LIB: Reordered behavior enumerations and changed LandingOrderParser type field

ap_lib/src/ap_lib/ap_enumerations.py

@@ -99,29 +99,32 @@ ALT_BLOCK_SIZE = 10.0  # Altitude block size for altitude-separated behaviors
 # Enumeration for available swarm behaviors
 SWARM_STANDBY = 0          # No swarm behavior (set no payload control)
 SWARM_LINEAR_FORMATION = 1 # Straight line high-to-low formation
-SWARM_SEARCH = 2           # Conduct a coordinated search of a specified area
-NAIVE_SHOOTER = 3          # Shoot closest red UAV & ignore other UAV results
-GREEDY_SHOOTER = 4         # Shoot the closest red UAV but use other UAV results
-PN_INTERCEPTOR = 5         # Proportional navigation intercept of a target UAV
-ALTITUDE_SORT = 6          # Consensus algorithm to sort UAVs by rel_alt
-LAZY_ALTITUDE_SORT = 7     # Lazy consensus algorithm to sort UAVs by rel_alt
-INDEPENDENT_TRANSIT = 8    # Transit independently to a specified location
-SMART_SHOOTER = 9          # Shoot the closest red UAV but use other UAV results and dont pursue enemy already being pursued by a friendly
-CONSTRAINED_SHOOTER = 10   # Built on Smart Shooter - Constrained FOV Angle and Range of engaging targets
-OPPORTUNISTIC_SHOOTER = 11 # Reactive version of Greedy Shooter (reselects target every iteration)
-WINGMAN = 12               # Combination of Linear Formation and Constrained Shooter Behaviors
-PATROL_BOX = 13            # Randomly patrol a rectangular box
-PATROL_BOX_SHOOTER = 14    # Randomly patrol a rectangular box & engage approaching red UAVs
-TACTIC_INTERFACE = 15      # Use generic tactic interface
-EVADER = 16                # Move to a waypoint while avoiding enemies
-AREA_SPREAD = 17           # Disperse uniformly through a rectangular area
-SIMPLE_GRND_ATTACK = 18    # Basic ground attack behavior (just land there)
-WAVE_ATTACK = 19           # Formation flyin and sequential drop
-DELAYED_ATTACK = 20        # Time delay between individual attacks one one location
-OVERWATCH_ATTACK = 21      # Formation flyin and sequential drop with highboy overwatch
+INDEPENDENT_TRANSIT = 2    # Transit independently to a specified location
+SWARM_SEARCH = 3           # Conduct a coordinated search of a specified area
+PATROL_BOX = 4             # Randomly patrol a rectangular box
+AREA_SPREAD = 5            # Disperse uniformly through a rectangular area
+RANDOM_STATION = 6         # Take up (fixed) random stations across a rectangular area
+GREEDY_SHOOTER = 7         # Shoot the closest red UAV but use other UAV results
+SMART_SHOOTER = 8          # Shoot the closest red UAV but use other UAV results and dont pursue enemy already being pursued by a friendly
+CONSTRAINED_SHOOTER = 9    # Built on Smart Shooter - Constrained FOV Angle and Range of engaging targets
+OPPORTUNISTIC_SHOOTER = 10 # Reactive version of Greedy Shooter (reselects target every iteration)
+PATROL_BOX_SHOOTER = 11    # Randomly patrol a rectangular box & engage approaching red UAVs
+WAVE_ATTACK = 12           # Formation flyin and sequential drop
+DELAYED_ATTACK = 13        # Time delay between individual attacks one one location
+OVERWATCH_ATTACK = 14      # Formation flyin and sequential drop with highboy overwatch
+SWARM_SEQUENCE_LAND = 99   # Land in order (low-to-high UAV)
+
+# Obsolete behaviors that are still included for backwards compatibility
+NAIVE_SHOOTER = 89         # Shoot closest red UAV & ignore other UAV results
+PN_INTERCEPTOR = 90        # Proportional navigation intercept of a target UAV
+ALTITUDE_SORT = 91         # Consensus algorithm to sort UAVs by rel_alt
+LAZY_ALTITUDE_SORT = 92    # Lazy consensus algorithm to sort UAVs by rel_alt
+WINGMAN = 93               # Combination of Linear Formation and Constrained Shooter Behaviors
+EVADER = 94                # Move to a waypoint while avoiding enemies
+SIMPLE_GRND_ATTACK = 95    # Basic ground attack behavior (just land there)
+TACTIC_INTERFACE = 96      # Use generic tactic interface
 FIXED_TURN = 97            # Simple test behavior for turn-rate control capability
-SWARM_SEQUENCE_LAND = 98   # Land in order (low-to-high UAV)
-SWARM_EGRESS = 99          # Egress the swarm for recovery
+SWARM_EGRESS = 98          # Egress the swarm for recovery
 
 # Enumeration for available swarm ROS commands
 TRIGGER_PAYLOAD_FORCE = 0       # Trigger payload command directly to autopilot (do_digicam_control)
@@ -151,6 +154,7 @@ SWARM_BHVRS = {  SWARM_STANDBY:          'Standby', \
                  SWARM_SEQUENCE_LAND:    'Sequence Land', \
                  INDEPENDENT_TRANSIT:    'Independent Transit', \
                  AREA_SPREAD:            'Area Spread', \
+                 RANDOM_STATION:         'Random Station', \
                  PATROL_BOX:             'Patrol Box', \
                  TACTIC_INTERFACE:       'Tactic Interface', \
                  EVADER:                 'Evader', \
@@ -176,6 +180,7 @@ SWARM_BHVR_VALUES = { 'Standby':               SWARM_STANDBY, \
                       'Sequence Land':         SWARM_SEQUENCE_LAND, \
                       'Independent Transit':   INDEPENDENT_TRANSIT, \
                       'Area Spread':           AREA_SPREAD, \
+                      'Random Station':        RANDOM_STATION, \
                       'Patrol Box':            PATROL_BOX, \
                       'Patrol Box Shooter':    PATROL_BOX_SHOOTER, \
                       'Evader':                EVADER, \

ap_lib/src/ap_lib/bitmapped_bytes.py

@@ -546,7 +546,7 @@ class SearchWaypointParser(VariableLengthBitmappedBytes):
 class LandingOrderParser(BitmappedBytes):
     ''' Parser for landing orders
     '''
-    fmt = ">B"
+    fmt = ">B3x"
 
     def __init__(self):
         ''' Initializes parameters with default values