From 249fbd7f1dc336939251fc9a229890a80ac8ad12 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Wed, 25 Jan 2017 22:42:32 -0500 Subject: [PATCH 01/91] xbee split and merge messages --- include/CommunicationManager.h | 2 +- src/CommunicationManager.cpp | 173 ++++++++++++++++++++++++++++++--- 2 files changed, 160 insertions(+), 15 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 880eb5f..00763bf 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -80,7 +80,7 @@ private: bool Serve_Flight_Controller(mavros_msgs::CommandInt:: Request& request, mavros_msgs::CommandInt::Response& response); void Check_In_Messages_and_Transfer_To_Server(); - + unsigned short Caculate_Checksum(std::string* frame); Mist::Xbee::SerialDevice serial_device_; Thread_Safe_Deque* in_messages_; ros::NodeHandle node_handle_; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 7457422..b421ae3 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -9,6 +9,19 @@ #include "CommunicationManager.h" +uint16_t* u64_cvt_u16(uint64_t u64){ + uint16_t* out = new uint16_t[4]; + uint32_t int32_1 = u64 & 0xFFFFFFFF; + uint32_t int32_2 = (u64 & 0xFFFFFFFF00000000 ) >> 32; + out[0] = int32_1 & 0xFFFF; + out[1] = (int32_1 & (0xFFFF0000) ) >> 16; + out[2] = int32_2 & 0xFFFF; + out[3] = (int32_2 & (0xFFFF0000) ) >> 16; + //cout << " values " <push_back(checksum_byte); } +unsigned short CommunicationManager::Caculate_Checksum(std::string* frame) +{ + + unsigned short bytes_sum = 0; + unsigned lowest_8_bits = 0; + unsigned short checksum = 0; + unsigned char checksum_byte; + + for (unsigned short i = 0; i < frame->size(); i++) + bytes_sum += static_cast(frame->at(i)); + + lowest_8_bits = bytes_sum & 0xFF; + checksum = 0xFF - lowest_8_bits; + +return checksum; +} //***************************************************************************** inline void CommunicationManager::Add_Length_and_Start_Delimiter( @@ -323,29 +352,99 @@ inline void CommunicationManager::Add_Length_and_Start_Delimiter( inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { std::size_t size_in_messages = in_messages_->Get_Size(); - + uint16_t* header; if (size_in_messages > 0) { uint64_t current_int64 = 0; - + uint16_t checksum_cur; + std::vector msgs; + int cur_pos; for (std::size_t j = 0; j < size_in_messages; j++) { std::shared_ptr in_message = in_messages_->Pop_Front(); mavros_msgs::Mavlink mavlink_msg; - for (std::size_t i = 0; i < in_message->size(); i++) - { - if (' ' == in_message->at(i) || 0 == i) - { - sscanf(in_message->c_str() + i, "%" PRIu64 " ", + //uint64_t header=0; + sscanf(in_message->c_str(), "%" PRIu64 " ", ¤t_int64); - mavlink_msg.payload64.push_back(current_int64); - } - - } + header = u64_cvt_u16(current_int64); + uint16_t checksum_cur=header[1]; - mavlink_publisher_.publish(mavlink_msg); + if(header[3]==1){ + for (std::size_t i = 1; i < in_message->size(); i++) + { + + if (' ' == in_message->at(i) || 0 == i) + { + sscanf(in_message->c_str() + i, "%" PRIu64 " ", + ¤t_int64); + mavlink_msg.payload64.push_back(current_int64); + } + + } + std::cout << "Single packet message" << std::endl; + mavlink_publisher_.publish(mavlink_msg); + delete[] header; + } + else{ + std::cout << "Multi packet message" << std::endl; + if (msgs.size()==0 && header[2]==1){ + std::cout << "first message" << std::endl; + checksum_cur=header[1]; + cur_pos=header[2]+1; + for (std::size_t i = 1; i < in_message->size(); i++) + { + if (' ' == in_message->at(i) || 0 == i) + { + sscanf(in_message->c_str() + i, "%" PRIu64 " ", + ¤t_int64); + msgs.push_back(current_int64); + } + + } + delete[] header; + + } + else if(msgs.size() > 0 && header[1] == checksum_cur && (cur_pos == header[2])){ + + for (std::size_t i = 1; i < in_message->size(); i++) + { + if (' ' == in_message->at(i) || 0 == i) + { + sscanf(in_message->c_str() + i, "%" PRIu64 " ", + ¤t_int64); + msgs.push_back(current_int64); + } + + } + std::cout << "Correspoding Packet" << std::endl; + cur_pos++; + if(msgs.size()==header[3]){ + for (std::size_t i = 0; i < msgs.size(); i++) + { + mavlink_msg.payload64.push_back(msgs[i]); + } + mavlink_publisher_.publish(mavlink_msg); + delete[] header; + msgs.clear(); + checksum_cur=0; + cur_pos=0; + std::cout << "Last packet received sucessfully" << std::endl; + + } + delete[] header; + } + + else { + msgs.clear(); + cur_pos=0; + checksum_cur=0; + std::cout << "Wrong ordered message" << std::endl; + delete[] header; + + } + } } } @@ -398,13 +497,13 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ - const unsigned short MAX_NBR_OF_INT64 = 10; + const unsigned short MAX_NBR_OF_INT64 = 20; char temporary_buffer[MAX_BUFFER_SIZE]; std::string frame; int converted_bytes = 0; /* Check the payload is not too long. Otherwise ignore it. */ - if (mavlink_msg->payload64.size() <= MAX_NBR_OF_INT64) +/* if (mavlink_msg->payload64.size() <= MAX_NBR_OF_INT64) { for (unsigned short i = 0; i < mavlink_msg->payload64.size(); i++) { @@ -417,6 +516,52 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); } + else + {*/ + char temporary_buffer_check[6000]; + for(int i=0; ipayload64.size(); i++) + { + converted_bytes += sprintf( + temporary_buffer_check + converted_bytes, "%" PRIu64 " ", + (uint64_t)mavlink_msg->payload64.at(i)); + + } + frame.append(temporary_buffer_check, std::strlen(temporary_buffer_check)); + uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); + uint16_t cnt=0; + uint16_t number=1; + uint16_t total =ceil((double)(mavlink_msg->payload64.size()/20)); + uint64_t header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + //temporary_buffer[MAX_BUFFER_SIZE]=""; + frame=""; + converted_bytes= sprintf( + temporary_buffer, "%" PRIu64 " ", + (uint64_t)header); + for (int i =0; ipayload64.size(); i++) + { + if(cnt<20){ + converted_bytes += sprintf( + temporary_buffer+converted_bytes, "%" PRIu64 " ", + (uint64_t)mavlink_msg->payload64.at(i)); + cnt++; + } + else + { + Generate_Transmit_Request_Frame(temporary_buffer, &frame); + serial_device_.Send_Frame(frame); + number++; + cnt=0; + frame = ""; + header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + memset(temporary_buffer, 0, MAX_BUFFER_SIZE); + converted_bytes = sprintf( + temporary_buffer, "%" PRIu64 " ", + (uint64_t)header); + + } + } + + //} } From 24494cee0ac80b9fa86f1624864cc5a48d29a7d1 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Wed, 25 Jan 2017 23:33:04 -0500 Subject: [PATCH 02/91] changes in sending and lots of untested stuff --- launch/xbeemav.launch | 4 ++-- src/CommunicationManager.cpp | 14 +++++++++++--- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch index b2e7c80..060dac3 100644 --- a/launch/xbeemav.launch +++ b/launch/xbeemav.launch @@ -1,8 +1,8 @@ - - + + diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index b421ae3..f04f6ed 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -530,15 +530,18 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); uint16_t cnt=0; uint16_t number=1; - uint16_t total =ceil((double)(mavlink_msg->payload64.size()/20)); + uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)20)); + std::cout <<"Payload size" <payload64.size() << std::endl; uint64_t header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + std::cout << "Total chunks:" <payload64.size(); i++) { + if(cnt<20){ converted_bytes += sprintf( temporary_buffer+converted_bytes, "%" PRIu64 " ", @@ -557,10 +560,15 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( converted_bytes = sprintf( temporary_buffer, "%" PRIu64 " ", (uint64_t)header); + } } - + if(total==1){ + std::cout << "Single frame" << std::endl; + Generate_Transmit_Request_Frame(temporary_buffer, &frame); + serial_device_.Send_Frame(frame); + } //} } From 131335594937eb6bfa95a1a9325b0a233d8b5844 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Wed, 25 Jan 2017 23:48:54 -0500 Subject: [PATCH 03/91] Debug prints --- src/CommunicationManager.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index f04f6ed..368c729 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -370,7 +370,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() ¤t_int64); header = u64_cvt_u16(current_int64); uint16_t checksum_cur=header[1]; - + std::cout << "Received header" <size(); i++) { @@ -383,12 +383,13 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } } - std::cout << "Single packet message" << std::endl; + std::cout << "Single packet message received" << std::endl; mavlink_publisher_.publish(mavlink_msg); delete[] header; } else{ std::cout << "Multi packet message" << std::endl; + if (msgs.size()==0 && header[2]==1){ std::cout << "first message" << std::endl; checksum_cur=header[1]; @@ -549,7 +550,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( cnt++; } else - { + { std::cout << "Multi frame sent no:"< Date: Thu, 26 Jan 2017 00:06:27 -0500 Subject: [PATCH 04/91] debug --- src/CommunicationManager.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 368c729..3ce0abe 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -370,7 +370,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() ¤t_int64); header = u64_cvt_u16(current_int64); uint16_t checksum_cur=header[1]; - std::cout << "Received header" <size(); i++) { @@ -533,13 +533,16 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( uint16_t number=1; uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)20)); std::cout <<"Payload size" <payload64.size() << std::endl; - uint64_t header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; std::cout << "Total chunks:" <payload64.size(); i++) { From fc086f0410b4cc4c949f1c1f8527a388af5e5ddb Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 18:27:28 -0500 Subject: [PATCH 05/91] debug prints --- src/CommunicationManager.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 3ce0abe..094b588 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -531,7 +531,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); uint16_t cnt=0; uint16_t number=1; - uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)20)); + uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)10)); std::cout <<"Payload size" <payload64.size() << std::endl; uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; std::cout << "Total chunks:" <payload64.size(); i++) { - if(cnt<20){ + if(cnt<10){ converted_bytes += sprintf( temporary_buffer+converted_bytes, "%" PRIu64 " ", (uint64_t)mavlink_msg->payload64.at(i)); @@ -560,6 +560,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( cnt=0; frame = ""; header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + std::cout << "Sent header" < Date: Thu, 26 Jan 2017 19:22:30 -0500 Subject: [PATCH 06/91] debug --- src/CommunicationManager.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 094b588..708b40f 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -560,6 +560,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( cnt=0; frame = ""; header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + header_16 = u64_cvt_u16(header); std::cout << "Sent header" < Date: Thu, 26 Jan 2017 19:27:49 -0500 Subject: [PATCH 07/91] debugx --- src/CommunicationManager.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 708b40f..9b865fe 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -559,8 +559,11 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( number++; cnt=0; frame = ""; + std::cout << "Total chunks:" < Date: Thu, 26 Jan 2017 19:42:59 -0500 Subject: [PATCH 08/91] debug prints --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 9b865fe..761a865 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -552,7 +552,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( (uint64_t)mavlink_msg->payload64.at(i)); cnt++; } - else + if(cnt==10) { std::cout << "Multi frame sent no:"< Date: Thu, 26 Jan 2017 19:49:09 -0500 Subject: [PATCH 09/91] debug --- src/CommunicationManager.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 761a865..80b0c84 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -313,7 +313,7 @@ unsigned short CommunicationManager::Caculate_Checksum(std::string* frame) unsigned short bytes_sum = 0; unsigned lowest_8_bits = 0; unsigned short checksum = 0; - unsigned char checksum_byte; + //unsigned char checksum_byte; for (unsigned short i = 0; i < frame->size(); i++) bytes_sum += static_cast(frame->at(i)); @@ -534,7 +534,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)10)); std::cout <<"Payload size" <payload64.size() << std::endl; uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; - std::cout << "Total chunks:" < Date: Thu, 26 Jan 2017 19:52:26 -0500 Subject: [PATCH 10/91] debug print --- src/CommunicationManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 80b0c84..587c4cd 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -562,9 +562,9 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( std::cout << "checksum:" < Date: Thu, 26 Jan 2017 21:33:22 -0500 Subject: [PATCH 11/91] map implementation of multi packet --- include/CommunicationManager.h | 5 ++ src/CommunicationManager.cpp | 84 ++++++++++++---------------------- 2 files changed, 35 insertions(+), 54 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 00763bf..7cddcd2 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -88,6 +88,11 @@ private: ros::Publisher mavlink_publisher_; ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; + /*Vector msgs*/ + std::map< int, std::shared_ptr > multi_msgs; + std::vector multi_msgs_available; + uint16_t cur_checksum; + //uint16_t multi_msg_size; }; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 587c4cd..6dac774 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -356,9 +356,6 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() if (size_in_messages > 0) { uint64_t current_int64 = 0; - uint16_t checksum_cur; - std::vector msgs; - int cur_pos; for (std::size_t j = 0; j < size_in_messages; j++) { std::shared_ptr in_message = @@ -369,7 +366,6 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() sscanf(in_message->c_str(), "%" PRIu64 " ", ¤t_int64); header = u64_cvt_u16(current_int64); - uint16_t checksum_cur=header[1]; std::cout << "Received header" <size(); i++) @@ -389,62 +385,42 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } else{ std::cout << "Multi packet message" << std::endl; - - if (msgs.size()==0 && header[2]==1){ + if (multi_msgs.size()==0 ){ std::cout << "first message" << std::endl; - checksum_cur=header[1]; - cur_pos=header[2]+1; - for (std::size_t i = 1; i < in_message->size(); i++) - { - if (' ' == in_message->at(i) || 0 == i) - { - sscanf(in_message->c_str() + i, "%" PRIu64 " ", - ¤t_int64); - msgs.push_back(current_int64); - } + multi_msgs.insert(make_pair(header[2], in_message)); + cur_checksum=header[1]; + } + else if (header[1]==cur_checksum) { + std::map< int, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); + if(it!=multi_msgs.end()) + multi_msgs.erase(it); + multi_msgs.insert(make_pair(header[2], in_message)); + /*If the total size of msg reached transfer to topic*/ + if(multi_msgs.size()==header[3]){ + + for(int i =1; isecond->size(); j++) + { + + if (' ' == it->second->at(j) || 0 == j) + { + sscanf(it->second->c_str() + j, "%" PRIu64 " ", + ¤t_int64); + mavlink_msg.payload64.push_back(current_int64); + } - } - delete[] header; - - } - else if(msgs.size() > 0 && header[1] == checksum_cur && (cur_pos == header[2])){ - - for (std::size_t i = 1; i < in_message->size(); i++) - { - if (' ' == in_message->at(i) || 0 == i) - { - sscanf(in_message->c_str() + i, "%" PRIu64 " ", - ¤t_int64); - msgs.push_back(current_int64); + } } - + + std::cout << "one multi message published in topic" << std::endl; + mavlink_publisher_.publish(mavlink_msg); + multi_msgs.clear(); + cur_checksum=0; } - std::cout << "Correspoding Packet" << std::endl; - cur_pos++; - if(msgs.size()==header[3]){ - for (std::size_t i = 0; i < msgs.size(); i++) - { - mavlink_msg.payload64.push_back(msgs[i]); - } - mavlink_publisher_.publish(mavlink_msg); - delete[] header; - msgs.clear(); - checksum_cur=0; - cur_pos=0; - std::cout << "Last packet received sucessfully" << std::endl; - - } - delete[] header; - } - - else { - msgs.clear(); - cur_pos=0; - checksum_cur=0; - std::cout << "Wrong ordered message" << std::endl; - delete[] header; } + delete[] header; } } From 469dab1ed3e684e43720db41673a56312d63841b Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 21:50:50 -0500 Subject: [PATCH 12/91] map handel change --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 6dac774..2d4339a 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -385,7 +385,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } else{ std::cout << "Multi packet message" << std::endl; - if (multi_msgs.size()==0 ){ + if (multi_msgs.empty()){ std::cout << "first message" << std::endl; multi_msgs.insert(make_pair(header[2], in_message)); cur_checksum=header[1]; From 33d3e0d17e6719988dcda916fae03a1a665c095c Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 22:26:15 -0500 Subject: [PATCH 13/91] last multi frame not sent bug correction --- src/CommunicationManager.