172 lines
5.2 KiB
C++
172 lines
5.2 KiB
C++
#ifndef BUZZ_UPDATE_H
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#define BUZZ_UPDATE_H
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#include <stdlib.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <string.h>
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#include <sys/time.h>
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#include <sys/inotify.h>
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#include <buzz/buzztype.h>
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#include <buzz/buzzdict.h>
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#include <buzz/buzzdarray.h>
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#include <buzz/buzzvstig.h>
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#include <rosbuzz/buzz_utility.h>
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#include <fstream>
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#define delete_p(p) \
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do \
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{ \
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free(p); \
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p = NULL; \
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} while (0)
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namespace buzz_update
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{
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static const uint16_t CODE_REQUEST_PADDING = 250;
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static const uint16_t MIN_UPDATE_PACKET = 251;
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static const uint16_t UPDATE_CODE_HEADER_SIZE = 5;
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static const uint16_t TIMEOUT_FOR_ROLLBACK = 50;
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/*********************/
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/* Updater states */
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/********************/
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typedef enum {
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CODE_RUNNING = 0, // Code executing
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CODE_STANDBY, // Standing by for others to update
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} code_states_e;
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/*********************/
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/*Message types */
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/********************/
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typedef enum {
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SENT_CODE = 0, // Broadcast code
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RESEND_CODE, // ReBroadcast request
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} code_message_e;
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/*************************/
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/*Updater message queue */
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/*************************/
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struct updater_msgqueue_s
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{
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uint8_t* queue;
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uint8_t* size;
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};
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typedef struct updater_msgqueue_s* updater_msgqueue_t;
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struct updater_code_s
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{
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uint8_t* bcode;
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uint8_t* bcode_size;
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};
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typedef struct updater_code_s* updater_code_t;
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/**************************/
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/*Updater data*/
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/**************************/
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struct buzz_updater_elem_s
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{
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/* robot id */
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// uint16_t robotid;
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/*current Bytecode content */
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uint8_t* bcode;
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/*old Bytecode name */
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const char* old_bcode;
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/*current bcode size*/
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size_t* bcode_size;
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/*Update patch*/
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uint8_t* patch;
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/* Update patch size*/
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size_t* patch_size;
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/*current Bytecode content */
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uint8_t* standby_bcode;
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/*current bcode size*/
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size_t* standby_bcode_size;
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/*updater out msg queue */
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updater_msgqueue_t outmsg_queue;
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/*updater in msg queue*/
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updater_msgqueue_t inmsg_queue;
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/*Current state of the updater one in code_states_e ENUM*/
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int* mode;
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uint8_t* update_no;
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};
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typedef struct buzz_updater_elem_s* buzz_updater_elem_t;
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/**************************************************************************/
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/*Updater routine from msg processing to file checks to be called from main*/
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/**************************************************************************/
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void update_routine();
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/************************************************/
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/*Initalizes the updater */
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/************************************************/
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int init_update_monitor(const char* bo_filename, const char* stand_by_script, const char* dbgfname, int robot_id);
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/*********************************************************/
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/*Appends buffer of given size to in msg queue of updater*/
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/*********************************************************/
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void code_message_inqueue_append(uint8_t* msg, uint16_t size);
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/*********************************************************/
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/*Processes messages inside the queue of the updater*/
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/*********************************************************/
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void code_message_inqueue_process();
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/*****************************************************/
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/*Obtains messages from out msgs queue of the updater*/
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/*******************************************************/
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uint8_t* getupdater_out_msg();
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/******************************************************/
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/*Obtains out msg queue size*/
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/*****************************************************/
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uint8_t* getupdate_out_msg_size();
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/**************************************************/
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/*Destroys the out msg queue*/
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/*************************************************/
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void destroy_out_msg_queue();
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// buzz_updater_elem_t get_updater();
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/***************************************************/
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/*Sets bzz file name*/
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/***************************************************/
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void set_bzz_file(const char* in_bzz_file, bool dbg);
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/****************************************************/
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/*Tests the code from a buffer*/
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/***************************************************/
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int test_set_code(uint8_t* BO_BUF, const char* dbgfname, size_t bcode_size);
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/****************************************************/
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/*Destroys the updater*/
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/***************************************************/
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void destroy_updater();
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/****************************************************/
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/*Checks for updater message*/
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/***************************************************/
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int is_msg_present();
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/****************************************************/
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/*Compiles a bzz script to bo and bdbg*/
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/***************************************************/
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int compile_bzz(std::string bzz_file);
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/****************************************************/
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/*Set number of robots in the updater*/
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/***************************************************/
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void updates_set_robots(int robots);
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}
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#endif
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