Spiri/ROSBuzz_MISTLab
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changes in handshaking commuincation

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This commit is contained in:
vivek-shankar 2017-01-29 03:03:29 -05:00
parent 225d561606
commit c756bdf5fd
4 changed files with 38 additions and 6 deletions
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4
include/buzz_update.h
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@ -123,4 +123,8 @@ void destroy_updater();
int is_msg_present(); int is_msg_present();
int get_update_status();
void set_read_update_status();
#endif #endif

3
include/roscontroller.h
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@ -23,6 +23,8 @@
#include "buzzuav_closures.h" #include "buzzuav_closures.h"
#define UPDATER_MESSAGE_CONSTANT 987654321 #define UPDATER_MESSAGE_CONSTANT 987654321
#define XBEE_MESSAGE_CONSTANT 586782343
#define XBEE_STOP_TRANSMISSION 4355356352
using namespace std; using namespace std;
@ -50,6 +52,7 @@ private:
int barrier; int barrier;
std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by; //, rcclient; std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by; //, rcclient;
bool rcclient; bool rcclient;
bool multi_msg;
ros::ServiceClient mav_client; ros::ServiceClient mav_client;
ros::Publisher payload_pub; ros::Publisher payload_pub;
ros::Publisher neigh_pos_pub; ros::Publisher neigh_pos_pub;

15
src/buzz_update.cpp
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@ -25,6 +25,7 @@ static char* dbgf_name;
static const char* bzz_file; static const char* bzz_file;
static int neigh=-1; static int neigh=-1;
static int updater_msg_ready ; static int updater_msg_ready ;
static int updated=0;
void init_update_monitor(const char* bo_filename, const char* stand_by_script,int barrier){ void init_update_monitor(const char* bo_filename, const char* stand_by_script,int barrier){
fprintf(stdout,"intiialized file monitor.\n"); fprintf(stdout,"intiialized file monitor.\n");
fd=inotify_init1(IN_NONBLOCK); 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_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
buzzvm_pushi(VM, *(uint16_t*)(updater->update_no)); buzzvm_pushi(VM, *(uint16_t*)(updater->update_no));
buzzvm_gstore(VM); buzzvm_gstore(VM);
neigh=0; neigh=-1;
fprintf(stdout,"Sending code... \n");
code_message_outqueue_append();
} }
delete_p(BO_BUF); delete_p(BO_BUF);
} }
@ -304,7 +307,8 @@ buzzvm_pushs(VM, buzzvm_string_register(VM, "update_no", 1));
neigh=-1; neigh=-1;
//collect_data(); //collect_data();
buzz_utility::buzz_update_init_test((updater)->bcode, (char*)dbgfname, *(size_t*)(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); //buzzvm_function_call(m_tBuzzVM, "updated", 0);
updated=1;
} }
} }
@ -393,7 +397,12 @@ delete_p(updater->outmsg_queue->size);
delete_p(updater->outmsg_queue); delete_p(updater->outmsg_queue);
updater_msg_ready=0; updater_msg_ready=0;
} }
int get_update_status(){
return updated;
}
void set_read_update_status(){
updated=0;
}
int get_update_mode(){ int get_update_mode(){
return (int)*(int*)(updater->mode); return (int)*(int*)(updater->mode);
} }

22
src/roscontroller.cpp
View File

@ -133,7 +133,7 @@ namespace rosbzz_node{
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000); neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);
/* Clients*/ /* Clients*/
mav_client = n_c.serviceClient<mavros_msgs::CommandInt>(fcclient_name); mav_client = n_c.serviceClient<mavros_msgs::CommandInt>(fcclient_name);
multi_msg=true;
} }
void roscontroller::Compile_bzz(){ void roscontroller::Compile_bzz(){
@ -225,7 +225,7 @@ namespace rosbzz_node{
delete[] payload_out_ptr; 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; uint8_t* buff_send = 0;
uint16_t updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());; uint16_t updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());;
int tot=0; int tot=0;
@ -254,8 +254,18 @@ namespace rosbzz_node{
update_packets.payload64.push_back(payload_64[i]); update_packets.payload64.push_back(payload_64[i]);
} }
payload_pub.publish(update_packets); payload_pub.publish(update_packets);
multi_msg=false;
delete[] payload_64; 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){ 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()); uint16_t obt_msg_size=sizeof(uint64_t)*(msg->payload64.size());
uint64_t message_obt[obt_msg_size]; uint64_t message_obt[obt_msg_size];
/* Go throught the obtained payload*/ /* Go throught the obtained payload*/