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 2d4339a..46ac7de 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -385,12 +385,12 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } else{ std::cout << "Multi packet message" << std::endl; - if (multi_msgs.empty()){ + if (multi_msgs.empty() && header[0] == 0){ std::cout << "first message" << std::endl; multi_msgs.insert(make_pair(header[2], in_message)); cur_checksum=header[1]; } - else if (header[1]==cur_checksum) { + else if (header[1]==cur_checksum && header[0] == 0) { std::map< int, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); if(it!=multi_msgs.end()) multi_msgs.erase(it); @@ -554,6 +554,10 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); } + if(number==total){ + Generate_Transmit_Request_Frame(temporary_buffer, &frame); + serial_device_.Send_Frame(frame); + } //} } From 03a12678ee5d2dd7c3150d2cde5018e45d627fc8 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 22:45:12 -0500 Subject: [PATCH 14/91] counter bug fix --- include/CommunicationManager.h | 2 ++ src/CommunicationManager.cpp | 18 ++++++++++++++---- 2 files changed, 16 insertions(+), 4 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 7cddcd2..6763a14 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -92,6 +92,8 @@ private: std::map< int, std::shared_ptr > multi_msgs; std::vector multi_msgs_available; uint16_t cur_checksum; + uint16_t counter; + uint16_t steps; //uint16_t multi_msg_size; }; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 46ac7de..2e20940 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -355,6 +355,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() uint16_t* header; if (size_in_messages > 0) { + //steps++; + //if(steps==100) steps=0; uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { @@ -389,16 +391,23 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() std::cout << "first message" << std::endl; multi_msgs.insert(make_pair(header[2], in_message)); cur_checksum=header[1]; + counter=1; } else if (header[1]==cur_checksum && header[0] == 0) { std::map< int, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); - if(it!=multi_msgs.end()) + if(it!=multi_msgs.end()){ multi_msgs.erase(it); - multi_msgs.insert(make_pair(header[2], in_message)); + multi_msgs.insert(make_pair(header[2], in_message)); + } + else{ + multi_msgs.insert(make_pair(header[2], in_message)); + counter++; + } + /*If the total size of msg reached transfer to topic*/ - if(multi_msgs.size()==header[3]){ + if(counter==header[3]){ - for(int i =1; isecond->size(); j++) { @@ -418,6 +427,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() multi_msgs.clear(); cur_checksum=0; } + steps=0; } delete[] header; From 451eb72a96f9127b058d526cd78dd762ef41389f Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 22:50:15 -0500 Subject: [PATCH 15/91] debug --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 2e20940..390420f 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -403,7 +403,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() multi_msgs.insert(make_pair(header[2], in_message)); counter++; } - + std::cout << "multi msg counter" < Date: Thu, 26 Jan 2017 22:59:40 -0500 Subject: [PATCH 16/91] debug --- src/CommunicationManager.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 390420f..a24a3bd 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -386,14 +386,15 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() delete[] header; } else{ - std::cout << "Multi packet message" << std::endl; - if (multi_msgs.empty() && header[0] == 0){ + std::cout << "Multi packet: check_cur:"< >::iterator it = multi_msgs.find(header[2]); if(it!=multi_msgs.end()){ multi_msgs.erase(it); From 025d2a1588c1a7e109162ee44bdfc0933cadf3bf Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 23:04:11 -0500 Subject: [PATCH 17/91] debug --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index a24a3bd..6e5fb35 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -388,7 +388,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() else{ std::cout << "Multi packet: check_cur:"< Date: Thu, 26 Jan 2017 23:10:43 -0500 Subject: [PATCH 18/91] dummy message bug correction --- src/CommunicationManager.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 6e5fb35..fa245f4 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -355,8 +355,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() uint16_t* header; if (size_in_messages > 0) { - //steps++; - //if(steps==100) steps=0; + steps++; + if(steps==100) steps=0; uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { @@ -385,10 +385,10 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() mavlink_publisher_.publish(mavlink_msg); delete[] header; } - else{ + else if (header[3]>1){ std::cout << "Multi packet: check_cur:"< Date: Thu, 26 Jan 2017 23:22:07 -0500 Subject: [PATCH 19/91] debugging --- src/CommunicationManager.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index fa245f4..29589b0 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -355,8 +355,12 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() uint16_t* header; if (size_in_messages > 0) { - steps++; - if(steps==100) steps=0; + if(!multi_msgs.empty()) steps++; + if(steps==10){ + steps=0; + multi_msgs.clear(); + cur_checksum=0; + } uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { From c74f6212f54e1dc524880cd047349b7200e1c544 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Thu, 26 Jan 2017 23:37:56 -0500 Subject: [PATCH 20/91] debug --- src/CommunicationManager.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 29589b0..e84ab82 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -414,13 +414,15 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() for(int i =1; i<=header[3];i++){ it = multi_msgs.find(i); + std::cout<<"Transfering to topic chunk no. :"<second->size(); for (int j = 1; j < it->second->size(); j++) { + if (' ' == it->second->at(j) || 0 == j) { sscanf(it->second->c_str() + j, "%" PRIu64 " ", - ¤t_int64); + ¤t_int64); mavlink_msg.payload64.push_back(current_int64); } From 48c89fe77c2b2ffe1178198f8f4be30d664d61a2 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 27 Jan 2017 00:18:15 -0500 Subject: [PATCH 21/91] debu prints --- include/CommunicationManager.h | 2 +- src/CommunicationManager.cpp | 13 +++++++------ 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 6763a14..126b94a 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -89,7 +89,7 @@ private: ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; /*Vector msgs*/ - std::map< int, std::shared_ptr > multi_msgs; + std::map< std::size_t, std::shared_ptr > multi_msgs; std::vector multi_msgs_available; uint16_t cur_checksum; uint16_t counter; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index e84ab82..6adeb20 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -399,7 +399,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() counter=1; } else if (header[1]==cur_checksum) { - std::map< int, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); + std::map< std::size_t, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); if(it!=multi_msgs.end()){ multi_msgs.erase(it); multi_msgs.insert(make_pair(header[2], in_message)); @@ -412,10 +412,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() /*If the total size of msg reached transfer to topic*/ if(counter==header[3]){ - for(int i =1; i<=header[3];i++){ + for(uint16_t i =1; i<=header[3]+1;i++){ it = multi_msgs.find(i); - std::cout<<"Transfering to topic chunk no. :"<second->size(); - for (int j = 1; j < it->second->size(); j++) + std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; + std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; + for (std::size_t j = 1; j < it->second->size(); j++) { @@ -513,7 +514,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( else {*/ char temporary_buffer_check[6000]; - for(int i=0; ipayload64.size(); i++) + for(std::size_t i=0; ipayload64.size(); i++) { converted_bytes += sprintf( temporary_buffer_check + converted_bytes, "%" PRIu64 " ", @@ -536,7 +537,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( temporary_buffer, "%" PRIu64 " ", (uint64_t)header); delete[] header_16; - for (int i =0; ipayload64.size(); i++) + for (std::size_t i =0; ipayload64.size(); i++) { if(cnt<10){ From 270a48df0ee41ffe21a5bbf27f8e0f6d35923cff Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 27 Jan 2017 00:44:23 -0500 Subject: [PATCH 22/91] debug --- src/CommunicationManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 6adeb20..b1ace6e 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -412,7 +412,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() /*If the total size of msg reached transfer to topic*/ if(counter==header[3]){ - for(uint16_t i =1; i<=header[3]+1;i++){ + for(uint16_t i =1; i<=header[3];i++){ it = multi_msgs.find(i); std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; @@ -430,7 +430,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } } - std::cout << "one multi message published in topic" << std::endl; + std::cout << "one multi message published in topic with size :" < Date: Fri, 27 Jan 2017 01:46:37 -0500 Subject: [PATCH 23/91] printing in and out chunks --- src/CommunicationManager.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index b1ace6e..269d8b7 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -415,6 +415,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() for(uint16_t i =1; i<=header[3];i++){ it = multi_msgs.find(i); std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; + std::cout << "received Frame:"<second << std::endl; std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; for (std::size_t j = 1; j < it->second->size(); j++) { @@ -541,30 +542,33 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( { if(cnt<10){ + cnt++; converted_bytes += sprintf( temporary_buffer+converted_bytes, "%" PRIu64 " ", (uint64_t)mavlink_msg->payload64.at(i)); - cnt++; + } + if(cnt==10) { std::cout << "Multi frame sent no:"< Date: Fri, 27 Jan 2017 02:43:25 -0500 Subject: [PATCH 24/91] xbee send and recive framse partly working --- src/CommunicationManager.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 269d8b7..d896a88 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -415,9 +415,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() for(uint16_t i =1; i<=header[3];i++){ it = multi_msgs.find(i); std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; - std::cout << "received Frame:"<second << std::endl; + std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; - for (std::size_t j = 1; j < it->second->size(); j++) + for (std::size_t j = 1; j < it->second->size()-1; j++) { @@ -425,6 +425,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { sscanf(it->second->c_str() + j, "%" PRIu64 " ", ¤t_int64); + std::cout << "received Frame:" << current_int64 << std::endl; mavlink_msg.payload64.push_back(current_int64); } @@ -546,6 +547,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( converted_bytes += sprintf( temporary_buffer+converted_bytes, "%" PRIu64 " ", (uint64_t)mavlink_msg->payload64.at(i)); + std::cout << "Frame:"<payload64.at(i) << std::endl; } From 47d5060c1b2d163fa92670b2efc3e21625884508 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 27 Jan 2017 05:20:56 -0500 Subject: [PATCH 25/91] addition of safety against illformed msg --- src/CommunicationManager.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index d896a88..16f5b62 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -373,8 +373,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() ¤t_int64); header = u64_cvt_u16(current_int64); std::cout << "Received header" <size(); i++) + if(header[3]==1 && header[0]==0){ + for (std::size_t i = 1; i < in_message->size()-1; i++) { if (' ' == in_message->at(i) || 0 == i) @@ -389,7 +389,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() mavlink_publisher_.publish(mavlink_msg); delete[] header; } - else if (header[3]>1){ + else if (header[3]>1 && header[0]==0){ std::cout << "Multi packet: check_cur:"< Date: Fri, 27 Jan 2017 05:43:53 -0500 Subject: [PATCH 26/91] illformed message discarding change --- src/CommunicationManager.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 16f5b62..e056226 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -373,7 +373,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() ¤t_int64); header = u64_cvt_u16(current_int64); std::cout << "Received header" <1 && header[2]==1){ for (std::size_t i = 1; i < in_message->size()-1; i++) { @@ -387,9 +387,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } std::cout << "Single packet message received" << std::endl; mavlink_publisher_.publish(mavlink_msg); - delete[] header; + //delete[] header; } - else if (header[3]>1 && header[0]==0){ + else if (header[3]>1 && header[0]==0 && header[1]>1){ std::cout << "Multi packet: check_cur:"< Date: Fri, 27 Jan 2017 13:00:11 -0500 Subject: [PATCH 27/91] stable version of xbee with ros buzz but has lots of things to fix --- src/CommunicationManager.cpp | 42 ++++++++++++++++++------------------ 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index e056226..2bbeb1b 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -372,7 +372,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() sscanf(in_message->c_str(), "%" PRIu64 " ", ¤t_int64); header = u64_cvt_u16(current_int64); - std::cout << "Received header" <1 && header[2]==1){ for (std::size_t i = 1; i < in_message->size()-1; i++) { @@ -385,15 +385,15 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } } - std::cout << "Single packet message received" << std::endl; + //std::cout << "Single packet message received" << std::endl; mavlink_publisher_.publish(mavlink_msg); //delete[] header; } else if (header[3]>1 && header[0]==0 && header[1]>1){ - std::cout << "Multi packet: check_cur:"<first << "Size of current map" <second->size()<< std::endl; - std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; - std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; + //std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; + //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; + //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; for (std::size_t j = 1; j < it->second->size()-1; j++) { @@ -425,14 +425,14 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { sscanf(it->second->c_str() + j, "%" PRIu64 " ", ¤t_int64); - std::cout << "received Frame:" << current_int64 << std::endl; + //std::cout << "received Frame:" << current_int64 << std::endl; mavlink_msg.payload64.push_back(current_int64); } } } - std::cout << "one multi message published in topic with size :" <payload64.size()/(double)10)); - std::cout <<"Payload size" <payload64.size() << std::endl; + //std::cout <<"Payload size" <payload64.size() << std::endl; uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; - std::cout << "Total chunks:" <payload64.at(i)); - std::cout << "Frame:"<payload64.at(i) << std::endl; + //std::cout << "Frame:"<payload64.at(i) << std::endl; } if(cnt==10) - { std::cout << "Multi frame sent no:"< Date: Fri, 27 Jan 2017 23:09:31 -0500 Subject: [PATCH 28/91] Debug of corrupted messages found from rosbuzz test failour on update --- src/CommunicationManager.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 2bbeb1b..168b9d2 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -400,11 +400,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } else if (header[1]==cur_checksum) { std::map< std::size_t, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); - if(it!=multi_msgs.end()){ - multi_msgs.erase(it); - multi_msgs.insert(make_pair(header[2], in_message)); - } - else{ + //if(it!=multi_msgs.end()){ + //multi_msgs.erase(it); + //multi_msgs.insert(make_pair(header[2], in_message)); + //} + if(it==multi_msgs.end()){ multi_msgs.insert(make_pair(header[2], in_message)); counter++; } @@ -425,7 +425,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { sscanf(it->second->c_str() + j, "%" PRIu64 " ", ¤t_int64); - //std::cout << "received Frame:" << current_int64 << std::endl; + std::cout << "received Frame:" << current_int64 << std::endl; mavlink_msg.payload64.push_back(current_int64); } @@ -547,7 +547,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( converted_bytes += sprintf( temporary_buffer+converted_bytes, "%" PRIu64 " ", (uint64_t)mavlink_msg->payload64.at(i)); - //std::cout << "Frame:"<payload64.at(i) << std::endl; + std::cout << "Sent Frame:"<payload64.at(i) << std::endl; } From c06ae0379d3db1d77df7c606e8896829315504d0 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 27 Jan 2017 23:34:17 -0500 Subject: [PATCH 29/91] addition of sleep to reduce corrupted messages --- src/CommunicationManager.