new updater with standby script loading

include/buzz_update.h

@@ -16,8 +16,6 @@
 
 typedef enum {
       CODE_RUNNING = 0, // Code executing
-      CODE_UPDATE,      // Updating code
-      CODE_NEIGHBOUR,   // Neighbour triggered an update
       CODE_STANDBY,     // Standing by for others to update
          } code_states_e;
 
@@ -47,33 +45,34 @@ struct updater_msgqueue_s {
 struct buzz_updater_elem_s {
       /* robot id  */
       uint16_t robotid;
-      /*current Bytecode content */
+     /*current Bytecode content */
       uint8_t* bcode;
       /*current bcode size*/
-      size_t bcode_size;
+      size_t* bcode_size;
+      /*current Bytecode content */
+      uint8_t* standby_bcode;
+      /*current bcode size*/
+      size_t* standby_bcode_size;
       /*updater out msg queue */
       updater_msgqueue_t outmsg_queue;
       /*updater in msg queue*/
       updater_msgqueue_t inmsg_queue;
       /*Current state of the updater one in code_states_e ENUM*/
-      int mode;
+      int* mode;
-      /*Table with state of other neighbours*/
+      uint8_t* update_no;
-      buzzdict_t state_dict;
-      /*Update number to ensure consistency*/
-      uint8_t update_no;
    } ;
    typedef struct buzz_updater_elem_s* buzz_updater_elem_t;
 
 /**************************************************************************/
 /*Updater routine from msg processing to file checks to be called from main*/
 /**************************************************************************/
-int update_routine(const char* bcfname,
+void update_routine(const char* bcfname,
-                           const char* dbgfname, int destroy);
+                           const char* dbgfname);
 
 /************************************************/
 /*Initalizes the updater */
 /************************************************/
-void init_update_monitor(const char* bo_filename,int barrier);
+void init_update_monitor(const char* bo_filename,const char* stand_by_script,int barrier);
 
 
 /*********************************************************/
@@ -113,6 +112,8 @@ int get_update_mode();
 /***************************************************/
 void set_bzz_file(const char* in_bzz_file);
 
+int test_set_code(uint8_t* BO_BUF, const char* dbgfname,size_t bcode_size);
+
 /****************************************************/
 /*Destroys the updater*/
 /***************************************************/

include/buzz_utility.h

@@ -51,4 +51,5 @@ int update_step_test();
 
 uint16_t get_robotid();
 
+buzzvm_t get_vm();
 }

include/roscontroller.h

@@ -46,7 +46,7 @@ private:
         //int oldcmdID=0;
 	int rc_cmd;
 	int barrier;
-	std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload; //, rcclient;
+	std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by; //, rcclient;
 	bool rcclient;
 	ros::ServiceClient mav_client;
 	ros::Publisher payload_pub;

launch/rosbuzz_2_parallel.launch

@@ -11,6 +11,7 @@
 		<param name="out_payload" value="/outMavlink"/>
 		<param name="robot_id" value="1"/>
 		<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" -->	
 		<!-- param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz" -->

launch/rosbuzzm100.launch

@@ -10,6 +10,7 @@
 		<param name="out_payload" value="/outMavlink"/>
 		<param name="robot_id" value="3"/>
 		<param name="No_of_Robots" value="2"/>
+		<param name="stand_by" value="../ROS_WS/src/ROSBuzz/src/stand_by.bo"/>
 		</node>
 		
 		

src/buzz_update.cpp

@@ -8,7 +8,7 @@
 #include <string.h>
 #include <buzz/buzzdebug.h>
 #include <sys/time.h>
-#define MAX_BUCKETS 10
+
 
 /*Temp for data collection*/
 //static int neigh=-1;
@@ -23,35 +23,9 @@ static buzz_updater_elem_t updater;
 static int no_of_robot;
 static char* dbgf_name;
 static const char* bzz_file;
+static int neigh=0;
 
