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Merge branch 'sim' of git.mistlab.ca:dasto/drones into sim

This commit is contained in:
dave 2017-12-19 13:09:45 -05:00
parent 9f53386023 a243d5fa1a
commit d12e3d3824
4 changed files with 25 additions and 35 deletions
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8
include/buzz_update.h
View File

@ -129,9 +129,9 @@ void destroy_out_msg_queue();
/***************************************************/ /***************************************************/
/*obatins updater state*/ /*obatins updater state*/
/***************************************************/ /***************************************************/
int get_update_mode(); //int get_update_mode();
buzz_updater_elem_t get_updater(); //buzz_updater_elem_t get_updater();
/***************************************************/ /***************************************************/
/*sets bzz file name*/ /*sets bzz file name*/
/***************************************************/ /***************************************************/
@ -155,7 +155,7 @@ int compile_bzz(std::string bzz_file);
void updates_set_robots(int robots); void updates_set_robots(int robots);
void set_packet_id(int packet_id); //void set_packet_id(int packet_id);
void collect_data(std::ofstream& logger); //void collect_data(std::ofstream& logger);
#endif #endif

2
include/buzzuav_closures.h
View File

@ -85,7 +85,7 @@ void set_deque_full(bool state);
void set_rssi(float value); void set_rssi(float value);
void set_raw_packet_loss(float value); void set_raw_packet_loss(float value);
void set_filtered_packet_loss(float value); void set_filtered_packet_loss(float value);
void set_api_rssi(float value); //void set_api_rssi(float value);
/* /*
* sets current position * sets current position
*/ */

34
src/buzz_update.cpp
View File

@ -121,14 +121,13 @@ void init_update_monitor(const char* bo_filename, const char* stand_by_script, c
/*Check for .bzz file chages*/ /*Check for .bzz file chages*/
int check_update() int check_update()
{ {
struct inotify_event* event;
char buf[1024]; char buf[1024];
int check = 0; int check = 0;
int i = 0; int i = 0;
int len = read(fd, buf, 1024); int len = read(fd, buf, 1024);
while (i < len) while (i < len)
{ {
event = (struct inotify_event*)&buf[i]; struct inotify_event* event = (struct inotify_event*)&buf[i];
/* file was modified this flag is true in nano and self delet in gedit and other editors */ /* file was modified this flag is true in nano and self delet in gedit and other editors */
// fprintf(stdout,"inside file monitor.\n"); // fprintf(stdout,"inside file monitor.\n");
if (event->mask & (IN_MODIFY | IN_DELETE_SELF)) if (event->mask & (IN_MODIFY | IN_DELETE_SELF))
@ -138,7 +137,6 @@ int check_update()
close(fd); close(fd);
fd = inotify_init1(IN_NONBLOCK); fd = inotify_init1(IN_NONBLOCK);
wd = inotify_add_watch(fd, bzz_file, IN_ALL_EVENTS); wd = inotify_add_watch(fd, bzz_file, IN_ALL_EVENTS);
// fprintf(stdout,"event.\n");
/* To mask multiple writes from editors*/ /* To mask multiple writes from editors*/
if (!old_update) if (!old_update)
{ {
@ -154,7 +152,7 @@ int check_update()
return check; return check;
} }
int test_patch(std::string path, std::string name1, size_t update_patch_size, uint8_t* patch) int test_patch(std::string& path, std::string& name1, size_t update_patch_size, uint8_t* patch)
{ {
if (SIMULATION == 1) if (SIMULATION == 1)
{ {
@ -180,7 +178,7 @@ int test_patch(std::string path, std::string name1, size_t update_patch_size, ui
} }
} }
updater_code_t obtain_patched_bo(std::string path, std::string name1) updater_code_t obtain_patched_bo(std::string& path, std::string& name1)
{ {
if (SIMULATION == 1) if (SIMULATION == 1)
{ {
@ -201,7 +199,6 @@ updater_code_t obtain_patched_bo(std::string path, std::string name1)
if (fread(patched_BO_Buf, 1, patched_size, fp) < patched_size) if (fread(patched_BO_Buf, 1, patched_size, fp) < patched_size)
{ {
perror(read_patched.str().c_str()); perror(read_patched.str().c_str());
fclose(fp);
} }
fclose(fp); fclose(fp);
/*Write the patched to a code struct and return*/ /*Write the patched to a code struct and return*/
@ -232,7 +229,6 @@ updater_code_t obtain_patched_bo(std::string path, std::string name1)
if (fread(patched_BO_Buf, 1, patched_size, fp) < patched_size) if (fread(patched_BO_Buf, 1, patched_size, fp) < patched_size)
{ {
perror(read_patched.str().c_str()); perror(read_patched.str().c_str());
fclose(fp);
} }
fclose(fp); fclose(fp);
@ -271,7 +267,7 @@ void code_message_outqueue_append()
*(uint16_t*)(updater->outmsg_queue->queue + size) = (uint16_t) * (size_t*)(updater->patch_size); *(uint16_t*)(updater->outmsg_queue->queue + size) = (uint16_t) * (size_t*)(updater->patch_size);
size += sizeof(uint16_t); size += sizeof(uint16_t);
memcpy(updater->outmsg_queue->queue + size, updater->patch, *(size_t*)(updater->patch_size)); memcpy(updater->outmsg_queue->queue + size, updater->patch, *(size_t*)(updater->patch_size));
size += (uint16_t) * (size_t*)(updater->patch_size); //size += (uint16_t) * (size_t*)(updater->patch_size);
updater_msg_ready = 1; updater_msg_ready = 1;
} }
@ -304,12 +300,11 @@ void code_message_inqueue_append(uint8_t* msg, uint16_t size)
memcpy(updater->inmsg_queue->queue, msg, size); memcpy(updater->inmsg_queue->queue, msg, size);
*(uint16_t*)(updater->inmsg_queue->size) = size; *(uint16_t*)(updater->inmsg_queue->size) = size;
} }
void set_packet_id(int packet_id)
{
/*Used for data logging*/ /*Used for data logging*/
/*void set_packet_id(int packet_id)
{
packet_id_ = packet_id; packet_id_ = packet_id;
} }*/
void code_message_inqueue_process() void code_message_inqueue_process()
{ {
int size = 0; int size = 0;
@ -403,7 +398,6 @@ void code_message_inqueue_process()
void create_update_patch() void create_update_patch()
{ {
std::stringstream genpatch; std::stringstream genpatch;
std::stringstream usepatch;
std::string bzzfile_name(bzz_file); std::string bzzfile_name(bzz_file);
@ -447,7 +441,6 @@ void create_update_patch()
if (fread(patch_buff, 1, patch_size, fp) < patch_size) if (fread(patch_buff, 1, patch_size, fp) < patch_size)
{ {
perror(patchfileName.str().c_str()); perror(patchfileName.str().c_str());
fclose(fp);
} }
fclose(fp); fclose(fp);
delete_p(updater->patch); delete_p(updater->patch);
@ -498,7 +491,6 @@ void update_routine()
if (fread(BO_BUF, 1, bcode_size, fp) < bcode_size) if (fread(BO_BUF, 1, bcode_size, fp) < bcode_size)
{ {
perror(bcfname); perror(bcfname);
fclose(fp);
} }
fclose(fp); fclose(fp);
if (test_set_code(BO_BUF, dbgf_name, bcode_size)) if (test_set_code(BO_BUF, dbgf_name, bcode_size))
@ -650,19 +642,19 @@ void set_read_update_status()
{ {
updated = 0; updated = 0;
} }
int get_update_mode() /*int get_update_mode()
{ {
return (int)*(int*)(updater->mode); return (int)*(int*)(updater->mode);
} }*/
int is_msg_present() int is_msg_present()
{ {
return updater_msg_ready; return updater_msg_ready;
} }
buzz_updater_elem_t get_updater() /*buzz_updater_elem_t get_updater()
{ {
return updater; return updater;
} }*/
void destroy_updater() void destroy_updater()
{ {
delete_p(updater->bcode); delete_p(updater->bcode);
@ -716,7 +708,7 @@ int compile_bzz(std::string bzz_file)
return system(bzzfile_in_compile.str().c_str()); return system(bzzfile_in_compile.str().c_str());
} }
void collect_data(std::ofstream& logger) /*void collect_data(std::ofstream& logger)
{ {
double time_spent = (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC; double time_spent = (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC;
time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0; time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0;
@ -725,4 +717,4 @@ void collect_data(std::ofstream& logger)
logger << (int)no_of_robot << "," << neigh << "," << (double)time_spent << "," << (int)timer_steps << "," logger << (int)no_of_robot << "," << neigh << "," << (double)time_spent << "," << (int)timer_steps << ","
<< old_byte_code_size << "," << *(size_t*)updater->bcode_size << "," << *(size_t*)updater->patch_size << "," << old_byte_code_size << "," << *(size_t*)updater->bcode_size << "," << *(size_t*)updater->patch_size << ","
<< (int)*(uint8_t*)updater->update_no << "," << (int)packet_id_; << (int)*(uint8_t*)updater->update_no << "," << (int)packet_id_;
} }*/