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 168b9d2..d3d04b6 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -555,6 +555,8 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( { //std::cout << "Multi frame sent no:"< Date: Fri, 27 Jan 2017 23:36:53 -0500 Subject: [PATCH 30/91] readdition of map entry cycling --- src/CommunicationManager.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index d3d04b6..4b7aae6 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -400,11 +400,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } else if (header[1]==cur_checksum) { std::map< std::size_t, std::shared_ptr >::iterator it = multi_msgs.find(header[2]); - //if(it!=multi_msgs.end()){ - //multi_msgs.erase(it); - //multi_msgs.insert(make_pair(header[2], in_message)); - //} - if(it==multi_msgs.end()){ + if(it!=multi_msgs.end()){ + multi_msgs.erase(it); + multi_msgs.insert(make_pair(header[2], in_message)); + } + else{ multi_msgs.insert(make_pair(header[2], in_message)); counter++; } From fdb83c4226c1672bee5983f5a5f1fe8275cd0bd2 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sat, 28 Jan 2017 00:00:56 -0500 Subject: [PATCH 31/91] sleep time increase --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 4b7aae6..c74d900 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -556,7 +556,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); /*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/ - usleep(10); + usleep(100); //std::cout << "Frame:"< Date: Sat, 28 Jan 2017 03:15:09 -0500 Subject: [PATCH 32/91] debug of message corruption --- src/CommunicationManager.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index c74d900..c6c5be8 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -547,8 +547,8 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( converted_bytes += sprintf( temporary_buffer+converted_bytes, "%" PRIu64 " ", (uint64_t)mavlink_msg->payload64.at(i)); - std::cout << "Sent Frame:"<payload64.at(i) << std::endl; - + std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; + //std::cout << "Sent Frame in string"< Date: Sat, 28 Jan 2017 03:56:49 -0500 Subject: [PATCH 33/91] increase in loop rate --- src/CommunicationManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index c6c5be8..8bb5498 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -33,7 +33,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(10) /* 10 fps */ + LOOP_RATE(30) /* 10 fps */ { } @@ -556,7 +556,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); /*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/ - usleep(200); + //usleep(200); //std::cout << "Frame:"< Date: Sat, 28 Jan 2017 04:14:33 -0500 Subject: [PATCH 34/91] Corruption by data buffer overwrite overcome approch with sleep --- src/CommunicationManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 8bb5498..a7f82b4 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -33,7 +33,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(30) /* 10 fps */ + LOOP_RATE(10) /* 10 fps */ { } @@ -556,7 +556,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); /*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/ - //usleep(200); + usleep(1000); //std::cout << "Frame:"< Date: Sat, 28 Jan 2017 06:29:23 -0500 Subject: [PATCH 35/91] removed debug prints --- src/CommunicationManager.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index a7f82b4..19f4262 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -425,14 +425,14 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { sscanf(it->second->c_str() + j, "%" PRIu64 " ", ¤t_int64); - std::cout << "received Frame:" << current_int64 << std::endl; + //std::cout << "received Frame:" << current_int64 << std::endl; mavlink_msg.payload64.push_back(current_int64); } } } - //std::cout << "one multi message published in topic with size :" <payload64.at(i)); - std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; + //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; //std::cout << "Sent Frame in string"< Date: Sat, 28 Jan 2017 06:48:29 -0500 Subject: [PATCH 36/91] sleep removed --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 19f4262..e87729d 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -556,7 +556,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); /*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/ - usleep(1000); + //usleep(1000); //std::cout << "Frame:"< Date: Sat, 28 Jan 2017 06:53:32 -0500 Subject: [PATCH 37/91] readdition of sleep to reduce corrupt packets --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index e87729d..19f4262 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -556,7 +556,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); /*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/ - //usleep(1000); + usleep(1000); //std::cout << "Frame:"< Date: Sun, 29 Jan 2017 03:05:38 -0500 Subject: [PATCH 38/91] lots of changes in communication for packets with reply --- include/CommunicationManager.h | 22 +- launch/xbeemav.launch | 1 + src/CommunicationManager.cpp | 368 ++++++++++++++++++++++----------- 3 files changed, 262 insertions(+), 129 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 126b94a..65084cf 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -18,6 +18,10 @@ #include"SerialDevice.h" +#define MESSAGE_CONSTANT 238 +#define ACK_MESSAGE_CONSTANT 911 +#define XBEE_MESSAGE_CONSTANT 586782343 +#define XBEE_STOP_TRANSMISSION 4355356352 namespace Mist { @@ -88,11 +92,21 @@ private: ros::Publisher mavlink_publisher_; ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; + /*No of robots*/ + int no_of_dev; + int device_id; /*Vector msgs*/ - std::map< std::size_t, std::shared_ptr > multi_msgs; - std::vector multi_msgs_available; - uint16_t cur_checksum; - uint16_t counter; + std::map< std::size_t, std::shared_ptr > multi_msgs_receive; + std::vector multi_msgs_send_dict; + /*Sending param*/ + uint16_t sending_chunk_no, Sender_cur_checksum; + std::map< uint16_t, uint16_t > ack_received_dict; + //std::vector multi_msgs_send_counter; + //std::vector multi_msgs_sender; + /*Receiving param*/ + uint16_t receiver_cur_checksum; + uint16_t counter; //After implementation change this to vector.size() + uint16_t receiveing_cur_totalsize; uint16_t steps; //uint16_t multi_msg_size; }; diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch index 060dac3..8a448ab 100644 --- a/launch/xbeemav.launch +++ b/launch/xbeemav.launch @@ -7,6 +7,7 @@ + diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 19f4262..c0e3391 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -22,6 +22,17 @@ return out; } +uint16_t get_deviceid(){ +/* Get hostname */ + char hstnm[30]; + gethostname(hstnm, 30); + /* Make numeric id from hostname */ + /* NOTE: here we assume that the hostname is in the format M100X */ + int id = strtol(hstnm + 4, NULL, 10); + //fprintf(stdout, "Robot id from get rid buzz util: %i\n",id); +return (uint16_t)id; +} + namespace Mist { @@ -148,6 +159,12 @@ void CommunicationManager::Run_In_Swarm_Mode() else std::cout << "Failed to Get Topic Name: param 'Xbee_Out_To_Buzz' Not Found." << std::endl; + /*Get no of devices*/ + node_handle_.getParam("No_of_dev", no_of_dev); + /*Get device Id feom host name*/ + device_id=get_deviceid(); + std::cout << "Device Id" < 0) { - if(!multi_msgs.empty()) steps++; - if(steps==10){ + if(!multi_msgs_receive.empty()) steps++; + if(steps>10){ steps=0; - multi_msgs.clear(); - cur_checksum=0; + multi_msgs_receive.clear(); + receiver_cur_checksum=0; } uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) @@ -372,76 +389,117 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() sscanf(in_message->c_str(), "%" PRIu64 " ", ¤t_int64); header = u64_cvt_u16(current_int64); - //std::cout << "Received header" <1 && header[2]==1){ - for (std::size_t i = 1; i < in_message->size()-1; i++) - { - - if (' ' == in_message->at(i) || 0 == i) + /*Check header for msgs or ack msg */ + if(header[0]==(uint16_t)MESSAGE_CONSTANT){ + //std::cout << "Received header" <1 && header[2]==1){ + for (std::size_t i = 1; i < in_message->size()-1; i++) { - sscanf(in_message->c_str() + i, "%" PRIu64 " ", - ¤t_int64); - mavlink_msg.payload64.push_back(current_int64); - } - - } - //std::cout << "Single packet message received" << std::endl; - mavlink_publisher_.publish(mavlink_msg); - //delete[] header; - } - else if (header[3]>1 && header[0]==0 && header[1]>1){ - //std::cout << "Multi packet: check_cur:"< >::iterator it = multi_msgs.find(header[2]); - if(it!=multi_msgs.end()){ - multi_msgs.erase(it); - multi_msgs.insert(make_pair(header[2], in_message)); + if (' ' == in_message->at(i) || 0 == i) + { + sscanf(in_message->c_str() + i, "%" PRIu64 " ", + ¤t_int64); + mavlink_msg.payload64.push_back(current_int64); } - else{ - multi_msgs.insert(make_pair(header[2], in_message)); - counter++; + } - //std::cout << "multi msg counter" <1 && header[1]>1){ + + /*multimsg received send ack msg*/ + char temporary_buffer[20]; + std::string frame; + std::cout << "Multi msg Received header " < >::iterator it = multi_msgs_receive.find(header[2]); + if(it!=multi_msgs_receive.end()){ + multi_msgs_receive.erase(it); + multi_msgs_receive.insert(make_pair(header[2], in_message)); + } + else{ + multi_msgs_receive.insert(make_pair(header[2], in_message)); + counter++; + } + //std::cout << "multi msg counter" <first << "Size of current map" <second->size()<< std::endl; - //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; - //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; - for (std::size_t j = 1; j < it->second->size()-1; j++) - { + for(uint16_t i =1; i<=header[3];i++){ + it = multi_msgs_receive.find(i); + //std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; + //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; + //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; + for (std::size_t j = 1; j < it->second->size()-1; j++) + { - if (' ' == it->second->at(j) || 0 == j) - { - sscanf(it->second->c_str() + j, "%" PRIu64 " ", - ¤t_int64); - //std::cout << "received Frame:" << current_int64 << std::endl; - mavlink_msg.payload64.push_back(current_int64); - } + if (' ' == it->second->at(j) || 0 == j) + { + sscanf(it->second->c_str() + j, "%" PRIu64 " ", + ¤t_int64); + //std::cout << "received Frame:" << current_int64 << std::endl; + mavlink_msg.payload64.push_back(current_int64); + } - } - } + } + } - std::cout << "one multi message published in topic with size :" <::iterator it = ack_received_dict.find(header[3]); + if(it!=ack_received_dict.end()){ + ack_received_dict.erase(it); + ack_received_dict.insert(std::make_pair((uint16_t)header[3], (uint16_t)ACK_MESSAGE_CONSTANT)); + } + else{ + ack_received_dict.insert( std::make_pair( (uint16_t)header[3], (uint16_t)ACK_MESSAGE_CONSTANT ) ); + } + + } + std::cout << "ACK added and size of ack map " << ack_received_dict.size()<< std::endl; + + } + delete[] header; + } } @@ -494,97 +552,157 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ - //const unsigned short MAX_NBR_OF_INT64 = 20; + const unsigned short MAX_NBR_OF_INT64 = 10; char temporary_buffer[MAX_BUFFER_SIZE]; std::string frame; int converted_bytes = 0; - - /* Check the payload is not too long. Otherwise ignore it. */ -/* if (mavlink_msg->payload64.size() <= MAX_NBR_OF_INT64) - { - for (unsigned short i = 0; i < mavlink_msg->payload64.size(); i++) - { - converted_bytes += sprintf( - temporary_buffer + converted_bytes, "%" PRIu64 " ", - (uint64_t)mavlink_msg->payload64.at(i)); - - } - - Generate_Transmit_Request_Frame(temporary_buffer, &frame); - serial_device_.Send_Frame(frame); + if((uint64_t)mavlink_msg->payload64.at(0)==(uint64_t)XBEE_STOP_TRANSMISSION && mavlink_msg->payload64.size() == 1){ + std::cout << "clearing multi msg queue after request from buzz"<< std::endl; + multi_msgs_send_dict.clear(); + ack_received_dict.clear(); + sending_chunk_no=0; + /*Multi message packets stoped tell rosbuzz this*/ + mavros_msgs::Mavlink mavlink_msg; + mavlink_msg.payload64.push_back(XBEE_MESSAGE_CONSTANT); + mavlink_publisher_.publish(mavlink_msg); } - else - {*/ + else if(mavlink_msg->payload64.size() > MAX_NBR_OF_INT64 && !( multi_msgs_send_dict.empty() ) ){ + std::cout << "Sending previous multi message not complete yet, so dropping message"<payload64.size(); i++) { converted_bytes += sprintf( temporary_buffer_check + converted_bytes, "%" PRIu64 " ", (uint64_t)mavlink_msg->payload64.at(i)); - + } + frame.append(temporary_buffer_check, std::strlen(temporary_buffer_check)); uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); uint16_t cnt=0; uint16_t number=1; - uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)10)); + uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)MAX_NBR_OF_INT64)); //std::cout <<"Payload size" <payload64.size() << std::endl; - uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; + uint64_t header = (uint64_t)MESSAGE_CONSTANT | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; //std::cout << "Total chunks:" <payload64.size(); i++) - { - - if(cnt<10){ - cnt++; - converted_bytes += sprintf( - temporary_buffer+converted_bytes, "%" PRIu64 " ", - (uint64_t)mavlink_msg->payload64.at(i)); - //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; - //std::cout << "Sent Frame in string"<payload64.size() <= MAX_NBR_OF_INT64){ + for (std::size_t i =0; ipayload64.size(); i++) + { + cnt++; + converted_bytes += sprintf( + temporary_buffer+converted_bytes, "%" PRIu64 " ", + (uint64_t)mavlink_msg->payload64.at(i)); + //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; + //std::cout << "Sent Frame in string"<payload64.size()<< std::endl; + Generate_Transmit_Request_Frame(temporary_buffer, &frame); + serial_device_.Send_Frame(frame); + } - if(total==1){ - //std::cout << "Single frame" << std::endl; - Generate_Transmit_Request_Frame(temporary_buffer, &frame); - serial_device_.Send_Frame(frame); - } - if(number==total){ - Generate_Transmit_Request_Frame(temporary_buffer, &frame); - serial_device_.Send_Frame(frame); - } + else{ + /*clear all the related parameter and get ready to send multi msg*/ + sending_chunk_no=0; + Sender_cur_checksum = check_sum; + ack_received_dict.clear(); + multi_msgs_send_dict.clear(); + /*Multi message frame received, split them into chunks and store them in dict*/ + for (std::size_t i =0; ipayload64.size(); i++) + { + + cnt++; + converted_bytes += sprintf( + temporary_buffer+converted_bytes, "%" PRIu64 " ", + (uint64_t)mavlink_msg->payload64.at(i)); + //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; + //std::cout << "Sent Frame in string"< Date: Sun, 29 Jan 2017 03:46:29 -0500 Subject: [PATCH 39/91] 16 bit variable instead of 64 bit bug correction --- src/CommunicationManager.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index c0e3391..753629e 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -420,13 +420,13 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() multi_msgs_receive.insert(make_pair(header[2], in_message)); receiver_cur_checksum=header[1]; counter=1; - uint16_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; + uint64_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg); Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); } else if (header[1]==receiver_cur_checksum) { - uint16_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; + uint64_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg); Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); @@ -434,8 +434,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() uint64_t tmp_printer; sscanf(frame.c_str(), "%" PRIu64 " ",&tmp_printer); uint16_t* tmp_printer_16 =u64_cvt_u16(tmp_printer); - delete[] tmp_printer_16; std::cout << "Send ACK for " < >::iterator it = multi_msgs_receive.find(header[2]); if(it!=multi_msgs_receive.end()){ From b895bc9f8f45076fd143fa544e1ff8b47543d5d8 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 04:03:13 -0500 Subject: [PATCH 40/91] changes in unsighned and singned comparision --- src/CommunicationManager.cpp | 27 ++++++++++++++++----------- 1 file changed, 16 insertions(+), 11 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 753629e..32679e7 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -677,10 +677,23 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( else */ if( !( multi_msgs_send_dict.empty() ) ){ /*If the sent message chunk not the last message then send else clear the dict*/ - if( multi_msgs_send_dict.size() - 1 != sending_chunk_no ){ - if(ack_received_dict.size() == (uint16_t) no_of_dev){ + if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)no_of_dev){ + std::cout << "clearing multi msg queue and telling buzz"<< std::endl; + multi_msgs_send_dict.clear(); + sending_chunk_no=0; + /*Multi message packet sent tell rosbuzz this*/ + mavros_msgs::Mavlink mavlink_msg; + mavlink_msg.payload64.push_back(XBEE_MESSAGE_CONSTANT); + mavlink_publisher_.publish(mavlink_msg); + + } + + else{ + std::cout << "current size of ack in sender " < Date: Sun, 29 Jan 2017 04:10:50 -0500 Subject: [PATCH 41/91] changes in wrong device calculation --- src/CommunicationManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 32679e7..24721a2 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -677,7 +677,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( else */ if( !