}
|
||||
fclose(fd);
|
||||
/* Read debug information */
|
||||
if(!buzzdebug_fromfile(DBG_INFO, bdbg_filename)) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
perror(bdbg_filename);
|
||||
}
|
||||
fclose(fd);
|
||||
/* Read debug information */
|
||||
if(!buzzdebug_fromfile(DBG_INFO, bdbg_filename)) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
perror(bdbg_filename);
|
||||
return 0;
|
||||
}
|
||||
/* Set byte code */
|
||||
if(buzzvm_set_bcode(VM, BO_BUF, bcode_size) != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
fprintf(stderr, "%s: Error loading Buzz script\n\n", bo_filename);
|
||||
ROS_ERROR("%s: Error loading Buzz script", bo_filename);
|
||||
return 0;
|
||||
}
|
||||
/* Register hook functions */
|
||||
if(buzz_register_hooks() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
fprintf(stderr, "%s: Error registering hooks\n\n", bo_filename);
|
||||
ROS_ERROR("[%i] Error registering hooks", Robot_id);
|
||||
return 0;
|
||||
}
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
ROS_ERROR("[%i] Error creating stigmergy tables", Robot_id);
|
||||
//cout << "ERROR!!!! ---------- " << VM->errormsg << endl;
|
||||
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
|
||||
return 0;
|
||||
}*/
|
||||
|
||||
|
||||
buzzvm_dup(VM);
|
||||
// usersvstig = stigmergy.create(123)
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "v", 1));
|
||||
// value of the stigmergy id
|
||||
buzzvm_pushi(VM, 5);
|
||||
// get the stigmergy table from the global scope
|
||||
// buzzvm_pushs(VM, buzzvm_string_register(VM, "stigmergy", 1));
|
||||
// buzzvm_gload(VM);
|
||||
// get the create method from the stigmergy table
|
||||
// buzzvm_pushs(VM, buzzvm_string_register(VM, "create", 1));
|
||||
// buzzvm_tget(VM);
|
||||
// call the stigmergy.create() method
|
||||
// buzzvm_closure_call(VM, 1);
|
||||
// now the stigmergy is at the top of the stack - save it for future reference
|
||||
// usersvstig = buzzvm_stack_at(VM, 0);
|
||||
//buzzvm_pop(VM);
|
||||
// assign the virtual stigmergy to the global symbol v
|
||||
// create also a global variable for it, so the garbage collector does not remove it
|
||||
//buzzvm_pushs(VM, buzzvm_string_register(VM, "v", 1));
|
||||
//buzzvm_push(VM, usersvstig);
|
||||
buzzvm_gstore(VM);
|
||||
buzzobj_t t = buzzheap_newobj(VM->heap, BUZZTYPE_TABLE);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
|
||||
buzzvm_push(VM, t);
|
||||
buzzvm_gstore(VM);
|
||||
|
||||
/* Save bytecode file name */
|
||||
BO_FNAME = strdup(bo_filename);
|
||||
|
|
@ -336,29 +477,16 @@ buzzvm_dup(VM);
|
|||
buzzvm_function_call(VM, "init", 0);
|
||||
/* All OK */
|
||||
|
||||
ROS_INFO("[%i] INIT DONE!!!", Robot_id);
|
||||
|
||||
return 1;//buzz_update_set(BO_BUF, bdbg_filename, bcode_size);
|
||||
}
|
||||
|
||||
int buzz_update_users_stigmergy(buzzobj_t tbl){
|
||||
// push the key (here it's an int with value 46)
|
||||
buzzvm_pushi(VM, 46);
|
||||
// push the table
|
||||
buzzvm_push(VM, tbl);
|
||||
// the stigmergy is stored in the vstig variable
|
||||
// let's push it on the stack
|
||||
buzzvm_push(VM, usersvstig);
|
||||
// get the put method from myvstig
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
|
||||
buzzvm_tget(VM);
|
||||
// call the vstig.put() method
|
||||
buzzvm_closure_call(VM, 2);
|
||||
return 1;
|
||||
}
|
||||
/****************************************/
|
||||
/*Sets a new update */
|
||||
/****************************************/
|
||||
int buzz_update_set(uint8_t* UP_BO_BUF, const char* bdbg_filename,size_t bcode_size){
|
||||
/* // Reset the Buzz VM
|
||||
// Reset the Buzz VM
|
||||
if(VM) buzzvm_destroy(&VM);
|
||||
VM = buzzvm_new(Robot_id);
|
||||
// Get rid of debug info
|
||||
|
|
@ -386,20 +514,28 @@ buzzvm_dup(VM);
|
|||
fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Create vstig tables */
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
ROS_ERROR("[%i] Error creating stigmergy tables", Robot_id);
|
||||
//cout << "ERROR!!!! ---------- " << VM->errormsg << endl;
|
||||
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
|
||||
return 0;
|
||||
}
|
||||
// Execute the global part of the script
|
||||
buzzvm_execute_script(VM);
|
||||
// Call the Init() function
|
||||
buzzvm_function_call(VM, "init", 0);
|
||||
// All OK
|
||||
*/ return 1;
|
||||
return 1;
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
/*Performs a initialization test */
|
||||
/****************************************/
|
||||
int buzz_update_init_test(uint8_t* UP_BO_BUF, const char* bdbg_filename,size_t bcode_size){
|
||||
/* // Reset the Buzz VM
|
||||
// Reset the Buzz VM
|
||||
if(VM) buzzvm_destroy(&VM);
|
