fix bzz compilation and moved scripts and include

.gitignore

@@ -1,3 +1,7 @@
 src/test*
 .cproject
 .project
+.basm
+.bo
+.bdb
+.bdbg

include/buzzuav_closures.h

@@ -46,7 +46,6 @@ 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*/
@@ -85,7 +84,6 @@ 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);
 
 /*
  * Updates flight status and rc command in Buzz, put it in a tabel to acess it 

include/roscontroller.h

@@ -137,7 +137,7 @@ 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();

script/include/string.bzz

@@ -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;
+}

script/include/vec2.bzz

@@ -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
+}

script/testflocksim.bzz

@@ -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
@@ -147,11 +147,20 @@ function table_print(t) {
     })
 }
 
+########################################
+#
+# MAIN FUNCTIONS
+#
+########################################
+
 # Executed once at init time.
 function init() {
 	s = swarm.create(1)
-#	s.select(1)
 	s.join()
+	v = stigmergy.create(5)
+	t = {}
+	v.put("p",t)
+	v.put("u",1)
 	statef=idle
 	CURSTATE = "IDLE"
 }
@@ -202,15 +211,22 @@ neighbors.listen("cmd",
 	statef()
 	log("Current state: ", CURSTATE)
 	log("Swarm size: ",ROBOTS)
-	log("User position: ", users.range)
+	#log("User position: ", users.range)
 	
 	# Read a value from the structure
-        t = vt.get("p")
-				log(t)       
-				table_print(t)
+        #t = v.get("p")
+				log(users)      
+				table_print(users)
+				if(size(users)>0){
+					tmp = {2 3}
+					v.put("p", tmp)
+					v.put("u",2)
+				}
 				
         # Get the number of keys in the structure
-        log("The vstig has ", vt.size(), " elements")
+        log("The vstig has ", v.size(), " elements")
+				table_print(v.get("p"))
+				log(v.get("u"))
 }
  
 # Executed once when the robot (or the simulator) is reset.

script/teststig.bzz

@@ -0,0 +1,38 @@
+####################################################################################################
+# Updater related
+# This should be here for the updater to work, changing position of code will crash the updater
+####################################################################################################
+updated="update_ack"
+update_no=0
+function updated_neigh(){
+neighbors.broadcast(updated, update_no)
+}
+
+function init(){
+    s = swarm.create(1)
+	s.join()
+    v = stigmergy.create(5)
+    #t= {}
+    #v.put("p",t)
+    v.put("u",1)
+}
+
+function step() {
+	log("Swarm size: ",ROBOTS)
+    log("The vstig has ", v.size(), " elements")
+    log(v.get("u"))
+    if (id==1) {
+        #tmp = { .x=3 }
+        #v.put("p",tmp)
+        v.put("u",2)
+    }
+	#log(v.get("p"))
+}
+
+# Executed once when the robot (or the simulator) is reset.
+function reset() {
+}
+ 
+# Executed once at the end of experiment.
+function destroy() {
+}

src/buzz_utility.cpp

@@ -66,29 +66,29 @@ namespace buzz_utility{
 		//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_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_gload(VM);
+        buzzvm_tget(VM);*/
+        buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
 		buzzvm_push(VM, t);
-        buzzvm_pushi(VM, 2);
-		buzzvm_callc(VM);
+		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_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, "p", 1));
-		//buzzvm_gload(VM);
-        buzzvm_pushi(VM, 1);
-		buzzvm_callc(VM);
+        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 */
@@ -129,7 +129,7 @@ namespace buzz_utility{
 		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);
+		/*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));
@@ -137,7 +137,7 @@ namespace buzz_utility{
 		buzzvm_pushs(VM, buzzvm_string_register(VM, "p", 1));
         buzzvm_push(VM, nbr);
         buzzvm_pushi(VM, 2);
-		buzzvm_callc(VM);
+		buzzvm_callc(VM);*/
 		//buzzvm_gstore(VM);
 		return VM->state;
 	}
@@ -358,7 +358,6 @@ static int create_stig_tables() {
 