( multi_msgs_send_dict.empty() ) ){ /*If the sent message chunk not the last message then send else clear the dict*/ - if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)no_of_dev){ + if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){ std::cout << "clearing multi msg queue and telling buzz"<< std::endl; multi_msgs_send_dict.clear(); sending_chunk_no=0; @@ -690,7 +690,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( else{ std::cout << "current size of ack in sender " < Date: Sun, 29 Jan 2017 04:18:21 -0500 Subject: [PATCH 42/91] changes in counting received multi msg --- src/CommunicationManager.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 24721a2..7f5fa4a 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -419,7 +419,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() //std::cout << "first message" << std::endl; multi_msgs_receive.insert(make_pair(header[2], in_message)); receiver_cur_checksum=header[1]; - counter=1; + //counter=1; uint64_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg); Generate_Transmit_Request_Frame(temporary_buffer, &frame); @@ -444,11 +444,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } else{ multi_msgs_receive.insert(make_pair(header[2], in_message)); - counter++; + //counter++; } - //std::cout << "multi msg counter" <second->c_str() + j, "%" PRIu64 " ", ¤t_int64); - //std::cout << "received Frame:" << current_int64 << std::endl; + std::cout << "received Frame:" << current_int64 << std::endl; mavlink_msg.payload64.push_back(current_int64); } From 79e0ee04ed491ef8c25da1e94a4d653d21f2302f Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 04:24:14 -0500 Subject: [PATCH 43/91] changes in step for clearing receiver buffer for multi msg --- src/CommunicationManager.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 7f5fa4a..497bf07 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -373,9 +373,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() if (size_in_messages > 0) { if(!multi_msgs_receive.empty()) steps++; - if(steps>10){ + if(steps>1000){ steps=0; - multi_msgs_receive.clear(); + //multi_msgs_receive.clear(); receiver_cur_checksum=0; } uint64_t current_int64 = 0; @@ -414,7 +414,6 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() char temporary_buffer[20]; std::string frame; std::cout << "Multi msg Received header " < Date: Sun, 29 Jan 2017 04:55:04 -0500 Subject: [PATCH 44/91] changes in step clearing of receive buffer --- src/CommunicationManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 497bf07..2f5ab85 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -373,9 +373,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() if (size_in_messages > 0) { if(!multi_msgs_receive.empty()) steps++; - if(steps>1000){ + if(steps>500){ steps=0; - //multi_msgs_receive.clear(); + multi_msgs_receive.clear(); receiver_cur_checksum=0; } uint64_t current_int64 = 0; From e4bc9bb7a0dcddef2b02748550518f5d032e5108 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 05:10:22 -0500 Subject: [PATCH 45/91] changes in loop rate and to overcome reberve wave of multi msg --- src/CommunicationManager.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 2f5ab85..fd45cf1 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(10) /* 10 fps */ + LOOP_RATE(50) /* 10 fps */ { } @@ -169,7 +169,7 @@ void CommunicationManager::Run_In_Swarm_Mode() { ros::Rate loop_rate(LOOP_RATE); - + counter=0; while (ros::ok()) { Check_In_Messages_and_Transfer_To_Topics(); @@ -378,6 +378,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() multi_msgs_receive.clear(); receiver_cur_checksum=0; } + /*T0 overcome mesages after the stop transmission of multi packet*/ + if(counter!=0){ + multi_msgs_receive.clear(); + counter--; + } uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { @@ -473,6 +478,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() mavlink_publisher_.publish(mavlink_msg); multi_msgs_receive.clear(); receiver_cur_checksum=0; + counter=10; } steps=0; From 64feacf3cf21af68d9bc355f2836c559ac5778b8 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 05:25:35 -0500 Subject: [PATCH 46/91] separation of multi msgs from pub and sub --- include/CommunicationManager.h | 1 + src/CommunicationManager.cpp | 12 +++++++++--- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 65084cf..9e3cc22 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -85,6 +85,7 @@ private: Request& request, mavros_msgs::CommandInt::Response& response); void Check_In_Messages_and_Transfer_To_Server(); unsigned short Caculate_Checksum(std::string* frame); + void Send_multi_msg(); Mist::Xbee::SerialDevice serial_device_; Thread_Safe_Deque* in_messages_; ros::NodeHandle node_handle_; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index fd45cf1..8cdf063 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(50) /* 10 fps */ + LOOP_RATE(60) /* 10 fps */ { } @@ -173,6 +173,7 @@ void CommunicationManager::Run_In_Swarm_Mode() while (ros::ok()) { Check_In_Messages_and_Transfer_To_Topics(); + Send_multi_msg(); ros::spinOnce(); loop_rate.sleep(); } @@ -680,6 +681,12 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( serial_device_.Send_Frame(multi_msgs_send_dict.at(sending_chunk_no)); } else */ + + //} +} + +void CommunicationManager::Send_multi_msg(){ + if( !( multi_msgs_send_dict.empty() ) ){ /*If the sent message chunk not the last message then send else clear the dict*/ if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){ @@ -713,9 +720,8 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( } - //} -} +} //***************************************************************************** void CommunicationManager::Display_Drone_Type_and_Running_Mode( From 5a75f14a5c5adecc1280ae2442d7bdf375d14c40 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 06:28:48 -0500 Subject: [PATCH 47/91] increase in data per chunk --- src/CommunicationManager.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 8cdf063..23571f2 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -457,6 +457,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() for(uint16_t i =1; i<=header[3];i++){ it = multi_msgs_receive.find(i); + uint64_t previous_int64=0; //std::cout<<"Transfering to topic chunk no. :"<first << "Size of current map" <second->size()<< std::endl; //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; @@ -468,8 +469,12 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { sscanf(it->second->c_str() + j, "%" PRIu64 " ", ¤t_int64); + std::cout << "received Frame:" << current_int64 << std::endl; + if(previous_int64 != current_int64){ mavlink_msg.payload64.push_back(current_int64); + previous_int64=current_int64; + } } } @@ -558,7 +563,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ - const unsigned short MAX_NBR_OF_INT64 = 10; + const unsigned short MAX_NBR_OF_INT64 = 21; char temporary_buffer[MAX_BUFFER_SIZE]; std::string frame; int converted_bytes = 0; From 7e1be925383d37895ce73dd98ff4f9864a23ceb6 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 09:20:51 -0500 Subject: [PATCH 48/91] A first try of memcpy --- include/CommunicationManager.h | 1 + src/CommunicationManager.cpp | 95 ++++++++++++++++++++++++++-------- 2 files changed, 75 insertions(+), 21 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 9e3cc22..a662db5 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -65,6 +65,7 @@ private: void Generate_Transmit_Request_Frame( const char* const message, std::string* frame, + int tot, const unsigned char frame_ID = static_cast(0x01), const std::string& destination_adssress = "000000000000FFFF", diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 23571f2..900d776 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -234,7 +234,7 @@ inline bool CommunicationManager::Serve_Flight_Controller(mavros_msgs::CommandIn if (command != 0) { - Generate_Transmit_Request_Frame(temporary_buffer, &frame); + //Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); } @@ -260,6 +260,7 @@ void CommunicationManager::Display_Init_Communication_Failure() inline void CommunicationManager::Generate_Transmit_Request_Frame( const char* const message, std::string * frame, + int tot, const unsigned char frame_ID, const std::string& destination_adssress, const std::string& short_destination_adress, @@ -280,7 +281,7 @@ inline void CommunicationManager::Generate_Transmit_Request_Frame( frame->push_back(FAME_TYPE); frame->push_back(frame_ID); frame->append(bytes_frame_parameters); - frame->append(message, std::strlen(message)); + frame->append(message, tot); Calculate_and_Append_Checksum(frame); Add_Length_and_Start_Delimiter(frame); @@ -390,24 +391,45 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() std::shared_ptr in_message = in_messages_->Pop_Front(); mavros_msgs::Mavlink mavlink_msg; - + int tot = 0; //uint64_t header=0; - sscanf(in_message->c_str(), "%" PRIu64 " ", - ¤t_int64); + /*Copy the header*/ + memcpy(¤t_int64,in_message->c_str(),sizeof(uint64_t)); + tot+=sizeof(uint64_t); + + /*sscanf(in_message->c_str(), "%" PRIu64 " ", + ¤t_int64);*/ + std::cout<<"Size of char"<c_str()<< std::endl; header = u64_cvt_u16(current_int64); + std::cout << "Received header" <1 && header[2]==1){ - for (std::size_t i = 1; i < in_message->size()-1; i++) + + /*copy msg size*/ + uint16_t tmp_size; + memcpy(&tmp_size,in_message->c_str()+tot,sizeof(uint16_t)); + tot+=sizeof(uint16_t); + int uint64_size=tmp_size/sizeof(uint64_t); + uint64_t message_obt[uint64_size]; + /*Copy obt msg*/ + memcpy(message_obt,in_message->c_str()+tot,tmp_size); + tot+=tmp_size; + uint16_t test_end_char; + memcpy(&test_end_char,in_message->c_str()+tot,sizeof(uint16_t)); + tot+=sizeof(uint16_t); + std::cout<<"test end char: "<< std::endl; + + for (uint16_t i = 0; i < uint64_size; i++) { - - if (' ' == in_message->at(i) || 0 == i) + mavlink_msg.payload64.push_back(message_obt[i]); + /*if (' ' == in_message->at(i) || 0 == i) { sscanf(in_message->c_str() + i, "%" PRIu64 " ", ¤t_int64); mavlink_msg.payload64.push_back(current_int64); - } + }*/ } std::cout << "Single packet message received size"<payload64.size() <= MAX_NBR_OF_INT64){ + + uint64_t message_obt[mavlink_msg->payload64.size()]; + uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ) ); + memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() )); + int tot=0; for (std::size_t i =0; ipayload64.size(); i++) + { + message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; + + } + /*Copy the header*/ + memcpy(cpy_buff,&header,sizeof(uint64_t)); + tot+=sizeof(uint64_t); + /*copy msg size*/ + uint16_t tmp_size=(uint16_t)mavlink_msg->payload64.size(); + memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); + tot+=sizeof(uint16_t); + /*Copy obt msg*/ + memcpy(cpy_buff+tot,message_obt,sizeof(uint64_t)*tmp_size); + tot+=sizeof(uint64_t)*tmp_size; + uint16_t test_end_char = 1234; + memcpy(cpy_buff+tot,&test_end_char,sizeof(uint16_t)); + tot+=sizeof(uint16_t); + /*Copy the data to char buff*/ + memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); + delete[] cpy_buff; + /*for (std::size_t i =0; ipayload64.size(); i++) { cnt++; converted_bytes += sprintf( @@ -618,11 +670,11 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; //std::cout << "Sent Frame in string"<payload64.size()<< std::endl; - Generate_Transmit_Request_Frame(temporary_buffer, &frame); - serial_device_.Send_Frame(frame); + std::cout << "Single packet message sent size"<payload64.size()<<" Tot size: "<< tot<< std::endl; + Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); + serial_device_.Send_Frame(frame); } else{ @@ -643,9 +695,9 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; //std::cout << "Sent Frame in string"< Date: Sun, 29 Jan 2017 13:26:30 -0500 Subject: [PATCH 49/91] Optimization to reduce multi data packets --- src/CommunicationManager.cpp | 187 +++++++++++++++++++++-------------- 1 file changed, 111 insertions(+), 76 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 900d776..6201c53 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(60) /* 10 fps */ + LOOP_RATE(10) /* 10 fps */ { } @@ -396,32 +396,26 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() /*Copy the header*/ memcpy(¤t_int64,in_message->c_str(),sizeof(uint64_t)); tot+=sizeof(uint64_t); - /*sscanf(in_message->c_str(), "%" PRIu64 " ", ¤t_int64);*/ - std::cout<<"Size of char"<c_str()<< std::endl; + std::cout<1 && header[2]==1){ - /*copy msg size*/ - uint16_t tmp_size; + uint16_t tmp_size=0; memcpy(&tmp_size,in_message->c_str()+tot,sizeof(uint16_t)); tot+=sizeof(uint16_t); - int uint64_size=tmp_size/sizeof(uint64_t); - uint64_t message_obt[uint64_size]; + std::cout<<"received size in bytes: "<c_str()+tot,tmp_size); - tot+=tmp_size; - uint16_t test_end_char; - memcpy(&test_end_char,in_message->c_str()+tot,sizeof(uint16_t)); - tot+=sizeof(uint16_t); - std::cout<<"test end char: "<< std::endl; - - for (uint16_t i = 0; i < uint64_size; i++) + memcpy(message_obt,in_message->c_str()+tot,tmp_size*sizeof(uint64_t)); + tot+=tmp_size*sizeof(uint64_t); + std::cout<<"tot size : "<at(i) || 0 == i) @@ -447,16 +441,17 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() multi_msgs_receive.insert(make_pair(header[2], in_message)); receiver_cur_checksum=header[1]; //counter=1; - int tot =0; + tot = sizeof(uint64_t); uint64_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; - sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg); + //sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg); + memcpy(temporary_buffer, &ack_msg,sizeof(uint64_t)); Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); serial_device_.Send_Frame(frame); } else if (header[1]==receiver_cur_checksum) { - int tot =0; + tot =sizeof(uint64_t); uint64_t ack_msg = (uint64_t)ACK_MESSAGE_CONSTANT | ((uint64_t)header[1] << 16) | ((uint64_t)header[2] << 32) |((uint64_t) device_id << 48) ; - sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg); + memcpy(temporary_buffer, &ack_msg,sizeof(uint64_t)); Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); serial_device_.Send_Frame(frame); /*tmp*/ @@ -470,7 +465,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() if(it!=multi_msgs_receive.end()){ multi_msgs_receive.erase(it); multi_msgs_receive.insert(make_pair(header[2], in_message)); - } + } else{ multi_msgs_receive.insert(make_pair(header[2], in_message)); //counter++; @@ -481,27 +476,49 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() for(uint16_t i =1; i<=header[3];i++){ it = multi_msgs_receive.find(i); - uint64_t previous_int64=0; + /*Escape the header*/ + tot =sizeof(uint64_t); + /*copy msg size*/ + uint16_t tmp_size=0; + memcpy(&tmp_size,it->second->c_str()+tot,sizeof(uint16_t)); + tot+=sizeof(uint16_t); + std::cout<<"multi publisher received size in bytes: "<second->c_str()+tot,tmp_size*sizeof(uint64_t)); + tot+=tmp_size*sizeof(uint64_t); + std::cout<<"tot size : "<first << "Size of current map" <second->size()<< std::endl; //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; - for (std::size_t j = 1; j < it->second->size()-1; j++) + /* for (std::size_t j = 1; j < it->second->size()-1; j++) { if (' ' == it->second->at(j) || 0 == j) - { - sscanf(it->second->c_str() + j, "%" PRIu64 " ", - ¤t_int64); - - std::cout << "received Frame:" << current_int64 << std::endl; - if(previous_int64 != current_int64){ - mavlink_msg.payload64.push_back(current_int64); - previous_int64=current_int64; - } - } + {*/ + //current_int64=0 + //sscanf(it->second->c_str() + j, "%" PRIu64 " ", + // ¤t_int64); + /*Copy obt msg*/ + + //memcpy(current_int64, it->second->c_str()+tot, tmp_size*sizeof(uint64_t)); + std::cout << "received Frame:" << current_int64 << std::endl; + //if(previous_int64 != current_int64){ + //mavlink_msg.payload64.push_back(current_int64); + //previous_int64=current_int64; + //} + /* } - } + } */ } std::cout << "one multi message published in topic with size :" <payload64.size(); i++) { converted_bytes += sprintf( @@ -616,30 +634,25 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( frame.append(temporary_buffer_check, std::strlen(temporary_buffer_check)); uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); - uint16_t cnt=0; uint16_t number=1; uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)MAX_NBR_OF_INT64)); //std::cout <<"Payload size" <payload64.size() << std::endl; + /*Create a header for the msgs*/ uint64_t header = (uint64_t)MESSAGE_CONSTANT | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; - //std::cout << "Total chunks:" <payload64.size() <= MAX_NBR_OF_INT64){ uint64_t message_obt[mavlink_msg->payload64.size()]; uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ) ); memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() )); - int tot=0; + for (std::size_t i =0; ipayload64.size(); i++) { message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; @@ -647,31 +660,18 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( } /*Copy the header*/ memcpy(cpy_buff,&header,sizeof(uint64_t)); - tot+=sizeof(uint64_t); + tot+=sizeof(uint64_t); /*copy msg size*/ uint16_t tmp_size=(uint16_t)mavlink_msg->payload64.size(); memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); tot+=sizeof(uint16_t); + std::cout<<"tmp size in sender"<payload64.size(); i++) - { - cnt++; - converted_bytes += sprintf( - temporary_buffer+converted_bytes, "%" PRIu64 " ", - (uint64_t)mavlink_msg->payload64.at(i)); - //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; - //std::cout << "Sent Frame in string"<payload64.size()<<" Tot size: "<< tot<< std::endl; Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); serial_device_.Send_Frame(frame); @@ -683,19 +683,42 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( Sender_cur_checksum = check_sum; ack_received_dict.clear(); multi_msgs_send_dict.clear(); - /*Multi message frame received, split them into chunks and store them in dict*/ + /*Copy the msgs into a 64bit array*/ + uint64_t message_obt[mavlink_msg->payload64.size()]; + /*buffer for easy handel operation*/ + uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ) ); + memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() )); for (std::size_t i =0; ipayload64.size(); i++) { - + message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; - cnt++; + } + /*copy msg size*/ + uint16_t tmp_size=(uint16_t)MAX_NBR_OF_INT64; + uint16_t uint64_counter=0; + /*Multi message frame received, split them into chunks and store them in dict*/ + for (uint16_t i =1; ipayload64.at(i)); + */ //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; //std::cout << "Sent Frame in string"<payload64.size() )); //std::cout << "total:" <payload64.size()){ + tmp_size=mavlink_msg->payload64.size() - uint64_counter; + /*Copy the header*/ + memcpy(cpy_buff,&header,sizeof(uint64_t)); + tot+=sizeof(uint64_t); + memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); + tot+=sizeof(uint16_t); + /*Copy obt msg*/ + memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size); + uint64_counter+=tmp_size; + tot+=( sizeof(uint64_t) )*tmp_size; + /*Copy the data to char buff*/ + memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); + Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); + multi_msgs_send_dict.push_back(frame); } - std::cout << "total size of multi msg dict after geting it from rosbuzz:" < Date: Sun, 29 Jan 2017 14:00:52 -0500 Subject: [PATCH 50/91] wrong parameter bug correction --- src/CommunicationManager.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 6201c53..f7693b0 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -644,7 +644,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( uint16_t* header_16 = u64_cvt_u16(header); /*buffer byte counter*/ int tot=0; - //std::cout << "Sent header" <payload64.size() <= MAX_NBR_OF_INT64){ @@ -686,18 +686,20 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( /*Copy the msgs into a 64bit array*/ uint64_t message_obt[mavlink_msg->payload64.size()]; /*buffer for easy handel operation*/ - uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ) ); - memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() )); + uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 ) ); + memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 )); for (std::size_t i =0; ipayload64.size(); i++) { message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; } + //std::cout << "put header in dict" < Date: Sun, 29 Jan 2017 14:12:39 -0500 Subject: [PATCH 51/91] fix for malloc error --- src/CommunicationManager.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index f7693b0..ad7d44f 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -687,7 +687,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( uint64_t message_obt[mavlink_msg->payload64.size()]; /*buffer for easy handel operation*/ uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 ) ); - memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 )); + memset(cpy_buff, 0,sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 )); for (std::size_t i =0; ipayload64.size(); i++) { message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; @@ -733,7 +733,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( tot =0; number++; frame = ""; - memset(cpy_buff, 0,sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() )); + memset(cpy_buff, 0,sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 )); //std::cout << "total:" <payload64.size()){ tmp_size=mavlink_msg->payload64.size() - uint64_counter; /*Copy the header*/ From 2e1adb19ec9cbd92dfff20970b79db19af7e8a38 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 14:14:48 -0500 Subject: [PATCH 52/91] debug print --- src/CommunicationManager.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index ad7d44f..f673433 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -765,6 +765,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( multi_msgs_send_dict.push_back(frame); } delete[] cpy_buff; + std::cout << " Received size: " <payload64.size() << std::endl; std::cout << "total size of multi msg dict mavlink size:" < Date: Sun, 29 Jan 2017 14:24:30 -0500 Subject: [PATCH 53/91] reduced message size and debug --- src/CommunicationManager.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index f673433..651ec3d 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -455,11 +455,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); serial_device_.Send_Frame(frame); /*tmp*/ - uint64_t tmp_printer; - sscanf(frame.c_str(), "%" PRIu64 " ",&tmp_printer); - uint16_t* tmp_printer_16 =u64_cvt_u16(tmp_printer); - std::cout << "Send ACK for " < >::iterator it = multi_msgs_receive.find(header[2]); if(it!=multi_msgs_receive.end()){ @@ -604,7 +604,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ - const unsigned short MAX_NBR_OF_INT64 = 21; + const unsigned short MAX_NBR_OF_INT64 = 25; char temporary_buffer[MAX_BUFFER_SIZE]; std::string frame; int converted_bytes = 0; From 889e4f2e3948018e66341643ebb68e82583fd32a Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 15:43:55 -0500 Subject: [PATCH 54/91] changes in baud rate --- CMakeLists.txt | 4 ++-- Resources/XBee_Config.xml | 2 +- src/CommunicationManager.cpp | 4 ++-- src/Xbee.cpp | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a54cab7..962e5a5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -56,8 +56,8 @@ include_directories( add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp) target_link_libraries(xbee_mav ${catkin_LIBRARIES}) -#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) -#target_link_libraries(config ${catkin_LIBRARIES}) +add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) +target_link_libraries(config ${catkin_LIBRARIES}) #add_executable(test_controller src/TestController.cpp) #target_link_libraries(test_controller ${catkin_LIBRARIES}) diff --git a/Resources/XBee_Config.xml b/Resources/XBee_Config.xml index f7f4b2d..e8a0b56 100644 --- a/Resources/XBee_Config.xml +++ b/Resources/XBee_Config.xml @@ -22,7 +22,7 @@ 11 0 - 8 + 4 0 0 3 diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 651ec3d..100627f 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(10) /* 10 fps */ + LOOP_RATE(30) /* 10 fps */ { } @@ -604,7 +604,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ - const unsigned short MAX_NBR_OF_INT64 = 25; + const unsigned short MAX_NBR_OF_INT64 = 24; char temporary_buffer[MAX_BUFFER_SIZE]; std::string frame; int converted_bytes = 0; diff --git a/src/Xbee.cpp b/src/Xbee.cpp index d71e3a6..60c823c 100644 --- a/src/Xbee.cpp +++ b/src/Xbee.cpp @@ -17,7 +17,7 @@ int main(int argc, char* argv[]) Mist::Xbee::CommunicationManager communication_manager; const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command. - const std::size_t baud_rate = 230400; // TO DO Can be introduced as command. + const std::size_t baud_rate = 19200; // TO DO Can be introduced as command. Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE; Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode = From cd413833b83472e03f6fe5885be7633f48da9276 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 15:49:47 -0500 Subject: [PATCH 55/91] debug print removed --- src/CommunicationManager.cpp | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 100627f..997d987 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -400,7 +400,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() ¤t_int64);*/ std::cout<1 && header[2]==1){ @@ -408,13 +408,13 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() uint16_t tmp_size=0; memcpy(&tmp_size,in_message->c_str()+tot,sizeof(uint16_t)); tot+=sizeof(uint16_t); - std::cout<<"received size in bytes: "<c_str()+tot,tmp_size*sizeof(uint64_t)); tot+=tmp_size*sizeof(uint64_t); - std::cout<<"tot size : "< >::iterator it = multi_msgs_receive.find(header[2]); @@ -482,13 +482,13 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() uint16_t tmp_size=0; memcpy(&tmp_size,it->second->c_str()+tot,sizeof(uint16_t)); tot+=sizeof(uint16_t); - std::cout<<"multi publisher received size in bytes: "<second->c_str()+tot,tmp_size*sizeof(uint64_t)); tot+=tmp_size*sizeof(uint64_t); - std::cout<<"tot size : "<second->c_str()+tot, tmp_size*sizeof(uint64_t)); - std::cout << "received Frame:" << current_int64 << std::endl; + //std::cout << "received Frame:" << current_int64 << std::endl; //if(previous_int64 != current_int64){ //mavlink_msg.payload64.push_back(current_int64); //previous_int64=current_int64; @@ -533,8 +533,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } } else if(header[0]==(uint16_t)ACK_MESSAGE_CONSTANT){ - std::cout << "ACK Received header " <::iterator it = ack_received_dict.find(header[3]); @@ -547,7 +547,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() } } - std::cout << "ACK added and size of ack map " << ack_received_dict.size()<< std::endl; + //std::cout << "ACK added and size of ack map " << ack_received_dict.size()<< std::endl; } delete[] header; @@ -672,7 +672,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( /*Copy the data to char buff*/ memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); delete[] cpy_buff; - std::cout << "Single packet message sent size"<payload64.size()<<" Tot size: "<< tot<< std::endl; + //std::cout << "Single packet message sent size"<payload64.size()<<" Tot size: "<< tot<< std::endl; Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); serial_device_.Send_Frame(frame); @@ -765,9 +765,9 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( multi_msgs_send_dict.push_back(frame); } delete[] cpy_buff; - std::cout << " Received size: " <payload64.size() << std::endl; - std::cout << "total size of multi msg dict mavlink size:" <payload64.size() << std::endl; + //std::cout << "total size of multi msg dict mavlink size:" < Date: Sun, 29 Jan 2017 16:19:19 -0500 Subject: [PATCH 56/91] ros rate change --- src/XMLConfigParser.cpp | 2 +- src/Xbee.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp index 525e75e..42ad314 100644 --- a/src/XMLConfigParser.cpp +++ b/src/XMLConfigParser.cpp @@ -23,7 +23,7 @@ XMLConfigParser::~XMLConfigParser() //***************************************************************************** bool XMLConfigParser::Load_Config() { - const std::string FILE_NAME = "/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml"; + const std::string FILE_NAME = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/XBee_Config.xml"; if (Check_Config_File_Exists(FILE_NAME)) { diff --git a/src/Xbee.cpp b/src/Xbee.cpp index 60c823c..d4b1d38 100644 --- a/src/Xbee.cpp +++ b/src/Xbee.cpp @@ -17,7 +17,7 @@ int main(int argc, char* argv[]) Mist::Xbee::CommunicationManager communication_manager; const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command. - const std::size_t baud_rate = 19200; // TO DO Can be introduced as command. + const std::size_t baud_rate = 115200; // TO DO Can be introduced as command. Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE; Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode = From c9b16fa6bf5ac7d9321b46f2c72b02de8ba2b638 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 16:22:13 -0500 Subject: [PATCH 57/91] baud change --- Resources/XBee_Config.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Resources/XBee_Config.xml b/Resources/XBee_Config.xml index e8a0b56..8b7af61 100644 --- a/Resources/XBee_Config.xml +++ b/Resources/XBee_Config.xml @@ -22,7 +22,7 @@ 11 0 - 4 + 7 0 0 3 From 5b8aac2774287376806f7ff8838f0c1a809bd9d6 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 17:19:12 -0500 Subject: [PATCH 58/91] ros rate --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 997d987..e14e977 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(30) /* 10 fps */ + LOOP_RATE(20) /* 10 fps */ { } From 88a6b12b14099fa9440f531a70e09442fd8e12d6 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 18:14:24 -0500 Subject: [PATCH 59/91] test --- include/CommunicationManager.h | 3 ++ src/CommunicationManager.cpp | 60 ++++++++++++++++++++++++++-------- 2 files changed, 49 insertions(+), 14 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index a662db5..bad78aa 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -111,6 +111,9 @@ private: uint16_t receiveing_cur_totalsize; uint16_t steps; //uint16_t multi_msg_size; + + int test_1; + struct timeval t1, t2; }; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index e14e977..772fd02 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -170,6 +170,7 @@ void CommunicationManager::Run_In_Swarm_Mode() ros::Rate loop_rate(LOOP_RATE); counter=0; + test_1=1; while (ros::ok()) { Check_In_Messages_and_Transfer_To_Topics(); @@ -372,19 +373,20 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { std::size_t size_in_messages = in_messages_->Get_Size(); uint16_t* header; + if(!multi_msgs_receive.empty()) steps++; + if(steps>200){ + steps=0; + multi_msgs_receive.clear(); + receiver_cur_checksum=0; + } + /*T0 overcome mesages after the stop transmission of multi packet*/ + if(counter!=0){ + multi_msgs_receive.clear(); + counter--; + } if (size_in_messages > 0) { - if(!multi_msgs_receive.empty()) steps++; - if(steps>500){ - steps=0; - multi_msgs_receive.clear(); - receiver_cur_checksum=0; - } - /*T0 overcome mesages after the stop transmission of multi packet*/ - if(counter!=0){ - multi_msgs_receive.clear(); - counter--; - } + uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { @@ -402,6 +404,22 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() header = u64_cvt_u16(current_int64); //std::cout << "Received header" <c_str(), &frame,sizeof(uint64_t) * 4); + serial_device_.Send_Frame(frame); + } + if(current_int64 == (uint64_t)device_id ){ + + gettimeofday(&t2, NULL); + 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; + std::cout<<"Time taken for send and receive : "<1 && header[2]==1){ /*copy msg size*/ @@ -433,8 +451,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() else if (header[3]>1 && header[1]>1){ /*multimsg received send ack msg*/ - char temporary_buffer[20]; - std::string frame; + //char temporary_buffer[20]; + //std::string frame; std::cout << "Multi msg Received header " < Date: Sun, 29 Jan 2017 18:38:09 -0500 Subject: [PATCH 60/91] modifications in step clearing of multi msg map --- src/CommunicationManager.cpp | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 772fd02..a1e125d 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -170,11 +170,13 @@ void CommunicationManager::Run_In_Swarm_Mode() ros::Rate loop_rate(LOOP_RATE); counter=0; - test_1=1; + while (ros::ok()) { Check_In_Messages_and_Transfer_To_Topics(); Send_multi_msg(); + //if(counter==10) {test_1=5;} + //else counter++; ros::spinOnce(); loop_rate.sleep(); } @@ -373,7 +375,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { std::size_t size_in_messages = in_messages_->Get_Size(); uint16_t* header; - if(!multi_msgs_receive.empty()) steps++; + //if(!multi_msgs_receive.empty()) steps++; if(steps>200){ steps=0; multi_msgs_receive.clear(); @@ -407,8 +409,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() char temporary_buffer[20]; std::string frame; - if(current_int64 <= 3){ - Generate_Transmit_Request_Frame(in_message->c_str(), &frame,sizeof(uint64_t) * 4); + /*if(current_int64 <= 3){ + Generate_Transmit_Request_Frame(in_message->c_str(), &frame,sizeof(uint64_t) * ); serial_device_.Send_Frame(frame); } if(current_int64 == (uint64_t)device_id ){ @@ -419,7 +421,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() std::cout<<"Time taken for send and receive : "<1 && header[2]==1){ /*copy msg size*/ @@ -454,8 +456,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() //char temporary_buffer[20]; //std::string frame; std::cout << "Multi msg Received header " <0){ + test_1--; + char temporary_buffer[sizeof(uint64_t) * 5]; std::string frame; uint64_t constant_msg[3]; constant_msg[1]=245253253253532; constant_msg[2]=245253253253532; constant_msg[3]=245253253253532; constant_msg[0]=(uint64_t) device_id; + constant_msg[4]=(uint64_t) test_t; gettimeofday(&t1, NULL); /*Copy the data to char buff*/ - memcpy((void*)temporary_buffer,(void*)constant_msg,sizeof(uint64_t) * 4); - Generate_Transmit_Request_Frame(temporary_buffer, &frame,sizeof(uint64_t) * 4); + /*memcpy((void*)temporary_buffer,(void*)constant_msg,sizeof(uint64_t) * 5); + Generate_Transmit_Request_Frame(temporary_buffer, &frame,sizeof(uint64_t) * 5); multi_msgs_send_dict.push_back(frame); - } + }*/ if( !