16
src/buzzuav_closures.cpp
View File

@ -145,18 +145,16 @@ void parse_gpslist()
const char* DELIMS = "\t ,"; // Tab, space or comma. const char* DELIMS = "\t ,"; // Tab, space or comma.
// Read the file and load the data: // Read the file and load the data:
double lat, lon;
int alt, tilt, tid;
buzz_utility::RB_struct RB_arr; buzz_utility::RB_struct RB_arr;
// Read one line at a time. // Read one line at a time.
while (fin.getline(buffer, MAX_LINE_LENGTH)) while (fin.getline(buffer, MAX_LINE_LENGTH))
{ {
// Extract the tokens: // Extract the tokens:
tid = atoi(strtok(buffer, DELIMS)); int tid = atoi(strtok(buffer, DELIMS));
lon = atof(strtok(NULL, DELIMS)); double lon = atof(strtok(NULL, DELIMS));
lat = atof(strtok(NULL, DELIMS)); double lat = atof(strtok(NULL, DELIMS));
alt = atoi(strtok(NULL, DELIMS)); int alt = atoi(strtok(NULL, DELIMS));
tilt = atoi(strtok(NULL, DELIMS)); //int tilt = atoi(strtok(NULL, DELIMS));
// DEBUG // DEBUG
// ROS_INFO("%.6f, %.6f, %i %i %i",lat, lon, alt, tilt, tid); // ROS_INFO("%.6f, %.6f, %i %i %i",lat, lon, alt, tilt, tid);
RB_arr.latitude = lat; RB_arr.latitude = lat;
@ -593,10 +591,10 @@ void set_filtered_packet_loss(float value)
filtered_packet_loss = round(100 * value); filtered_packet_loss = round(100 * value);
} }
void set_api_rssi(float value) /*void set_api_rssi(float value)
{ {
api_rssi = value; api_rssi = value;
} }*/
int buzzuav_update_xbee_status(buzzvm_t vm) int buzzuav_update_xbee_status(buzzvm_t vm)
/* /*