||||
VM = buzzvm_new(Robot_id);
|
||||
// Get rid of debug info
|
||||
|
|
@ -427,13 +563,21 @@ buzzvm_dup(VM);
|
|||
fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Create vstig tables */
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
ROS_ERROR("[%i] Error creating stigmergy tables", Robot_id);
|
||||
//cout << "ERROR!!!! ---------- " << VM->errormsg << endl;
|
||||
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
|
||||
return 0;
|
||||
}
|
||||
// Execute the global part of the script
|
||||
buzzvm_execute_script(VM);
|
||||
// Call the Init() function
|
||||
buzzvm_function_call(VM, "init", 0);
|
||||
// All OK
|
||||
*/ return 1;
|
||||
return 1;
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
|
|
@ -447,73 +591,75 @@ buzzvm_dup(VM);
|
|||
typedef struct buzzswarm_elem_s* buzzswarm_elem_t;
|
||||
|
||||
void check_swarm_members(const void* key, void* data, void* params) {
|
||||
buzzswarm_elem_t e = *(buzzswarm_elem_t*)data;
|
||||
int* status = (int*)params;
|
||||
if(*status == 3) return;
|
||||
fprintf(stderr, "CHECKING SWARM MEMBERS:%i\n",buzzdarray_get(e->swarms, 0, uint16_t));
|
||||
if(buzzdarray_size(e->swarms) != 1) {
|
||||
fprintf(stderr, "Swarm list size is not 1\n");
|
||||
*status = 3;
|
||||
}
|
||||
else {
|
||||
int sid = 1;
|
||||
if(!buzzdict_isempty(VM->swarms)) {
|
||||
if(*buzzdict_get(VM->swarms, &sid, uint8_t) &&
|
||||
buzzdarray_get(e->swarms, 0, uint16_t) != sid) {
|
||||
fprintf(stderr, "I am in swarm #%d and neighbor is in %d\n",
|
||||
sid,
|
||||
buzzdarray_get(e->swarms, 0, uint16_t));
|
||||
*status = 3;
|
||||
return;
|
||||
}
|
||||
}
|
||||
if(buzzdict_size(VM->swarms)>1) {
|
||||
sid = 2;
|
||||
if(*buzzdict_get(VM->swarms, &sid, uint8_t) &&
|
||||
buzzdarray_get(e->swarms, 0, uint16_t) != sid) {
|
||||
fprintf(stderr, "I am in swarm #%d and neighbor is in %d\n",
|
||||
sid,
|
||||
buzzdarray_get(e->swarms, 0, uint16_t));
|
||||
*status = 3;
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
buzzswarm_elem_t e = *(buzzswarm_elem_t*)data;
|
||||
int* status = (int*)params;
|
||||
if(*status == 3) return;
|
||||
fprintf(stderr, "CHECKING SWARM :%i, member: %i, age: %i \n",
|
||||
buzzdarray_get(e->swarms, 0, uint16_t), *(uint16_t*)key, e->age);
|
||||
if(buzzdarray_size(e->swarms) != 1) {
|
||||
fprintf(stderr, "Swarm list size is not 1\n");
|
||||
*status = 3;
|
||||
}
|
||||
else {
|
||||
int sid = 1;
|
||||
if(!buzzdict_isempty(VM->swarms)) {
|
||||
if(*buzzdict_get(VM->swarms, &sid, uint8_t) &&
|
||||
buzzdarray_get(e->swarms, 0, uint16_t) != sid) {
|
||||
fprintf(stderr, "I am in swarm #%d and neighbor is in %d\n",
|
||||
sid,
|
||||
buzzdarray_get(e->swarms, 0, uint16_t));
|
||||
*status = 3;
|
||||
return;
|
||||
}
|
||||
}
|
||||
if(buzzdict_size(VM->swarms)>1) {
|
||||
sid = 2;
|
||||
if(*buzzdict_get(VM->swarms, &sid, uint8_t) &&
|
||||
buzzdarray_get(e->swarms, 0, uint16_t) != sid) {
|
||||
fprintf(stderr, "I am in swarm #%d and neighbor is in %d\n",
|
||||
sid,
|
||||
buzzdarray_get(e->swarms, 0, uint16_t));
|
||||
*status = 3;
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*Step through the buzz script*/
|
||||
void update_sensors(){
|
||||
/* Update sensors*/
|
||||
buzzuav_closures::buzzuav_update_battery(VM);
|
||||
buzzuav_closures::buzzuav_update_prox(VM);
|
||||
buzzuav_closures::buzzuav_update_currentpos(VM);
|
||||
buzzuav_closures::update_neighbors(VM);
|
||||
update_users();
|
||||
buzzuav_closures::buzzuav_update_flight_status(VM);
|
||||
}
|
||||
|
||||
void buzz_script_step() {
|
||||
/*
|
||||
* Update sensors
|
||||
*/
|
||||
buzzuav_closures::buzzuav_update_battery(VM);
|
||||
buzzuav_closures::buzzuav_update_prox(VM);
|
||||
buzzuav_closures::buzzuav_update_currentpos(VM);
|
||||
buzzobj_t tbl = buzzuav_closures::buzzuav_update_userspos(VM);
|
||||
buzzuav_closures::buzzuav_update_flight_status(VM);
|
||||
|
||||
//buzz_update_users_stigmergy(tbl);
|
||||
|
||||
|
||||
/*
|
||||
* Call Buzz step() function
|
||||
*/
|
||||
if(buzzvm_function_call(VM, "step", 0) != BUZZVM_STATE_READY) {
|
||||
fprintf(stderr, "%s: execution terminated abnormally: %s\n\n",
|
||||
/* Process messages */
|
||||
buzzvm_process_inmsgs(VM);
|
||||
/*Update sensors*/
|
||||
update_sensors();
|
||||
/* Call Buzz step() function */
|
||||
if(buzzvm_function_call(VM, "step", 0) != BUZZVM_STATE_READY) {
|
||||
fprintf(stderr, "%s: execution terminated abnormally: %s\n\n",
|
||||
BO_FNAME,
|
||||
buzz_error_info());
|
||||
buzzvm_dump(VM);
|
||||
}
|
||||
//buzzvm_process_outmsgs(VM); //--> done in out_msg_process() function called each step
|
||||
//usleep(10000);
|
||||
/*Print swarm*/
|
||||
//buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
|
||||
//int SwarmSize = buzzdict_size(VM->swarmmembers)+1;
|
||||
//fprintf(stderr, "Real Swarm Size: %i\n",SwarmSize);
|
||||
buzzvm_dump(VM);
|
||||
}
|
||||
/* Process out messages */
|
||||
buzzvm_process_outmsgs(VM);
|
||||
/*Print swarm*/
|
||||
//buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
|
||||
//int SwarmSize = buzzdict_size(VM->swarmmembers)+1;
|
||||
//fprintf(stderr, "Real Swarm Size: %i\n",SwarmSize);
|
||||
set_robot_var(buzzdict_size(VM->swarmmembers)+1);
|
||||
|
||||
/* Check swarm state -- Not crashing thanks to test added in check_swarm_members */
|
||||
// int status = 1;
|
||||
// buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
|
||||
/* Check swarm state -- Not crashing thanks to test added in check_swarm_members */
|
||||
//int status = 1;
|
||||
//buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
|
|
@ -553,6 +699,8 @@ buzzvm_dup(VM);
|
|||
buzzuav_closures::buzzuav_update_battery(VM);
|
||||
buzzuav_closures::buzzuav_update_prox(VM);
|
||||
buzzuav_closures::buzzuav_update_currentpos(VM);
|
||||
buzzuav_closures::update_neighbors(VM);
|
||||
update_users();
|
||||
buzzuav_closures::buzzuav_update_flight_status(VM);
|
||||
|
||||
int a = buzzvm_function_call(VM, "step", 0);
|
||||
|
|
@ -563,26 +711,15 @@ buzzvm_dup(VM);
|
|||
return a == BUZZVM_STATE_READY;
|
||||
}
|
||||
|
||||
/* uint16_t get_robotid() {
|
||||
// Get hostname
|
||||
char hstnm[30];
|
||||
gethostname(hstnm, 30);
|
||||
// Make numeric id from hostname
|
||||
// NOTE: here we assume that the hostname is in the format Knn
|
||||
int id = strtol(hstnm + 4, NULL, 10);
|
||||
//fprintf(stdout, "Robot id from get rid buzz util: %i\n",id);
|
||||
return (uint16_t)id;
|
||||
}*/
|
||||
|
||||
buzzvm_t get_vm() {
|
||||
return VM;
|
||||
}
|
||||
|
||||
void set_robot_var(int ROBOTS){
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "ROBOTS", 1));
|
||||
buzzvm_pushi(VM, ROBOTS);
|
||||
buzzvm_gstore(VM);
|
||||
}
|
||||
void set_robot_var(int ROBOTS){
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "ROBOTS", 1));
|
||||
buzzvm_pushi(VM, ROBOTS);
|
||||
buzzvm_gstore(VM);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@
|
|||
*/
|
||||
//#define _GNU_SOURCE
|
||||
#include "buzzuav_closures.h"
|
||||
//#include "roscontroller.h"
|
||||
|
||||
namespace buzzuav_closures{
|
||||
|
||||
// TODO: Minimize the required global variables and put them in the header
|
||||
|
|
@ -19,12 +19,15 @@ namespace buzzuav_closures{
|
|||
static float batt[3];
|
||||
static float obst[5]={0,0,0,0,0};
|
||||
static double cur_pos[3];
|
||||
static double users_pos[3];
|
||||
static uint8_t status;
|
||||
static int cur_cmd = 0;
|
||||
static int rc_cmd=0;
|
||||
static int buzz_cmd=0;
|
||||
static float height=0;
|
||||
|
||||
|
||||
std::map< int, buzz_utility::Pos_struct> neighbors_map;
|
||||
|
||||
/****************************************/
|
||||
/****************************************/
|
||||
|
||||
|
|
@ -246,11 +249,33 @@ namespace buzzuav_closures{
|
|||
cur_pos[1]=longitude;
|
||||
cur_pos[2]=altitude;
|
||||
}
|
||||
void set_userspos(double latitude, double longitude, double altitude){
|
||||
users_pos[0]=latitude;
|
||||
users_pos[1]=longitude;
|
||||
users_pos[2]=altitude;
|
||||
/*adds neighbours position*/
|
||||
void neighbour_pos_callback(int id, float range, float bearing, float elevation){
|
||||
buzz_utility::Pos_struct pos_arr;
|
||||
pos_arr.x=range;
|
||||
pos_arr.y=bearing;
|
||||
pos_arr.z=elevation;
|
||||
map< int, buzz_utility::Pos_struct >::iterator it = neighbors_map.find(id);
|
||||
if(it!=neighbors_map.end())
|
||||
neighbors_map.erase(it);
|
||||
neighbors_map.insert(make_pair(id, pos_arr));
|
||||
}
|
||||
|
||||
/* update at each step the VM table */
|
||||
void update_neighbors(buzzvm_t vm){
|
||||
/* Reset neighbor information */
|
||||
buzzneighbors_reset(vm);
|
||||
/* Get robot id and update neighbor information */
|
||||
map< int, buzz_utility::Pos_struct >::iterator it;
|
||||
for (it=neighbors_map.begin(); it!=neighbors_map.end(); ++it){
|
||||
buzzneighbors_add(vm,
|
||||
it->first,
|
||||
(it->second).x,
|
||||
(it->second).y,
|
||||
(it->second).z);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
int buzzuav_update_currentpos(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "position", 1));
|
||||
|
|
@ -270,26 +295,6 @@ namespace buzzuav_closures{
|
|||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
buzzobj_t buzzuav_update_userspos(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "users", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "range", 1));
|
||||