( multi_msgs_send_dict.empty() ) ){ /*If the sent message chunk not the last message then send else clear the dict*/ if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){ From 67162b00ba8306393b949780f116fe4feee84eea Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 18:54:11 -0500 Subject: [PATCH 61/91] changes in clearing vect buff --- src/CommunicationManager.cpp | 67 +++++++++--------------------------- 1 file changed, 16 insertions(+), 51 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index a1e125d..046a85c 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(20) /* 10 fps */ + LOOP_RATE(10) /* 10 fps */ { } @@ -170,13 +170,10 @@ void CommunicationManager::Run_In_Swarm_Mode() ros::Rate loop_rate(LOOP_RATE); counter=0; - while (ros::ok()) { Check_In_Messages_and_Transfer_To_Topics(); Send_multi_msg(); - //if(counter==10) {test_1=5;} - //else counter++; ros::spinOnce(); loop_rate.sleep(); } @@ -375,20 +372,19 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { std::size_t size_in_messages = in_messages_->Get_Size(); uint16_t* header; - //if(!multi_msgs_receive.empty()) steps++; - if(steps>200){ - steps=0; - multi_msgs_receive.clear(); - receiver_cur_checksum=0; - } - /*T0 overcome mesages after the stop transmission of multi packet*/ - if(counter!=0){ - multi_msgs_receive.clear(); - counter--; - } if (size_in_messages > 0) { - + /*if(!multi_msgs_receive.empty()) steps++; + if(steps>500){ + steps=0; + multi_msgs_receive.clear(); + receiver_cur_checksum=0; + }*/ + /*T0 overcome mesages after the stop transmission of multi packet*/ + if(counter!=0){ + multi_msgs_receive.clear(); + counter--; + } uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { @@ -402,26 +398,10 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() tot+=sizeof(uint64_t); /*sscanf(in_message->c_str(), "%" PRIu64 " ", ¤t_int64);*/ - std::cout<c_str(), &frame,sizeof(uint64_t) * ); - serial_device_.Send_Frame(frame); - } - if(current_int64 == (uint64_t)device_id ){ - - gettimeofday(&t2, NULL); - 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; - std::cout<<"Time taken for send and receive : "<1 && header[2]==1){ /*copy msg size*/ @@ -453,8 +433,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() else if (header[3]>1 && header[1]>1){ /*multimsg received send ack msg*/ - //char temporary_buffer[20]; - //std::string frame; + char temporary_buffer[20]; + std::string frame; std::cout << "Multi msg Received header " <0){ - test_1--; - char temporary_buffer[sizeof(uint64_t) * 5]; - std::string frame; - uint64_t constant_msg[3]; - constant_msg[1]=245253253253532; - constant_msg[2]=245253253253532; - constant_msg[3]=245253253253532; - constant_msg[0]=(uint64_t) device_id; - constant_msg[4]=(uint64_t) test_t; - gettimeofday(&t1, NULL); - /*Copy the data to char buff*/ - /*memcpy((void*)temporary_buffer,(void*)constant_msg,sizeof(uint64_t) * 5); - Generate_Transmit_Request_Frame(temporary_buffer, &frame,sizeof(uint64_t) * 5); - multi_msgs_send_dict.push_back(frame); - }*/ + if( !( multi_msgs_send_dict.empty() ) ){ /*If the sent message chunk not the last message then send else clear the dict*/ if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){ From 61f2b52a6ce8444c437afb36ac5deb1715714224 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 19:01:51 -0500 Subject: [PATCH 62/91] change in loop rate --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 046a85c..904d35f 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(10) /* 10 fps */ + LOOP_RATE(30) /* 10 fps */ { } From 4e15ad701418bb11fba045b520860a38b0510f59 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 19:22:24 -0500 Subject: [PATCH 63/91] rate change --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 904d35f..b758938 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(30) /* 10 fps */ + LOOP_RATE(50) /* 10 fps */ { } From 4f2d078b25cde8fd6ca32d7e38d566f0ee58d28d Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 21:51:09 -0500 Subject: [PATCH 64/91] test of xbee time --- src/CommunicationManager.cpp | 67 ++++++++++++++++++++---------------- 1 file changed, 38 insertions(+), 29 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index b758938..ff801df 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -170,10 +170,28 @@ void CommunicationManager::Run_In_Swarm_Mode() ros::Rate loop_rate(LOOP_RATE); counter=0; + test_1=0; while (ros::ok()) { + + test_1++; + if(test_1==100){ + char temporary_buffer[sizeof(uint64_t) * 4]; + std::string frame; + uint64_t constant_msg[3]; + constant_msg[0]=245253253253532; + constant_msg[1]=245253253253532; + constant_msg[2]=245253253253532; + constant_msg[3]=(uint64_t) device_id; + gettimeofday(&t1, NULL); + /*Copy the data to char buff*/ + memcpy((void*)temporary_buffer,(void*)constant_msg,sizeof(uint64_t) * 4); + Generate_Transmit_Request_Frame(temporary_buffer, &frame,sizeof(uint64_t) * 4); + serial_device_.Send_Frame(frame); + test_1 = 0; + } Check_In_Messages_and_Transfer_To_Topics(); - Send_multi_msg(); +// Send_multi_msg(); ros::spinOnce(); loop_rate.sleep(); } @@ -396,9 +414,23 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() /*Copy the header*/ memcpy(¤t_int64,in_message->c_str(),sizeof(uint64_t)); tot+=sizeof(uint64_t); - /*sscanf(in_message->c_str(), "%" PRIu64 " ", - ¤t_int64);*/ - //std::cout<c_str()+24,sizeof(uint64_t)); + if(current_int64==(uint64_t)device_id){ + gettimeofday(&t2, NULL); + 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; + std::cout<<"time taken to send and receive : "<c_str(), &frame,in_message->size()); + serial_device_.Send_Frame(frame); + } + + } + else{ header = u64_cvt_u16(current_int64); //std::cout << "Received header" <first << "Size of current map" <second->size()<< std::endl; - //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; - //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; - /* for (std::size_t j = 1; j < it->second->size()-1; j++) - { - - - if (' ' == it->second->at(j) || 0 == j) - {*/ - //current_int64=0 - //sscanf(it->second->c_str() + j, "%" PRIu64 " ", - // ¤t_int64); - /*Copy obt msg*/ - //memcpy(current_int64, it->second->c_str()+tot, tmp_size*sizeof(uint64_t)); - //std::cout << "received Frame:" << current_int64 << std::endl; - //if(previous_int64 != current_int64){ - //mavlink_msg.payload64.push_back(current_int64); - //previous_int64=current_int64; - //} - /* } - - } */ } std::cout << "one multi message published in topic with size :" < Date: Mon, 30 Jan 2017 17:31:40 -0500 Subject: [PATCH 65/91] fix after the test crash --- src/CommunicationManager.cpp | 68 ++++++++++++++++-------------------- 1 file changed, 30 insertions(+), 38 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index ff801df..e1b4c34 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -170,28 +170,10 @@ void CommunicationManager::Run_In_Swarm_Mode() ros::Rate loop_rate(LOOP_RATE); counter=0; - test_1=0; while (ros::ok()) { - - test_1++; - if(test_1==100){ - char temporary_buffer[sizeof(uint64_t) * 4]; - std::string frame; - uint64_t constant_msg[3]; - constant_msg[0]=245253253253532; - constant_msg[1]=245253253253532; - constant_msg[2]=245253253253532; - constant_msg[3]=(uint64_t) device_id; - gettimeofday(&t1, NULL); - /*Copy the data to char buff*/ - memcpy((void*)temporary_buffer,(void*)constant_msg,sizeof(uint64_t) * 4); - Generate_Transmit_Request_Frame(temporary_buffer, &frame,sizeof(uint64_t) * 4); - serial_device_.Send_Frame(frame); - test_1 = 0; - } Check_In_Messages_and_Transfer_To_Topics(); -// Send_multi_msg(); + Send_multi_msg(); ros::spinOnce(); loop_rate.sleep(); } @@ -414,23 +396,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() /*Copy the header*/ memcpy(¤t_int64,in_message->c_str(),sizeof(uint64_t)); tot+=sizeof(uint64_t); - if(current_int64==245253253253532){ - std::string frame; - current_int64=0; - memcpy(¤t_int64,in_message->c_str()+24,sizeof(uint64_t)); - if(current_int64==(uint64_t)device_id){ - gettimeofday(&t2, NULL); - 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; - std::cout<<"time taken to send and receive : "<c_str(), &frame,in_message->size()); - serial_device_.Send_Frame(frame); - } - - } - else{ + /*sscanf(in_message->c_str(), "%" PRIu64 " ", + ¤t_int64);*/ + //std::cout<first << "Size of current map" <second->size()<< std::endl; + //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; + //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; + /* for (std::size_t j = 1; j < it->second->size()-1; j++) + { + + + if (' ' == it->second->at(j) || 0 == j) + {*/ + //current_int64=0 + //sscanf(it->second->c_str() + j, "%" PRIu64 " ", + // ¤t_int64); + /*Copy obt msg*/ + //memcpy(current_int64, it->second->c_str()+tot, tmp_size*sizeof(uint64_t)); + //std::cout << "received Frame:" << current_int64 << std::endl; + //if(previous_int64 != current_int64){ + //mavlink_msg.payload64.push_back(current_int64); + //previous_int64=current_int64; + //} + /* } + + } */ } std::cout << "one multi message published in topic with size :" < Date: Mon, 30 Jan 2017 18:58:21 -0500 Subject: [PATCH 66/91] crash fix for wrong memory index --- src/CommunicationManager.cpp | 25 +++++++++++++++---------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index e1b4c34..a61007b 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -697,15 +697,17 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( //std::cout << "put header in dict" <payload64.size() - uint64_counter >= MAX_NBR_OF_INT64) + tmp_size=(uint16_t)MAX_NBR_OF_INT64; + else tmp_size = mavlink_msg->payload64.size() - uint64_counter; tot =0; number++; frame = ""; @@ -749,22 +754,22 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( } delete[] header_16; - if(uint64_counter!=mavlink_msg->payload64.size()){ - tmp_size=mavlink_msg->payload64.size() - uint64_counter; + /* if(uint64_counter!=mavlink_msg->payload64.size()){ + tmp_size=mavlink_msg->payload64.size() - uint64_counter; */ /*Copy the header*/ - memcpy(cpy_buff,&header,sizeof(uint64_t)); + /* memcpy(cpy_buff,&header,sizeof(uint64_t)); tot+=sizeof(uint64_t); memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); - tot+=sizeof(uint16_t); + tot+=sizeof(uint16_t);*/ /*Copy obt msg*/ - memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size); + /* memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size); uint64_counter+=tmp_size; - tot+=( sizeof(uint64_t) )*tmp_size; + tot+=( sizeof(uint64_t) )*tmp_size;*/ /*Copy the data to char buff*/ - memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); + /* memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); multi_msgs_send_dict.push_back(frame); - } + }*/ delete[] cpy_buff; //std::cout << " Received size: " <payload64.size() << std::endl; //std::cout << "total size of multi msg dict mavlink size:" < Date: Mon, 30 Jan 2017 19:35:23 -0500 Subject: [PATCH 67/91] changes for crash --- src/CommunicationManager.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index a61007b..0febf7a 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -663,7 +663,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( memcpy(cpy_buff,&header,sizeof(uint64_t)); tot+=sizeof(uint64_t); /*copy msg size*/ - uint16_t tmp_size=(uint16_t)mavlink_msg->payload64.size(); + uint16_t tmp_size = (uint16_t)mavlink_msg->payload64.size(); memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); tot+=sizeof(uint16_t); std::cout<<"tmp size in sender"<payload64.size() - uint64_counter >= MAX_NBR_OF_INT64) tmp_size=(uint16_t)MAX_NBR_OF_INT64; else tmp_size = mavlink_msg->payload64.size() - uint64_counter; + std::cout<<"tmp size : "<payload64.size()<payload64.size()){ tmp_size=mavlink_msg->payload64.size() - uint64_counter; */ From aebaf6d5147592905798d724c49223cced6171bb Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Mon, 30 Jan 2017 22:47:34 -0500 Subject: [PATCH 68/91] crash fix --- include/CommunicationManager.h | 6 +++--- src/CommunicationManager.cpp | 38 ++++++++++++++-------------------- 2 files changed, 19 insertions(+), 25 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index bad78aa..313f823 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -111,9 +111,9 @@ private: uint16_t receiveing_cur_totalsize; uint16_t steps; //uint16_t multi_msg_size; - - int test_1; - struct timeval t1, t2; + uint64_t message_obtmulti[600]; + //int test_1; + //struct timeval t1, t2; }; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 0febf7a..3d779f9 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -623,7 +623,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( std::cout << "Sending previous multi message not complete yet, so dropping message"<payload64.size(); i++) { @@ -663,7 +663,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback( memcpy(cpy_buff,&header,sizeof(uint64_t)); tot+=sizeof(uint64_t); /*copy msg size*/ - uint16_t tmp_size = (uint16_t)mavlink_msg->payload64.size(); + uint16_t tmp_size=(uint16_t)mavlink_msg->payload64.size(); memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); tot+=sizeof(uint16_t); std::cout<<"tmp size in sender"<payload64.size() - uint64_counter >= MAX_NBR_OF_INT64) - tmp_size=(uint16_t)MAX_NBR_OF_INT64; - else tmp_size = mavlink_msg->payload64.size() - uint64_counter; - std::cout<<"tmp size : "<payload64.size()<payload64.size()){ - tmp_size=mavlink_msg->payload64.size() - uint64_counter; */ + if(uint64_counter!=mavlink_msg->payload64.size()){ + tmp_size=mavlink_msg->payload64.size() - uint64_counter; /*Copy the header*/ - /* memcpy(cpy_buff,&header,sizeof(uint64_t)); + memcpy(cpy_buff,&header,sizeof(uint64_t)); tot+=sizeof(uint64_t); memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); - tot+=sizeof(uint16_t);*/ + tot+=sizeof(uint16_t); /*Copy obt msg*/ - /* memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size); + memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size); uint64_counter+=tmp_size; - tot+=( sizeof(uint64_t) )*tmp_size;*/ + tot+=( sizeof(uint64_t) )*tmp_size; /*Copy the data to char buff*/ - /* memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); + memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); multi_msgs_send_dict.push_back(frame); - }*/ + } delete[] cpy_buff; //std::cout << " Received size: " <payload64.size() << std::endl; //std::cout << "total size of multi msg dict mavlink size:" < Date: Fri, 17 Feb 2017 14:20:52 -0500 Subject: [PATCH 69/91] First commit of new Xbee with multi packets --- CMakeLists.txt | 78 ++++ README.md | 197 ++++++++ Resources/Fig1.png | Bin 0 -> 83895 bytes Resources/Fig2.png | Bin 0 -> 49084 bytes Resources/XBee_Config.xml | 68 +++ Resources/Xbee_Manual.pdf | Bin 0 -> 1403317 bytes Resources/database.xml | 14 + include/CommunicationManager.h | 109 +++++ include/MultithreadingDeque.hpp | 73 +++ include/PacketsHandler.h | 152 +++++++ include/SerialDevice.h | 99 ++++ include/XBeeFrame.h | 57 +++ include/XBeeModule.h | 65 +++ include/XBeeParameter.h | 17 + include/XMLConfigParser.h | 41 ++ launch/xbeemav.launch | 12 + package.xml | 19 + src/CommunicationManager.cpp | 548 ++++++++++++++++++++++ src/PacketsHandler.cpp | 778 ++++++++++++++++++++++++++++++++ src/SerialDevice.cpp | 287 ++++++++++++ src/TestBuzz.cpp | 98 ++++ src/TestController.cpp | 212 +++++++++ src/XBeeFrame.cpp | 154 +++++++ src/XBeeModule.cpp | 206 +++++++++ src/XMLConfigParser.cpp | 73 +++ src/Xbee.cpp | 56 +++ src/main.cpp | 114 +++++ 27 files changed, 3527 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 README.md create mode 100644 Resources/Fig1.png create mode 100644 Resources/Fig2.png create mode 100644 Resources/XBee_Config.xml create mode 100644 Resources/Xbee_Manual.pdf create mode 100644 Resources/database.xml create mode 100644 include/CommunicationManager.h create mode 100644 include/MultithreadingDeque.hpp create mode 100644 include/PacketsHandler.h create mode 100644 include/SerialDevice.h create mode 100644 include/XBeeFrame.h create mode 100644 include/XBeeModule.h create mode 100644 include/XBeeParameter.h create mode 100644 include/XMLConfigParser.h create mode 100644 launch/xbeemav.launch create mode 100644 package.xml create mode 100644 src/CommunicationManager.cpp create mode 100644 src/PacketsHandler.cpp create mode 100644 src/SerialDevice.cpp create mode 100644 src/TestBuzz.cpp create mode 100644 src/TestController.cpp create mode 100644 src/XBeeFrame.cpp create mode 100644 src/XBeeModule.cpp create mode 100644 src/XMLConfigParser.cpp create mode 100644 src/Xbee.cpp create mode 100644 src/main.