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ROSBuzz_MISTLab
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Merged solo-playground into dev

This commit is contained in:
isvogor 2017-05-12 10:46:00 -04:00
parent 52bed0536f 9dc997e45c
commit b1f24d91f2
45 changed files with 4550 additions and 803 deletions
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8
.gitignore vendored
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@ -1,3 +1,7 @@
src/test*
.cproject
.project
*.cproject
*.project
*.basm
*.bo
*.bdb
*.bdbg

2
include/buzz_update.h
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@ -129,6 +129,8 @@ int get_update_status();
void set_read_update_status();
int compile_bzz();
void updates_set_robots(int robots);
#endif

13
include/buzz_utility.h
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@ -28,13 +28,18 @@ uint16_t* u64_cvt_u16(uint64_t u64);
int buzz_listen(const char* type,
int msg_size);
void neighbour_pos_callback(std::map< int, Pos_struct> neighbours_pos_map);
void add_user(int id, double latitude, double longitude, float altitude);
void update_users();
int make_table(buzzobj_t* t);
int buzzusers_add(int id, double latitude, double longitude, double altitude);
int buzzusers_reset();
int compute_users_rb();
int buzz_update_users_stigmergy(buzzobj_t tbl);
void in_msg_append(uint64_t* payload);
void in_msg_process(uint64_t* payload);
uint64_t* obt_out_msg();
uint64_t* out_msg_process();
void update_sensors();
int buzz_script_set(const char* bo_filename,
const char* bdbg_filename, int robot_id);

11
include/buzzuav_closures.h
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@ -9,6 +9,9 @@
#include "buzz_utility.h"
//#include "roscontroller.h"
#define EARTH_RADIUS (double) 6371000.0
#define DEG2RAD(DEG) ((DEG)*((M_PI)/(180.0)))
namespace buzzuav_closures{
typedef enum {
COMMAND_NIL = 0, // Dummy command
@ -46,12 +49,13 @@ void rc_call(int rc_cmd);
void set_battery(float voltage,float current,float remaining);
/* sets current position */
void set_currentpos(double latitude, double longitude, double altitude);
void set_userspos(double latitude, double longitude, double altitude);
/*retuns the current go to position */
double* getgoto();
/* updates flight status*/
void flight_status_update(uint8_t state);
/* Update neighbors table */
void neighbour_pos_callback(int id, float range, float bearing, float elevation);
void update_neighbors(buzzvm_t vm);
/*Flight status*/
void set_obstacle_dist(float dist[]);
@ -83,8 +87,7 @@ int buzzuav_update_battery(buzzvm_t vm);
* Updates current position in Buzz
*/
int buzzuav_update_currentpos(buzzvm_t vm);
buzzobj_t buzzuav_update_userspos(buzzvm_t vm);
int buzzuav_adduserRB(buzzvm_t vm);
/*
* Updates flight status and rc command in Buzz, put it in a tabel to acess it
* use flight.status for flight status

35
include/roscontroller.h
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@ -52,7 +52,7 @@ public:
void RosControllerRun();
private:
struct num_robot_count
struct num_robot_count
{
uint8_t history[10];
uint8_t index=0;
@ -61,17 +61,16 @@ private:
}; typedef struct num_robot_count Num_robot_count ;
// WGS84 constants
double equatorial_radius = 6378137.0;
double flattening = 1.0/298.257223563;
double excentrity2 = 2*flattening - flattening*flattening;
// default reference position
double DEFAULT_REFERENCE_LATITUDE = 45.457817;
double DEFAULT_REFERENCE_LONGITUDE = -73.636075;
double cur_pos[3];
double home[3];
struct gps
{
double longitude=0.0;
double latitude=0.0;
float altitude=0.0;
}; typedef struct gps GPS ;
GPS target, home, cur_pos;
double cur_rel_altitude;
uint64_t payload;
std::map< int, buzz_utility::Pos_struct> neighbours_pos_map;
std::map< int, buzz_utility::Pos_struct> raw_neighbours_pos_map;
@ -137,7 +136,7 @@ private:
void Rosparameters_get(ros::NodeHandle& n_c_priv);
/*compiles buzz script from the specified .bzz file*/
void Compile_bzz();
std::string Compile_bzz(std::string bzzfile_name);
/*Flight controller service call*/
void flight_controller_service_call();
@ -158,13 +157,17 @@ private:
/*Puts raw neighbours position in lat.,long.,alt. inside raw_neigbours_pos_map*/
void raw_neighbours_pos_put(int id, buzz_utility::Pos_struct pos_arr );
/*Set the current position of the robot callback*/
/*Set the current position of the robot callback*/
void set_cur_pos(double latitude,
double longitude,
double altitude);
/*convert from spherical to cartesian coordinate system callback */
void cvt_rangebearing_coordinates(double neighbours_pos_payload [], double out[], double pos[]);
void cvt_ned_coordinates(double neighbours_pos_payload [], double out[], double pos[]);
void gps_rb(GPS nei_pos, double out[]);
void gps_ned_cur(float &ned_x, float &ned_y, GPS t);
void gps_ned_home(float &ned_x, float &ned_y);
void gps_convert_ned(float &ned_x, float &ned_y,
double gps_t_lon, double gps_t_lat,
double gps_r_lon, double gps_r_lat);
/*battery status callback*/
void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
@ -177,7 +180,7 @@ private:
/*current position callback*/
void current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg);
void users_pos(const rosbuzz::neigh_pos msg);
void users_pos(const rosbuzz::neigh_pos msg);
/*current relative altitude callback*/
void current_rel_alt(const std_msgs::Float64::ConstPtr& msg);

