separation of update packets from buzz msgs to overcome packet loss
This commit is contained in:
vivek-shankar
parent
5685b6847c
commit
4795c36525
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@ -22,6 +22,8 @@
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#include <map>
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#include "buzzuav_closures.h"
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#define UPDATER_MESSAGE_CONSTANT 987654321
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using namespace std;
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namespace rosbzz_node{
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@ -285,7 +285,7 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
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else{
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if(neigh==0 && (!updater->outmsg_queue)){
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if(neigh==0 && (!is_msg_present())){
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fprintf(stdout,"Sending code... \n");
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code_message_outqueue_append();
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}
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@ -17,7 +17,7 @@ namespace buzz_utility{
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static char* BO_FNAME = 0;
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static uint8_t* BO_BUF = 0;
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static buzzdebug_t DBG_INFO = 0;
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static uint8_t MSG_SIZE = 100; // Only 100 bytes of Buzz messages every step
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static uint8_t MSG_SIZE = 50; // Only 100 bytes of Buzz messages every step
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static int MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets
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@ -84,23 +84,23 @@ namespace buzz_utility{
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}*/
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/* Go through the messages until there's nothing else to read */
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//fprintf(stdout,"Total data size : utils : %d\n",(int)size);
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uint16_t unMsgSize;
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uint8_t is_msg_pres=*(uint8_t*)(pl + tot);
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tot+=sizeof(uint8_t);
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uint16_t unMsgSize=0;
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//uint8_t is_msg_pres=*(uint8_t*)(pl + tot);
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//tot+=sizeof(uint8_t);
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//fprintf(stdout,"is_updater msg present : %i\n",(int)is_msg_pres);
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if(is_msg_pres){
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unMsgSize = *(uint16_t*)(pl + tot);
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tot+=sizeof(uint16_t);
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//if(is_msg_pres){
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//unMsgSize = *(uint16_t*)(pl + tot);
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//tot+=sizeof(uint16_t);
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// fprintf(stdout,"%u : read msg size : %u \n",m_unRobotId,unMsgSize);
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if(unMsgSize>0){
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code_message_inqueue_append((uint8_t*)(pl + tot),unMsgSize);
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tot+=unMsgSize;
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// if(unMsgSize>0){
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// code_message_inqueue_append((uint8_t*)(pl + tot),unMsgSize);
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// tot+=unMsgSize;
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//fprintf(stdout,"before in queue process : utils\n");
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code_message_inqueue_process();
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// code_message_inqueue_process();
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//fprintf(stdout,"after in queue process : utils\n");
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}
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}
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unMsgSize=0;
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// }
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//}
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//unMsgSize=0;
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/*Obtain Buzz messages only when they are present*/
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do {
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@ -114,7 +114,7 @@ namespace buzz_utility{
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tot += unMsgSize;
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}
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}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
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delete[] pl;
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/* Process messages */
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buzzvm_process_inmsgs(VM);
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}
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@ -126,34 +126,35 @@ namespace buzz_utility{
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buzzvm_process_outmsgs(VM);
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uint8_t* buff_send =(uint8_t*)malloc(MAX_MSG_SIZE);
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memset(buff_send, 0, MAX_MSG_SIZE);
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/*Taking into consideration the sizes included at the end*/
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ssize_t tot = sizeof(uint16_t);
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/* Send robot id */
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*(uint16_t*)(buff_send+tot) = (uint16_t) VM->robot;
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tot += sizeof(uint16_t);
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uint8_t updater_msg_pre = 0;
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uint16_t updater_msgSize= 0;
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if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
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//uint8_t updater_msg_pre = 0;
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//uint16_t updater_msgSize= 0;
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//if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
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// fprintf(stdout,"transfer code \n");
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updater_msg_pre =1;
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// updater_msg_pre =1;
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//transfer_code=0;
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*(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
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tot += sizeof(uint8_t);
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// *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
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// tot += sizeof(uint8_t);
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/*Append updater msg size*/
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//*(uint16_t*)(buff_send + tot) = *(uint16_t*) (getupdate_out_msg_size());
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updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());
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*(uint16_t*)(buff_send + tot)=updater_msgSize;
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// updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());
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// *(uint16_t*)(buff_send + tot)=updater_msgSize;
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//fprintf(stdout,"Updater sent msg size : %i \n", (int)updater_msgSize);