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..1b5cb7a --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,78 @@ +cmake_minimum_required(VERSION 2.8.3) +project(xbee_ros_node) + +if(UNIX) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=gnu++11") +endif() + +set (BOOST_INCLUDEDIR "/usr/include") + +## Find catkin macros and libraries +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs +) + +## System dependencies are found with CMake's conventions + find_package(Boost REQUIRED COMPONENTS + system) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + + + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + + + +################################### +## catkin specific configuration ## +################################### + + +catkin_package( + INCLUDE_DIRS include +# LIBRARIES xbee_ros_node + CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + + +## Specify additional locations of header files +include_directories( + include ${xbee_ros_node_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + + +add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) +target_link_libraries(xbee_mav ${catkin_LIBRARIES}) + +#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) +#target_link_libraries(config ${catkin_LIBRARIES}) + +#add_executable(test_controller src/TestController.cpp) +#target_link_libraries(test_controller ${catkin_LIBRARIES}) + +add_executable(test_buzz src/TestBuzz.cpp) +target_link_libraries(test_buzz ${catkin_LIBRARIES}) + + + +############# +## Install ## +############# + + + +############# +## Testing ## +############# diff --git a/README.md b/README.md new file mode 100644 index 0000000..f5d1e80 --- /dev/null +++ b/README.md @@ -0,0 +1,197 @@ +##Description + +The "xbee_ros_node" package provides many tools (ROS nodes) to configure, test and communicate Xbee devices. +Four nodes are provided in the package: + * config + * xbee_mav + * test_controller + * test_buzz + +The "test_controller" and the "test_buzz" are dummy nodes. They are used only for testing purposes. The "config" node is used to configure the Xbees. The "xbee_mav" is used to communicates between Xbee devices in different modes (e.g. SOLO and SWARM). + +##Prerequisites + + * Linux OS + * ROS + * Serial device drivers. For FTDI, the Virtual COM port (VCP) drivers are mandatory (http://www.ftdichip.com/Drivers/VCP.htm). + +##Configuration of Xbee devices + +To configure an Xbee device, the "config" node is required. To build the "config" node: + + 1. Uncomment the following lines in "xbee_ros_node/CMakeLists.txt": + + add_executable(config src/main.cpp src/XbeeModule.cpp src/XMLConfigParser.cpp) + target_link_libraries(config ${catkin_LIBRARIES}) + + 2. Insert the correct path to the config file “Resources/Xbee_Config.xml” in “XMLConfigParser.cpp” (line 26): + + FILE_NAME = “/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/Xbee_Config.xml” + + 3. Build the package: + + $ cd ~/catkin_ws + $ catkin_make + +To configure an Xbee device run the "config" node. By default, the VCP and the baud rate are respectively "/dev/ttyUSB0" and "9600". Before running the “config” node, please make sure: + + 1. The Xbee device is plugged. + 2. The serial adapter driver is installed. + 3. You have full access to the correspondent serial port (e.g. ttyUSB0): + + $ cd ~/../../dev/ + $ sudo chmod 666 ttyUSB0 + +Now you can run the “config” node (after running roscore): + + $ cd ~/catkin_ws + $ rosrun xbee_ros_node config /dev/ttyUSB0 9600 + +If this command generates an error: + + * Error: open: No such file or directory: + 1. Make sure the Xbee device is plugged. + 2. Make sure the appropriate driver is installed correctly. + 3. Make sure the path to the VCP (e.g. /dev/ttyUSB0) is correct. + 4. Install the newest Xbee firmware with “XCTU” and Write the default config. + + * Error: open: Permission denied: + + You do not have full access to the serial port. Please execute these commands: + + $ cd ~/../../dev/ + $ sudo chmod 666 ttyUSB0 + + * Time Out: The Xbee Module is Not Responding: + + Baud rate mismatch. Please make sure the introduced baud rate (e.g. 9600) matches the baud rate used by the Xbee (by default is 9600). If the Xbee was previously configured with the “config” node the baud rate will be 230400. + + * Error: Config File Not Found: + + The path to the config file is incorrect. Change it in “XMLConfigParser.cpp” (line 26): + + FILE_NAME = “/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/Xbee_Config.xml” + +The configuration will be loaded from "Resources/Xbee_Config.xml". Most of the existing values in the config file are optimized for Digi-Mesh. Some parameters are default values. However, all parameters can be edited. Please refer to **Table.1** before editing any parameter. More details can be found in “Xbee_Manual.pdf”. The commands table is in Chapter 3 (page 28). + +**Table.1:** Most relevant Xbee Parameters. + +| Key | Name | Chosen Parameter | Justification for chosen setting | +|:---:|:-------------:|:-----------------:|:---------------------------------:| +|CM | Channel Mask | 7FFF | The channels should be allowed to jump on any available channel (Unless a particular channel is very bad).| +|HP | Preamble ID | 1 |This parameter shouldn't be left as is as new not configured radios transmit through this default preamble setting and cause interference by default. Any value from 1-7 should be fine.| +|ID | Network ID | 5FFF | As with HP, this parameter should be changed from its default value because it is a factory setting that will introduce new not yet configured radios to the network. Any other value lower than 7FFF should be fine.| +|MT | Broadcast Multi-Transmits | 3 | MAC-level re-transmits. No reason for change until thoroughly tested.| +|PL | TX Power Level | 4 | Should always be Highest [4] unless very high interference is noted (unlikely in our use case). Should only be decreased for range tests.| +|RR | Unicast Retries | A | MAC-level retries. No reason for change until thoroughly tested.| +| CE | Routing/Messaging Mode | 0 |Should be standard for DigiMesh. (Needs validating)| +|BH | Broadcast Hops | 0 | When set to 0, the broadcast hops will occur until NH is attained.| +| NH | Network Hops | 7 | The maximum number of hops throughout the network. We could potentially link this parameter to the minimum necessary data bandwitdth (more hops = less bandwitdh).| +| MR | Mesh Unicast Retries | 1 | No reason for change until thoroughly tested.| +|NN | Network Delay Slots | 3 | Random delay to alleviate network congestion, especially when broadcasting. Needs to be tested in a very dense mesh.| +|DH | Destination Addr.High | 0 | Should be left to default value which will broadcast a message if entering AT mode (even though we will stay in API mode).| +|DL | Destination Addr. Low | FFFF | Should be left to default value which will broadcast a message if entering AT mode (even though we will stay in API mode).| +|NI | Node Identifier | ‘Node 1’ | This string could be set to a useful identifier for us. It allows up to a 20 characters long ASCII string. Its use needs to be evaluated with the team.| +|NT | Network Discov. Back-off| 82 | This value represents a timeout for network discovery, the value is multiplied by 100ms. Network discovery is basically transparent to us (the user).| +|NO | Network Discov. Options | 0 | Bit 2 of this bitfield adds RSSI to signal, could be useful for us.| +|CI | Cluster ID | 11 | Parameter to be studied. May be useful to identify swarms or camps.| +|EE | Encryption Enable | 0 | Enabling encryption slightly impacts the performance (2% according to data from manual) and should be activated. This option almost completely disables the existing possibilities for accidental or voluntary (hacking) interference from other radios.| +|KY | AES Encryption Key | empty | 128-bit AES Key. To be generated and shared across all radios.| +|BD | Baud Rate | 230400 | To take advantage of the full transmission rate (theoretically 200 kbps), the serial communication baud rate should be adjusted according to the bandwidth.| +|NB | Parity | 0 | Default. | +|SB | Stop Bits | 0 | Default. | +|RO | Packetization Timeout | 3 |Default.| +|FT | Flow Control Threshold | 13F | Since we are using the highest baud rate, we might need to increase the flow control threshold. Testing will tell us if the integrity of the data is fine.| +|AP | API Enable | 1 | The XBee has to be set to API Mode to receive API frames. This allows recovering useful information in the headers of the frames such as source and destination address. We shouldn't ever need to escape API mode so we chose option [1]. Otherwise, the escape bytes would have to be escaped each time they occur. | +|AO | API Options | 0 | Will need to change to [1] (Explicit Rx Indicator) if we wand to be able to read Cluster ID. Otherwise, not very useful. | + +## Test two Xbee devices + +We consider the following setup (**Fig.1**). The block (Drone + Manifold) can be replaced by any Desktop/Laptop meeting the prerequisites. + +**Fig.1:** Experimental Setup: +![][fig1] +[fig1]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig1.png "Fig.1" + +One of the drones will behave as a Master while the other one will act as a Slave. The Master drone will send commands to the Slave drone. +Each drone is running a dummy flight controller node "test_controller". According to the drone type Master/Slave, the "test_controller" node will respectively send or receive and display a command. The commands in the Master drone will be introduced with the keyboard. When a command is received in the Slave drone, it will be printed on the screen. The following table (**Table.2**) depicts the keys of each command: + +**Table.2:** Keys and Commands. + +| Keys | Commands | +|:----:|:---------:| +| 7 | Take Off| +| 8 | Land | +| 9 | Return To Launch | +| 21 | New Waypoint | +| 22 | Start Mission | +| 23 | Start Mission | + + +**Fig.2:** ROS nodes running on the drone: +![][fig2] +[fig2]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig2.png "Fig.2" + +The communication between both drones is performed with Xbees. The “xbee_mav” node (**Fig.2**) will handle all communications with other ROS nodes (test_controller(Flight Controller) or test_buzz (ROS Buzz)) and the connected Xbee device. Therefore, both Xbees must be configured for Digi-Mesh with the maximum baud rate (230400). +We recognize two modes of communications: + * SOLO mode: The "xbee_mav" will communicate only with the "test_controller" through services. By default, one of the following services will be active according to the drone type (Master/Slave): + * “xbee_cmd”: The drone is Master (The server is implemented in the "xbee_mav" side while the client is implemented in the "test_controller" side). + * “mav_dji_cmd”: The drone is Slave (The server is implemented in the "test_controller" side while the client is implemented in the "xbee_mav" side). + * SWARM mode: The "xbee_mav" will communicate only with "test_buzz" through topics. (“inMavlink” and “outMavlink”). + +All topics and services names of the “xbee_mav” node can be edited in the launch file "launch/xbeemav.launch". For other nodes (test_controller and test_buzz), topics and services names are hardcoded. Thus, they need to be modified in the source code. + +####SOLO mode + +The "test_controller" node is needed: + 1. Uncomment the following lines in "CMakeLists.txt": + add_executable(test_controller src/TestController.cpp) + target_link_libraries(test_controller ${catkin_LIBRARIES}) + 2. Build the package: + $ cd ~/catkin_ws + $ catkin_make + 3. Run the "test controller" node in Matser/Slave (after running roscore): + $ cd ~/catkin_ws + $ rosrun xbee_ros_node test_controller master + 4. Run the "xbee_mav" node in SOLO mode. The drone type (Master/Slave) and the communication mode (SOLO/SWARM) need to be specified for the "xbee_mav". You can change these parameters in the launch file “launch/xbeemav.launch”: + $ cd ~/catkin_ws + $ roslaunch xbee_ros_node xbeemav.launch + 5. Introduce some commands to the "test_controller". If the network was configured correctly, commands sent from one side should be received and displayed in the opposite side. + +####SWARM mode + +The "test_buzz" node is required: + 1. Uncomment the following lines in "CMakeLists.txt": + add_executable(test_buzz src/TestBuzz.cpp) + target_link_libraries(test_buzz ${catkin_LIBRARIES}) + 2. Build the package + $ cd ~/catkin_ws + $ catkin_make + 3. Run the "ros_buzz" node. This node is independent of drone type: + $ cd ~/catkin_ws + $ rosrun xbee_ros_node test_buzz + 4. Run the "xbee_mav" node in SWARM mode. Run one drone as Master and the other one as Slave (Modify the launch file). + $ cd ~/catkin_ws + $ roslaunch xbee_ros_node xbeemav.launch + +Random payloads (Mavlink messages) will be created in the Master drone and transferred through the Xbees to the Slave drone for display. Payloads are arrays with random sizes of random 64 bits integers. + +## Communicate drones in a Swarm + +We consider the same setup in the testing phase (**Fig.1**). The "test_controller" and the "test_buzz" dummy nodes need to be replaced with real ones (“fligh_controller” and “ros_buzz”). +You can download the real nodes by clicking on the correspondent link: + * flight_controller : (https://git.mistlab.ca/dasto/djiros_ws) + * ros_buzz : (https://github.com/MISTLab/ROSBuzz.git) + +To run drones in SWARM mode you need to: + 1. Comment the following lines in “xbee_ros_node/CMakeLists.txt”: + + add_executable(config src/main.cpp src/XbeeModule.cpp src/XMLConfigParser.cpp) + target_link_libraries(config ${catkin_LIBRARIES}) + add_executable(test_controller src/TestController.cpp) + target_link_libraries(test_controller ${catkin_LIBRARIES}) + add_executable(test_buzz src/TestBuzz.cpp) + target_link_libraries(test_buzz ${catkin_LIBRARIES}) + + 2. Build the three packages. + 3. Run the launch file (this will run the flight_controller, ros_buzz and xbee_mav). The "xbee_mav" should run in SWARM mode. 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mode 100644 index 0000000..be63e56 --- /dev/null +++ b/Resources/database.xml @@ -0,0 +1,14 @@ + + + + 0013A20040D8CA1E + 0013A200415278B8 + 0013A2004103B363 + 0013A200415278AD + 0013A2004103B356 + 0013A200415278B7 + 0013A2004098A7A7 + 0013A2004098A7BA + 0013A200415A9DDD + 0013A200415A9DE4 + diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h new file mode 100644 index 0000000..1bbf6bb --- /dev/null +++ b/include/CommunicationManager.h @@ -0,0 +1,109 @@ +/* CommunicationManager.h -- Communication Manager class for XBee: + Handles all communications with other ROS nodes + and the serial port -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include +#include + +#include +#include +#include +#include + +#include"PacketsHandler.h" +#include"SerialDevice.h" + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +struct Waypoint_S +{ + unsigned int latitude; + unsigned int longitude; + double altitude; + unsigned int staytime; + unsigned int heading; +}; + + +//***************************************************************************** +class CommunicationManager +{ +public: + CommunicationManager(); + ~CommunicationManager(); + + enum class DRONE_TYPE {MASTER, SLAVE}; + enum class RUNNING_MODE {SWARM, SOLO}; + + bool Init(const std::string& device, const std::size_t baud_rate); + void Run(DRONE_TYPE drone_type, RUNNING_MODE running_mode); + +private: + + const unsigned char START_DLIMITER; + const std::size_t LOOP_RATE; + + void Run_In_Solo_Mode(DRONE_TYPE drone_type); + void Run_In_Swarm_Mode(); + /*void Generate_Transmit_Request_Frame( + const char* const message, + std::string* frame, + const unsigned char frame_ID = + static_cast(0x01), + const std::string& destination_adssress = "000000000000FFFF", + const std::string& short_destination_adress = "FFFF", + const std::string& broadcast_radius = "00", + const std::string& options = "00");*/ + //void Check_In_Messages_and_Transfer_To_Topics(); + void Display_Init_Communication_Failure(); + //void Convert_HEX_To_Bytes(const std::string& HEX_data, + //std::string* converted_data); + //void Calculate_and_Append_Checksum(std::string* frame); + //void Add_Length_and_Start_Delimiter(std::string* frame); + void Send_Mavlink_Message_Callback( + const mavros_msgs::Mavlink::ConstPtr& mavlink_msg); + void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type, + RUNNING_MODE running_mode); + bool Serve_Flight_Controller(mavros_msgs::CommandInt:: + Request& request, mavros_msgs::CommandInt::Response& response); + void Check_In_Messages_and_Transfer_To_Server(); + void Process_In_Standard_Messages(); + void Process_In_Acks_and_Pings(); + void