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ROSBuzz_MISTLab
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addition of highlevel packet drop

This commit is contained in:
David St-Onge 2017-09-10 23:30:57 -04:00
parent ad883f8a79
commit ded07aa5e8
1 changed files with 15 additions and 1 deletions
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16
src/roscontroller.cpp
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@ -195,6 +195,8 @@ void roscontroller::RosControllerRun()
/* Set the Buzz bytecode */ /* Set the Buzz bytecode */
if (buzz_utility::buzz_script_set(bcfname.c_str(), dbgfname.c_str(), if (buzz_utility::buzz_script_set(bcfname.c_str(), dbgfname.c_str(),
robot_id)) { robot_id)) {
int packet_loss_tmp,time_step=0;
double cur_packet_loss=0;
ROS_INFO("[%i] Bytecode file found and set", robot_id); ROS_INFO("[%i] Bytecode file found and set", robot_id);
std::string standby_bo = Compile_bzz(stand_by) + ".bo"; std::string standby_bo = Compile_bzz(stand_by) + ".bo";
//init_update_monitor(bcfname.c_str(), standby_bo.c_str()); //init_update_monitor(bcfname.c_str(), standby_bo.c_str());
@ -233,7 +235,19 @@ void roscontroller::RosControllerRun()
neighbours_pos_publisher(); neighbours_pos_publisher();
send_MPpayload(); send_MPpayload();
/*Check updater state and step code*/ /*Check updater state and step code*/
// update_routine(bcfname.c_str(), dbgfname.c_str()); // update_routine(bcfname.c_str(), dbgfname.c_str());
if(time_step==BUZZRATE){
time_step=0;
cur_packet_loss= 1 -( (double)packet_loss_tmp/(BUZZRATE*( (int)no_of_robots-1 )) );
packet_loss_tmp=0;
if(cur_packet_loss<0) cur_packet_loss=0;
else if (cur_packet_loss>1) cur_packet_loss=1;
}
else{
packet_loss_tmp+=(int)buzz_utility::get_inmsg_size();
time_step++;
}
ROS_WARN("CURRENT PACKET DROP : %f ",cur_packet_loss);
/*Log In Msg queue size*/ /*Log In Msg queue size*/
log<<(int)buzz_utility::get_inmsg_size()<<","; log<<(int)buzz_utility::get_inmsg_size()<<",";
/*Step buzz script */ /*Step buzz script */