28
launch/rosbuzz-solo.launch
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@ -20,23 +20,37 @@
<!-- set streaming rate -->
<!-- node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" / -->
<!-- run xbee -->
<!-- run xbee>
<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" / -->
<!-- xmee_mav Drone type and Commununication Mode -->
<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
<!-- xmee_mav Topics and Services Names -->
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/testflockfev.bzz" />
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/testflockfev.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="xbee_status_srv" value="/xbee_status"/>
<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/stand_by.bo"/>
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
<param name="out_payload" value="outMavlink"/>
<param name="xbee_status_srv" value="xbee_status"/>
<param name="xbee_plugged" value="true"/>
<param name="name" value="solos1"/>
<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/stand_by.bzz"/>
</node>
</launch>

14
launch/rosbuzz-testing-sitl.launch
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@ -27,13 +27,15 @@
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testflockfev.bzz" />
<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="xbee_status_srv" value="/xbee_status"/>
<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
<param name="out_payload" value="outMavlink"/>
<param name="xbee_status_srv" value="xbee_status"/>
<param name="xbee_plugged" value="false"/>
<param name="name" value="solos1"/>
<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/script/stand_by.bzz"/>
</node>
<!--

26
launch/rosbuzzm100.launch
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@ -1,18 +1,16 @@
<!-- Launch file for ROSBuzz -->
<launch>
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/test1.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="fcclient_name" value="/dji_mavcmd" />
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="xbee_status_srv" value="/xbee_status"/>
<param name="robot_id" value="3"/>
<param name="No_of_Robots" value="3"/>
<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
</node>
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen">
<rosparam file="$(find rosbuzz)/launch/launch_config/m100.yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
<param name="out_payload" value="outMavlink"/>
<param name="xbee_plugged" value="true"/>
<param name="name" value="m1001"/>
<param name="xbee_status_srv" value="xbee_status"/>
<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
</node>
</launch>

92
script/include/string.bzz Normal file
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@ -0,0 +1,92 @@
#
# Returns the string character at the given position.
# PARAM s: The string
# PARAM n: The position of the wanted character
# RETURN The character at the wanted position, or nil
#
string.charat = function(s, n) {
return string.sub(s, n, n+1)
}
#
# Returns the index of the first occurrence of the given string m
# 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 first match, or nil
#
string.indexoffirst = function(s, m) {
var ls = string.length(s)
var lm = string.length(m)
var i = 0
while(i < ls-lm+1) {
if(string.sub(s, i, i+lm) == m) return i
i = i + 1
}
return nil
}
#
# Returns the index of the last occurrence of the given string m
# 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
#
string.indexoflast = function(s, m) {
var ls = string.length(s)
var lm = string.length(m)
var i = ls - lm + 1
while(i >= 0) {
if(string.sub(s, i, i+lm) == m) return i
i = i - 1
}
return nil
}
# Splits a string s using the delimiters in d. The string list is
# returned in a table indexed by value (starting at 0).
# PARAM s: The string
# PARAM d: A string containing the delimiters
# RETURN: A table containing the tokens
string.split = function(s, d) {
var i1 = 0 # index to move along s (token start)
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)
}
# Return token list
return t;
}

