From a7e7c2490665370bf26f7fc738ba9dbb1a21d4bb Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Fri, 27 Jan 2017 12:55:53 -0500
Subject: [PATCH] stable version of updater with xbee

---
 src/buzz_update.cpp   | 10 +++++-----
 src/buzz_utility.cpp  | 14 +++++++-------
 src/roscontroller.cpp |  8 ++++----
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp
index 833545e..23434d1 100644
--- a/src/buzz_update.cpp
+++ b/src/buzz_update.cpp
@@ -157,12 +157,12 @@ void code_message_outqueue_append(){
 	updater_msg_ready=1;
 	*(uint16_t*)updater->outmsg_queue->size=size;
 	
-	fprintf(stdout,"out msg append transfer code size %d\n", (int)*(size_t*) updater->bcode_size);
+	//fprintf(stdout,"out msg append transfer code size %d\n", (int)*(size_t*) updater->bcode_size);
 }
 
 void code_message_inqueue_append(uint8_t* msg,uint16_t size){
 updater->inmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
-fprintf(stdout,"in ms append code size %d\n", (int) size);
+//fprintf(stdout,"in ms append code size %d\n", (int) size);
 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);
@@ -178,8 +178,8 @@ if(*(int*)updater->mode==CODE_RUNNING){
 		size +=sizeof(uint16_t);	
 		uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
 		size +=sizeof(uint16_t);	
-		fprintf(stdout,"in queue process Update no %d\n", (int) update_no);
-		fprintf(stdout,"in queue process bcode size %d\n", (int) update_bcode_size);
+		//fprintf(stdout,"in queue process Update no %d\n", (int) update_no);
+		//fprintf(stdout,"in queue process bcode size %d\n", (int) update_bcode_size);
 		//FILE *fp;
 		//fp=fopen("update.bo", "wb");
 		//fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
@@ -311,7 +311,7 @@ return (uint8_t*)updater->outmsg_queue->queue;
 }
 
 uint8_t* getupdate_out_msg_size(){
-fprintf(stdout,"[Debug  from get out size in util: ]size = %i \n",*(uint16_t*)updater->outmsg_queue->size);
+//fprintf(stdout,"[Debug  from get out size in util: ]size = %i \n",*(uint16_t*)updater->outmsg_queue->size);
 		
 return (uint8_t*)updater->outmsg_queue->size;
 }
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 665af1d..b8380ea 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -83,11 +83,11 @@ namespace buzz_utility{
 			}
 		}*/
 		/* Go through the messages until there's nothing else to read */
-		fprintf(stdout,"Total data size  : utils : %d\n",(int)size);
+		//fprintf(stdout,"Total data size  : utils : %d\n",(int)size);
       		uint16_t unMsgSize;
 		uint8_t is_msg_pres=*(uint8_t*)(pl + tot);
 		tot+=sizeof(uint8_t);
-		 fprintf(stdout,"is_updater msg present : %i\n",(int)is_msg_pres);
+		 //fprintf(stdout,"is_updater msg present : %i\n",(int)is_msg_pres);
 		if(is_msg_pres){
 		unMsgSize = *(uint16_t*)(pl + tot);
 		tot+=sizeof(uint16_t);
@@ -95,9 +95,9 @@ namespace buzz_utility{
 			if(unMsgSize>0){
 				code_message_inqueue_append((uint8_t*)(pl + tot),unMsgSize);
 				tot+=unMsgSize;
-				fprintf(stdout,"before in queue process : utils\n");
+				//fprintf(stdout,"before in queue process : utils\n");
 			      	code_message_inqueue_process();
-				fprintf(stdout,"after in queue process : utils\n");
+				//fprintf(stdout,"after in queue process : utils\n");
 			}
 		}
 	      	unMsgSize=0;
@@ -133,7 +133,7 @@ namespace buzz_utility{
 		uint8_t updater_msg_pre = 0;
    		uint16_t updater_msgSize= 0;
 		if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
-		   fprintf(stdout,"transfer code \n");
+		  // fprintf(stdout,"transfer code \n");
 		   updater_msg_pre =1;
 		   //transfer_code=0;
 		   *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
@@ -142,7 +142,7 @@ namespace buzz_utility{
 		   //*(uint16_t*)(buff_send + tot) = *(uint16_t*) (getupdate_out_msg_size());
 			updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());
 			*(uint16_t*)(buff_send + tot)=updater_msgSize;
-			fprintf(stdout,"Updater sent msg size : %i \n", (int)updater_msgSize);
+			//fprintf(stdout,"Updater sent msg size : %i \n", (int)updater_msgSize);
       		   tot += sizeof(uint16_t);
 		   /*Append updater msgs*/   	
     		   memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
@@ -566,7 +566,7 @@ uint16_t get_robotid(){
    /* Make numeric id from hostname */
    /* NOTE: here we assume that the hostname is in the format Knn */
    int id = strtol(hstnm + 4, NULL, 10);
-	fprintf(stdout, "Robot id from get rid buzz util:  %i\n",id);
+	//fprintf(stdout, "Robot id from get rid buzz util:  %i\n",id);
 return (uint16_t)id;
 }
 
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index e466ccf..32e6619 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -56,14 +56,14 @@ namespace rosbzz_node{
 					//std::cout<<"long obt"<<neigh_tmp.longitude<<endl;  					
 					}
 				neigh_pos_pub.publish(neigh_pos_array); 
-				fprintf(stdout, "before update routine\n");
+				//fprintf(stdout, "before update routine\n");
 				/*Check updater state and step code*/
   				update_routine(bcfname.c_str(), dbgfname.c_str());
       				/*Step buzz script */
-				fprintf(stdout, "before code step\n");
+				//fprintf(stdout, "before code step\n");
       				buzz_utility::buzz_script_step();
 				/*Prepare messages and publish them in respective topic*/
-				fprintf(stdout, "before publish msg\n");
+				//fprintf(stdout, "before publish msg\n");
 		  		prepare_msg_and_publish();
     				/*run once*/
     				ros::spinOnce();
@@ -184,7 +184,7 @@ namespace rosbzz_node{
 	    		else ROS_ERROR("Failed to call service from flight controller"); 
 		}
     		/*obtain Pay load to be sent*/  
-		fprintf(stdout, "before getting msg from utility\n");
+		//fprintf(stdout, "before getting msg from utility\n");
    		uint64_t* payload_out_ptr= buzz_utility::out_msg_process();
     		uint64_t  position[3];
   		/*Appened current position to message*/