    		// usersvstig = stigmergy.create(123)
         buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
-        //buzzvm_gstore(VM);
         // get the stigmergy table from the global scope
         buzzvm_pushs(VM, buzzvm_string_register(VM, "stigmergy", 1));
         buzzvm_gload(VM);
@@ -368,19 +367,23 @@ static int create_stig_tables() {
         // 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_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);
@@ -451,7 +454,7 @@ static int create_stig_tables() {
       		ROS_ERROR("[%i] Error registering hooks", Robot_id);
       		return 0;
    	}
-   	/* Create vstig tables */
+   	/* Create vstig tables 
 	if(create_stig_tables() != BUZZVM_STATE_READY) {
       		buzzvm_destroy(&VM);
       		buzzdebug_destroy(&DBG_INFO);
@@ -459,7 +462,12 @@ static int create_stig_tables() {
 			//cout << "ERROR!!!!   ----------  " << VM->errormsg << endl;
 			//cout << "ERROR!!!!   ----------  " << buzzvm_strerror(VM) << endl;
       		return 0;
-   	}
+   	}*/
+
+	buzzobj_t t = buzzheap_newobj(VM->heap, BUZZTYPE_TABLE);
+	buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
+	buzzvm_push(VM, t);
+	buzzvm_gstore(VM);
         
    	/* Save bytecode file name */
    	BO_FNAME = strdup(bo_filename);
@@ -626,7 +634,6 @@ static int create_stig_tables() {
 	   	buzzuav_closures::buzzuav_update_currentpos(VM);
 	   	buzzuav_closures::update_neighbors(VM);
 	   	update_users();
-	   	buzzuav_closures::buzzuav_update_userspos(VM);
 	   	buzzuav_closures::buzzuav_update_flight_status(VM);
 	}
 
@@ -645,13 +652,14 @@ static int create_stig_tables() {
 		/* Process out messages */
 		buzzvm_process_outmsgs(VM); 
 		/*Print swarm*/
-		buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
+		//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);
+		//int status = 1;
+		//buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
 	}
 
 	/****************************************/

src/buzzuav_closures.cpp

@@ -19,7 +19,6 @@ 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;
@@ -275,19 +274,7 @@ namespace buzzuav_closures{
 								(it->second).z);
 		}
 	}
-	void set_userspos(double latitude, double longitude, double altitude){
-		/*buzz_utility::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));*/
-	   users_pos[0]=latitude;
-	   users_pos[1]=longitude;
-	   users_pos[2]=altitude;
-	}
+
 	/****************************************/
 	int buzzuav_update_currentpos(buzzvm_t vm) {
 	   buzzvm_pushs(vm, buzzvm_string_register(vm, "position", 1));
@@ -307,30 +294,6 @@ namespace buzzuav_closures{
 	   buzzvm_gstore(vm);
 	   return vm->state;
 	}
-	buzzobj_t buzzuav_update_userspos(buzzvm_t vm) {
-		/*map< int, buzz_utility::Pos_struct >::iterator it;
-		for (it=users_map.begin(); it!=users_map.end(); ++it){
-		}*/
-	   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);
-	   buzzobj_t tbl = buzzvm_stack_at(vm, 0);
-	   buzzvm_gstore(vm);
-           
-           return tbl;
-	   //return vm->state;
-	}
 
 	void flight_status_update(uint8_t state){
 	   status=state;

src/roscontroller.cpp

@@ -13,7 +13,9 @@ namespace rosbzz_node{
 		/*Initialize publishers, subscribers and client*/
   		Initialize_pub_sub(n_c);
 		/*Compile the .bzz file to .basm, .bo and .bdbg*/
- 		Compile_bzz();
+		std::string fname = Compile_bzz(bzzfile_name);
+ 		bcfname = fname + ".bo";
+ 		dbgfname = fname + ".bdb";
 		set_bzz_file(bzzfile_name.c_str());
 		/*Initialize variables*/
 		// Solo things
@@ -68,7 +70,8 @@ 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
                         //////////////////////////////////////////////////////
@@ -95,7 +98,7 @@ namespace rosbzz_node{
 				//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*/
@@ -258,28 +261,35 @@ 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 << "bzzc "<<bzzfile_name; //<<" "<<path<< name<<".basm";
-   		system(bzzfile_in_compile.str().c_str());
+		bzzfile_in_compile << "bzzc -I " << path << "script/include/"; //<<" "<<path<< name<<".basm";
 		//bzzfile_in_compile.str("");
         //bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
    		//system(bzzfile_in_compile.str().c_str());
-		bzzfile_in_compile.str("");
-		bzzfile_in_compile <<path<<name<<".bo";
-		bcfname = bzzfile_in_compile.str();
-		bzzfile_in_compile.str("");
-		bzzfile_in_compile <<path<<name<<".bdb";
-		dbgfname = bzzfile_in_compile.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());
+
+		return path + name;
 	}
 	/*----------------------------------------------------
 	/ Publish neighbours pos and id in neighbours pos topic
@@ -311,14 +321,13 @@ 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!");
 		}
 	}
 

src/stand_by.basm

@@ -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