From 4c1c3dff4329e1936fd8f5c6d46e0c3dccd68e93 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Sun, 2 Apr 2017 15:06:36 -0400
Subject: [PATCH] addition of robots variable inside BVM and for updates
 barrier

---
 include/buzz_update.h  | 4 +++-
 include/buzz_utility.h | 2 ++
 src/buzz_update.cpp    | 9 +++++++--
 src/buzz_utility.cpp   | 5 +++++
 src/roscontroller.cpp  | 7 ++++++-
 5 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/include/buzz_update.h b/include/buzz_update.h
index 34355f7..c8bbaf0 100644
--- a/include/buzz_update.h
+++ b/include/buzz_update.h
@@ -73,7 +73,7 @@ void update_routine(const char* bcfname,
 /************************************************/
 /*Initalizes the updater */
 /************************************************/
-void init_update_monitor(const char* bo_filename,const char* stand_by_script,int barrier);
+void init_update_monitor(const char* bo_filename,const char* stand_by_script);
 
 
 /*********************************************************/
@@ -129,4 +129,6 @@ int get_update_status();
 
 void set_read_update_status();
 
+void updates_set_robots(int robots);
+
 #endif
diff --git a/include/buzz_utility.h b/include/buzz_utility.h
index 2675e8b..6b2a1aa 100644
--- a/include/buzz_utility.h
+++ b/include/buzz_utility.h
@@ -52,4 +52,6 @@ int update_step_test();
 uint16_t get_robotid();
 
 buzzvm_t get_vm();
+
+void set_robot_var(int ROBOTS);
 }
diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp
index 82d785c..be9d43e 100644
--- a/src/buzz_update.cpp
+++ b/src/buzz_update.cpp
@@ -27,7 +27,7 @@ static int neigh=-1;
 static int 	    updater_msg_ready ;
 static int updated=0;
 
-void init_update_monitor(const char* bo_filename, const char* stand_by_script,int barrier){
+void init_update_monitor(const char* bo_filename, const char* stand_by_script){
 	fprintf(stdout,"intiialized file monitor.\n");
 	fd=inotify_init1(IN_NONBLOCK);
 	if ( fd < 0 ) {
@@ -91,7 +91,7 @@ void init_update_monitor(const char* bo_filename, const char* stand_by_script,in
 	  *(size_t*)(updater->standby_bcode_size)=stdby_bcode_size;
 	  updater->mode=(int*)malloc(sizeof(int));
 	  *(int*)(updater->mode)=CODE_RUNNING;
-	  no_of_robot=barrier;
+	  //no_of_robot=barrier;
 	  updater_msg_ready=0;
 	  //neigh = 0;
 	  //updater->outmsg_queue=
@@ -444,6 +444,11 @@ close(fd);
 void set_bzz_file(const char* in_bzz_file){
 bzz_file=in_bzz_file;
 }
+
+void updates_set_robots(int robots){
+no_of_robot=robots;
+}
+
 void collect_data(){
 //fprintf(stdout,"start and end time in data collection Info : %f,%f",(double)begin,(double)end);
 double time_spent =   (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC;
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 245bf8e..905e1a9 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -548,6 +548,11 @@ buzzvm_t get_vm(){
 return VM;
 }
 
+void set_robot_var(int ROBOTS){
+	buzzvm_pushs(VM, buzzvm_string_register(VM, "ROBOTS", 1));
+	buzzvm_pushi(VM, ROBOTS);
+	buzzvm_gstore(VM);
+}
 }
 
 
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 27aa2a5..2347878 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -52,7 +52,7 @@ namespace rosbzz_node{
 		/* Set the Buzz bytecode */
 		if(buzz_utility::buzz_script_set(bcfname.c_str(), dbgfname.c_str(),robot_id)) {
 			fprintf(stdout, "Bytecode file found and set\n");
-			init_update_monitor(bcfname.c_str(),stand_by.c_str(),barrier);
+			init_update_monitor(bcfname.c_str(),stand_by.c_str());
 			while (ros::ok() && !buzz_utility::buzz_script_done())
   			{
       				/*Update neighbors position inside Buzz*/
@@ -72,6 +72,10 @@ namespace rosbzz_node{
 					set_read_update_status();
 					multi_msg=true;
 				}
+				/*Set ROBOTS variable for barrier in .bzz from neighbours count*/
+				buzz_utility::set_robot_var(neighbours_pos_map.size());
+				/*Set no of robots for updates*/
+				updates_set_robots(neighbours_pos_map.size());
     				/*run once*/
     				ros::spinOnce();
 				/*loop rate of ros*/
@@ -81,6 +85,7 @@ namespace rosbzz_node{
     				timer_step+=1;
    				maintain_pos(timer_step);
 				
+				
 			}
 			/* Destroy updater and Cleanup */
     			//update_routine(bcfname.c_str(), dbgfname.c_str(),1);