ROSBuzz_MISTLab/include/buzz_update.h

#ifndef BUZZ_UPDATE_H
#define BUZZ_UPDATE_H
/*Simulation or robot check*/
//#define SIMULATION 1 // set in CMAKELIST

#include <stdlib.h>
#include <stdio.h>
#include <buzz/buzztype.h>
#include <buzz/buzzdict.h>
#include <buzz/buzzdarray.h>
#include <buzz/buzzvstig.h>
#include <fstream>
#define delete_p(p) do { free(p); p = NULL; } while(0)

static const uint16_t CODE_REQUEST_PADDING=250;
static const uint16_t MIN_UPDATE_PACKET=251;
static const uint16_t UPDATE_CODE_HEADER_SIZE=5;
static const uint16_t TIMEOUT_FOR_ROLLBACK=50;
/*********************/
/*   Updater states */
/********************/

typedef enum {
      CODE_RUNNING = 0, // Code executing
      CODE_STANDBY,     // Standing by for others to update
         } code_states_e;

/*********************/
/*Message types     */
/********************/

typedef enum {
      SENT_CODE = 0,         // Broadcast code 
      RESEND_CODE,             // ReBroadcast request
         } code_message_e;

/*************************/
/*Updater message queue */
/*************************/

struct updater_msgqueue_s {
      uint8_t* queue;
      uint8_t* size;
   } ;
   typedef struct updater_msgqueue_s* updater_msgqueue_t;

struct updater_code_s {
   uint8_t* bcode;
   uint8_t* bcode_size;
} ;
typedef struct updater_code_s* updater_code_t;

/**************************/
/*Updater data*/
/**************************/

struct buzz_updater_elem_s {
      /* robot id  */
      //uint16_t robotid;
     /*current Bytecode content */
      uint8_t* bcode;
     /*old Bytecode name */
      const char* old_bcode;
      /*current bcode size*/
      size_t* bcode_size;
      /*Update patch*/
      uint8_t* patch;
      /* Update patch size*/
      size_t* patch_size;
      /*current Bytecode content */
      uint8_t* standby_bcode;
      /*current bcode size*/
      size_t* standby_bcode_size;
      /*updater out msg queue */
      updater_msgqueue_t outmsg_queue;
      /*updater in msg queue*/
      updater_msgqueue_t inmsg_queue;
      /*Current state of the updater one in code_states_e ENUM*/
      int* mode;
      uint8_t* update_no;
   };
   typedef struct buzz_updater_elem_s* buzz_updater_elem_t;

/**************************************************************************/
/*Updater routine from msg processing to file checks to be called from main*/
/**************************************************************************/
void update_routine();

/************************************************/
/*Initalizes the updater */
/************************************************/
void init_update_monitor(const char* bo_filename,const char* stand_by_script,
                           const char* dbgfname, int robot_id);


/*********************************************************/
/*Appends buffer of given size to in msg queue of updater*/
/*********************************************************/

void code_message_inqueue_append(uint8_t* msg,uint16_t size);

/*********************************************************/
/*Processes messages inside the queue of the updater*/
/*********************************************************/

void code_message_inqueue_process();

/*****************************************************/
/* obtains messages from out msgs queue of the updater*/
/*******************************************************/
uint8_t* getupdater_out_msg();

/******************************************************/
/*obtains out msg queue size*/
/*****************************************************/
uint8_t* getupdate_out_msg_size();

/**************************************************/
/*destroys the out msg queue*/
/*************************************************/
void destroy_out_msg_queue();

/***************************************************/
/*obatins updater state*/
/***************************************************/
int get_update_mode();


buzz_updater_elem_t get_updater();
/***************************************************/
/*sets bzz file name*/
/***************************************************/
void set_bzz_file(const char* in_bzz_file);

int test_set_code(uint8_t* BO_BUF, const char* dbgfname,size_t bcode_size);

/****************************************************/
/*Destroys the updater*/
/***************************************************/

void destroy_updater();

int is_msg_present();

int get_update_status();

void set_read_update_status();

int compile_bzz(std::string bzz_file);

void updates_set_robots(int robots);

void set_packet_id(int packet_id);

void collect_data(std::ofstream &logger);
#endif