107
script/include/vec2.bzz Normal file
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@ -0,0 +1,107 @@
#
# Create a new namespace for vector2 functions
#
math.vec2 = {}
#
# Creates a new vector2.
# PARAM x: The x coordinate.
# PARAM y: The y coordinate.
# RETURN: A new vector2.
#
math.vec2.new = function(x, y) {
return { .x = x, .y = y }
}
#
# Creates a new vector2 from polar coordinates.
# PARAM l: The length of the vector2.
# PARAM a: The angle of the vector2.
# RETURN: A new vector2.
#
math.vec2.newp = function(l, a) {
return {
.x = l * math.cos(a),
.y = l * math.sin(a)
}
}
#
# Calculates the length of the given vector2.
# PARAM v: The vector2.
# 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.
# PARAM v: The vector2.
# RETURN: The angle of the vector.
#
math.vec2.angle = function(v) {
return math.atan2(v.y, v.x)
}
#
# Returns the normalized form of a vector2.
# 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
}
}
#
# Calculates v1 + v2.
# PARAM v1: A vector2.
# PARAM v2: A vector2.
# RETURN: v1 + v2
#
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
}

2
src/stand_by.bzz → script/stand_by.bzz
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@ -9,6 +9,8 @@ if(r. data < l. data or (r. data == l. data )) return l
else return r
})
s = swarm.create(1)
s.join()
}
function stand_by(){

0
src/test.bzz → script/test.bzz
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1
src/test1.bzz → script/test1.bzz
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@ -1,4 +1,3 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"

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script/testalone.bdb Normal file
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script/testalone.bo Normal file
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6
src/testalone.bzz → script/testalone.bzz
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@ -1,7 +1,8 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
#include "/home/ubuntu/buzz/src/include/vec2.bzz"
#include "vec2.bzz"
####################################################################################################
# Updater related
# This should be here for the updater to work, changing position of code will crash the updater
@ -20,7 +21,7 @@ function init() {
# Executed at each time step.
function step() {
log("Altitude: ", position.altitude)
if(flight.rc_cmd==22) {
flight.rc_cmd=0
uav_takeoff(TARGET_ALTITUDE)
@ -31,7 +32,6 @@ function step() {
flight.rc_cmd=0
uav_goto()
}
# test moveto cmd
#if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0)
# uav_moveto(0.5, 0.5)

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script/testflockfev.bdb Normal file
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57
src/testflockfev.bzz → script/testflockfev.bzz
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@ -1,5 +1,6 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
#include "vec2.bzz"
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# Updater related
@ -11,12 +12,12 @@ function updated_neigh(){
neighbors.broadcast(updated, update_no)
}
TARGET_ALTITUDE = 3.0
TARGET_ALTITUDE = 5.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
TARGET = 12.0 #0.000001001
EPSILON = 3.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
@ -43,15 +44,18 @@ 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 {
timeW = timeW+1
uav_moveto(0.0,0.0)
}
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else if(timeW>=WAIT_TIMEOUT/2) {
# timeW = timeW+1
# uav_moveto(0.06,0.0)
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.06)
# }
}
########################################
@ -142,11 +146,32 @@ function land() {
}
}
function users_save(t) {
if(size(t)>0) {
foreach(t, function(id, tab) {
#log("id: ",id," Latitude ", tab.la, "Longitude ", tab.lo)
add_user_rb(id,tab.la,tab.lo)
})
}
}
function table_print(t) {
if(size(t)>0) {
foreach(t, function(u, tab) {
log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
})
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
vt = stigmergy.create(5)
t = {}
vt.put("p",t)
statef=idle
CURSTATE = "IDLE"
}
@ -197,6 +222,14 @@ neighbors.listen("cmd",
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
# Check local users and push to v.stig
if(size(users.dataG)>0)
vt.put("p", users.dataG)
# Save locally the users and print RG
users_save(vt.get("p"))
table_print(users.dataL)
}
# Executed once when the robot (or the simulator) is reset.

216
script/testflockfev.bzz.save Normal file
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@ -0,0 +1,216 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 12.0 #0.000001001
EPSILON = 6.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else if(timeW>=WAIT_TIMEOUT/2) {
# timeW = timeW+1
# uav_moveto(0.06,0.0)
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.06)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
s.join()
statef=idle
CURSTATE = "IDLE"
vt = stigmergy.cerate(5)
t = {}
vt.put("p",t)
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
if(users.dataG)
vt.put("p",users.dataG)
table_print(users.dataL)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

