From c756bdf5fd44f4cd05495113f1d063d6fc1284a9 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 03:03:29 -0500 Subject: [PATCH] changes in handshaking commuincation --- include/buzz_update.h | 4 ++++ include/roscontroller.h | 3 +++ src/buzz_update.cpp | 15 ++++++++++++--- src/roscontroller.cpp | 22 +++++++++++++++++++--- 4 files changed, 38 insertions(+), 6 deletions(-) diff --git a/include/buzz_update.h b/include/buzz_update.h index f8685fa..b88b8ea 100644 --- a/include/buzz_update.h +++ b/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 diff --git a/include/roscontroller.h b/include/roscontroller.h index 5d025f7..1aef836 100644 --- a/include/roscontroller.h +++ b/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; diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp index cd79b52..feafd80 100644 --- a/src/buzz_update.cpp +++ b/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); } diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index 981257b..8592136 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -133,7 +133,7 @@ namespace rosbzz_node{ neigh_pos_pub = n_c.advertise("/neighbours_pos",1000); /* Clients*/ mav_client = n_c.serviceClient(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*/