new updater with standby script loading
This commit is contained in:
vivek-shankar
parent
c724900448
commit
b5bb610043
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@ -16,8 +16,6 @@
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typedef enum {
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CODE_RUNNING = 0, // Code executing
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CODE_UPDATE, // Updating code
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CODE_NEIGHBOUR, // Neighbour triggered an update
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CODE_STANDBY, // Standing by for others to update
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} code_states_e;
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@ -50,30 +48,31 @@ struct buzz_updater_elem_s {
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/*current Bytecode content */
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uint8_t* bcode;
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/*current bcode size*/
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size_t bcode_size;
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size_t* bcode_size;
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/*current Bytecode content */
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uint8_t* standby_bcode;
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/*current bcode size*/
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size_t* standby_bcode_size;
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/*updater out msg queue */
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updater_msgqueue_t outmsg_queue;
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/*updater in msg queue*/
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updater_msgqueue_t inmsg_queue;
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/*Current state of the updater one in code_states_e ENUM*/
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int mode;
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/*Table with state of other neighbours*/
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buzzdict_t state_dict;
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/*Update number to ensure consistency*/
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uint8_t update_no;
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int* mode;
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uint8_t* update_no;
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} ;
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typedef struct buzz_updater_elem_s* buzz_updater_elem_t;
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/**************************************************************************/
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/*Updater routine from msg processing to file checks to be called from main*/
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/**************************************************************************/
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int update_routine(const char* bcfname,
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const char* dbgfname, int destroy);
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void update_routine(const char* bcfname,
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const char* dbgfname);
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/************************************************/
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/*Initalizes the updater */
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/************************************************/
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void init_update_monitor(const char* bo_filename,int barrier);
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void init_update_monitor(const char* bo_filename,const char* stand_by_script,int barrier);
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/*********************************************************/
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@ -113,6 +112,8 @@ int get_update_mode();
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/***************************************************/
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void set_bzz_file(const char* in_bzz_file);
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int test_set_code(uint8_t* BO_BUF, const char* dbgfname,size_t bcode_size);
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/****************************************************/
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/*Destroys the updater*/
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/***************************************************/
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@ -51,4 +51,5 @@ int update_step_test();
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uint16_t get_robotid();
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buzzvm_t get_vm();
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}
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@ -46,7 +46,7 @@ private:
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//int oldcmdID=0;
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int rc_cmd;
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int barrier;
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std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload; //, rcclient;
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std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by; //, rcclient;
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bool rcclient;
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ros::ServiceClient mav_client;
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ros::Publisher payload_pub;
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@ -11,6 +11,7 @@
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="1"/>
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<param name="No_of_Robots" value="1"/>
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<param name="stand_by" value="/home/vivek/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
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</node>
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<!-- node name="rosbuzz_node1" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" -->
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<!-- param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz" -->
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@ -10,6 +10,7 @@
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="3"/>
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<param name="No_of_Robots" value="2"/>
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<param name="stand_by" value="../ROS_WS/src/ROSBuzz/src/stand_by.bo"/>
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</node>
