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Combined Xbee status info into a structure for the buzz VM

This commit is contained in:
pyhs 2017-07-06 14:50:29 -04:00
parent 69729d926b
commit 0f37bc22e0
4 changed files with 26 additions and 47 deletions
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2
include/buzz_utility.h
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@ -49,8 +49,6 @@ uint64_t* obt_out_msg();
void update_sensors();
void update_xbee_status();
int buzz_script_set(const char* bo_filename,
const char* bdbg_filename, int robot_id);

9
include/buzzuav_closures.h
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@ -88,11 +88,10 @@ int buzzuav_gohome(buzzvm_t vm);
* Updates battery information in Buzz
*/
int buzzuav_update_battery(buzzvm_t vm);
int buzzuav_update_deque_full(buzzvm_t vm);
int buzzuav_update_rssi(buzzvm_t vm);
int buzzuav_update_raw_packet_loss(buzzvm_t vm);
int buzzuav_update_filtered_packet_loss(buzzvm_t vm);
int buzzuav_update_api_rssi(buzzvm_t vm);
/*
* Updates xbee_status information in Buzz
*/
int buzzuav_update_xbee_status(buzzvm_t vm);
/*
* Updates current position in Buzz
*/

12
src/buzz_utility.cpp
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@ -681,6 +681,7 @@ int create_stig_tables() {
void update_sensors(){
/* Update sensors*/
buzzuav_closures::buzzuav_update_battery(VM);
buzzuav_closures::buzzuav_update_xbee_status(VM);
buzzuav_closures::buzzuav_update_prox(VM);
buzzuav_closures::buzzuav_update_currentpos(VM);
buzzuav_closures::update_neighbors(VM);
@ -689,22 +690,11 @@ int create_stig_tables() {
buzzuav_closures::buzzuav_update_flight_status(VM);
}
void update_xbee_status(){
/* Update sensors*/
buzzuav_closures::buzzuav_update_deque_full(VM);
buzzuav_closures::buzzuav_update_rssi(VM);
buzzuav_closures::buzzuav_update_raw_packet_loss(VM);
buzzuav_closures::buzzuav_update_filtered_packet_loss(VM);
buzzuav_closures::buzzuav_update_api_rssi(VM);
}
void buzz_script_step() {
/*Process available messages*/
in_message_process();
/*Update sensors*/
update_sensors();
update_xbee_status();
/* Call Buzz step() function */
if(buzzvm_function_call(VM, "step", 0) != BUZZVM_STATE_READY) {
ROS_ERROR("%s: execution terminated abnormally: %s",

50
src/buzzuav_closures.cpp
View File

@ -345,57 +345,49 @@ namespace buzzuav_closures{
deque_full = state;
}
int buzzuav_update_deque_full(buzzvm_t vm) {
buzzvm_pushs(vm, buzzvm_string_register(vm, "deque_full", 1));
buzzvm_pushi(vm, static_cast<uint8_t>(deque_full));
buzzvm_gstore(vm);
return vm->state;
}
void set_rssi(float value)
{
rssi = value;
}
int buzzuav_update_rssi(buzzvm_t vm) {
buzzvm_pushs(vm, buzzvm_string_register(vm, "rssi", 1));
buzzvm_pushf(vm, rssi);
buzzvm_gstore(vm);
return vm->state;
}
void set_raw_packet_loss(float value)
{
raw_packet_loss = value;
}
int buzzuav_update_raw_packet_loss(buzzvm_t vm) {
buzzvm_pushs(vm, buzzvm_string_register(vm, "raw_packet_loss", 1));
buzzvm_pushf(vm, raw_packet_loss);
buzzvm_gstore(vm);
return vm->state;
}
void set_filtered_packet_loss(float value)
{
filtered_packet_loss = value;
}
int buzzuav_update_filtered_packet_loss(buzzvm_t vm) {
buzzvm_pushs(vm, buzzvm_string_register(vm, "filtered_packet_loss", 1));
buzzvm_pushf(vm, filtered_packet_loss);
buzzvm_gstore(vm);
return vm->state;
}
void set_api_rssi(float value)
{
api_rssi = value;
}
int buzzuav_update_api_rssi(buzzvm_t vm) {
int buzzuav_update_xbee_status(buzzvm_t vm) {
buzzvm_pushs(vm, buzzvm_string_register(vm, "xbee_status", 1));
buzzvm_pusht(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "deque_full", 1));
buzzvm_pushi(vm, static_cast<uint8_t>(deque_full));
buzzvm_tput(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "rssi", 1));
buzzvm_pushf(vm, rssi);
buzzvm_tput(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "raw_packet_loss", 1));
buzzvm_pushf(vm, raw_packet_loss);
buzzvm_tput(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "filtered_packet_loss", 1));
buzzvm_pushf(vm, filtered_packet_loss);
buzzvm_tput(vm);
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "api_rssi", 1));
buzzvm_pushf(vm, api_rssi);
buzzvm_tput(vm);
buzzvm_gstore(vm);
return vm->state;
}