0
src/testflockfev_barrier.bzz → script/testflockfev_barrier.bzz
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43
src/testflocksim.bzz → script/testflocksim.bzz
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@ -1,6 +1,6 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
include "vec2.bzz"
####################################################################################################
# Updater related
# This should be here for the updater to work, changing position of code will crash the updater
@ -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 +141,37 @@ function land() {
}
}
function users_save(t) {
if(size(t)>0) {
foreach(t, function(id, tab) {
#log("id: ",id," Latitude ", tab.la, "Longitude ", tab.lo)
add_user_rb(id,tab.la,tab.lo)
})
}
}
# printing the contents of a table: a custom function
function table_print(t) {
if(size(t)>0) {
foreach(t, function(u, tab) {
log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
})
}
}
########################################
#
# MAIN FUNCTIONS
#
########################################
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
vt = stigmergy.create(5)
t = {}
vt.put("p",t)
statef=idle
CURSTATE = "IDLE"
}
@ -196,12 +222,17 @@ neighbors.listen("cmd",
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
log("User position: ", users.range)
# Read a value from the structure
#x = usersvstig.get(46)
log(users)
#users_print(users.dataG)
if(size(users.dataG)>0)
vt.put("p", users.dataG)
# Get the number of keys in the structure
#log("The vstig has ", usersvstig.size(), " elements")
log("The vstig has ", vt.size(), " elements")
users_save(vt.get("p"))
table_print(users.dataL)
}
# Executed once when the robot (or the simulator) is reset.

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# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
log("Time: ", timeW)
if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
timeW =0
statef=land
} else {
if(timeW >= (WAIT_TIMEOUT / 2)){
uav_moveto(0.03,0.0)
} else {
uav_moveto(0.0,0.03)
}
timeW = timeW+1
}
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 300
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS, hexagon)
#barrier_set(ROBOTS, land);
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

39
script/teststig.bzz Normal file
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@ -0,0 +1,39 @@
include "vec2.bzz"
####################################################################################################
# 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() {
}

92
script/update_sim/include/string.bzz Normal file
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@ -0,0 +1,92 @@
#
# Returns the string character at the given position.
# PARAM s: The string
# PARAM n: The position of the wanted character
# RETURN The character at the wanted position, or nil
#
string.charat = function(s, n) {
return string.sub(s, n, n+1)
}
#
# Returns the index of the first occurrence of the given string m
# 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 first match, or nil
#
string.indexoffirst = function(s, m) {
var ls = string.length(s)
var lm = string.length(m)
var i = 0
while(i < ls-lm+1) {
if(string.sub(s, i, i+lm) == m) return i
i = i + 1
}
return nil
}
#
# Returns the index of the last occurrence of the given string m
# 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
#
string.indexoflast = function(s, m) {
var ls = string.length(s)
var lm = string.length(m)
var i = ls - lm + 1
while(i >= 0) {
if(string.sub(s, i, i+lm) == m) return i
i = i - 1
}
return nil
}
# Splits a string s using the delimiters in d. The string list is
# returned in a table indexed by value (starting at 0).
# PARAM s: The string
# PARAM d: A string containing the delimiters
# RETURN: A table containing the tokens
string.split = function(s, d) {
var i1 = 0 # index to move along s (token start)
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)
}
# Return token list
return t;
}

107
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@ -0,0 +1,107 @@
#
# Create a new namespace for vector2 functions
#
math.vec2 = {}
#
# Creates a new vector2.
# PARAM x: The x coordinate.
# PARAM y: The y coordinate.
# RETURN: A new vector2.
#
math.vec2.new = function(x, y) {
return { .x = x, .y = y }
}
#
# Creates a new vector2 from polar coordinates.
# PARAM l: The length of the vector2.
# PARAM a: The angle of the vector2.
# RETURN: A new vector2.
#
math.vec2.newp = function(l, a) {
return {
.x = l * math.cos(a),
.y = l * math.sin(a)
}
}
#
# Calculates the length of the given vector2.
# PARAM v: The vector2.
# 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.
# PARAM v: The vector2.
# RETURN: The angle of the vector.
#
math.vec2.angle = function(v) {
return math.atan2(v.y, v.x)
}
#
# Returns the normalized form of a vector2.
# 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
}
}
#
# Calculates v1 + v2.
# PARAM v1: A vector2.
# PARAM v2: A vector2.
# RETURN: v1 + v2
#
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
}

209
script/update_sim/old_testflockfev1.bzz Normal file
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@ -0,0 +1,209 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.0)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

208
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@ -0,0 +1,208 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.0)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