buzzvm_pushf(vm, users_pos[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "bearing", 1));
|
||||
buzzvm_pushf(vm, users_pos[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "height", 1));
|
||||
buzzvm_pushf(vm, users_pos[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
|
||||
return buzzvm_stack_at(vm, 0);
|
||||
//return vm->state;
|
||||
}
|
||||
|
||||
void flight_status_update(uint8_t state){
|
||||
status=state;
|
||||
|
|
|
|||
|
|
@ -13,7 +13,9 @@ namespace rosbzz_node{
|
|||
/*Initialize publishers, subscribers and client*/
|
||||
Initialize_pub_sub(n_c);
|
||||
/*Compile the .bzz file to .basm, .bo and .bdbg*/
|
||||
Compile_bzz();
|
||||
std::string fname = Compile_bzz(bzzfile_name);
|
||||
bcfname = fname + ".bo";
|
||||
dbgfname = fname + ".bdb";
|
||||
set_bzz_file(bzzfile_name.c_str());
|
||||
/*Initialize variables*/
|
||||
// Solo things
|
||||
|
|
@ -22,14 +24,15 @@ namespace rosbzz_node{
|
|||
multi_msg = true;
|
||||
// set stream rate - wait for the FC to be started
|
||||
SetStreamRate(0, 10, 1);
|
||||
/// Get Robot Id - wait for Xbee to be started
|
||||
// Get Robot Id - wait for Xbee to be started
|
||||
if(xbeeplugged)
|
||||
GetRobotId();
|
||||
else
|
||||
robot_id=strtol(robot_name.c_str() + 5, NULL, 10);;
|
||||
robot_id= strtol(robot_name.c_str() + 5, NULL, 10);
|
||||
setpoint_counter = 0;
|
||||
fcu_timeout = TIMEOUT;
|
||||
home[0]=0.0;home[1]=0.0;home[2]=0.0;
|
||||
|
||||
home[0]=0.0;home[1]=0.0;home[2]=0.0;
|
||||
}
|
||||
|
||||
/*---------------------
|
||||
|
|
@ -49,7 +52,7 @@ namespace rosbzz_node{
|
|||
|
||||
/*
|
||||
mavros_msgs::ParamGet::Request robot_id_srv_request; robot_id_srv_request.param_id="id";
|
||||
mavros_msgs::ParamGet::Response robot_id_srv_response;
|
||||
mavros_msgs::ParamGet::Response robot_id_srv_response;
|
||||
while(!xbeestatus_srv.call(robot_id_srv_request,robot_id_srv_response)){
|
||||
ros::Duration(0.1).sleep();
|
||||
ROS_ERROR("Waiting for Xbee to respond to get device ID");
|
||||
|
|
@ -68,39 +71,39 @@ namespace rosbzz_node{
|
|||
/* Set the Buzz bytecode */
|
||||
if(buzz_utility::buzz_script_set(bcfname.c_str(), dbgfname.c_str(),robot_id)) {
|
||||
fprintf(stdout, "Bytecode file found and set\n");
|
||||
//init_update_monitor(bcfname.c_str(),stand_by.c_str());
|
||||
std::string standby_bo = Compile_bzz(stand_by) + ".bo";
|
||||
init_update_monitor(bcfname.c_str(),standby_bo.c_str());
|
||||
///////////////////////////////////////////////////////
|
||||
// MAIN LOOP
|
||||
//////////////////////////////////////////////////////
|
||||
while (ros::ok() && !buzz_utility::buzz_script_done())
|
||||
{
|
||||
std::cout<<std::setprecision(17)<<"Home: " << home[0] << home[1] << std::endl;
|
||||
/*Update neighbors position inside Buzz*/
|
||||
buzz_utility::neighbour_pos_callback(neighbours_pos_map);
|
||||
/*Update neighbors position inside Buzz*/
|
||||
//buzz_closure::neighbour_pos_callback(neighbours_pos_map);
|
||||
/*Neighbours of the robot published with id in respective topic*/
|
||||
neighbours_pos_publisher();
|
||||
/*Check updater state and step code*/
|
||||
//update_routine(bcfname.c_str(), dbgfname.c_str());
|
||||
update_routine(bcfname.c_str(), dbgfname.c_str());
|
||||
/*Step buzz script */
|
||||
buzz_utility::buzz_script_step();
|
||||
buzz_utility::buzz_script_step();
|
||||
/*Prepare messages and publish them in respective topic*/
|
||||
prepare_msg_and_publish();
|
||||
/*call flight controler service to set command long*/
|
||||
flight_controller_service_call();
|
||||
/*Set multi message available after update*/
|
||||
/*if(get_update_status()){
|
||||
if(get_update_status()){
|
||||
set_read_update_status();
|
||||
multi_msg=true;
|
||||
}*/
|
||||
}
|
||||
/*Set ROBOTS variable for barrier in .bzz from neighbours count*/
|
||||
//no_of_robots=get_number_of_robots();
|
||||
get_number_of_robots();
|
||||
//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*/
|
||||
updates_set_robots(no_of_robots);
|
||||
/*run once*/
|
||||
ros::spinOnce();
|
||||
/*run once*/
|
||||
ros::spinOnce();
|
||||
/*loop rate of ros*/
|
||||
ros::Rate loop_rate(10);
|
||||
loop_rate.sleep();
|
||||
|
|
@ -109,10 +112,9 @@ namespace rosbzz_node{
|
|||
else
|
||||
fcu_timeout -= 1/10;
|
||||
/*sleep for the mentioned loop rate*/
|
||||
timer_step+=1;
|
||||
timer_step+=1;
|
||||
maintain_pos(timer_step);
|
||||
|
||||
|
||||
|
||||
}
|
||||
/* Destroy updater and Cleanup */
|
||||
//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
|
||||
|
|
@ -152,7 +154,8 @@ namespace rosbzz_node{
|
|||
if(!xbeeplugged){
|
||||
if(n_c.getParam("name", robot_name));
|
||||
