From 6a4c57963029daf4cc599c3bae912ccd33d5d4d8 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Tue, 31 Jan 2017 01:11:59 -0500
Subject: [PATCH] changes in updater

---
 include/buzz_update.h            |  2 ++
 launch/rosbuzz_2_parallel.launch |  2 +-
 src/buzz_update.cpp              |  9 ++++++---
 src/roscontroller.cpp            | 19 +++++++++++--------
 src/test1.bzz                    |  3 ++-
 5 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/include/buzz_update.h b/include/buzz_update.h
index b88b8ea..34355f7 100644
--- a/include/buzz_update.h
+++ b/include/buzz_update.h
@@ -108,6 +108,8 @@ void destroy_out_msg_queue();
 /***************************************************/
 int get_update_mode();
 
+
+buzz_updater_elem_t get_updater();
 /***************************************************/
 /*sets bzz file name*/
 /***************************************************/
diff --git a/launch/rosbuzz_2_parallel.launch b/launch/rosbuzz_2_parallel.launch
index cf507a1..44841ea 100644
--- a/launch/rosbuzz_2_parallel.launch
+++ b/launch/rosbuzz_2_parallel.launch
@@ -10,7 +10,7 @@
 		<!-- param name="in_payload" value="/rosbuzz_node1/outMavlink"-->
 		<param name="out_payload" value="/outMavlink"/>
 		<param name="robot_id" value="1"/>
-		<param name="No_of_Robots" value="2"/>
+		<param name="No_of_Robots" value="1"/>
 		<param name="stand_by" value="/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
 		</node>
 		<!-- node name="rosbuzz_node1" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" -->	
diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp
index 9756b8f..6bdb8b7 100644
--- a/src/buzz_update.cpp
+++ b/src/buzz_update.cpp
@@ -15,7 +15,7 @@
 //static struct timeval t1, t2;
 static int timer_steps=0;
 //static clock_t end;
-void collect_data();
+//void collect_data();
 /*Temp end */
 static int fd,wd =0;
 static int old_update =0;
@@ -306,10 +306,10 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
 		fprintf(stdout,"Barrier ..................... %i \n",tObj->i.value);
 		if(tObj->i.value==no_of_robot) { 
 			*(int*)(updater->mode) = CODE_RUNNING;
-			collect_data();
+			//collect_data();
 			timer_steps=0;
 			//neigh=-1;
-			buzz_utility::buzz_update_set((updater)->bcode, (char*)dbgfname, *(size_t*)(updater->bcode_size));
+			//buzz_utility::buzz_update_set((updater)->bcode, (char*)dbgfname, *(size_t*)(updater->bcode_size));
 			//buzzvm_function_call(m_tBuzzVM, "updated", 0);
 			updated=1;	
 			}
@@ -413,6 +413,9 @@ return (int)*(int*)(updater->mode);
 int is_msg_present(){
 return updater_msg_ready;
 }
+buzz_updater_elem_t get_updater(){
+return updater;
+}
 void destroy_updater(){
 delete_p(updater->bcode);
 delete_p(updater->bcode_size);
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 0b63b2a..c6fc378 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -1,6 +1,5 @@
 #include "roscontroller.h"
 
-
 namespace rosbzz_node{
 
 	/***Constructor***/
@@ -74,6 +73,10 @@ namespace rosbzz_node{
   				update_routine(bcfname.c_str(), dbgfname.c_str());
       				/*Step buzz script */
 				//fprintf(stdout, "before code step\n");
+				if(get_update_status()){
+				buzz_utility::buzz_update_set((get_updater())->bcode, dbgfname.c_str(), *(size_t*)((get_updater())->bcode_size));
+				set_read_update_status();;
+				}
       				buzz_utility::buzz_script_step();
 				/*Prepare messages and publish them in respective topic*/
 				//fprintf(stdout, "before publish msg\n");
@@ -271,14 +274,14 @@ namespace rosbzz_node{
 			    delete[] payload_64;
 		}
 		/*Request xbee to stop any multi transmission updated not needed any more*/
-		if(get_update_status()){
-			set_read_update_status();
-			mavros_msgs::Mavlink stop_req_packet;
-			stop_req_packet.payload64.push_back((uint64_t) XBEE_STOP_TRANSMISSION);
-			payload_pub.publish(stop_req_packet);
-			std::cout << "request xbee to stop multi-packet transmission" << std::endl;	
+		//if(get_update_status()){
+		//	set_read_update_status();
+		//	mavros_msgs::Mavlink stop_req_packet;
+		//	stop_req_packet.payload64.push_back((uint64_t) XBEE_STOP_TRANSMISSION);
+		//	payload_pub.publish(stop_req_packet);
+		//	std::cout << "request xbee to stop multi-packet transmission" << std::endl;	
 		
-		}
+		//}
 		
 		}
 
diff --git a/src/test1.bzz b/src/test1.bzz
index 993eca4..d50abd3 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -1,7 +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