-uint32_t buzz_updater_hashfunp (const void* key){
+void init_update_monitor(const char* bo_filename, const char* stand_by_script,int barrier){
-return (*(uint16_t*)key);
-}
-
-
-int buzz_updater_key_cmp(const void* a, const void* b){
-if( *(uint16_t*)a < *(uint16_t*)b ) return -1;
-if( *(uint16_t*)a > *(uint16_t*)b ) return 1;
-return 0;
-}
-
-void updater_entry_destroy(const void* key, void* data, void* params) {
-  // fprintf(stdout,"freeing element.\n");
-   free((void*)key);
-   free((void*)data);
-}
-
-
-
-void standby_barrier_test(const void* key, const void* data, void* tmp){
-	//fprintf(stdout,"Checking barrier for robot :%i it has barrier : %i.\n",*(uint16_t*) key,*(uint8_t*) data );
-	if(*(uint8_t*) data == CODE_STANDBY || *(uint8_t*) data == CODE_RUNNING  ){
-		if(updater->update_no==*(uint8_t*) (data+sizeof(uint8_t)) )
-			(*(uint8_t*)tmp)+=1;
-	}
-}
-
-void init_update_monitor(const char* bo_filename,int barrier){
 	fprintf(stdout,"intiialized file monitor.\n");
 	fd=inotify_init1(IN_NONBLOCK);
 	if ( fd < 0 ) {
@@ -80,23 +54,43 @@ void init_update_monitor(const char* bo_filename,int barrier){
 	      //return 0;
 	   }
 	   fclose(fp);
+	uint8_t* STD_BO_BUF          = 0;
+	fp = fopen(stand_by_script, "rb");
+
+	   if(!fp) {
+	      perror(stand_by_script);
+	    
+	   }
+	   fseek(fp, 0, SEEK_END);
+
+	   size_t stdby_bcode_size = ftell(fp);
+	   rewind(fp);
+
+	   STD_BO_BUF = (uint8_t*)malloc(stdby_bcode_size);
+	   if(fread(STD_BO_BUF, 1, stdby_bcode_size, fp) < stdby_bcode_size) {
+	      perror(stand_by_script);
+	     
+	      fclose(fp);
+	      //return 0;
+	   }
+	   fclose(fp);
 
 	 updater = (buzz_updater_elem_t)malloc(sizeof(struct buzz_updater_elem_s));
 	  /* Create a new table for updater*/
 	  updater->bcode = BO_BUF;
-	  updater->bcode_size = bcode_size;
-	  updater->mode=CODE_RUNNING;
-	  updater->robotid= buzz_utility::get_robotid();
-	  updater->state_dict=buzzdict_new(MAX_BUCKETS,
-                        sizeof(uint16_t),
-                        sizeof(uint16_t),
-                        buzz_updater_hashfunp,
-                        buzz_updater_key_cmp,
-                        updater_entry_destroy);
 	  updater->outmsg_queue = NULL;
 	  updater->inmsg_queue = NULL;
-          updater->update_no=0;
+	  updater->bcode_size = (size_t*) malloc(sizeof(size_t));
+	  updater->update_no = (uint8_t*) malloc(sizeof(uint16_t));
+	  *(uint16_t*)updater->update_no =0;
+	  *(size_t*)(updater->bcode_size)=bcode_size;
+	  updater->standby_bcode = STD_BO_BUF;
+	  updater->standby_bcode_size = (size_t*)malloc(sizeof(size_t));
+	  *(size_t*)(updater->standby_bcode_size)=stdby_bcode_size;
+	  updater->mode=(int*)malloc(sizeof(int));
+	  *(int*)updater->mode=CODE_RUNNING;
 	  no_of_robot=barrier;
+	  //neigh = 0;
 	  //updater->outmsg_queue=
 	  // update_table->barrier=nvs;
 
