#pragma once #include #include "buzz_utility.h" #include "buzzuav_closures.h" #include "buzz_update.h" #include #include #include #include #include #include #include using namespace std; namespace buzz_utility { struct pos_struct { double x, y, z; pos_struct(double x, double y, double z) : x(x), y(y), z(z){}; pos_struct() { } }; typedef struct pos_struct Pos_struct; struct rb_struct { double r, b, latitude, longitude, altitude; rb_struct(double la, double lo, double al, double r, double b) : latitude(la), longitude(lo), altitude(al), r(r), b(b){}; rb_struct() { } }; typedef struct rb_struct RB_struct; struct neiStatus { uint gps_strenght = 0; uint batt_lvl = 0; uint xbee = 0; uint flight_status = 0; }; typedef struct neiStatus neighbors_status; struct neitime { uint64_t nei_hardware_time; uint64_t nei_logical_time; uint64_t node_hardware_time; uint64_t node_logical_time; double nei_rate; double relative_rate; int age; neitime(uint64_t nht, uint64_t nlt, uint64_t mht, uint64_t mlt, double nr, double mr) : nei_hardware_time(nht), nei_logical_time(nlt), node_hardware_time(mht), node_logical_time(mlt), nei_rate(nr), relative_rate(mr) {}; neitime() { } }; typedef struct neitime neighbor_time; uint16_t* u64_cvt_u16(uint64_t u64); int buzz_listen(const char* type, int msg_size); int make_table(buzzobj_t* t); int buzzusers_reset(); int create_stig_tables(); void in_msg_append(uint64_t* payload); uint64_t* obt_out_msg(); void update_sensors(); int buzz_script_set(const char* bo_filename, const char* bdbg_filename, int robot_id); int buzz_update_set(uint8_t* UP_BO_BUF, const char* bdbg_filename, size_t bcode_size); int buzz_update_init_test(uint8_t* UP_BO_BUF, const char* bdbg_filename, size_t bcode_size); void buzz_script_step(); void buzz_script_destroy(); int buzz_script_done(); int update_step_test(); int get_robotid(); int get_swarmsize(); buzzvm_t get_vm(); void set_robot_var(int ROBOTS); int get_inmsg_size(); std::vector get_inmsg_vector(); std::string get_bvmstate(); }