else {ROS_ERROR("Provide the xbee plugged boolean in Launch file"); system("rosnode kill rosbuzz_node");}
|
||||
}
|
||||
}else
|
||||
n_c.getParam("xbee_status_srv", xbeesrv_name);
|
||||
|
||||
GetSubscriptionParameters(n_c);
|
||||
// initialize topics to null?
|
||||
|
|
@ -220,8 +223,8 @@ namespace rosbzz_node{
|
|||
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
|
||||
mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
|
||||
mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
|
||||
if(rcclient==true)
|
||||
service = n_c.advertiseService(rcservice_name, &roscontroller::rc_callback,this);
|
||||
if(rcclient==true)
|
||||
service = n_c.advertiseService(rcservice_name, &roscontroller::rc_callback,this);
|
||||
ROS_INFO("Ready to receive Mav Commands from RC client");
|
||||
xbeestatus_srv = n_c.serviceClient<mavros_msgs::ParamGet>(xbeesrv_name);
|
||||
stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
|
||||
|
|
@ -259,28 +262,35 @@ namespace rosbzz_node{
|
|||
/*--------------------------------------------------------
|
||||
/ Create Buzz bytecode from the bzz script inputed
|
||||
/-------------------------------------------------------*/
|
||||
void roscontroller::Compile_bzz(){
|
||||
std::string roscontroller::Compile_bzz(std::string bzzfile_name){
|
||||
/*TODO: change to bzzc instead of bzzparse and also add -I for includes*/
|
||||
/*Compile the buzz code .bzz to .bo*/
|
||||
stringstream bzzfile_in_compile;
|
||||
std::string path = bzzfile_name.substr(0, bzzfile_name.find_last_of("\\/"));
|
||||
bzzfile_in_compile<<path<<"/";
|
||||
path = bzzfile_in_compile.str();
|
||||
bzzfile_in_compile.str("");
|
||||
std::string path = bzzfile_name.substr(0, bzzfile_name.find_last_of("\\/")) + "/";
|
||||
//bzzfile_in_compile << path << "/";
|
||||
//path = bzzfile_in_compile.str();
|
||||
//bzzfile_in_compile.str("");
|
||||
std::string name = bzzfile_name.substr(bzzfile_name.find_last_of("/\\") + 1);
|
||||
name = name.substr(0,name.find_last_of("."));
|
||||
bzzfile_in_compile << "bzzparse "<<bzzfile_name<<" "<<path<< name<<".basm";
|
||||
bzzfile_in_compile << "bzzc -I " << path << "script/include/"; //<<" "<<path<< name<<".basm";
|
||||
//bzzfile_in_compile.str("");
|
||||
//bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
|
||||
//system(bzzfile_in_compile.str().c_str());
|
||||
//bzzfile_in_compile.str("");
|
||||
bzzfile_in_compile << " -b " << path << name << ".bo";
|
||||
//bcfname = bzzfile_in_compile.str();
|
||||
//std::string tmp_bcfname = path + name + ".bo";
|
||||
//bzzfile_in_compile.str("");
|
||||
bzzfile_in_compile << " -d " << path << name << ".bdb ";
|
||||
//bzzfile_in_compile << " -a " << path << name << ".asm ";
|
||||
bzzfile_in_compile << bzzfile_name;
|
||||
//std::string tmp_dbgfname = path + name + ".bdb";
|
||||
|
||||
ROS_WARN("Launching buzz compilation: %s", bzzfile_in_compile.str().c_str());
|
||||
|
||||
system(bzzfile_in_compile.str().c_str());
|
||||
bzzfile_in_compile.str("");
|
||||
bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
|
||||
system(bzzfile_in_compile.str().c_str());
|
||||
bzzfile_in_compile.str("");
|
||||
bzzfile_in_compile <<path<<name<<".bo";
|
||||
bcfname = bzzfile_in_compile.str();
|
||||
bzzfile_in_compile.str("");
|
||||
bzzfile_in_compile <<path<<name<<".bdbg";
|
||||
dbgfname = bzzfile_in_compile.str();
|
||||
|
||||
|
||||
return path + name;
|
||||
}
|
||||
/*----------------------------------------------------
|
||||
/ Publish neighbours pos and id in neighbours pos topic
|
||||
|
|
@ -312,14 +322,13 @@ namespace rosbzz_node{
|
|||
void roscontroller::Arm(){
|
||||
mavros_msgs::CommandBool arming_message;
|
||||
arming_message.request.value = armstate;
|
||||
ROS_INFO("FC Arm Service called!------------------------------------------------------");
|
||||
if(arm_client.call(arming_message)) {
|
||||
if(arming_message.response.success==1)
|
||||
ROS_INFO("FC Arm Service called!");
|
||||
ROS_WARN("FC Arm Service called!");
|
||||
else
|
||||
ROS_INFO("FC Arm Service call failed!");
|
||||
ROS_WARN("FC Arm Service call failed!");
|
||||
} else {
|
||||
ROS_INFO("FC Arm Service call failed!");
|
||||
ROS_WARN("FC Arm Service call failed!");
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -335,7 +344,7 @@ namespace rosbzz_node{
|
|||
/*----------------------------------------------------------------------------------------------------*/
|
||||
void roscontroller::prepare_msg_and_publish(){
|
||||
/*obtain Pay load to be sent*/
|
||||
uint64_t* payload_out_ptr= buzz_utility::out_msg_process();
|
||||
uint64_t* payload_out_ptr= buzz_utility::obt_out_msg();
|
||||
uint64_t position[3];
|
||||
/*Appened current position to message*/
