125 lines
2.6 KiB
Plaintext
125 lines
2.6 KiB
Plaintext
########################################
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#
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# FLEET V.STIGMERGY-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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STATUS_VSTIG = 20
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GROUND_VSTIG = 21
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HIGHEST_ROBOTID = 14
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WAIT4STEP = 10
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#
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# Init var
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#
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var v_status = {}
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var v_ground = {}
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b_updating = 0
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vstig_counter = WAIT4STEP
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function uav_initstig() {
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v_status = stigmergy.create(STATUS_VSTIG)
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v_ground = stigmergy.create(GROUND_VSTIG)
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}
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function uav_updatestig() {
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# TODO: Push values on update only.
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if(vstig_counter<=0) {
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b_updating=1
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#var ls={.1=0,.2=battery.capacity,.3=xbee_status.rssi,.4=flight.status}
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ls = 50*1000000 + battery.capacity*1000 + xbee_status.rssi*10 + flight.status
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log("Pushing ", ls, "on vstig with id:", id)
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v_status.put(id, ls)
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vstig_counter=WAIT4STEP
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} else {
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b_updating=0
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vstig_counter=vstig_counter-1
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}
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}
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function unpackstatus(recv_value){
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gps=(recv_value-recv_value%1000000)/1000000
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recv_value=recv_value-gps*1000000
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batt=(recv_value-recv_value%1000)/1000
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recv_value=recv_value-batt*1000
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xbee=(recv_value-recv_value%10)/10
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recv_value=recv_value-xbee*10
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fc=recv_value
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log("- GPS ", gps)
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log("- Battery ", batt)
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log("- Xbee ", xbee)
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log("- Status ", fc)
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}
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function checkusers() {
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# Read a value from the structure
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if(size(users)>0)
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log("Got a user!")
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# log(users)
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# users_print(users.dataG)
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# if(size(users.dataG)>0)
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# vt.put("p", users.dataG)
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# Get the number of keys in the structure
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# log("The vstig has ", vt.size(), " elements")
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# users_save(vt.get("p"))
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# table_print(users.dataL)
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}
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function users_save(t) {
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if(size(t)>0) {
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foreach(t, function(id, tab) {
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#log("id: ",id," Latitude ", tab.la, "Longitude ", tab.lo)
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add_user_rb(id,tab.la,tab.lo)
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})
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}
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}
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# printing the contents of a table: a custom function
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function usertab_print(t) {
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if(size(t)>0) {
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foreach(t, function(u, tab) {
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log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
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})
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}
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}
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function stattab_print() {
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if(v_status.size()>0) {
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if(b_updating==0) {
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u=0
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while(u<HIGHEST_ROBOTID){
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tab = v_status.get(u)
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if(tab!=nil)
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unpackstatus(tab)
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u=u+1
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}
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}
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}
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}
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function stattab_send() {
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if(v_status.size()>0) {
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if(b_updating==0) {
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u=0
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while(u<HIGHEST_ROBOTID){
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tab = v_status.get(u)
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if(tab!=nil){
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recv_value=tab
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gps=(recv_value-recv_value%1000000)/1000000
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recv_value=recv_value-gps*1000000
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batt=(recv_value-recv_value%1000)/1000
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recv_value=recv_value-batt*1000
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xbee=(recv_value-recv_value%10)/10
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recv_value=recv_value-xbee*10
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fc=recv_value
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add_neighborStatus(u,gps,batt,xbee,fc)
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}
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u=u+1
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}
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}
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}
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} |