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ROSBuzz_MISTLab
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some message corruption debug

This commit is contained in:
vivek-shankar 2017-01-28 03:15:52 -05:00
parent 50b8a12382
commit 260cbab065
3 changed files with 22 additions and 18 deletions
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33
src/buzz_update.cpp
View File

@ -82,13 +82,13 @@ void init_update_monitor(const char* bo_filename, const char* stand_by_script,in
updater->inmsg_queue = NULL;
updater->bcode_size = (size_t*) malloc(sizeof(size_t));
updater->update_no = (uint8_t*) malloc(sizeof(uint16_t));
*(uint16_t*)updater->update_no =0;
*(uint16_t*)(updater->update_no) =0;
*(size_t*)(updater->bcode_size)=bcode_size;
updater->standby_bcode = STD_BO_BUF;
updater->standby_bcode_size = (size_t*)malloc(sizeof(size_t));
*(size_t*)(updater->standby_bcode_size)=stdby_bcode_size;
updater->mode=(int*)malloc(sizeof(int));
*(int*)updater->mode=CODE_RUNNING;
*(int*)(updater->mode)=CODE_RUNNING;
no_of_robot=barrier;
updater_msg_ready=0;
//neigh = 0;
@ -144,18 +144,18 @@ void code_message_outqueue_append(){
updater->outmsg_queue->queue = (uint8_t*)malloc(2*sizeof(uint16_t)+ *(size_t*)(updater->bcode_size));
updater->outmsg_queue->size = (uint8_t*)malloc(sizeof(uint16_t));
/*append the update no, code size and code to out msg*/
*(uint16_t*)(updater->outmsg_queue->queue+size) = *(uint16_t*) updater->update_no;
*(uint16_t*)(updater->outmsg_queue->queue+size) = *(uint16_t*) (updater->update_no);
size+=sizeof(uint16_t);
*(uint16_t*)(updater->outmsg_queue->queue+size) = *(size_t*) updater->bcode_size;
*(uint16_t*)(updater->outmsg_queue->queue+size) = *(size_t*) (updater->bcode_size);
size+=sizeof(uint16_t);
memcpy(updater->outmsg_queue->queue+size, updater->bcode, *(size_t*)updater->bcode_size);
size+=(uint16_t)*(size_t*)updater->bcode_size;
memcpy(updater->outmsg_queue->queue+size, updater->bcode, *(size_t*)(updater->bcode_size));
size+=(uint16_t)*(size_t*)(updater->bcode_size);
/*FILE *fp;
fp=fopen("update.bo", "wb");
fwrite((updater->bcode), updater->bcode_size, 1, fp);
fclose(fp);*/
updater_msg_ready=1;
*(uint16_t*)updater->outmsg_queue->size=size;
*(uint16_t*)(updater->outmsg_queue->size)=size;
//fprintf(stdout,"out msg append transfer code size %d\n", (int)*(size_t*) updater->bcode_size);
}
@ -166,13 +166,14 @@ updater->inmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s
updater->inmsg_queue->queue = (uint8_t*)malloc(size);
updater->inmsg_queue->size = (uint8_t*)malloc(sizeof(uint16_t));
memcpy(updater->inmsg_queue->queue, msg, size);
*(uint16_t*)updater->inmsg_queue->size = size;
*(uint16_t*)(updater->inmsg_queue->size) = size;
}
void code_message_inqueue_process(){
int size=0;
if(*(int*)updater->mode==CODE_RUNNING){
fprintf(stdout,"[debug]Updater mode %d",(*(int*)(updater->mode)) );
if((*(int*)(updater->mode))==CODE_RUNNING){
fprintf(stdout,"[debug]Inside inmsg code running");
if( (*(uint16_t*)(updater->inmsg_queue->queue)) > (*(uint16_t*) updater->update_no) ){
fprintf(stdout,"[debug]Inside update number comparision");
@ -186,9 +187,9 @@ if(*(int*)updater->mode==CODE_RUNNING){
//fp=fopen("update.bo", "wb");
//fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
//fclose(fp);
if(test_set_code((uint8_t*)(updater->inmsg_queue->queue+size),
(char*) dbgf_name,(size_t)update_bcode_size)) {
*(uint16_t*)updater->update_no=update_no;
if( test_set_code((uint8_t*)(updater->inmsg_queue->queue+size),
(char*) dbgf_name,(size_t)update_bcode_size) ) {
*(uint16_t*)(updater->update_no)=update_no;
neigh=1;
}
}
@ -205,7 +206,7 @@ dbgf_name=(char*)dbgfname;
buzzvm_t VM = buzz_utility::get_vm();
buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
buzzvm_pushi(VM, *(uint16_t*)updater->update_no);
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
buzzvm_gstore(VM);
//fprintf(stdout,"[Debug : ]updater value = %i \n",updater->mode);
if(*(int*)updater->mode==CODE_RUNNING){
@ -274,7 +275,7 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
VM = buzz_utility::get_vm();
fprintf(stdout,"Update no %d\n", *(uint16_t*)(updater->update_no));
buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
buzzvm_pushi(VM, *(uint16_t*)updater->update_no);
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
buzzvm_gstore(VM);
neigh=0;
}
@ -296,7 +297,7 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
buzzvm_pop(VM);
fprintf(stdout,"Barrier ..................... %i \n",tObj->i.value);
if(tObj->i.value==no_of_robot) {
*(int*)updater->mode=CODE_RUNNING;
*(int*)(updater->mode) = CODE_RUNNING;
neigh=-1;
//collect_data();
buzz_utility::buzz_update_init_test((updater)->bcode, (char*)dbgfname, *(size_t*)(updater->bcode_size));
@ -366,7 +367,7 @@ updater_msg_ready=0;
}
int get_update_mode(){
return *(int*)updater->mode;
return (int)*(int*)(updater->mode);
}
int is_msg_present(){

3
src/roscontroller.cpp
View File

@ -205,7 +205,8 @@ namespace rosbzz_node{
message_obt[i] =(uint64_t) *it;
i++;
}*/
/*for(i=0;i<payload_out.payload64.size();i++){
/*for(int i=0;i<payload_out.payload64.size();i++){
cout<<" [Debug:] sent message "<<payload_out.payload64[i]<<endl;
out = buzz_utility::u64_cvt_u16(message_obt[i]);
for(int k=0;k<4;k++){
cout<<" [Debug:] sent message "<<out[k]<<endl;

4
src/test1.bzz
View File

@ -1,6 +1,8 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
include "/home/vivek/catkin_ws/src/rosbuzz/src/vec2.bzz"
####################################################################################################
# Updater related
# This should be here for the updater to work, changing position of code will crash the updater