@@ -143,71 +137,25 @@ int check_update(){
 }
 
 
-void code_message_outqueue_append(int type){
+void code_message_outqueue_append(){
-uint16_t size =0;
+	updater->outmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
-//fprintf(stdout,"updater queue append.\n");
+	uint16_t size =0;
-	//if(updater->outmsg_queue == NULL)
+	updater->outmsg_queue->queue = (uint8_t*)malloc(2*sizeof(uint16_t)+ *(size_t*)(updater->bcode_size));
-	//updater->outmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
+	updater->outmsg_queue->size  = (uint8_t*)malloc(sizeof(uint16_t));	
-	//else {
+	/*append the update no, code size and code to out msg*/
-	//	destroy_out_msg_queue();
+	*(uint16_t*)(updater->outmsg_queue->queue+size) = *(uint16_t*) updater->update_no;
-		updater->outmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
+	size+=sizeof(uint16_t);
-	    // }
+	*(uint16_t*)(updater->outmsg_queue->queue+size) = *(size_t*) updater->bcode_size;
-	if(type==SEND_CODE){
+	size+=sizeof(uint16_t);
-		updater->outmsg_queue->queue = (uint8_t*)malloc((6*sizeof(uint8_t))+updater->bcode_size);
+	memcpy(updater->outmsg_queue->queue+size, updater->bcode, *(size_t*)updater->bcode_size);
-		updater->outmsg_queue->size  = (uint8_t*)malloc(sizeof(uint16_t));	
+	size+=*(size_t*)updater->bcode_size;
-		//*(uint16_t*)updater->outmsg_queue->size =(3*sizeof(uint8_t))+sizeof(size_t)+updater->bcode_size;
+	/*FILE *fp;
-		
+	fp=fopen("update.bo", "wb");
-		*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->robotid;
+	fwrite((updater->bcode), updater->bcode_size, 1, fp);
-		size+=sizeof(uint16_t);
+	fclose(fp);*/
-		*(uint8_t*)(updater->outmsg_queue->queue+size) = (uint8_t) updater->mode;
+	*(uint16_t*)updater->outmsg_queue->size=size;
-		size+=sizeof(uint8_t);
+	
-		*(uint8_t*)(updater->outmsg_queue->queue+size) =  updater->update_no;
+	//fprintf(stdout,"out mes append transfer code %d\n", transfer_code);
-		size+=sizeof(uint8_t);
-		*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->bcode_size;
-		size+=sizeof(uint16_t);
-		memcpy(updater->outmsg_queue->queue+size, updater->bcode, updater->bcode_size);
-		size+=updater->bcode_size;
-		FILE *fp;
-		fp=fopen("update.bo", "wb");
-   		fwrite((updater->bcode), updater->bcode_size, 1, fp);
-		fclose(fp);
-		fprintf(stdout,"[Debug : ]updater rid = %i \n",(int)updater->robotid);
-		fprintf(stdout,"[Debug : ]updater mode = %i \n",(int)updater->mode);
-		fprintf(stdout,"[Debug : ]update number = %i \n",(int)updater->update_no);
-		
-		*(uint16_t*)updater->outmsg_queue->size=size;
-		/*Update local dictionary*/
-		uint8_t* dict_update=(uint8_t*)malloc(sizeof(uint16_t));
-		*(uint8_t*)dict_update=updater->mode;
-		*(uint8_t*)(dict_update+sizeof(uint8_t))=updater->update_no;
-		buzzdict_set(updater->state_dict,(uint8_t*) &(updater->robotid), (uint8_t*)dict_update);
-		delete_p(dict_update);		
-		
-	}
-	else if(type==STATE_MSG){
-		updater->outmsg_queue->queue = (uint8_t*)malloc(4*sizeof(uint8_t));
-		updater->outmsg_queue->size  = (uint8_t*)malloc(sizeof(uint16_t));	
-		//*(uint16_t*)updater->outmsg_queue->size = 3*sizeof(uint8_t);
-		*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->robotid;
-		size+=sizeof(uint16_t);
-		*(uint8_t*)(updater->outmsg_queue->queue+size) = (uint8_t) updater->mode;
-		size+=sizeof(uint8_t);
-		*(uint8_t*)(updater->outmsg_queue->queue+size) =  updater->update_no;
-		size+=sizeof(uint8_t);
-		*(uint16_t*)updater->outmsg_queue->size=size;
-		fprintf(stdout,"[Debug : ]updater rid = %i \n",(int)updater->robotid);
-		fprintf(stdout,"[Debug : ]updater mode = %i \n",(int)updater->mode);
-		fprintf(stdout,"[Debug : ]update number = %i \n",(int)updater->update_no);
-				
-		/*Update local dictionary*/
-		uint8_t* dict_update=(uint8_t*)malloc(sizeof(uint16_t));
-		*(uint8_t*)dict_update=updater->mode;
-		*(uint8_t*)(dict_update+sizeof(uint8_t))=updater->update_no;
-		buzzdict_set(updater->state_dict,(uint8_t*) &(updater->robotid), (uint8_t*)dict_update);
-		delete_p(dict_update);
-							
-		}
-
 }
 
 void code_message_inqueue_append(uint8_t* msg,uint16_t size){
@@ -221,75 +169,34 @@ memcpy(updater->inmsg_queue->queue, msg, size);
 