240
script/update_sim/testflockfev1.bzz Normal file
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# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 12.0 #0.000001001
EPSILON = 3.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else if(timeW>=WAIT_TIMEOUT/2) {
# timeW = timeW+1
# uav_moveto(0.06,0.0)
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.06)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
function users_save(t) {
if(size(t)>0) {
foreach(t, function(id, tab) {
#log("id: ",id," Latitude ", tab.la, "Longitude ", tab.lo)
add_user_rb(id,tab.la,tab.lo)
})
}
}
function table_print(t) {
if(size(t)>0) {
foreach(t, function(u, tab) {
log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
})
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
s.join()
vt = stigmergy.create(5)
t = {}
vt.put("p",t)
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
# Check local users and push to v.stig
if(size(users.dataG)>0)
vt.put("p", users.dataG)
# Save locally the users and print RG
users_save(vt.get("p"))
table_print(users.dataL)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

240
script/update_sim/testflockfev2.bzz Normal file
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# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 12.0 #0.000001001
EPSILON = 3.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else if(timeW>=WAIT_TIMEOUT/2) {
# timeW = timeW+1
# uav_moveto(0.06,0.0)
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.06)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
function users_save(t) {
if(size(t)>0) {
foreach(t, function(id, tab) {
#log("id: ",id," Latitude ", tab.la, "Longitude ", tab.lo)
add_user_rb(id,tab.la,tab.lo)
})
}
}
function table_print(t) {
if(size(t)>0) {
foreach(t, function(u, tab) {
log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
})
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
s.join()
vt = stigmergy.create(5)
t = {}
vt.put("p",t)
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
# Check local users and push to v.stig
if(size(users.dataG)>0)
vt.put("p", users.dataG)
# Save locally the users and print RG
users_save(vt.get("p"))
table_print(users.dataL)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

208
script/update_sim/testflockfev5.bzz Normal file
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# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.0)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

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script/update_sim/testflockfev6.bzz Normal file
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# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.0)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

208
script/update_sim/testflockfev7.bzz Normal file
View File

@ -0,0 +1,208 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# 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)
}
TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function hexagon() {
statef=hexagon
CURSTATE = "HEXAGON"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
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)
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0
# statef=land
# } else {
# timeW = timeW+1
# uav_moveto(0.0,0.0)
# }
}
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
# ROBOTS = 3 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
WAIT_TIMEOUT = 200
timeW=0
function barrier_wait(threshold, transf) {
barrier.get(id)
CURSTATE = "BARRIERWAIT"
if(barrier.size() >= threshold) {
barrier = nil
transf()
} else if(timeW>=WAIT_TIMEOUT) {
barrier = nil
statef=land
timeW=0
}
timeW = timeW+1
}
# flight status
function idle() {
statef=idle
CURSTATE = "IDLE"
}
function takeoff() {
CURSTATE = "TAKEOFF"
statef=takeoff
log("TakeOff: ", flight.status)
log("Relative position: ", position.altitude)
if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
barrier_set(ROBOTS,hexagon)
barrier_ready()
#statef=hexagon
}
else {
log("Altitude: ", TARGET_ALTITUDE)
neighbors.broadcast("cmd", 22)
uav_takeoff(TARGET_ALTITUDE)
}
}
function land() {
CURSTATE = "LAND"
statef=land
log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){
neighbors.broadcast("cmd", 21)
uav_land()
}
else {
timeW=0
barrier = nil
statef=idle
}
}
# Executed once at init time.
function init() {
s = swarm.create(1)
# s.select(1)
s.join()
statef=idle
CURSTATE = "IDLE"
}
# Executed at each time step.
function step() {
if(flight.rc_cmd==22) {
log("cmd 22")
flight.rc_cmd=0
statef = takeoff
CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
log("cmd 21")
log("To land")
flight.rc_cmd=0
statef = land
CURSTATE = "LAND"
neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) {
flight.rc_cmd=0
statef = idle
uav_goto()
} else if(flight.rc_cmd==400) {
flight.rc_cmd=0
uav_arm()
neighbors.broadcast("cmd", 400)
} else if (flight.rc_cmd==401){
flight.rc_cmd=0
uav_disarm()
neighbors.broadcast("cmd", 401)
}
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and CURSTATE=="IDLE") {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and CURSTATE=="IDLE") {
uav_arm()
} else if(value==401 and CURSTATE=="IDLE"){
uav_disarm()
}
}
)
statef()
log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS)
}
# Executed once when the robot (or the simulator) is reset.
function reset() {
}
# Executed once at the end of experiment.
function destroy() {
}