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tot += sizeof(uint16_t);
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// tot += sizeof(uint16_t);
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/*Append updater msgs*/
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memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
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tot += updater_msgSize;
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// memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
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// tot += updater_msgSize;
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/*destroy the updater out msg queue*/
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destroy_out_msg_queue();
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}
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else{
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*(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
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tot += sizeof(uint8_t);
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}
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// destroy_out_msg_queue();
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//}
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//else{
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// *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
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// tot += sizeof(uint8_t);
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//}
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/* Send messages from FIFO */
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do {
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/* Are there more messages? */
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@ -187,6 +188,7 @@ namespace buzz_utility{
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uint64_t* payload_64 = new uint64_t[total_size];
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memcpy((void*)payload_64, (void*)buff_send, total_size*sizeof(uint64_t));
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delete[] buff_send;
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/*for(int i=0;i<total_size;i++){
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cout<<" payload from out msg "<<*(payload_64+i)<<endl;
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}*/
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@ -23,7 +23,7 @@ namespace rosbzz_node{
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{
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/* All done */
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/* Cleanup */
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//buzz_utility::buzz_script_destroy();
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buzz_utility::buzz_script_destroy();
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/* Stop the robot */
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uav_done();
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}
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@ -215,6 +215,39 @@ namespace rosbzz_node{
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payload_pub.publish(payload_out);
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delete[] out;
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delete[] payload_out_ptr;
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if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
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uint8_t* buff_send = 0;
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uint16_t updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());;
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int tot=0;
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mavros_msgs::Mavlink update_packets;
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fprintf(stdout,"Transfering code \n");
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fprintf(stdout,"Sent Update packet Size: %u \n",updater_msgSize);
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buff_send =(uint8_t*)malloc(sizeof(uint16_t)+updater_msgSize);
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memset(buff_send, 0,sizeof(uint16_t)+updater_msgSize);
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/*Append updater msg size*/
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*(uint16_t*)(buff_send + tot)=updater_msgSize;
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//fprintf(stdout,"Updater sent msg size : %i \n", (int)updater_msgSize);
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tot += sizeof(uint16_t);
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/*Append updater msgs*/
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memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
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tot += updater_msgSize;
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/*Destroy the updater out msg queue*/
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destroy_out_msg_queue();
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uint16_t total_size =(ceil((float)tot/(float)sizeof(uint64_t)));
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uint64_t* payload_64 = new uint64_t[total_size];
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memcpy((void*)payload_64, (void*)buff_send, total_size*sizeof(uint64_t));
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delete[] buff_send;
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/*Send a constant number to differenciate updater msgs*/
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update_packets.payload64.push_back((uint64_t)UPDATER_MESSAGE_CONSTANT);
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for(int i=0;i<total_size;i++){
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update_packets.payload64.push_back(payload_64[i]);
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}
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payload_pub.publish(update_packets);
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delete[] payload_64;
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}
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}
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@ -403,43 +436,73 @@ namespace rosbzz_node{
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/*******************************************************************************************************/
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void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg){
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uint64_t message_obt[msg->payload64.size()];
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int i = 0;
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if((uint64_t)msg->payload64[0]==(uint64_t)UPDATER_MESSAGE_CONSTANT){
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uint16_t obt_msg_size=sizeof(uint64_t)*(msg->payload64.size()-1);
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uint64_t message_obt[obt_msg_size];
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/* Go throught the obtained payload*/
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for(int i=1;i < (int)msg->payload64.size();i++){
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message_obt[i-1] =(uint64_t)msg->payload64[i];
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//cout<<"[Debug:] obtaind message "<<message_obt[i]<<endl;
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//i++;
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}
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uint8_t* pl =(uint8_t*)malloc(obt_msg_size);
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memset(pl, 0,obt_msg_size);
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/* Copy packet into temporary buffer neglecting update constant */
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memcpy((void*)pl, (void*)(message_obt) ,obt_msg_size);
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uint16_t unMsgSize = *(uint16_t*)(pl);
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//uint16_t tot;
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//tot+=sizeof(uint16_t);
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fprintf(stdout,"Update packet read msg size : %u \n",unMsgSize);