 void code_message_inqueue_process(){
 int size=0;
-	//fprintf(stdout,"received state : %i from robot : %i\n",*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)),*(uint16_t*)updater->inmsg_queue->queue);
+if(*(int*)updater->mode==CODE_RUNNING){		
-	if(*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)) != CODE_RUNNING){
+	if(*(uint16_t*)(updater->inmsg_queue->queue+size) > *(uint16_t*) updater->update_no){
-		buzzdict_set(updater->state_dict, updater->inmsg_queue->queue,(updater->inmsg_queue->queue+sizeof(uint16_t)));
+		uint16_t update_no=*(uint16_t*)(updater->inmsg_queue->queue+size);	
-		size +=3*sizeof(uint8_t);
+		size +=sizeof(uint16_t);	
-		if(*(uint8_t*)(updater->inmsg_queue->queue+size) > (updater->update_no)){
+		uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
-			if(updater->mode==CODE_RUNNING){	
+		size +=sizeof(uint16_t);	
-				uint8_t update_no_obt=*(uint8_t*)(updater->inmsg_queue->queue+size);
+		//FILE *fp;
-				size+=sizeof(uint8_t);						
+		//fp=fopen("update.bo", "wb");
-				uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
+		//fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
-				size +=sizeof(uint16_t);	
+		//fclose(fp);
-				FILE *fp;
+		if(test_set_code((updater->inmsg_queue->queue+size),
-				fp=fopen("update.bo", "wb");
+		   (char*) dbgf_name,(size_t)update_bcode_size)) {
-		   		fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
+		*(uint16_t*)updater->update_no=update_no;
-				fclose(fp);
+		neigh=1;
-				if(buzz_utility::buzz_update_init_test((updater->inmsg_queue->queue+size), dbgf_name,(size_t)update_bcode_size)){
-					fprintf(stdout,"Initializtion of script test passed\n");
-					if(buzz_utility::update_step_test()){
-						/*data logging*/
-						//neigh=1;
-						//gettimeofday(&t1, NULL);
-						//fprintf(stdout,"start and end time in queue process of update Info : %f,%f",(double)begin,(double)end);
-						/*data logging*/
-						fprintf(stdout,"Step test passed\n");
-						updater->update_no=update_no_obt;
-						updater->mode=CODE_UPDATE;
-						//fprintf(stdout,"updater value = %i\n",updater->mode);
-						free(updater->bcode);
-						updater->bcode = (uint8_t*)malloc(update_bcode_size);
-						memcpy(updater->bcode, updater->inmsg_queue->queue+size, update_bcode_size);
-						//updater->bcode = BO_BUF;
-		  				updater->bcode_size = (size_t)update_bcode_size;
-						code_message_outqueue_append(STATE_MSG);
-						updater->mode=CODE_STANDBY;
-
-						//return updater->mode;				
-						//return 0;
-						}
-					/*Unable to step something wrong*/
-					else{
-						fprintf(stdout,"Step test failed, stick to old script\n");
-						buzz_utility::buzz_update_set((updater)->bcode, dbgf_name, (updater)->bcode_size);
-
-						//return updater->mode;
-						//return 1;
-					}				
-				}    
-				else {
-					fprintf(stdout,"Initialiation test failed, stick to old script\n");
-					buzz_utility::buzz_update_set((updater)->bcode, dbgf_name, (updater)->bcode_size);
-					//return updater->mode;
-					//return 1;				
-					}
-			}
 		}
+	}
+}
 
-	}
-	else {
-	buzzdict_set(updater->state_dict,updater->inmsg_queue->queue, updater->inmsg_queue->queue+sizeof(uint16_t));
-	}
 //fprintf(stdout,"in queue freed\n");
 delete_p(updater->inmsg_queue->queue);
 delete_p(updater->inmsg_queue->size);
 delete_p(updater->inmsg_queue);
 }
-int update_routine(const char* bcfname,
+void update_routine(const char* bcfname,
-                           const char* dbgfname, int destroy){
+                           const char* dbgfname){
-dbgf_name=(char*)dbgfname;
+//dbgf_name=(char*)dbgfname;
 //fprintf(stdout,"[Debug : ]updater value = %i \n",updater->mode);
-	if(updater->mode==CODE_RUNNING){
+	if(*(int*)updater->mode==CODE_RUNNING){
 		if(check_update()){
 			std::string bzzfile_name(bzz_file);
 			stringstream bzzfile_in_compile;
@@ -347,86 +254,38 @@ dbgf_name=(char*)dbgfname;
 				      
 				   }
 				   fclose(fp);
-				if(buzz_utility::buzz_update_init_test(BO_BUF, dbgfname,bcode_size)){
+				if(test_set_code(BO_BUF, dbgfname,bcode_size)){
-				 fprintf(stdout,"Initializtion of script test passed\n");
+				 uint16_t update_no =*(uint16_t*)(updater->update_no);
-					if(buzz_utility::update_step_test()){
+				*(uint16_t*)(updater->update_no) =update_no +1;
-					/*data logging*/
+				code_message_outqueue_append();
-					//neigh=0;
+				fprintf(stdout,"Update no %d\n", update_no);
-					//gettimeofday(&t1, NULL);
+				}
-					//fprintf(stdout,"start and end time in code running state Info : %f,%f",(double)begin,(double)end);
+				neigh=0;
-					/*data logging*/
+				delete_p(BO_BUF);
-					fprintf(stdout,"Step test passed\n");
-					updater->update_no+=1;
-					updater->mode=CODE_UPDATE;
-					//fprintf(stdout,"updater value = %i\n",updater->mode);
-					delete_p(updater->bcode);
-					updater->bcode = (uint8_t*)malloc(bcode_size);
-	  				memcpy(updater->bcode, BO_BUF, bcode_size);
-	  				updater->bcode_size = bcode_size;
-			                code_message_outqueue_append(SEND_CODE);
-					delete_p(BO_BUF);
-					return updater->mode;				
-					//return 0;
-					}
-					/*Unable to step something wrong*/
-					else{
-					fprintf(stdout,"step test failed, stick to old script\n");
-					buzz_utility::buzz_update_set((updater)->bcode, dbgfname, (updater)->bcode_size);
-					code_message_outqueue_append(STATE_MSG);
-					delete_p(BO_BUF);
-					return updater->mode;
-					//return 1;
-					}				
-				}    
-				else {
-					fprintf(stdout,"unable to set new script to switch to old new script\n");
-					delete_p(BO_BUF);
-					buzz_utility::buzz_update_set((updater)->bcode, dbgfname, (updater)->bcode_size);
-					code_message_outqueue_append(STATE_MSG);
-					return updater->mode;
-					//return 1;				
-					}
 		       	}
 	     
