From a857272acb0ad475395c3a8bd9f02b06d37bda8b Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Fri, 27 Jan 2017 09:09:42 -0500
Subject: [PATCH] Updater msg send fix

---
 include/buzz_update.h | 3 +++
 src/buzz_update.cpp   | 8 +++++++-
 src/buzz_utility.cpp  | 2 +-
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/include/buzz_update.h b/include/buzz_update.h
index 3e99d86..c4bd963 100644
--- a/include/buzz_update.h
+++ b/include/buzz_update.h
@@ -10,6 +10,7 @@
 #define delete_p(p) do { free(p); p = NULL; } while(0)
 
 
+
 /*********************/
 /*   Updater states */
 /********************/
@@ -120,4 +121,6 @@ int test_set_code(uint8_t* BO_BUF, const char* dbgfname,size_t bcode_size);
 
 void destroy_updater();
 
+int is_msg_present();
+
 #endif
diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp
index a877945..c78e3c9 100644
--- a/src/buzz_update.cpp
+++ b/src/buzz_update.cpp
@@ -24,7 +24,7 @@ static int no_of_robot;
 static char* dbgf_name;
 static const char* bzz_file;
 static int neigh=0;
-
+static int 	    updater_msg_ready ;
 void init_update_monitor(const char* bo_filename, const char* stand_by_script,int barrier){
 	fprintf(stdout,"intiialized file monitor.\n");
 	fd=inotify_init1(IN_NONBLOCK);
@@ -90,6 +90,7 @@ void init_update_monitor(const char* bo_filename, const char* stand_by_script,in
 	  updater->mode=(int*)malloc(sizeof(int));
 	  *(int*)updater->mode=CODE_RUNNING;
 	  no_of_robot=barrier;
+	  updater_msg_ready=0;
 	  //neigh = 0;
 	  //updater->outmsg_queue=
 	  // update_table->barrier=nvs;
@@ -153,6 +154,7 @@ void code_message_outqueue_append(){
 	fp=fopen("update.bo", "wb");
 	fwrite((updater->bcode), updater->bcode_size, 1, fp);
 	fclose(fp);*/
+	updater_msg_ready=1;
 	*(uint16_t*)updater->outmsg_queue->size=size;
 	
 	//fprintf(stdout,"out mes append transfer code %d\n", transfer_code);
@@ -343,12 +345,16 @@ void destroy_out_msg_queue(){
 delete_p(updater->outmsg_queue->queue);
 delete_p(updater->outmsg_queue->size);
 delete_p(updater->outmsg_queue);
+updater_msg_ready=0;
 }
 
 int get_update_mode(){
 return *(int*)updater->mode;
 }
 
+int is_msg_present(){
+return updater_msg_ready;
+}
 void destroy_updater(){
 delete_p(updater->bcode);
 delete_p(updater->bcode_size);
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 9932676..f882d3f 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -128,7 +128,7 @@ namespace buzz_utility{
    		tot += sizeof(uint16_t);
 		uint8_t updater_msg_pre = 0;
    		uint16_t updater_msgSize= 0;
-		if((int)get_update_mode()!=CODE_RUNNING){
+		if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()){
 		   //fprintf(stdout,"transfer code %d\n", transfer_code);
 		   updater_msg_pre =1;
 		   //transfer_code=0;