361
src/buzz_update.cpp
View File

@ -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);
}

605
src/buzz_utility.cpp
View File

@ -6,7 +6,7 @@
* @copyright 2016 MistLab. All rights reserved.
*/
#include <buzz_utility.h>
#include "buzz_utility.h"
namespace buzz_utility{
@ -17,40 +17,139 @@ namespace buzz_utility{
static char* BO_FNAME = 0;
static uint8_t* BO_BUF = 0;
static buzzdebug_t DBG_INFO = 0;
static uint8_t MSG_SIZE = 50; // Only 100 bytes of Buzz messages every step
static uint8_t MSG_SIZE = 250; // 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 std::vector<uint8_t*> IN_MSG;
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);
}
}/*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, "dataG", 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, "dataG", 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() {
@ -68,44 +167,57 @@ 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 */
/* Go through messages and append them to the vector */
uint16_t* data= u64_cvt_u16((uint64_t)payload[0]);
/*Size is at first 2 bytes*/
uint16_t size=data[0]*sizeof(uint64_t);
delete[] data;
uint8_t* pl =(uint8_t*)malloc(size);
memset(pl, 0,size);
/* Copy packet into temporary buffer */
memcpy(pl, payload ,size);
/*size and robot id read*/
size_t tot = sizeof(uint32_t);
/* Go through the messages until there's nothing else to read */
uint16_t unMsgSize=0;
/*Obtain Buzz messages only when they are present*/
do {
/* Get payload size */
unMsgSize = *(uint16_t*)(pl + tot);
tot += sizeof(uint16_t);
/* Append message to the Buzz input message queue */
if(unMsgSize > 0 && unMsgSize <= size - tot ) {
buzzinmsg_queue_append(VM,
buzzmsg_payload_frombuffer(pl +tot, unMsgSize));
tot += unMsgSize;
}
}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
free(pl);
/* Process messages */
/* Copy packet into temporary buffer */
memcpy(pl, payload ,size);
IN_MSG.push_back(pl);
}
void in_message_process(){
while(!IN_MSG.empty()){
uint8_t* first_INmsg = (uint8_t*)IN_MSG.front();
/* Go through messages and append them to the FIFO */
uint16_t* data= u64_cvt_u16((uint64_t)first_INmsg[0]);
/*Size is at first 2 bytes*/
uint16_t size=data[0]*sizeof(uint64_t);
delete[] data;
/*size and robot id read*/
size_t tot = sizeof(uint32_t);
/* Go through the messages until there's nothing else to read */
uint16_t unMsgSize=0;
/*Obtain Buzz messages push it into queue*/
do {
/* Get payload size */
unMsgSize = *(uint16_t*)(first_INmsg + tot);
tot += sizeof(uint16_t);
/* Append message to the Buzz input message queue */
if(unMsgSize > 0 && unMsgSize <= size - tot ) {
buzzinmsg_queue_append(VM,
buzzmsg_payload_frombuffer(first_INmsg +tot, unMsgSize));
tot += unMsgSize;
}
}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
IN_MSG.erase(IN_MSG.begin());
free(first_INmsg);
}
/* Process messages VM call*/
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(){
/* Process out messages */
buzzvm_process_outmsgs(VM);
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 +263,8 @@ 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 +289,7 @@ namespace buzz_utility{
VM->pc,
VM->errormsg);
}
return msg;
return msg;
}
/****************************************/
@ -189,15 +301,15 @@ 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 +324,11 @@ 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;
buzzvm_pushs(VM, buzzvm_string_register(VM, "add_user_rb", 1));
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_adduserRB));
buzzvm_gstore(VM);
return VM->state;
}
/**************************************************/
@ -224,15 +340,15 @@ 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 +363,142 @@ 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;
buzzvm_pushs(VM, buzzvm_string_register(VM, "add_user_rb", 1));
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
buzzvm_gstore(VM);
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);*/
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);
buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
buzzvm_gload(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "dataG", 1));
buzzvm_pusht(VM);
buzzobj_t data = buzzvm_stack_at(VM, 1);
buzzvm_tput(VM);
buzzvm_push(VM, data);
buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
buzzvm_gload(VM);
buzzvm_pushs(VM, buzzvm_string_register(VM, "dataL", 1));
buzzvm_pusht(VM);
data = buzzvm_stack_at(VM, 1);
buzzvm_tput(VM);
buzzvm_push(VM, data);
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);
/* Save bytecode file name */
BO_FNAME = strdup(bo_filename);
@ -336,29 +508,16 @@ 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 +545,28 @@ 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 +594,21 @@ 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 +622,74 @@ 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 available messages*/
in_message_process();
/*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);
}
/*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 +729,8 @@ 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 +741,15 @@ 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);
}
}

