98 lines
1.9 KiB
Plaintext
98 lines
1.9 KiB
Plaintext
########################################
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#
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# BARRIER-RELATED FUNCTIONS
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#
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########################################
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#
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# Constants
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#
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BARRIER_TIMEOUT = 200 # in steps
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BARRIER_VSTIG = 80
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timeW = 0
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barrier = nil
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hvs = 0;
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#
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# Sets a barrier
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#
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function barrier_create() {
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# reset
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timeW = 0
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# create barrier vstig
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#log("---> Prev. br. ", barrier, " ", BARRIER_VSTIG)
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if(barrier!=nil) {
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barrier=nil
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if(hvs) {
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BARRIER_VSTIG = BARRIER_VSTIG -1
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hvs = 0
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}else{
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BARRIER_VSTIG = BARRIER_VSTIG +1
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hvs = 1
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}
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}
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#log("---> New. br. ", barrier, " ", BARRIER_VSTIG)
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barrier = stigmergy.create(BARRIER_VSTIG)
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}
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function barrier_set(threshold, transf, resumef, bc) {
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statef = function() {
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barrier_wait(threshold, transf, resumef, bc);
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}
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BVMSTATE = "BARRIERWAIT"
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barrier_create()
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}
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#
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# Make yourself ready
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#
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function barrier_ready(bc) {
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#log("BARRIER READY -------")
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barrier.put(id, bc)
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barrier.put("d", 0)
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}
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#
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# Executes the barrier
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#
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function barrier_wait(threshold, transf, resumef, bc) {
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if(barrier==nil) #failsafe
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barrier_create()
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barrier.put(id, bc)
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barrier.get(id)
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log("--->BS: ", barrier.size(), " / ", threshold, " (", BARRIER_VSTIG, " - ", barrier.get("d"), ") t= ", timeW)
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if(barrier.size()-1 >= threshold or barrier.get("d") == 1) {
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if(barrier_allgood(barrier,bc)) {
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barrier.put("d", 1)
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timeW = 0
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BVMSTATE = transf
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} else
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barrier.put("d", 0)
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}
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if(timeW >= BARRIER_TIMEOUT) {
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log("------> Barrier Timeout !!!!")
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barrier = nil
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timeW = 0
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BVMSTATE = resumef
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} else if(timeW % 100 == 0 and bc > 0)
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neighbors.broadcast("cmd", bc)
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timeW = timeW+1
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}
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# Check all members state
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function barrier_allgood(barrier, bc) {
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barriergood = 1
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barrier.foreach(
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function(key, value, robot){
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#log("VS entry : ", key, " ", value, " ", robot)
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if(value != bc and key != "d"){
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barriergood = 0
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}
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}
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)
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return barriergood
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} |