# listens to commands from the remote control (web, commandline, rcclient node, etc)
function rc_cmd_listen() {
	if(BVMSTATE=="TURNEDOFF") {
		if(flight.rc_cmd==400) {	#ARM
			flight.rc_cmd=0
			arm()
			neighbors.broadcast("cmd", 400)
		} else if (flight.rc_cmd==401){	#DISARM
			flight.rc_cmd=0
			disarm()
			neighbors.broadcast("cmd", 401)
		} else if(flight.rc_cmd==22) {	#TAKEOFF\LAUNCH
			flight.rc_cmd=0
			BVMSTATE = "LAUNCH"
			neighbors.broadcast("cmd", 22)
		} else if (flight.rc_cmd==777){	#SYNC
			flight.rc_cmd=0
			reinit_time_sync()
			neighbors.broadcast("cmd", 777)
		}
	} else {
		if(flight.rc_cmd==21) {
			flight.rc_cmd=0
			BVMSTATE = "STOP"
			neighbors.broadcast("cmd", 21)
		} else if(BVMSTATE!="BARRIERWAIT" and BVMSTATE!="LAUNCH") {
			 if(flight.rc_cmd==20) {
				flight.rc_cmd=0
				destroyGraph()
				check_rc_wp()
				AUTO_LAUNCH_STATE = "IDLE"
				barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
				barrier_ready(20)
				neighbors.broadcast("cmd", 20)
			} else if (flight.rc_cmd==666){
				flight.rc_cmd=0
				stattab_send()
			} else if (flight.rc_cmd==900){
				flight.rc_cmd=0
				barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
				barrier_ready(900)
				neighbors.broadcast("cmd", 900)
			} else if (flight.rc_cmd==901){
				flight.rc_cmd=0
				destroyGraph()
				check_rc_wp()
				barrier_set(ROBOTS, "DEPLOY", BVMSTATE, 901)
				barrier_ready(901)
				neighbors.broadcast("cmd", 901)
			} else if (flight.rc_cmd==902){
				flight.rc_cmd=0
				destroyGraph()
				check_rc_wp()
				barrier_set(ROBOTS, "WAYPOINT", BVMSTATE, 902)
				barrier_ready(902)
				neighbors.broadcast("cmd", 902)
			} else if (flight.rc_cmd==903){
				flight.rc_cmd=0
				destroyGraph()
				resetWP()
				check_rc_wp()
				barrier_set(ROBOTS, "PURSUIT", BVMSTATE, 903)
				barrier_ready(903)
				neighbors.broadcast("cmd", 903)
			} else if (flight.rc_cmd==904){
				flight.rc_cmd=0
				destroyGraph()
				resetWP()
				barrier_set(ROBOTS, "IDLE", BVMSTATE, 904)
				barrier_ready(904)
				neighbors.broadcast("cmd", 904)
			}
		}
	}
}

# listens to neighbors broadcasting commands
function nei_cmd_listen() {
    neighbors.listen("cmd",
			function(vid, value, rid) {
				print("Got (", vid, ",", value, ") #", rid, "(", BVMSTATE, ")")
				if(BVMSTATE=="TURNEDOFF") {
					if(value==22) {
						BVMSTATE = "LAUNCH"
					} else if(value==400) {
						arm()
					} else if(value==401){
						disarm()
					} else if(value==777){
						reinit_time_sync()
					}
				} else {
					if(value==21 ) {
						BVMSTATE = "STOP"
						#neighbors.broadcast("cmd", 777)
					}else if(BVMSTATE!="BARRIERWAIT" and BVMSTATE!="LAUNCH") {
						if(value==20 and BVMSTATE!="GOHOME") {
							AUTO_LAUNCH_STATE = "IDLE"
							resetWP()
							if(BVMSTATE!=AUTO_LAUNCH_STATE)
								barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
							#barrier_ready(20)
						} else if(value==900 and BVMSTATE!="TASK_ALLOCATE"){	# Shapes
							barrier_set(ROBOTS, "TASK_ALLOCATE", BVMSTATE, 900)
							#barrier_ready(900)
							#neighbors.broadcast("cmd", 900)
						} else if(value==901 and BVMSTATE!="DEPLOY" ){	# Voronoi
							destroyGraph()
							barrier_set(ROBOTS, "DEPLOY", BVMSTATE, 901)
							#barrier_ready(901)
							#neighbors.broadcast("cmd", 901)
						} else if(value==902 and BVMSTATE!="WAYPOINT" and BVMSTATE!="TURNEDOFF"){	# Waypoint
							destroyGraph()
							barrier_set(ROBOTS, "WAYPOINT", BVMSTATE, 902)
							#barrier_ready(902)
							#neighbors.broadcast("cmd", 902)
						} else if(value==903 and BVMSTATE!="PURSUIT" and BVMSTATE!="TURNEDOFF"){	# Pursuit
							destroyGraph()
							barrier_set(ROBOTS, "PURSUIT", BVMSTATE, 903)
							#barrier_ready(903)
							#neighbors.broadcast("cmd", 903)
						} else if(value==904 and BVMSTATE!="IDLE" and BVMSTATE!="TURNEDOFF"){	# idle
							destroyGraph()
							resetWP()
							barrier_set(ROBOTS, "IDLE", BVMSTATE, 904)
							#barrier_ready(904)
							#neighbors.broadcast("cmd", 904)
						}
						else if(value==555 and BVMSTATE=="YOLO_DEMO"){
							YOLO_NEI_TARGET = 1
						} else if(value==556 and BVMSTATE=="YOLO_DEMO"){
							YOLO_NEI_TARGET = 2
						}
					}
				}
    })
}

firsttimeinwp = 1
WPtab_id = 10
function check_rc_wp() {
	if(firsttimeinwp) {
		v_wp = stigmergy.create(WP_STIG)
		storegoal(pose.position.latitude, pose.position.longitude, pose.position.altitude)
		firsttimeinwp = 0
	}
	if(rc_goto.id != -1) {
		if(rc_goto.id == id) {
			wpreached = 0
			storegoal(rc_goto.latitude, rc_goto.longitude, pose.position.altitude)
			return
		} else {
			var ls = packWP2i(rc_goto.latitude, rc_goto.longitude, 0)
			if(rc_goto.id>49) {	# Attractor/repulsor table
				WPtab = v_wp.get(WPtab_id)
				if(WPtab!=nil)
					WPtab[rc_goto.id]=ls
				else {
					WPtab={}
					WPtab[rc_goto.id]=ls
				}
				v_wp.put(WPtab_id,WPtab)
			} else  # Individual waypoint
				v_wp.put(rc_goto.id,ls)
			reset_rc()
		}
	} else
		v_wp.get(0)
}

function resetWP() {
	firsttimeinwp = 1
	if(v_wp!=nil)
		v_wp.foreach(function(key, value, robot){v_wp[key]=nil})
}