137
src/buzzuav_closures.cpp
View File

@ -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;
/****************************************/
/****************************************/
@ -74,7 +77,7 @@ namespace buzzuav_closures{
/*----------------------------------------/
/ Compute GPS destination from current position and desired Range and Bearing
/----------------------------------------*/
#define EARTH_RADIUS (double) 6371000.0
void gps_from_rb(double range, double bearing, double out[3]) {
double lat = cur_pos[0]*M_PI/180.0;
double lon = cur_pos[1]*M_PI/180.0;
@ -85,6 +88,16 @@ namespace buzzuav_closures{
out[2] = height; //constant height.
}
void rb_from_gps(double nei[], double out[], double cur[]){
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[1] = atan2(ned_y,ned_x);
out[2] = 0.0;
}
// Hard coded GPS position in Park Maisonneuve, Montreal, Canada for simulation tests
double hcpos1[4] = {45.564489, -73.562537, 45.564140, -73.562336};
double hcpos2[4] = {45.564729, -73.562060, 45.564362, -73.562958};
@ -105,17 +118,81 @@ namespace buzzuav_closures{
float dx = buzzvm_stack_at(vm, 2)->f.value;
double d = sqrt(dx*dx+dy*dy); //range
goto_pos[0]=dx;
goto_pos[1]=dy;
goto_pos[2]=height;
goto_pos[1]=dy;
goto_pos[2]=height;
/*double b = atan2(dy,dx); //bearing
printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
gps_from_rb(d, b, goto_pos);
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;*/
printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
printf(" Buzz requested Move To: x: %.7f , y: %.7f, z: %.7f \n",goto_pos[0], goto_pos[1], goto_pos[2]);
buzz_cmd= COMMAND_MOVETO; // TO DO what should we use
return buzzvm_ret0(vm);
}
int users_add2localtable(buzzvm_t vm, int id, float range, float bearing) {
if(vm->state != BUZZVM_STATE_READY) return vm->state;
buzzvm_pushs(vm, buzzvm_string_register(vm, "users", 1));
buzzvm_gload(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, "dataL", 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, "dataL", 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 range */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "r", 1));
buzzvm_pushf(vm, range);
buzzvm_tput(vm);
/* Insert longitude */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "b", 1));
buzzvm_pushf(vm, bearing);
buzzvm_tput(vm);
/* Save entry into data table */
buzzvm_push(vm, entry);
buzzvm_tput(vm);
//printf("\tBuzz_closure saved new user: %i (%f,%f)\n", id, range, bearing);
return vm->state;
}
int buzzuav_adduserRB(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 3);
buzzvm_lload(vm, 1); /* longitude */
buzzvm_lload(vm, 2); /* latitude */
buzzvm_lload(vm, 3); /* id */
buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
double tmp[3];
tmp[0] = buzzvm_stack_at(vm, 2)->f.value;
tmp[1] = buzzvm_stack_at(vm, 1)->f.value;
tmp[2] = 0.0;
int uid = buzzvm_stack_at(vm, 3)->i.value;
double rb[3];
rb_from_gps(tmp, rb, cur_pos);
//printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
return users_add2localtable(vm, uid, rb[0], rb[1]);
}
/*----------------------------------------/
/ Buzz closure to go directly to a GPS destination from the Mission Planner
/----------------------------------------*/
@ -245,11 +322,33 @@ 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));
@ -269,26 +368,6 @@ 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;