 		}
-		code_message_outqueue_append(STATE_MSG);
+		
 	}
 
-	else if (updater->mode==CODE_UPDATE){
+	else{
-	
-		code_message_outqueue_append(SEND_CODE);
-		updater->mode=CODE_STANDBY;
 
-	}
+		if(neigh==0) code_message_outqueue_append();
-	else if (updater->mode==CODE_NEIGHBOUR){
+		buzzvm_t  VM = buzz_utility::get_vm();
-		updater->mode=CODE_STANDBY;
+		buzzvm_pushs(VM, buzzvm_string_register(VM, "barrier_val",1));
-	}
+            	buzzvm_gload(VM);
-	else if (updater->mode==CODE_STANDBY){
+            	buzzobj_t tObj = buzzvm_stack_at(VM, 1);
-
+            	buzzvm_pop(VM);
-		uint8_t* tmp =(uint8_t*)malloc(sizeof(uint8_t));
+		fprintf(stdout,"Barrier ..................... %i \n",tObj->i.value);
-		*(uint8_t*)tmp=0;
+		if(tObj->i.value==no_of_robot) { 
-		buzzdict_foreach( updater->state_dict,reinterpret_cast<buzzdict_elem_funp>(standby_barrier_test), tmp);
+			*(int*)updater->mode=CODE_RUNNING;
-		fprintf(stdout,"Standby barrier ................... %i\n",*(uint8_t*)tmp);
-		code_message_outqueue_append(SEND_CODE);
-		if(*(uint8_t*)tmp==no_of_robot) { 
-			updater->mode=CODE_RUNNING;
-			//gettimeofday(&t2, NULL);
-			//fprintf(stdout,"start and end time in standby state Info : %f,%f",(double)begin,(double)end);
 			//collect_data();
-			buzz_utility::buzz_update_set((updater)->bcode, dbgf_name, (updater)->bcode_size);	
+			buzz_utility::buzz_update_init_test((updater)->bcode, (char*)dbgfname, *(size_t*)(updater->bcode_size));
+			//buzzvm_function_call(m_tBuzzVM, "updated", 0);	
 			}
-		
+
-		delete_p(tmp);
-		//fprintf(stdout,"freed tmp\n");
-		
 	}
 	
-	if(destroy){
-          
- 	  destroy_updater();
-	  fprintf(stdout,"updater destoryed.\n");
-	}
-return updater->mode;
 }
 
 
@@ -439,7 +298,44 @@ return (uint8_t*)updater->outmsg_queue->queue;
 uint8_t* getupdate_out_msg_size(){
 //fprintf(stdout,"[Debug : ]size = %i \n",*(uint16_t*)updater->outmsg_queue->size);
 		
-return updater->outmsg_queue->size;
+return (uint8_t*)updater->outmsg_queue->size;
+}
+
+int test_set_code(uint8_t* BO_BUF, const char* dbgfname,size_t bcode_size){
+	if(buzz_utility::buzz_update_init_test(BO_BUF, dbgfname,bcode_size)){
+		fprintf(stdout,"Initializtion of script test passed\n");
+		if(buzz_utility::update_step_test()){
+			/*data logging*/
+			//start =1;
+			/*data logging*/
+			fprintf(stdout,"Step test passed\n");
+			*(int*)updater->mode = CODE_STANDBY;
+			//fprintf(stdout,"updater value = %i\n",updater->mode);
+			delete_p(updater->bcode);
+			updater->bcode = (uint8_t*)malloc(bcode_size);
+			memcpy(updater->bcode, BO_BUF, bcode_size);
+			*(size_t*)updater->bcode_size = bcode_size;
+			buzz_utility::buzz_update_init_test((updater)->standby_bcode,
+			         (char*)dbgfname, *(size_t*)(updater->standby_bcode_size));
+			buzzvm_t  VM = buzz_utility::get_vm();
+			buzzvm_pushs(VM, buzzvm_string_register(VM, "ROBOTS", 1));
+			buzzvm_pushi(VM, no_of_robot);
+			buzzvm_gstore(VM);
+			return 1;
+		}
+		/*Unable to step something wrong*/
+		else{
+			fprintf(stdout,"step test failed, stick to old script\n");
+			buzz_utility::buzz_update_init_test((updater)->bcode, dbgfname, *(size_t*)(updater->bcode_size));
+			return 0;
+			
+		}				
+	}    
+	else {
+		fprintf(stdout,"Initialization test failed\n");
+		buzz_utility::buzz_update_init_test((updater)->bcode, dbgfname,*(size_t*) (updater->bcode_size));
+		return 0;				
+		}
 }
 
