115 lines
2.6 KiB
Plaintext
115 lines
2.6 KiB
Plaintext
include "update.bzz"
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# don't use a stigmergy id=11 with this header, for barrier
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# it requires an 'action' function to be defined here.
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include "act/states.bzz"
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include "plan/rrtstar.bzz"
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include "taskallocate/graphformGPS.bzz"
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include "vstigenv.bzz"
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#include "timesync.bzz"
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include "utils/takeoff_heights.bzz"
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#State launched after takeoff
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AUTO_LAUNCH_STATE = "IDLE"
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#AUTO_LAUNCH_STATE = "CUSFUN"
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#Lowest robot id in the network
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LOWEST_ROBOT_ID = 0
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TARGET = 9.0
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EPSILON = 30.0
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ROOT_ID = 3
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graph_id = 3
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graph_loop = 0
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#####
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# Vehicule type:
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# 0 -> outdoor flying vehicle
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# 1 -> indoor flying vehicle
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# 2 -> outdoor wheeled vehicle
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# 3 -> indoor wheeled vehicle
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V_TYPE = 0
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goal_list = {
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.0={.x = 45.5088103899, .y = -73.1540826153, .z = 2.5}
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}
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# Executed once at init time.
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function init() {
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init_stig()
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init_swarm()
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# initGraph()
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TARGET_ALTITUDE = takeoff_heights[id] #4 + (id-LOWEST_ROBOT_ID)*3.0 # m
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# start the swarm command listener
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nei_cmd_listen()
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# Starting state: TURNEDOFF to wait for user input.
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BVMSTATE = "TURNEDOFF"
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}
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# Executed at each time step.
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function step() {
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# listen to Remote Controller
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rc_cmd_listen()
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# update the vstig (status/net/batt/...)
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# uav_updatestig()
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#
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# State machine
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#
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if(BVMSTATE=="TURNEDOFF")
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statef=turnedoff
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else if(BVMSTATE=="CUSFUN")
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statef=cusfun
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else if(BVMSTATE=="STOP") # ends on turnedoff
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statef=stop
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else if(BVMSTATE=="LAUNCH") # ends on AUTO_LAUNCH_STATE
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statef=launch
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else if(BVMSTATE=="GOHOME") # ends on AUTO_LAUNCH_STATE
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statef=goinghome
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else if(BVMSTATE=="IDLE")
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statef=idle
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else if(BVMSTATE=="AGGREGATE")
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statef=aggregate
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else if(BVMSTATE=="FORMATION")
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statef=formation
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else if(BVMSTATE=="PURSUIT")
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statef=pursuit
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else if(BVMSTATE=="TASK_ALLOCATE") # or bidding ?
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statef=resetGraph
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else if(BVMSTATE=="GRAPH_FREE")
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statef=DoFree
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else if(BVMSTATE=="GRAPH_ASKING")
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statef=DoAsking
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else if(BVMSTATE=="GRAPH_JOINING")
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statef=DoJoining
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else if(BVMSTATE=="GRAPH_JOINED")
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statef=DoJoined
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else if(BVMSTATE=="GRAPH_LOCK") # move all together (TODO: not tested), but auto-loop in graph list
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statef=DoLock
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else if(BVMSTATE=="PATHPLAN") # ends on navigate, defined in rrtstar
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statef=rrtstar
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else if(BVMSTATE=="NAVIGATE") # ends on idle, defined in rrtstar
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statef=navigate
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else if(BVMSTATE == "FOLLOW") #TODO: not tested in new structure
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statef=follow
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else if(BVMSTATE == "PICTURE") #TODO: not tested in new structure
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statef=take_picture
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statef()
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log("Current state: ", BVMSTATE)
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}
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# Executed once when the robot (or the simulator) is reset.
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function reset() {
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}
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# Executed once at the end of experiment.
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function destroy() {
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}
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