316
src/roscontroller.cpp
View File

@ -7,13 +7,20 @@ namespace rosbzz_node{
---------------*/
roscontroller::roscontroller(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv)
{
home[0]=0.0;home[1]=0.0;home[2]=0.0;
target[0]=0.0;target[1]=0.0;target[2]=0.0;
cur_pos[0]=0.0;cur_pos[1]=0.0;cur_pos[2]=0.0;
ROS_INFO("Buzz_node");
/*Obtain parameters from ros parameter server*/
Rosparameters_get(n_c_priv);
/*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 +29,23 @@ 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
if(xbeeplugged)
GetRobotId();
else
robot_id=strtol(robot_name.c_str() + 5, NULL, 10);;
// Get Robot Id - wait for Xbee to be started
setpoint_counter = 0;
fcu_timeout = TIMEOUT;
home[0]=0.0;home[1]=0.0;home[2]=0.0;
while(cur_pos[2] == 0.0f){
ROS_INFO("Waiting for GPS. ");
ros::Duration(0.5).sleep();
ros::spinOnce();
}
if(xbeeplugged){
GetRobotId();
} else {
robot_id= strtol(robot_name.c_str() + 5, NULL, 10);
}
}
/*---------------------
@ -47,8 +63,9 @@ namespace rosbzz_node{
void roscontroller::GetRobotId()
{
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");
@ -67,38 +84,39 @@ 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())
{
/*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();
@ -107,10 +125,10 @@ namespace rosbzz_node{
else
fcu_timeout -= 1/10;
/*sleep for the mentioned loop rate*/
timer_step+=1;
timer_step+=1;
maintain_pos(timer_step);
std::cout<< "HOME: " << home[0] << ", " << home[1];
}
/* Destroy updater and Cleanup */
//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
@ -150,7 +168,10 @@ 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);
std::cout<< "////////////////// " << xbeesrv_name;
GetSubscriptionParameters(n_c);
// initialize topics to null?
@ -218,8 +239,8 @@ 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);
@ -257,28 +278,35 @@ 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 << "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
@ -310,14 +338,13 @@ 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!");
}
}
@ -333,7 +360,7 @@ 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));
@ -357,7 +384,7 @@ 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;
@ -393,7 +420,7 @@ namespace rosbzz_node{
payload_pub.publish(update_packets);
multi_msg=false;
delete[] payload_64;
}*/
}
}
/*---------------------------------------------------------------------------------
@ -424,12 +451,19 @@ namespace rosbzz_node{
break;
case mavros_msgs::CommandCode::NAV_TAKEOFF:
if(!armstate){
SetMode("LOITER", 0);
armstate = 1;
Arm();
ros::Duration(0.5).sleep();
// Registering HOME POINT.
home[0] = cur_pos[0];home[1] = cur_pos[1];home[2] = cur_pos[2];
// Registering HOME POINT.
if(home[0] == 0){
//test #1: set home only once -- ok
home[0] = cur_pos[0]; home[1] = cur_pos[1]; home[2] = cur_pos[2];
//test #2: set home mavros -- nope
//SetMavHomePosition(cur_pos[0], cur_pos[1], cur_pos[2]);
}
}
if(current_mode != "GUIDED")
SetMode("GUIDED", 2000); // for real solo, just add 2000ms delay (it should always be in loiter after arm/disarm)
@ -490,7 +524,7 @@ 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));
}
/*-----------------------------------------------------------------------------------
@ -499,7 +533,7 @@ 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));
}
@ -509,18 +543,15 @@ namespace rosbzz_node{
void roscontroller::set_cur_pos(double latitude,
double longitude,
double altitude){
cur_pos [0] =latitude;
cur_pos [1] =longitude;
cur_pos [2] =altitude;
cur_pos [0] = latitude;
cur_pos [1] = longitude;
cur_pos [2] = altitude;
}
/*-----------------------------------------------------------
/ Compute Range and Bearing of a neighbor in a local reference frame
/ from GPS coordinates
----------------------------------------------------------- */
#define EARTH_RADIUS (double) 6371000.0
#define DEG2RAD(DEG) ((DEG)*((M_PI)/(180.0)))
void ecef2ned_matrix(const double ref_ecef[3], double M[3][3]) {
double hyp_az, hyp_el;
double sin_el, cos_el, sin_az, cos_az;
@ -557,95 +588,92 @@ 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;
}
@ -709,7 +737,8 @@ 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);
}
}
@ -743,12 +772,14 @@ namespace rosbzz_node{
moveMsg.header.frame_id = 1;
double local_pos[3];
cvt_ned_coordinates(cur_pos,local_pos,home);
ROS_INFO("[%i] ROSBuzz Home: %.7f, %.7f", robot_id, home[0], home[1]);
ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]);
// ROS_INFO("[%i] ROSBuzz Home: %.7f, %.7f", robot_id, home[0], home[1]);
// ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]);
/*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/
moveMsg.pose.position.x = local_pos[1]+y;
moveMsg.pose.position.y = local_pos[0]+x;
target[0]+=y;
target[1]+=x;
moveMsg.pose.position.x = target[0];//local_pos[1]+y;
moveMsg.pose.position.y = target[1];
moveMsg.pose.position.z = z;
moveMsg.pose.orientation.x = 0;
@ -757,7 +788,7 @@ 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!");
}
@ -780,6 +811,7 @@ namespace rosbzz_node{
}
}
void roscontroller::SetStreamRate(int id, int rate, int on_off){
mavros_msgs::StreamRate message;
message.request.stream_id = id;
@ -851,10 +883,12 @@ 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));
}
}

144
src/stand_by.basm
View File

@ -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

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src/stand_by.bdb
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src/stand_by.bdbg
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src/stand_by.bo
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