 void destroy_out_msg_queue(){
@@ -450,19 +346,16 @@ delete_p(updater->outmsg_queue);
 }
 
 int get_update_mode(){
-return updater->mode;
+return *(int*)updater->mode;
 }
 
 void destroy_updater(){
-buzz_utility::buzz_script_destroy();
-//dictonary
-//fprintf(stdout,"freeing dict.\n");
-buzzdict_t* updater_dict_ptr=&(updater->state_dict);
-buzzdict_destroy((updater_dict_ptr));
-//fprintf(stdout,"freeing complete dict.\n");
 delete_p(updater->bcode);
-//fprintf(stdout,"freeing complete bcode.\n");
+delete_p(updater->bcode_size);
-
+delete_p(updater->standby_bcode);
+delete_p(updater->standby_bcode_size);
+delete_p(updater->mode);
+delete_p(updater->update_no);
 if(updater->outmsg_queue){
 delete_p(updater->outmsg_queue->queue);
 delete_p(updater->outmsg_queue->size);

src/buzz_utility.cpp

@@ -84,39 +84,35 @@ namespace buzz_utility{
 		}*/
 		/* Go through the messages until there's nothing else to read */
       		uint16_t unMsgSize;
+		uint8_t is_msg_pres=*(uint8_t*)(pl + tot);
+		tot+=sizeof(uint8_t);
+		if(is_msg_pres){
 		unMsgSize = *(uint16_t*)(pl + tot);
-	       
+		tot+=sizeof(uint16_t);
-		fprintf(stdout,"received Msg size : %i\n",(int) *(uint16_t*)(pl + tot));
+     		// fprintf(stdout,"%u : read msg size : %u \n",m_unRobotId,unMsgSize);	
-		/*Xbee seems to send a lots of unknown message check later, added to avoid it, safe anyways*/
+			if(unMsgSize>0){
-		if(*(uint16_t*)(pl + tot) >= 4){		
+				code_message_inqueue_append((uint8_t*)(pl + tot),unMsgSize);
-			 tot += sizeof(uint16_t);
+				tot+=unMsgSize;
-			code_message_inqueue_append(pl+tot,unMsgSize);
+			      	code_message_inqueue_process();
-			fprintf(stdout,"Msg 1 : %i , and Msg 2: %i\n",(int) *(uint16_t*)(pl+tot),(int) *(uint8_t*)(pl+tot+sizeof(uint16_t)));
-		      	tot += unMsgSize;		
-		      	code_message_inqueue_process();
-		      	unMsgSize=0;
-			/*Check for Buzz messages only when the code is running*/
-			if(get_update_mode()==CODE_RUNNING){
-				uint8_t buzz_msg_pre=*(uint8_t*)(pl + tot);
-				tot+= sizeof(uint8_t);
-				/*Obtain Buzz messages only when they are present*/
-		      		if(buzz_msg_pre){
-		      			do {
-			 			/* Get payload size */
-			 			unMsgSize = *(uint16_t*)(pl + tot);
-		   	 			tot += sizeof(uint16_t);
-			 			/* Append message to the Buzz input message queue */
-			 			if(unMsgSize > 0 && unMsgSize <= size - tot ) {
-			    			buzzinmsg_queue_append(VM,
-				                buzzmsg_payload_frombuffer(pl +tot, unMsgSize));
-			    			tot += unMsgSize;
-			 			}
-		      			}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
-				}
 			}
-	   		/* Process messages */
-			buzzvm_process_inmsgs(VM);
 		}
+	      	unMsgSize=0;
+		
+			/*Obtain Buzz messages only when they are present*/
+	      			do {
+		 			/* Get payload size */
+		 			unMsgSize = *(uint16_t*)(pl + tot);
+	   	 			tot += sizeof(uint16_t);
+		 			/* Append message to the Buzz input message queue */
+		 			if(unMsgSize > 0 && unMsgSize <= size - tot ) {
+		    			buzzinmsg_queue_append(VM,
+		                        buzzmsg_payload_frombuffer(pl +tot, unMsgSize));
+		    			tot += unMsgSize;
+		 			}
+	      			}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
+
+   		/* Process messages */
+		buzzvm_process_inmsgs(VM);
 	}
 	/***************************************************/
 	/*Obtains messages from buzz out message Queue*/
@@ -130,20 +126,28 @@ namespace buzz_utility{
    		/* Send robot id */
    		*(uint16_t*)(buff_send+tot) = (uint16_t) VM->robot;
