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fixes in ROSBuzz max msg size

This commit is contained in:
dave 2017-06-19 13:21:19 -04:00
parent 0093556096
commit 956b282ad3
4 changed files with 23 additions and 18 deletions
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6
script/Graph_fixed.graph
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@ -1,5 +1,5 @@
0 -1 -1 -1 -1 0 -1 -1 -1 -1
1 0 10.0 -1 -1 1 0 10.0 -1 -1
2 0 10.0 1 12.0 2 0 10.0 1 14.0
3 0 10.0 2 12.0 3 0 10.0 2 14.0
4 0 10.0 1 12.0 4 0 10.0 1 14.0

9
script/graphform.bzz
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@ -12,9 +12,9 @@ include "uavstates.bzz"
#parameters for set_wheels #parameters for set_wheels
m_sWheelTurningParams={.MaxSpeed=1.0} m_sWheelTurningParams={.MaxSpeed=1.0}
ROBOT_RADIUS=1.0 ROBOT_RADIUS=0.5
ROBOT_DIAMETER=2.0*ROBOT_RADIUS ROBOT_DIAMETER=2.0*ROBOT_RADIUS
ROBOT_SAFETYDIST=3.0*ROBOT_DIAMETER ROBOT_SAFETYDIST=2.0*ROBOT_DIAMETER
# #
# Global variables # Global variables
@ -774,7 +774,7 @@ function init() {
# #
m_unResponseTimeThreshold=10 m_unResponseTimeThreshold=10
m_unLabelSearchWaitTime=10 m_unLabelSearchWaitTime=10
m_fTargetDistanceTolerance=15 m_fTargetDistanceTolerance=1.5
m_unJoiningLostPeriod=100 m_unJoiningLostPeriod=100
# #
@ -782,8 +782,9 @@ function init() {
# #
s = swarm.create(1) s = swarm.create(1)
s.join() s.join()
#ROBOT_NUM=5
Reset(); Reset();
statef=idle statef=turnedoff
} }
# #

5
script/include/uavstates.bzz
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@ -6,6 +6,11 @@
TARGET_ALTITUDE = 5.0 TARGET_ALTITUDE = 5.0
UAVSTATE = "TURNEDOFF" UAVSTATE = "TURNEDOFF"
function turnedoff() {
statef=turnedoff
UAVSTATE = "TURNEDOFF"
}
function idle() { function idle() {
statef=idle statef=idle
UAVSTATE = "IDLE" UAVSTATE = "IDLE"

21
src/buzz_utility.cpp
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@ -17,9 +17,9 @@ namespace buzz_utility{
static char* BO_FNAME = 0; static char* BO_FNAME = 0;
static uint8_t* BO_BUF = 0; static uint8_t* BO_BUF = 0;
static buzzdebug_t DBG_INFO = 0; static buzzdebug_t DBG_INFO = 0;
static uint8_t MSG_SIZE = 250; // Only 100 bytes of Buzz messages every step static uint32_t MSG_SIZE = 600;//250; // Only 100 bytes of Buzz messages every step
static int MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets static uint32_t MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets
static int Robot_id = 0; static uint8_t Robot_id = 0;
static std::vector<uint8_t*> IN_MSG; static std::vector<uint8_t*> IN_MSG;
std::map< int, Pos_struct> users_map; std::map< int, Pos_struct> users_map;
@ -214,10 +214,10 @@ namespace buzz_utility{
/* Process messages VM call*/ /* Process messages VM call*/
buzzvm_process_inmsgs(VM); buzzvm_process_inmsgs(VM);
} }
/***************************************************/ /***************************************************/
/*Obtains messages from buzz out message Queue*/ /*Obtains messages from buzz out message Queue*/
/***************************************************/ /***************************************************/
uint64_t* obt_out_msg(){ uint64_t* obt_out_msg(){
/* Process out messages */ /* Process out messages */
buzzvm_process_outmsgs(VM); buzzvm_process_outmsgs(VM);
@ -234,12 +234,11 @@ namespace buzz_utility{
if(buzzoutmsg_queue_isempty(VM)) break; if(buzzoutmsg_queue_isempty(VM)) break;
/* Get first message */ /* Get first message */
buzzmsg_payload_t m = buzzoutmsg_queue_first(VM); buzzmsg_payload_t m = buzzoutmsg_queue_first(VM);
/* Make sure the next message makes the data buffer with buzz messages to be less than 100 Bytes */ /* Make sure the next message makes the data buffer with buzz messages to be less than MAX SIZE Bytes */
if(tot + buzzmsg_payload_size(m) + sizeof(uint16_t) //ROS_INFO("read size : %i", (int)(tot + buzzmsg_payload_size(m) + sizeof(uint16_t)));
> if((uint32_t)(tot + buzzmsg_payload_size(m) + sizeof(uint16_t)) > MSG_SIZE) {
MSG_SIZE) { buzzmsg_payload_destroy(&m);
buzzmsg_payload_destroy(&m); break;
break;
} }
/* Add message length to data buffer */ /* Add message length to data buffer */
@ -248,7 +247,7 @@ namespace buzz_utility{
/* Add payload to data buffer */ /* Add payload to data buffer */
memcpy(buff_send + tot, m->data, buzzmsg_payload_size(m)); memcpy(buff_send + tot, m->data, buzzmsg_payload_size(m));
tot += buzzmsg_payload_size(m); tot += buzzmsg_payload_size(m);
/* Get rid of message */ /* Get rid of message */
buzzoutmsg_queue_next(VM); buzzoutmsg_queue_next(VM);