|
||||
memcpy(position, cur_pos, 3*sizeof(uint64_t));
|
||||
|
|
@ -359,7 +368,7 @@ namespace rosbzz_node{
|
|||
delete[] out;
|
||||
delete[] payload_out_ptr;
|
||||
/*Check for updater message if present send*/
|
||||
/*if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1 && multi_msg){
|
||||
if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1 && multi_msg){
|
||||
uint8_t* buff_send = 0;
|
||||
uint16_t updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());;
|
||||
int tot=0;
|
||||
|
|
@ -395,7 +404,7 @@ namespace rosbzz_node{
|
|||
payload_pub.publish(update_packets);
|
||||
multi_msg=false;
|
||||
delete[] payload_64;
|
||||
}*/
|
||||
}
|
||||
|
||||
}
|
||||
/*---------------------------------------------------------------------------------
|
||||
|
|
@ -499,7 +508,7 @@ namespace rosbzz_node{
|
|||
void roscontroller::neighbours_pos_put(int id, buzz_utility::Pos_struct pos_arr ){
|
||||
map< int, buzz_utility::Pos_struct >::iterator it = neighbours_pos_map.find(id);
|
||||
if(it!=neighbours_pos_map.end())
|
||||
neighbours_pos_map.erase(it);
|
||||
neighbours_pos_map.erase(it);
|
||||
neighbours_pos_map.insert(make_pair(id, pos_arr));
|
||||
}
|
||||
/*-----------------------------------------------------------------------------------
|
||||
|
|
@ -508,7 +517,7 @@ namespace rosbzz_node{
|
|||
void roscontroller::raw_neighbours_pos_put(int id, buzz_utility::Pos_struct pos_arr ){
|
||||
map< int, buzz_utility::Pos_struct >::iterator it = raw_neighbours_pos_map.find(id);
|
||||
if(it!=raw_neighbours_pos_map.end())
|
||||
raw_neighbours_pos_map.erase(it);
|
||||
raw_neighbours_pos_map.erase(it);
|
||||
raw_neighbours_pos_map.insert(make_pair(id, pos_arr));
|
||||
}
|
||||
|
||||
|
|
@ -566,95 +575,92 @@ namespace rosbzz_node{
|
|||
|
||||
void roscontroller::cvt_rangebearing_coordinates(double nei[], double out[], double cur[]){
|
||||
|
||||
// calculate earth radii
|
||||
double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)));
|
||||
double prime_vertical_radius = equatorial_radius * sqrt(temp);
|
||||
double radius_north = prime_vertical_radius * (1 - excentrity2) * temp;
|
||||
double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE));
|
||||
// calculate earth radii
|
||||
/*double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)));
|
||||
double prime_vertical_radius = equatorial_radius * sqrt(temp);
|
||||
double radius_north = prime_vertical_radius * (1 - excentrity2) * temp;
|
||||
double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE));*/
|
||||
|
||||
/*double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
double ned[3];
|
||||
ned[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS;
|
||||
ned[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS
|
||||
double ecef[3];
|
||||
double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2];
|
||||
double d = WGS84_E * sin(llh[0]);
|
||||
double N = WGS84_A / sqrt(1. - d*d);
|
||||
ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double ref_ecef[3];
|
||||
llh[0]=DEG2RAD(nei[0]);llh[1]=DEG2RAD(nei[1]);llh[2]=nei[2];
|
||||
d = WGS84_E * sin(llh[0]);
|
||||
N = WGS84_A / sqrt(1. - d*d);
|
||||
ref_ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ref_ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double M[3][3];
|
||||
ecef2ned_matrix(ref_ecef, M);
|
||||
double ned[3];
|
||||
matrix_multiply(3, 3, 1, (double *)M, ecef, ned);
|
||||
|
||||
out[0] = sqrt(ned[0]*ned[0]+ned[1]*ned[1]);
|
||||
out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
double d_lat = nei[0] - cur[0];
|
||||
double ned[3];
|
||||
ned[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS;
|
||||
ned[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS
|
||||
double ecef[3];
|
||||
double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2];
|
||||
double d = WGS84_E * sin(llh[0]);
|
||||
double N = WGS84_A / sqrt(1. - d*d);
|
||||
ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double ref_ecef[3];
|
||||
llh[0]=DEG2RAD(nei[0]);llh[1]=DEG2RAD(nei[1]);llh[2]=nei[2];
|
||||
d = WGS84_E * sin(llh[0]);
|
||||
N = WGS84_A / sqrt(1. - d*d);
|
||||
ref_ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ref_ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double M[3][3];
|
||||
ecef2ned_matrix(ref_ecef, M);
|
||||
double ned[3];
|
||||
matrix_multiply(3, 3, 1, (double *)M, ecef, ned);
|
||||
|
||||
out[0] = sqrt(ned[0]*ned[0]+ned[1]*ned[1]);
|
||||
out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
out[1] = atan2(ned[1],ned[0]);
|
||||
out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
out[2] = 0.0;*/
|
||||
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS;
|
