From 0f37bc22e0c3c985f7942f59a2fa989c1f51953e Mon Sep 17 00:00:00 2001
From: pyhs <pierreyves@humanitas.io>
Date: Thu, 6 Jul 2017 14:50:29 -0400
Subject: [PATCH] Combined Xbee status info into a structure for the buzz VM

---
 include/buzz_utility.h     |  2 --
 include/buzzuav_closures.h |  9 +++----
 src/buzz_utility.cpp       | 12 +--------
 src/buzzuav_closures.cpp   | 50 ++++++++++++++++----------------------
 4 files changed, 26 insertions(+), 47 deletions(-)

diff --git a/include/buzz_utility.h b/include/buzz_utility.h
index b61faf3..40be6f0 100644
--- a/include/buzz_utility.h
+++ b/include/buzz_utility.h
@@ -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);
 
diff --git a/include/buzzuav_closures.h b/include/buzzuav_closures.h
index 0e9ff4a..fac506c 100644
--- a/include/buzzuav_closures.h
+++ b/include/buzzuav_closures.h
@@ -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
  */
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index b644439..3453a65 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -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",
diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index 74e5ca8..fcfb752 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -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;
   }