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@ -8,7 +8,7 @@
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#include <string.h>
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#include <buzz/buzzdebug.h>
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#include <sys/time.h>
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#define MAX_BUCKETS 10
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/*Temp for data collection*/
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//static int neigh=-1;
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@ -23,35 +23,9 @@ static buzz_updater_elem_t updater;
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static int no_of_robot;
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static char* dbgf_name;
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static const char* bzz_file;
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static int neigh=0;
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uint32_t buzz_updater_hashfunp (const void* key){
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return (*(uint16_t*)key);
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}
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int buzz_updater_key_cmp(const void* a, const void* b){
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if( *(uint16_t*)a < *(uint16_t*)b ) return -1;
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if( *(uint16_t*)a > *(uint16_t*)b ) return 1;
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return 0;
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}
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void updater_entry_destroy(const void* key, void* data, void* params) {
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// fprintf(stdout,"freeing element.\n");
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free((void*)key);
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free((void*)data);
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}
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void standby_barrier_test(const void* key, const void* data, void* tmp){
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//fprintf(stdout,"Checking barrier for robot :%i it has barrier : %i.\n",*(uint16_t*) key,*(uint8_t*) data );
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if(*(uint8_t*) data == CODE_STANDBY || *(uint8_t*) data == CODE_RUNNING ){
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if(updater->update_no==*(uint8_t*) (data+sizeof(uint8_t)) )
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(*(uint8_t*)tmp)+=1;
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}
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}
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void init_update_monitor(const char* bo_filename,int barrier){
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void init_update_monitor(const char* bo_filename, const char* stand_by_script,int barrier){
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fprintf(stdout,"intiialized file monitor.\n");
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fd=inotify_init1(IN_NONBLOCK);
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if ( fd < 0 ) {
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@ -80,23 +54,43 @@ void init_update_monitor(const char* bo_filename,int barrier){
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//return 0;
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}
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fclose(fp);
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uint8_t* STD_BO_BUF = 0;
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fp = fopen(stand_by_script, "rb");
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if(!fp) {
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perror(stand_by_script);
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}
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fseek(fp, 0, SEEK_END);
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size_t stdby_bcode_size = ftell(fp);
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rewind(fp);
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STD_BO_BUF = (uint8_t*)malloc(stdby_bcode_size);
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if(fread(STD_BO_BUF, 1, stdby_bcode_size, fp) < stdby_bcode_size) {
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perror(stand_by_script);
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fclose(fp);
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//return 0;
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}
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fclose(fp);
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updater = (buzz_updater_elem_t)malloc(sizeof(struct buzz_updater_elem_s));
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/* Create a new table for updater*/
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updater->bcode = BO_BUF;
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updater->bcode_size = bcode_size;
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updater->mode=CODE_RUNNING;
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updater->robotid= buzz_utility::get_robotid();
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updater->state_dict=buzzdict_new(MAX_BUCKETS,
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sizeof(uint16_t),
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sizeof(uint16_t),
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buzz_updater_hashfunp,
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buzz_updater_key_cmp,
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updater_entry_destroy);
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updater->outmsg_queue = NULL;
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updater->inmsg_queue = NULL;
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updater->update_no=0;
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updater->bcode_size = (size_t*) malloc(sizeof(size_t));
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updater->update_no = (uint8_t*) malloc(sizeof(uint16_t));
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*(uint16_t*)updater->update_no =0;
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*(size_t*)(updater->bcode_size)=bcode_size;
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updater->standby_bcode = STD_BO_BUF;
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updater->standby_bcode_size = (size_t*)malloc(sizeof(size_t));
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*(size_t*)(updater->standby_bcode_size)=stdby_bcode_size;
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updater->mode=(int*)malloc(sizeof(int));
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*(int*)updater->mode=CODE_RUNNING;
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no_of_robot=barrier;