    		tot += sizeof(uint16_t);
-		/*Append updater msg size*/
+		uint8_t updater_msg_pre = 0;
-                memcpy(buff_send + tot, (uint8_t*)getupdate_out_msg_size(), sizeof(uint16_t));
+   		uint16_t updater_msgSize= 0;
-     		 fprintf(stdout,"Msg size : %i\n",(int) *(uint16_t*)(buff_send + tot));
+		if((int)get_update_mode()!=CODE_RUNNING){
-      		tot+= sizeof(uint16_t);
+		   //fprintf(stdout,"transfer code %d\n", transfer_code);
-		/*Append updater msgs*/   		
+		   updater_msg_pre =1;
-		memcpy(buff_send + tot, (uint8_t*) getupdater_out_msg(),*(uint16_t*)getupdate_out_msg_size());
+		   //transfer_code=0;
-     		 fprintf(stdout,"Msg 1 : %i , and Msg 2: %i\n",(int) *(uint16_t*)(buff_send + tot),(int) *(uint8_t*)(buff_send + tot+sizeof(uint16_t)));
+		   *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
-		tot+= *(uint16_t*)getupdate_out_msg_size();
+      		   tot += sizeof(uint8_t);
-		/*destroy the updater out msg queue*/
+		   /*Append updater msg size*/
-		destroy_out_msg_queue();
+		   *(uint16_t*)(buff_send + tot) = *(uint16_t*) (getupdate_out_msg_size());
- 		if(get_update_mode()==CODE_RUNNING){
+      		   tot += sizeof(uint16_t);
-	  		*(uint8_t*)(buff_send + tot) = 1;
+		   /*Append updater msgs*/   	
-	   		tot+= sizeof(uint8_t);
+    		   memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
-	   		/* Send messages from FIFO */
+		   tot += updater_msgSize;
+		   /*destroy the updater out msg queue*/
+		   destroy_out_msg_queue();
+		}
+		else{
+		   *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
+      		   tot += sizeof(uint8_t);
+		}
+ 			/* Send messages from FIFO */
 	   		do {
 				/* Are there more messages? */
 	      			if(buzzoutmsg_queue_isempty(VM)) break;
@@ -169,11 +173,7 @@ namespace buzz_utility{
       			buzzoutmsg_queue_next(VM);
       			buzzmsg_payload_destroy(&m);
 	   		} while(1);
-		}
+		
-		else{
-	 		*(uint8_t*)(buff_send + tot) = 0;
-			tot+= sizeof(uint8_t);
-		}
    		uint16_t total_size =(ceil((float)tot/(float)sizeof(uint64_t))); 
    		*(uint16_t*)buff_send = (uint16_t) total_size;   
    
@@ -489,7 +489,10 @@ namespace buzz_utility{
 		      buzz_error_info());
 	      buzzvm_dump(VM);
 	   }
-	   /* Print swarm */
+	   /*!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!*/
+	   /* look into this currently we don't have swarm feature at all */
+	   /*!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!*/
+	   /*Print swarm*/
 	   //buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
 	   /* Check swarm state */
 	   /*  int status = 1;
@@ -560,6 +563,9 @@ uint16_t get_robotid(){
 return (uint16_t)id;
 }
 
+buzzvm_t get_vm(){
+return VM;
+}
 
 }
 

src/roscontroller.cpp

@@ -33,7 +33,7 @@ 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(),barrier);
+			init_update_monitor(bcfname.c_str(),stand_by.c_str(),barrier);
 			while (ros::ok() && !buzz_utility::buzz_script_done())
   			{
       				/*Update neighbors position inside Buzz*/
@@ -56,12 +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");
 				/*Check updater state and step code*/
-  				if(update_routine(bcfname.c_str(), dbgfname.c_str(),0)==CODE_RUNNING)
+  				update_routine(bcfname.c_str(), dbgfname.c_str());
       				/*Step buzz script */
+				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");
 		  		prepare_msg_and_publish();
     				/*run once*/
     				ros::spinOnce();
@@ -74,7 +76,7 @@ namespace rosbzz_node{
 				