||||
double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS;
|
||||
double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
|
||||
out[0] = sqrt(ned_x*ned_x+ned_y*ned_y);
|
||||
//out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
//out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
out[1] = atan2(ned_y,ned_x);
|
||||
//out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
//out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
out[2] = 0.0;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void roscontroller::cvt_ned_coordinates(double nei[], double out[], double cur[]){
|
||||
// calculate earth radii
|
||||
/*double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)));
|
||||
double prime_vertical_radius = equatorial_radius * sqrt(temp);
|
||||
double radius_north = prime_vertical_radius * (1 - excentrity2) * temp;
|
||||
double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE));
|
||||
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
out[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS;
|
||||
out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
out[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS
|
||||
out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
// calculate earth radii
|
||||
/*double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)));
|
||||
double prime_vertical_radius = equatorial_radius * sqrt(temp);
|
||||
double radius_north = prime_vertical_radius * (1 - excentrity2) * temp;
|
||||
double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE));
|
||||
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
out[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS;
|
||||
out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
out[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS
|
||||
out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
out[2] = cur[2];
|
||||
// Using functions of the library Swift Nav (https://github.com/swift-nav/libswiftnav)
|
||||
double ecef[3];
|
||||
double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2];
|
||||
double d = WGS84_E * sin(llh[0]);
|
||||
double N = WGS84_A / sqrt(1. - d*d);
|
||||
ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double ref_ecef[3];
|
||||
llh[0]=DEG2RAD(nei[0]);llh[1]=DEG2RAD(nei[1]);llh[2]=nei[2];
|
||||
d = WGS84_E * sin(llh[0]);
|
||||
N = WGS84_A / sqrt(1. - d*d);
|
||||
ref_ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ref_ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double M[3][3];
|
||||
ecef2ned_matrix(ref_ecef, M);
|
||||
matrix_multiply(3, 3, 1, (double *)M, ecef, out);*/
|
||||
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
out[0] = DEG2RAD(d_lat) * EARTH_RADIUS;
|
||||
//out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
out[1] = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
|
||||
//out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
// Using functions of the library Swift Nav (https://github.com/swift-nav/libswiftnav)
|
||||
double ecef[3];
|
||||
double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2];
|
||||
double d = WGS84_E * sin(llh[0]);
|
||||
double N = WGS84_A / sqrt(1. - d*d);
|
||||
ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double ref_ecef[3];
|
||||
llh[0]=DEG2RAD(nei[0]);llh[1]=DEG2RAD(nei[1]);llh[2]=nei[2];
|
||||
d = WGS84_E * sin(llh[0]);
|
||||
N = WGS84_A / sqrt(1. - d*d);
|
||||
ref_ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
|
||||
ref_ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
|
||||
ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
|
||||
double M[3][3];
|
||||
ecef2ned_matrix(ref_ecef, M);
|
||||
matrix_multiply(3, 3, 1, (double *)M, ecef, out);*/
|
||||
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
out[0] = DEG2RAD(d_lat) * EARTH_RADIUS;
|
||||
//out[0] = std::floor(out[0] * 1000000) / 1000000;
|
||||
out[1] = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
|
||||
//out[1] = std::floor(out[1] * 1000000) / 1000000;
|
||||
out[2] = 0.0;
|
||||
}
|
||||
|
||||
|
|
@ -718,7 +724,8 @@ namespace rosbzz_node{
|
|||
us[2] = data.pos_neigh[it].altitude;
|
||||
double out[3];
|
||||
cvt_rangebearing_coordinates(us, out, cur_pos);
|
||||
buzzuav_closures::set_userspos(out[0], out[1], out[2]);
|
||||
//buzzuav_closures::set_userspos(out[0], out[1], out[2]);
|
||||
buzz_utility::add_user(data.pos_neigh[it].position_covariance_type,data.pos_neigh[it].latitude, data.pos_neigh[it].longitude, data.pos_neigh[it].altitude);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -766,7 +773,7 @@ namespace rosbzz_node{
|
|||
moveMsg.pose.orientation.w = 1;
|
||||
|
||||
// To prevent drifting from stable position.