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//neigh = 0;
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//updater->outmsg_queue=
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// update_table->barrier=nvs;
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@ -143,71 +137,25 @@ int check_update(){
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}
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void code_message_outqueue_append(int type){
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uint16_t size =0;
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//fprintf(stdout,"updater queue append.\n");
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//if(updater->outmsg_queue == NULL)
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//updater->outmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
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//else {
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// destroy_out_msg_queue();
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void code_message_outqueue_append(){
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updater->outmsg_queue=(updater_msgqueue_t)malloc(sizeof(struct updater_msgqueue_s));
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// }
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if(type==SEND_CODE){
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updater->outmsg_queue->queue = (uint8_t*)malloc((6*sizeof(uint8_t))+updater->bcode_size);
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uint16_t size =0;
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updater->outmsg_queue->queue = (uint8_t*)malloc(2*sizeof(uint16_t)+ *(size_t*)(updater->bcode_size));
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updater->outmsg_queue->size = (uint8_t*)malloc(sizeof(uint16_t));
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//*(uint16_t*)updater->outmsg_queue->size =(3*sizeof(uint8_t))+sizeof(size_t)+updater->bcode_size;
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*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->robotid;
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/*append the update no, code size and code to out msg*/
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*(uint16_t*)(updater->outmsg_queue->queue+size) = *(uint16_t*) updater->update_no;
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size+=sizeof(uint16_t);
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*(uint8_t*)(updater->outmsg_queue->queue+size) = (uint8_t) updater->mode;
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size+=sizeof(uint8_t);
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*(uint8_t*)(updater->outmsg_queue->queue+size) = updater->update_no;
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size+=sizeof(uint8_t);
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*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->bcode_size;
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*(uint16_t*)(updater->outmsg_queue->queue+size) = *(size_t*) updater->bcode_size;
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size+=sizeof(uint16_t);
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memcpy(updater->outmsg_queue->queue+size, updater->bcode, updater->bcode_size);
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size+=updater->bcode_size;
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FILE *fp;
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memcpy(updater->outmsg_queue->queue+size, updater->bcode, *(size_t*)updater->bcode_size);
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size+=*(size_t*)updater->bcode_size;
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/*FILE *fp;
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fp=fopen("update.bo", "wb");
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fwrite((updater->bcode), updater->bcode_size, 1, fp);
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fclose(fp);
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fprintf(stdout,"[Debug : ]updater rid = %i \n",(int)updater->robotid);
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fprintf(stdout,"[Debug : ]updater mode = %i \n",(int)updater->mode);
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fprintf(stdout,"[Debug : ]update number = %i \n",(int)updater->update_no);
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fclose(fp);*/
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*(uint16_t*)updater->outmsg_queue->size=size;
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/*Update local dictionary*/
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uint8_t* dict_update=(uint8_t*)malloc(sizeof(uint16_t));
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*(uint8_t*)dict_update=updater->mode;
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*(uint8_t*)(dict_update+sizeof(uint8_t))=updater->update_no;
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buzzdict_set(updater->state_dict,(uint8_t*) &(updater->robotid), (uint8_t*)dict_update);
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delete_p(dict_update);
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}
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else if(type==STATE_MSG){
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updater->outmsg_queue->queue = (uint8_t*)malloc(4*sizeof(uint8_t));
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updater->outmsg_queue->size = (uint8_t*)malloc(sizeof(uint16_t));
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//*(uint16_t*)updater->outmsg_queue->size = 3*sizeof(uint8_t);
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*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->robotid;
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size+=sizeof(uint16_t);
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*(uint8_t*)(updater->outmsg_queue->queue+size) = (uint8_t) updater->mode;
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size+=sizeof(uint8_t);
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*(uint8_t*)(updater->outmsg_queue->queue+size) = updater->update_no;
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size+=sizeof(uint8_t);
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*(uint16_t*)updater->outmsg_queue->size=size;
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fprintf(stdout,"[Debug : ]updater rid = %i \n",(int)updater->robotid);
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fprintf(stdout,"[Debug : ]updater mode = %i \n",(int)updater->mode);
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fprintf(stdout,"[Debug : ]update number = %i \n",(int)updater->update_no);
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/*Update local dictionary*/
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uint8_t* dict_update=(uint8_t*)malloc(sizeof(uint16_t));
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*(uint8_t*)dict_update=updater->mode;