 			}
 			/* Destroy updater and Cleanup */
-    			update_routine(bcfname.c_str(), dbgfname.c_str(),1);
+    			//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
   		}
 	}
 
@@ -107,6 +109,8 @@ namespace rosbzz_node{
   		n_c.getParam("in_payload", in_payload);
 		/*Obtain Number of robots for barrier*/
 		n_c.getParam("No_of_Robots", barrier);
+		/*Obtain standby script to run during update*/
+		n_c.getParam("stand_by", stand_by);
 		
 
 	}

src/stand_by.basm

@@ -0,0 +1,144 @@
+!19
+'updated
+'update_ack
+'init
+'barrier
+'stigmergy
+'create
+'put
+'id
+'barrier_val
+'onconflict
+'data
+'stand_by
+'get
+'size
+'neighbors
+'listen
+'update_no
+'ROBOTS
+'step
+
+	pushs 2
+	pushcn @__label_1
+	gstore
+	pushs 11
+	pushcn @__label_5
+	gstore
+	pushs 18
+	pushcn @__label_9
+	gstore
+	nop
+
+@__label_0
+	pushs 0	|1,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 1	|1,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gstore	|1,20,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+
+@__exitpoint
+	done
+
+@__label_1
+	pushs 3	|4,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 4	|4,19,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|4,19,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 5	|4,20,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|4,26,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 101	|4,27,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 1	|4,31,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|4,31,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gstore	|4,31,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 3	|5,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|5,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 6	|5,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|5,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 7	|5,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|5,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 1	|5,15,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 2	|5,17,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|5,17,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 8	|6,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 0	|6,12,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gstore	|6,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 3	|7,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|7,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 9	|7,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|7,18,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushl @__label_2	|7,19,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 1	|10,2,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|10,2,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret0	|12,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+
+@__label_2
+	lload 3	|8,4,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 10	|8,6,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|8,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	lload 2	|8,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 10	|8,16,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|8,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	lt	|8,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	lload 3	|8,26,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 10	|8,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|8,33,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	lload 2	|8,37,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 10	|8,39,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|8,44,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	eq	|8,44,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	or	|8,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	jumpz @__label_3	|8,47,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	lload 2	|8,55,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret1	|8,55,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	jump @__label_4	|9,5,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+@__label_3	|9,5,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	lload 3	|9,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret1	|9,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+@__label_4	|9,13,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret0	|10,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+
+@__label_5
+	pushs 3	|16,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|16,7,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 12	|16,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|16,11,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 7	|16,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|16,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 1	|16,15,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|16,15,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 8	|17,12,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 3	|17,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|17,21,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 13	|17,22,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|17,26,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 0	|17,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|17,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gstore	|17,28,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 14	|19,9,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|19,9,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 15	|19,10,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	tget	|19,16,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 0	|19,24,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|19,24,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushl @__label_6	|20,3,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 2	|23,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|23,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret0	|25,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+
+@__label_6
+	lload 2	|21,14,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 16	|21,25,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|21,25,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	eq	|21,25,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	jumpz @__label_7	|21,27,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 8	|21,38,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushs 17	|21,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|21,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gstore	|21,45,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+@__label_7	|22,3,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret0	|22,4,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+
+@__label_9
+	pushs 11	|30,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	gload	|30,8,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	pushi 0	|30,10,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	callc	|30,10,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz
+	ret0	|32,1,/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bzz

src/stand_by.bzz

@@ -0,0 +1,32 @@
+updated="update_ack"
+
+function init(){
+barrier = stigmergy.create(101)
+barrier.put(id,1)
+barrier_val=0
+barrier.onconflict(function (k,l,r) {
+if(r. data < l. data or (r. data == l. data )) return l
+else return r
+})
+
+}
+
+function stand_by(){
+
+barrier.get(id)
+barrier_val = barrier.size()
+
+neighbors.listen(updated,
+   function(vid, value, rid) {
+      if(value==update_no) barrier_val=ROBOTS
+   }
+)
+
+}
+
+
+function step() {
+
+stand_by()
+
+}

src/test1.bzz

@@ -2,6 +2,15 @@
 # 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"
+####################################################################################################
+# Updater related
+# This should be here for the updater to work, changing position of code will crash the updater
+####################################################################################################
+updated="update_ack"
+
+function updated_neigh(){
+neighbors.broadcast(updated, update_no)
+}
 
 TARGET_ALTITUDE = 10.1
  
@@ -46,7 +55,7 @@ function hexagon() {
 # Constants
 #
 BARRIER_VSTIG = 1
-ROBOTS = 3 # number of robots in the swarm
+#ROBOTS = 3 # number of robots in the swarm
 
 #
 # Sets a barrier