|
||||
if(fabs(x)>0.1 || fabs(y)>0.1) {
|
||||
if(fabs(x)>0.01 || fabs(y)>0.01) {
|
||||
localsetpoint_nonraw_pub.publish(moveMsg);
|
||||
ROS_INFO("Sent local NON RAW position message!");
|
||||
}
|
||||
|
|
@ -861,10 +868,12 @@ namespace rosbzz_node{
|
|||
/*pass neighbour position to local maintaner*/
|
||||
buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]);
|
||||
/*Put RID and pos*/
|
||||
raw_neighbours_pos_put((int)out[1],raw_neigh_pos);
|
||||
raw_neighbours_pos_put((int)out[1],raw_neigh_pos);
|
||||
/* TODO: remove roscontroller local map array for neighbors */
|
||||
neighbours_pos_put((int)out[1],n_pos);
|
||||
buzzuav_closures::neighbour_pos_callback((int)out[1],n_pos.x,n_pos.y,n_pos.z);
|
||||
delete[] out;
|
||||
buzz_utility::in_msg_process((message_obt+3));
|
||||
buzz_utility::in_msg_append((message_obt+3));
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,144 +0,0 @@
|
|||
!19
|
||||
'updated
|
||||
'update_ack
|
||||
'init
|
||||
'barrier
|
||||
'stigmergy
|
||||
'create
|
||||
'put
|
||||
'id
|
||||
'barrier_val
|
||||
'onconflict
|
||||
'data
|
||||
'stand_by
|
||||
'get
|
||||
'size
|
||||
'neighbors
|
||||
'listen
|
||||
'update_no
|
||||
'ROBOTS
|
||||
'step
|
||||
|
||||
pushs 2
|
||||
pushcn @__label_1
|
||||
gstore
|
||||
pushs 11
|
||||
pushcn @__label_5
|
||||
gstore
|
||||
pushs 18
|
||||
pushcn @__label_9
|
||||
gstore
|
||||
nop
|
||||
|
||||
@__label_0
|
||||
pushs 0 |1,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 1 |1,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gstore |1,20,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
|
||||
@__exitpoint
|
||||
done
|
||||
|
||||
@__label_1
|
||||
pushs 3 |4,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 4 |4,19,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |4,19,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 5 |4,20,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |4,26,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 101 |4,27,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 1 |4,31,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |4,31,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gstore |4,31,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 3 |5,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |5,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 6 |5,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |5,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 7 |5,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |5,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 1 |5,15,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 2 |5,17,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |5,17,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 8 |6,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 0 |6,12,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gstore |6,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 3 |7,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |7,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 9 |7,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |7,18,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushl @__label_2 |7,19,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 1 |10,2,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |10,2,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret0 |12,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
|
||||
@__label_2
|
||||
lload 3 |8,4,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 10 |8,6,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |8,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
lload 2 |8,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 10 |8,16,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |8,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
lt |8,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
lload 3 |8,26,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 10 |8,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |8,33,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
lload 2 |8,37,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 10 |8,39,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |8,44,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
eq |8,44,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
or |8,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
jumpz @__label_3 |8,47,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
lload 2 |8,55,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret1 |8,55,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
jump @__label_4 |9,5,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
@__label_3 |9,5,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
lload 3 |9,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret1 |9,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
@__label_4 |9,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret0 |10,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
|
||||
@__label_5
|
||||
pushs 3 |16,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |16,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 12 |16,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |16,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 7 |16,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |16,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 1 |16,15,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |16,15,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 8 |17,12,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 3 |17,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |17,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 13 |17,22,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |17,26,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 0 |17,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |17,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gstore |17,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 14 |19,9,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |19,9,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 15 |19,10,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
tget |19,16,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 0 |19,24,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |19,24,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushl @__label_6 |20,3,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 2 |23,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |23,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret0 |25,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
|
||||
@__label_6
|
||||
lload 2 |21,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 16 |21,25,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |21,25,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
eq |21,25,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
jumpz @__label_7 |21,27,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 8 |21,38,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushs 17 |21,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |21,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gstore |21,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
@__label_7 |22,3,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret0 |22,4,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
|
||||
@__label_9
|
||||
pushs 11 |30,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
gload |30,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
pushi 0 |30,10,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
callc |30,10,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
ret0 |32,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
|
||||
BIN
src/stand_by.bdb
BIN
src/stand_by.bdb
Binary file not shown.
Binary file not shown.
BIN
src/stand_by.bo
BIN
src/stand_by.bo
Binary file not shown.
Loading…
Reference in New Issue