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*(uint8_t*)(dict_update+sizeof(uint8_t))=updater->update_no;
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buzzdict_set(updater->state_dict,(uint8_t*) &(updater->robotid), (uint8_t*)dict_update);
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delete_p(dict_update);
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}
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//fprintf(stdout,"out mes append transfer code %d\n", transfer_code);
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}
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void code_message_inqueue_append(uint8_t* msg,uint16_t size){
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@ -221,75 +169,34 @@ memcpy(updater->inmsg_queue->queue, msg, size);
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void code_message_inqueue_process(){
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int size=0;
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//fprintf(stdout,"received state : %i from robot : %i\n",*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)),*(uint16_t*)updater->inmsg_queue->queue);
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if(*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)) != CODE_RUNNING){
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buzzdict_set(updater->state_dict, updater->inmsg_queue->queue,(updater->inmsg_queue->queue+sizeof(uint16_t)));
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size +=3*sizeof(uint8_t);
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if(*(uint8_t*)(updater->inmsg_queue->queue+size) > (updater->update_no)){
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if(updater->mode==CODE_RUNNING){
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uint8_t update_no_obt=*(uint8_t*)(updater->inmsg_queue->queue+size);
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size+=sizeof(uint8_t);
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if(*(int*)updater->mode==CODE_RUNNING){
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if(*(uint16_t*)(updater->inmsg_queue->queue+size) > *(uint16_t*) updater->update_no){
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uint16_t update_no=*(uint16_t*)(updater->inmsg_queue->queue+size);
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size +=sizeof(uint16_t);
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uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
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size +=sizeof(uint16_t);
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FILE *fp;
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fp=fopen("update.bo", "wb");
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fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
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fclose(fp);
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if(buzz_utility::buzz_update_init_test((updater->inmsg_queue->queue+size), dbgf_name,(size_t)update_bcode_size)){
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fprintf(stdout,"Initializtion of script test passed\n");
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if(buzz_utility::update_step_test()){
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/*data logging*/
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//neigh=1;
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//gettimeofday(&t1, NULL);
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//fprintf(stdout,"start and end time in queue process of update Info : %f,%f",(double)begin,(double)end);
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/*data logging*/
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fprintf(stdout,"Step test passed\n");
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updater->update_no=update_no_obt;
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updater->mode=CODE_UPDATE;
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//fprintf(stdout,"updater value = %i\n",updater->mode);
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free(updater->bcode);
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updater->bcode = (uint8_t*)malloc(update_bcode_size);
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memcpy(updater->bcode, updater->inmsg_queue->queue+size, update_bcode_size);
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//updater->bcode = BO_BUF;
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updater->bcode_size = (size_t)update_bcode_size;
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code_message_outqueue_append(STATE_MSG);
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updater->mode=CODE_STANDBY;
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//FILE *fp;
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//fp=fopen("update.bo", "wb");
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//fwrite((updater->inmsg_queue->queue+size), update_bcode_size, 1, fp);
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//fclose(fp);
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if(test_set_code((updater->inmsg_queue->queue+size),
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(char*) dbgf_name,(size_t)update_bcode_size)) {
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*(uint16_t*)updater->update_no=update_no;
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neigh=1;
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}
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}
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}
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//return updater->mode;
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//return 0;
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}
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/*Unable to step something wrong*/
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else{
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fprintf(stdout,"Step test failed, stick to old script\n");
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buzz_utility::buzz_update_set((updater)->bcode, dbgf_name, (updater)->bcode_size);
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//return updater->mode;
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//return 1;
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}
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}
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else {
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fprintf(stdout,"Initialiation test failed, stick to old script\n");
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buzz_utility::buzz_update_set((updater)->bcode, dbgf_name, (updater)->bcode_size);
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//return updater->mode;
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//return 1;
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}
