changes in handshaking commuincation

include/buzz_update.h

@@ -123,4 +123,8 @@ void destroy_updater();
 
 int is_msg_present();
 
+int get_update_status();
+
+void set_read_update_status();
+
 #endif

include/roscontroller.h

@@ -23,6 +23,8 @@
 #include "buzzuav_closures.h"
 
 #define UPDATER_MESSAGE_CONSTANT 987654321
+#define XBEE_MESSAGE_CONSTANT 586782343
+#define XBEE_STOP_TRANSMISSION 4355356352
 
 using namespace std;
 
@@ -50,6 +52,7 @@ private:
 	int barrier;
 	std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by; //, rcclient;
 	bool rcclient;
+	bool multi_msg;
 	ros::ServiceClient mav_client;
 	ros::Publisher payload_pub;
 	ros::Publisher neigh_pos_pub;

src/buzz_update.cpp

@@ -25,6 +25,7 @@ static char* dbgf_name;
 static const char* bzz_file;
 static int neigh=-1;
 static int 	    updater_msg_ready ;
+static int updated=0;
 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);
@@ -280,7 +281,9 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
 				buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
 				buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
 				buzzvm_gstore(VM);
-				neigh=0;
+				neigh=-1;
+				fprintf(stdout,"Sending code... \n");		
+			        code_message_outqueue_append();
 				}
 				delete_p(BO_BUF);
 		       	}
@@ -304,7 +307,8 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
 			neigh=-1;
 			//collect_data();
 			buzz_utility::buzz_update_init_test((updater)->bcode, (char*)dbgfname, *(size_t*)(updater->bcode_size));
-			//buzzvm_function_call(m_tBuzzVM, "updated", 0);	
+			//buzzvm_function_call(m_tBuzzVM, "updated", 0);
+			updated=1;	
 			}
 
 	}
@@ -393,7 +397,12 @@ delete_p(updater->outmsg_queue->size);
 delete_p(updater->outmsg_queue);
 updater_msg_ready=0;
 }
-
+int get_update_status(){
+return updated;
+}
+void set_read_update_status(){
+updated=0;
+}
 int get_update_mode(){
 return (int)*(int*)(updater->mode);
 }

src/roscontroller.cpp

@@ -133,7 +133,7 @@ namespace rosbzz_node{
 		neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);	
 		/* Clients*/
   		mav_client = n_c.serviceClient<mavros_msgs::CommandInt>(fcclient_name);
-
+		multi_msg=true;
 	}
 	
 	void roscontroller::Compile_bzz(){
@@ -225,7 +225,7 @@ namespace rosbzz_node{
     		delete[] payload_out_ptr;
 
 		
-		if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
+		if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1 && multi_msg){
 			uint8_t* buff_send = 0;
 	   		uint16_t updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());;
 			int tot=0;
@@ -254,8 +254,18 @@ namespace rosbzz_node{
     				update_packets.payload64.push_back(payload_64[i]);
     			    }
 			    payload_pub.publish(update_packets);
+			    multi_msg=false;
 			    delete[] payload_64;
 		}
+		/*Request xbee to stop any multi transmission updated not needed any more*/
+		if(get_update_status()){
+			set_read_update_status();
+			mavros_msgs::Mavlink stop_req_packet;
+			stop_req_packet.payload64.push_back((uint64_t) XBEE_STOP_TRANSMISSION);
+			payload_pub.publish(stop_req_packet);
+			std::cout << "request xbee to stop multi-packet transmission" << std::endl;	
+		
+		}
 		
 		}
 
@@ -445,8 +455,14 @@ namespace rosbzz_node{
 	/*******************************************************************************************************/	
 	
 	void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg){
+
+		/*Ack from xbee about its transfer complete of multi packet*/
+		if((uint64_t)msg->payload64[0]==(uint64_t)XBEE_MESSAGE_CONSTANT && msg->payload64.size() == 1){
+			multi_msg=true;
+			std::cout << "ACK From xbee after transimssion of code " << std::endl;
+		}
 		
-		if((uint64_t)msg->payload64[0]==(uint64_t)UPDATER_MESSAGE_CONSTANT){
+		else if((uint64_t)msg->payload64[0]==(uint64_t)UPDATER_MESSAGE_CONSTANT && msg->payload64.size() > 10){
 			uint16_t obt_msg_size=sizeof(uint64_t)*(msg->payload64.size());
 			uint64_t message_obt[obt_msg_size];
 			/* Go throught the obtained payload*/