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if(unMsgSize>0){
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code_message_inqueue_append((uint8_t*)(pl + sizeof(uint16_t)),unMsgSize);
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//fprintf(stdout,"before in queue process : utils\n");
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code_message_inqueue_process();
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//fprintf(stdout,"after in queue process : utils\n");
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}
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delete[] pl;
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/* Go throught the obtained payload*/
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for(i=0;i < (int)msg->payload64.size();i++){
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message_obt[i] =(uint64_t)msg->payload64[i];
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//cout<<"[Debug:] obtaind message "<<message_obt[i]<<endl;
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//i++;
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}
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/* Extract neighbours position from payload*/
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double neighbours_pos_payload[3];
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memcpy(neighbours_pos_payload, message_obt, 3*sizeof(uint64_t));
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buzz_utility::Pos_struct raw_neigh_pos(neighbours_pos_payload[0],neighbours_pos_payload[1],neighbours_pos_payload[2]);
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// cout<<"Got" << neighbours_pos_payload[0] <<", " << neighbours_pos_payload[1] << ", " << neighbours_pos_payload[2] << endl;
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// double cvt_neighbours_pos_test[3];
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// cvt_rangebearing_coordinates(neighbours_pos_payload, cvt_neighbours_pos_test);
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/*Convert obtained position to relative CARTESIAN position*/
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double cartesian_neighbours_pos[3], cartesian_cur_pos[3];
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cvt_cartesian_coordinates(neighbours_pos_payload, cartesian_neighbours_pos);
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cvt_cartesian_coordinates(cur_pos, cartesian_cur_pos);
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/*Compute the relative position*/
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for(i=0;i<3;i++){
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neighbours_pos_payload[i]=cartesian_neighbours_pos[i]-cartesian_cur_pos[i];
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}
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double cvt_neighbours_pos_payload[3];
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cvt_spherical_coordinates(neighbours_pos_payload, cvt_neighbours_pos_payload);
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/*Extract robot id of the neighbour*/
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uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t)*(message_obt+3));
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cout << "Rel Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_payload[0] << ", "<< cvt_neighbours_pos_payload[2] << ", "<< cvt_neighbours_pos_payload[3] << endl;
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// cout << "Rel Test Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_test[0] << ", "<< cvt_neighbours_pos_test[2] << ", "<< cvt_neighbours_pos_test[3] << endl;
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/*pass neighbour position to local maintaner*/
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buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]);
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/*Put RID and pos*/
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raw_neighbours_pos_put((int)out[1],raw_neigh_pos);
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neighbours_pos_put((int)out[1],n_pos);
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delete[] out;
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buzz_utility::in_msg_process((message_obt+3));
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else{
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uint64_t message_obt[msg->payload64.size()];
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/* Go throught the obtained payload*/
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for(int i=0;i < (int)msg->payload64.size();i++){
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message_obt[i] =(uint64_t)msg->payload64[i];
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//cout<<"[Debug:] obtaind message "<<message_obt[i]<<endl;
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//i++;
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}
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/* Extract neighbours position from payload*/
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double neighbours_pos_payload[3];
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memcpy(neighbours_pos_payload, message_obt, 3*sizeof(uint64_t));
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buzz_utility::Pos_struct raw_neigh_pos(neighbours_pos_payload[0],neighbours_pos_payload[1],neighbours_pos_payload[2]);
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// cout<<"Got" << neighbours_pos_payload[0] <<", " << neighbours_pos_payload[1] << ", " << neighbours_pos_payload[2] << endl;
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// double cvt_neighbours_pos_test[3];
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// cvt_rangebearing_coordinates(neighbours_pos_payload, cvt_neighbours_pos_test);
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/*Convert obtained position to relative CARTESIAN position*/
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double cartesian_neighbours_pos[3], cartesian_cur_pos[3];
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cvt_cartesian_coordinates(neighbours_pos_payload, cartesian_neighbours_pos);
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cvt_cartesian_coordinates(cur_pos, cartesian_cur_pos);
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/*Compute the relative position*/
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for(int i=0;i<3;i++){
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neighbours_pos_payload[i]=cartesian_neighbours_pos[i]-cartesian_cur_pos[i];
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}
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double cvt_neighbours_pos_payload[3];
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cvt_spherical_coordinates(neighbours_pos_payload, cvt_neighbours_pos_payload);
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/*Extract robot id of the neighbour*/
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uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t)*(message_obt+3));
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cout << "Rel Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_payload[0] << ", "<< cvt_neighbours_pos_payload[2] << ", "<< cvt_neighbours_pos_payload[3] << endl;
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// cout << "Rel Test Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_test[0] << ", "<< cvt_neighbours_pos_test[2] << ", "<< cvt_neighbours_pos_test[3] << endl;
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/*pass neighbour position to local maintaner*/
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buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]);
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/*Put RID and pos*/
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raw_neighbours_pos_put((int)out[1],raw_neigh_pos);
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neighbours_pos_put((int)out[1],n_pos);
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delete[] out;
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buzz_utility::in_msg_process((message_obt+3));
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}
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}
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