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}
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}
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}
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else {
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buzzdict_set(updater->state_dict,updater->inmsg_queue->queue, updater->inmsg_queue->queue+sizeof(uint16_t));
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}
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//fprintf(stdout,"in queue freed\n");
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delete_p(updater->inmsg_queue->queue);
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delete_p(updater->inmsg_queue->size);
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delete_p(updater->inmsg_queue);
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}
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int update_routine(const char* bcfname,
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const char* dbgfname, int destroy){
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dbgf_name=(char*)dbgfname;
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void update_routine(const char* bcfname,
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const char* dbgfname){
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//dbgf_name=(char*)dbgfname;
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//fprintf(stdout,"[Debug : ]updater value = %i \n",updater->mode);
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if(updater->mode==CODE_RUNNING){
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if(*(int*)updater->mode==CODE_RUNNING){
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if(check_update()){
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std::string bzzfile_name(bzz_file);
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stringstream bzzfile_in_compile;
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@ -347,86 +254,38 @@ dbgf_name=(char*)dbgfname;
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}
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fclose(fp);
|
||||
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*/
|
||||
//neigh=0;
|
||||
//gettimeofday(&t1, NULL);
|
||||
//fprintf(stdout,"start and end time in code running state Info : %f,%f",(double)begin,(double)end);
|
||||
/*data logging*/
|
||||
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;
|
||||
if(test_set_code(BO_BUF, dbgfname,bcode_size)){
|
||||
uint16_t update_no =*(uint16_t*)(updater->update_no);
|
||||
*(uint16_t*)(updater->update_no) =update_no +1;
|
||||
code_message_outqueue_append();
|
||||
fprintf(stdout,"Update no %d\n", update_no);
|
||||
}
|
||||
/*Unable to step something wrong*/
|
||||
neigh=0;
|
||||
delete_p(BO_BUF);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
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){
|
||||
|
||||
code_message_outqueue_append(SEND_CODE);
|
||||
updater->mode=CODE_STANDBY;
|
||||
|
||||
}
|
||||
else if (updater->mode==CODE_NEIGHBOUR){
|
||||
updater->mode=CODE_STANDBY;
|
||||
}
|
||||
else if (updater->mode==CODE_STANDBY){
|
||||
|
||||
uint8_t* tmp =(uint8_t*)malloc(sizeof(uint8_t));
|
||||
*(uint8_t*)tmp=0;
|
||||
buzzdict_foreach( updater->state_dict,reinterpret_cast<buzzdict_elem_funp>(standby_barrier_test), tmp);
|
||||
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);
|
||||
if(neigh==0) code_message_outqueue_append();
|
||||
buzzvm_t VM = buzz_utility::get_vm();
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "barrier_val",1));
|
||||
buzzvm_gload(VM);
|
||||
buzzobj_t tObj = buzzvm_stack_at(VM, 1);
|
||||
buzzvm_pop(VM);
|
||||
fprintf(stdout,"Barrier ..................... %i \n",tObj->i.value);
|
||||
if(tObj->i.value==no_of_robot) {
|
||||
*(int*)updater->mode=CODE_RUNNING;
|
||||
//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);
|
||||
|
|
|
|||
|
|
@ -84,23 +84,21 @@ 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);
|
||||
|
||||
fprintf(stdout,"received Msg size : %i\n",(int) *(uint16_t*)(pl + tot));
|
||||
/*Xbee seems to send a lots of unknown message check later, added to avoid it, safe anyways*/
|
||||
if(*(uint16_t*)(pl + tot) >= 4){
|
||||
tot += sizeof(uint16_t);
|
||||
code_message_inqueue_append(pl+tot,unMsgSize);
|
||||
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;
|
||||
tot+=sizeof(uint16_t);
|
||||
// fprintf(stdout,"%u : read msg size : %u \n",m_unRobotId,unMsgSize);
|
||||
if(unMsgSize>0){
|
||||
code_message_inqueue_append((uint8_t*)(pl + tot),unMsgSize);
|
||||
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);
|
||||
|
|
@ -112,12 +110,10 @@ namespace buzz_utility{
|
|||
tot += unMsgSize;
|
||||
}
|
||||
}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
|
||||
}
|
||||
}
|
||||
|
||||
/* Process messages */
|
||||
buzzvm_process_inmsgs(VM);
|
||||
}
|
||||
}
|
||||
/***************************************************/
|
||||
/*Obtains messages from buzz out message Queue*/
|
||||
/***************************************************/
|
||||
|
|
@ -130,19 +126,27 @@ namespace buzz_utility{
|
|||
/* Send robot id */
|
||||
*(uint16_t*)(buff_send+tot) = (uint16_t) VM->robot;
|
||||
tot += sizeof(uint16_t);
|
||||
uint8_t updater_msg_pre = 0;
|
||||
uint16_t updater_msgSize= 0;
|
||||
if((int)get_update_mode()!=CODE_RUNNING){
|
||||
//fprintf(stdout,"transfer code %d\n", transfer_code);
|
||||
updater_msg_pre =1;
|
||||
//transfer_code=0;
|
||||
*(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
|
||||
tot += sizeof(uint8_t);
|
||||
/*Append updater msg size*/
|
||||
memcpy(buff_send + tot, (uint8_t*)getupdate_out_msg_size(), sizeof(uint16_t));
|
||||
fprintf(stdout,"Msg size : %i\n",(int) *(uint16_t*)(buff_send + tot));
|
||||
tot+= sizeof(uint16_t);
|
||||
*(uint16_t*)(buff_send + tot) = *(uint16_t*) (getupdate_out_msg_size());
|
||||
tot += sizeof(uint16_t);
|
||||
/*Append updater msgs*/
|
||||
memcpy(buff_send + tot, (uint8_t*) getupdater_out_msg(),*(uint16_t*)getupdate_out_msg_size());
|
||||
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)));
|
||||
tot+= *(uint16_t*)getupdate_out_msg_size();
|
||||
memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
|
||||
tot += updater_msgSize;
|
||||
/*destroy the updater out msg queue*/
|
||||
destroy_out_msg_queue();
|
||||
if(get_update_mode()==CODE_RUNNING){
|
||||
*(uint8_t*)(buff_send + tot) = 1;
|
||||
tot+= sizeof(uint8_t);
|
||||
}
|
||||
else{
|
||||
*(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
|
||||
tot += sizeof(uint8_t);
|
||||
}
|
||||
/* Send messages from FIFO */
|
||||
do {
|
||||
/* Are there more messages? */
|
||||
|
|
@ -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;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -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()
|
||||
|
||||
}
|
||||
|
|
@ -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
|
||||
|
|
|
|||
Loading…
Reference in New Issue