Process_In_Fragments(); + void Process_In_Packets(); + void Process_Command_Responses(); + + Mist::Xbee::SerialDevice serial_device_; + Mist::Xbee::PacketsHandler packets_handler_; + Thread_Safe_Deque in_std_messages_; + Thread_Safe_Deque in_fragments_; + Thread_Safe_Deque in_Acks_and_Pings_; + Thread_Safe_Deque command_responses_; + Thread_Safe_Deque in_packets_; + ros::NodeHandle node_handle_; + ros::Subscriber mavlink_subscriber_; + ros::Publisher mavlink_publisher_; + ros::ServiceClient mav_dji_client_; + ros::ServiceServer mav_dji_server_; + std::shared_ptr service_thread_; // TO DO delete !? +}; + + +} + + +} diff --git a/include/MultithreadingDeque.hpp b/include/MultithreadingDeque.hpp new file mode 100644 index 0000000..ea9aa6a --- /dev/null +++ b/include/MultithreadingDeque.hpp @@ -0,0 +1,73 @@ +/* MultithreadingDeque.hpp -- Safe Multithreading Deque class -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include +#include + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +template +class MultithreadingDeque +{ +public: + //**************************************************************************** + MultithreadingDeque() + { + } + + + //**************************************************************************** + ~MultithreadingDeque() + { + } + + + //**************************************************************************** + void Push_Back(const _T& new_data) + { + std::lock_guard guard(mutex_); + deque_.push_back(new_data); + } + + + //**************************************************************************** + _T Pop_Front() + { + std::lock_guard guard(mutex_); + _T value = deque_.front(); + deque_.pop_front(); + return value; + } + + + //**************************************************************************** + unsigned int Get_Size() + { + std::lock_guard guard(mutex_); + return deque_.size(); + } + +private: + + std::mutex mutex_; + std::deque<_T> deque_; +}; + + +} + + +} diff --git a/include/PacketsHandler.h b/include/PacketsHandler.h new file mode 100644 index 0000000..a450350 --- /dev/null +++ b/include/PacketsHandler.h @@ -0,0 +1,152 @@ +/* PacketsHandler.h-- Packets Handler class for XBee: + Serialize, deserialize, fragment and reassemly mavlink + messages -- */ +/* ------------------------------------------------------------------------- */ +/* February 06, 2017 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include"MultithreadingDeque.hpp" +#include"SerialDevice.h" + + +//***************************************************************************** +using boost::property_tree::ptree; + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +class PacketsHandler +{ +public: + PacketsHandler(); + ~PacketsHandler(); + + bool Init(SerialDevice* serial_device, Thread_Safe_Deque* in_packets); + bool Init_Device_ID(); + void Run(); + void Handle_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr& mavlink_msg); + void Process_Fragment(std::shared_ptr fragment); + void Process_Ping_Or_Acknowledgement(std::shared_ptr frame); + void Process_Command_Response(const char* command_response); + void Quit(); + void Delete_Packets_With_Time_Out(); + void Deserialize_Mavlink_Message(const char * bytes, + mavros_msgs::Mavlink* mavlink_msg, const std::size_t msg_size); + + + +private: + const std::size_t MAX_PACEKT_SIZE; /* MAX packet size in bytes = 63750 bytes */ + const std::size_t XBEE_NETWORK_MTU; /* Maximum Transmission Unit of Xbee netwrok = 256 bytes (max payload) - 6 bytes (Header size of each fragment) = 250 bytes */ + const std::size_t FRAGMENT_HEADER_SIZE; /* Header size of each fragment = 6 bytes */ + const std::clock_t MAX_TIME_TO_SEND_PACKET; /* Maximum time before dropping a packet = 30 seconds*/ + const unsigned char START_DLIMITER; + + struct Reassembly_Packet_S + { + uint8_t packet_ID_; + std::string packet_buffer_; // TO DO make it shared ptr + std::set received_fragments_IDs_; + std::clock_t time_since_creation_; // TO DO use it to delete packets with time out + }; + + void Insert_Fragment_In_Packet_Buffer(std::string* buffer, + const char* fragment, const uint16_t offset, const std::size_t length); + void Add_New_Node_To_Network(const uint8_t new_node_address); + void Serialize_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr& + mavlink_msg, std::shared_ptr serialized_packet); + void Insert_Fragment_Header(bool single_fragment, + std::shared_ptr fragment, const uint8_t packet_ID, + const uint8_t fragment_ID, const uint16_t offset); + void Process_Out_Standard_Messages(); + void Process_Out_Packets(); + void Send_Packet(const Out_Packet_S& packet); + void Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint8_t total_NBR_of_fragments); + bool Load_Database_Addresses(); + bool Get_Local_Address(); + bool Check_Packet_Transmitted_To_All_Nodes(); + void Init_Network_Nodes_For_New_Transmission(const uint8_t packet_ID, + std::vector* frames, + std::shared_ptr>> packet); + void Transmit_Fragments(const std::vector& frames); + void Adjust_Optimum_MT_Number(const std::clock_t elapsed_time, + const std::size_t NBR_of_transmission); + void Send_SL_and_SH_Commands(); + void Generate_Transmit_Request_Frame( + const char* message, + std::string* frame, + const std::size_t message_size, + const unsigned char frame_ID = + static_cast(0x01), + const std::string& destination_adssress = "000000000000FFFF", + const std::string& short_destination_adress = "FFFF", + const std::string& broadcast_radius = "00", + const std::string& options = "00"); + void Convert_HEX_To_Bytes(const std::string& HEX_data, + std::string* converted_data); + void Calculate_and_Append_Checksum(std::string* frame); + void Add_Length_and_Start_Delimiter(std::string* frame); + void Generate_AT_Command(const char* command, + std::string* frame, + const unsigned char frame_ID = + static_cast(0x01)); + + struct On_Line_Node_S + { + bool received_hole_packet_; + std::string address_64_bits_; + }; + + std::set fragments_indexes_to_transmit_; + SerialDevice* serial_device_; + std::atomic quit_; + Thread_Safe_Deque out_std_messages_; + Thread_Safe_Deque_Of_Vectors out_packets_; + Thread_Safe_Deque* in_packets_; + std::map connected_network_nodes_; + std::map::iterator connected_network_nodes_it_; + std::map packets_assembly_map_; + std::map::iterator assembly_map_it_; + std::map database_addresses_; + std::map::iterator database_addresses_it_; + std::mutex mutex_; + uint8_t device_address_; + std::string device_64_bits_address_; + bool loaded_SL_; + bool loaded_SH_; + uint8_t current_processed_packet_ID_; + std::size_t optimum_MT_NBR_; + // TO DO & after auto !? + useconds_t delay_interframes_; +}; + + +} + + +} diff --git a/include/SerialDevice.h b/include/SerialDevice.h new file mode 100644 index 0000000..25333cf --- /dev/null +++ b/include/SerialDevice.h @@ -0,0 +1,99 @@ +/* SerialDevice.h -- Serial Device class to handle serial communications + with XBee -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include +#include +#include + +#include + +#include"MultithreadingDeque.hpp" +#include"XBeeFrame.h" + + +namespace Mist +{ + + +namespace Xbee +{ + + +struct Out_Packet_S +{ + uint8_t packet_ID_; + std::shared_ptr>> packet_buffer_; +}; + +typedef MultithreadingDeque> Thread_Safe_Deque; +typedef MultithreadingDeque Thread_Safe_Deque_Of_Vectors; + + +//***************************************************************************** +class SerialDevice +{ +public: + SerialDevice(); + ~SerialDevice(); + + bool Init(const std::string& device, const std::size_t baud_rate); + void Send_Frame(const std::string& frame); + void Run_Service(); + void Stop_Service(); + void Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages, + Thread_Safe_Deque* in_fragments, + Thread_Safe_Deque* in_Acks_and_Pings, + Thread_Safe_Deque* command_responses); + bool Is_IO_Service_Stopped(); // TO DO delete this function + void Reset_IO_Service(); // TO DO delete this function + void Close_Serial_Port(); + +private: + + enum FRAME_TYPE + { + AT_COMMAND = 0, + AT_COMMAND_QUEUE_REGISTER_VALUE = 1, + TRANSMIT_REQUEST = 2, + EXPLICIT_ADDRESSING_COMMAND_FRAME = 3, + REMOTE_AT_COMMAND = 4, + AT_COMMAND_RESPONSE = 5, + MODEM_STATUS = 6, + TRANSMIT_STATUS = 7, + ROUTE_INFORMATION_PACKET = 8, + AGGREGATE_ADDRESSING_UPDATE = 9, + RECEIVE_PACKET = 10, + EXPLICIT_RX_INDICATOR = 11, + IO_DATA_SAMPLE_RX_INDICATOR = 12, + NODE_IDENTIFICATION_INDICATOR = 13, + REMOTE_AT_COMMAND_RESPONSE = 14 + }; + + void Init_Frame_Type_Keys(); + void Set_Port_Options(const std::size_t baud_rate); + void Read_Frame_Header(); + void Read_Frame_Body(); + void Write_Frame(); + + boost::asio::io_service io_service_; + boost::asio::serial_port serial_port_; + std::deque out_messages_; + Thread_Safe_Deque* in_std_messages_; + Thread_Safe_Deque* in_fragments_; + Thread_Safe_Deque* in_Acks_and_Pings_; + Thread_Safe_Deque* command_responses_; + Mist::Xbee::Frame current_frame_; + unsigned int FRAME_TYPE_KEYS[REMOTE_AT_COMMAND_RESPONSE + 1]; +}; + + +} + + +} diff --git a/include/XBeeFrame.h b/include/XBeeFrame.h new file mode 100644 index 0000000..50ed2b3 --- /dev/null +++ b/include/XBeeFrame.h @@ -0,0 +1,57 @@ +/* XBeeFrame.cpp -- XBee Frame class -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include +#include +#include + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +class Frame +{ +public: + Frame(); + ~Frame(); + + enum {FRAME_HEADER_LENGTH = 4}; + enum {MAX_FRAME_BODY_LENGTH = 270}; // TO DO check value + + const char* Get_Frame_Data() const; + char* Get_Frame_Data(); + std::size_t Get_Frame_Length() const; + const char* Get_Frame_Body() const; + char* Get_Frame_Body(); + std::size_t Get_Frame_Body_Length() const; + bool Decode_Frame_Header(); + std::size_t Get_Frame_Type() const; + int Get_Start_Delimiter_Position(); + void Rearrange_Corrupted_Header(); + char Get_Message_Type(); // TO DO const !? + + +private: + + char data_buffer_[FRAME_HEADER_LENGTH + MAX_FRAME_BODY_LENGTH]; + std::size_t frame_body_length_; + unsigned int frame_type_; + int start_delimiter_position_; +}; + + +} + + +} diff --git a/include/XBeeModule.h b/include/XBeeModule.h new file mode 100644 index 0000000..a65ee81 --- /dev/null +++ b/include/XBeeModule.h @@ -0,0 +1,65 @@ +/* XBeeModule.h -- Xbee Module class provides functions to communicate + with Xbee -- */ +/* ------------------------------------------------------------------------- */ +/* November 30, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include +#include +#include + +#include +#include + +#include"XBeeParameter.h" + + +//***************************************************************************** +using namespace boost; + + +//***************************************************************************** +typedef std::deque < std::string > commands_queue; + + +//***************************************************************************** +class XBeeModule +{ +public: + XBeeModule(); + ~XBeeModule(); + + enum {MAX_MSG_LENGTH = 8}; + + bool Init_Port(const std::string& device_port, const unsigned int baud_rate); + void Run_Service(); + void Send_Data(const std::string& command); + void Exit_AT_Command_Mode(); + bool Is_Connected(); + bool Check_Time_Out_Exceeded(); + void Format_AT_Command(const XBee_Parameter_S& parameter, std::string* command); + +private: + + const unsigned short TIME_OUT; + + bool Open_Port(const std::string& device_port); + void Start_Receive(); + void Handle_Receive(const system::error_code& error, size_t bytes_transferred); + void Set_AT_Command_Mode(); + void Check_Time_Out(const system::error_code& error); + void Do_Write(); + void Handle_Write(const system::error_code& error); + + asio::io_service io_service_; + asio::serial_port serial_port_; + asio::deadline_timer timer_; + char receive_buffer_[MAX_MSG_LENGTH]; + bool connected_to_XBee_; + bool time_out_exceeded_; + commands_queue commands_sequence_; +}; + diff --git a/include/XBeeParameter.h b/include/XBeeParameter.h new file mode 100644 index 0000000..667e393 --- /dev/null +++ b/include/XBeeParameter.h @@ -0,0 +1,17 @@ +/* XBee_Parameter.h -- Xbee command struct -- */ +/* ------------------------------------------------------------------------- */ +/* November 30, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include + + +//***************************************************************************** +struct XBee_Parameter_S +{ + std::string command_; + std::string value_; +}; diff --git a/include/XMLConfigParser.h b/include/XMLConfigParser.h new file mode 100644 index 0000000..efc0f7f --- /dev/null +++ b/include/XMLConfigParser.h @@ -0,0 +1,41 @@ +/* XMLConfigParser.h -- XML Config Parser class -- */ +/* ------------------------------------------------------------------------- */ +/* November 30, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#pragma once + +#include + +#include +#include +#include +#include + +#include"XBeeParameter.h" + + +//***************************************************************************** +using boost::property_tree::ptree; + + +//***************************************************************************** +class XMLConfigParser +{ +public: + XMLConfigParser(); + ~XMLConfigParser(); + + bool Load_Config(); + std::vector* Get_Loaded_Parameters(); + bool Is_Config_Loaded_Successfully(); + +private: + + bool Check_Config_File_Exists(const std::string& file_name); + + std::vector xbee_parameters_; + bool config_loaded_successfully_; +}; + diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch new file mode 100644 index 0000000..060dac3 --- /dev/null +++ b/launch/xbeemav.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..d009ff0 --- /dev/null +++ b/package.xml @@ -0,0 +1,19 @@ + + + xbee_ros_node + 1.0.2 + The xbee_ros_node package + + aymen + + Boost Software License + + catkin + roscpp + std_msgs + roscpp + std_msgs + + + + diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp new file mode 100644 index 0000000..3012b2f --- /dev/null +++ b/src/CommunicationManager.cpp @@ -0,0 +1,548 @@ +/* CommunicationManager.cpp -- Communication Manager class for XBee: + Handles all communications with other ROS nodes + and the serial port -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include "CommunicationManager.h" + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +CommunicationManager::CommunicationManager(): + START_DLIMITER(static_cast(0x7E)), + LOOP_RATE(10) /* 10 fps */ +{ +} + + +//***************************************************************************** +CommunicationManager::~CommunicationManager() +{ +} + + +//***************************************************************************** +bool CommunicationManager::Init( + const std::string& device, const std::size_t baud_rate) +{ + if (serial_device_.Init(device, baud_rate)) + { + serial_device_.Set_In_Messages_Pointers(&in_std_messages_, &in_fragments_, + &in_Acks_and_Pings_, &command_responses_); + + service_thread_ = std::make_shared(std::thread(&SerialDevice::Run_Service, &serial_device_)); + + if (!packets_handler_.Init(&serial_device_, &in_packets_)) + return false; + + std::clock_t elapsed_time = std::clock(); + bool device_ID_loaded = false; + + while (std::clock() - elapsed_time <= 30000) + { + Process_Command_Responses(); + + if (packets_handler_.Init_Device_ID()) + { + device_ID_loaded = true; + break; + } + } + + if (!device_ID_loaded) + return false; + } + else + { + Display_Init_Communication_Failure(); + return false; + } + + return true; +} + + + +//***************************************************************************** +void CommunicationManager::Run(DRONE_TYPE drone_type, + RUNNING_MODE running_mode) +{ + std::thread thread_packets_handler(&PacketsHandler::Run, &packets_handler_); + + Display_Drone_Type_and_Running_Mode(drone_type, running_mode); + + if (RUNNING_MODE::SWARM == running_mode) + Run_In_Swarm_Mode(); + else + Run_In_Solo_Mode(drone_type); + + serial_device_.Stop_Service(); + serial_device_.Close_Serial_Port(); + packets_handler_.Quit(); + service_thread_->join(); + thread_packets_handler.join(); +} + + +//***************************************************************************** +void CommunicationManager::Run_In_Solo_Mode(DRONE_TYPE drone_type) +{ + std::string service_name; + bool success = false; + + if (DRONE_TYPE::MASTER == drone_type) + { + if (node_handle_.getParam("Xbee_In_From_Controller", service_name)) + { + mav_dji_server_ = node_handle_.advertiseService(service_name.c_str(), &CommunicationManager::Serve_Flight_Controller, this); + success = true; + } + else + std::cout << "Failed to Get Service Name: param 'Xbee_In_From_Controller' Not Found." << std::endl; + } + else + { + if (node_handle_.getParam("Xbee_Out_To_Controller", service_name)) + { + mav_dji_client_ = node_handle_.serviceClient(service_name.c_str()); + success = true; + } + else + std::cout << "Failed to Get Service Name: param 'Xbee_Out_To_Controller' Not Found." << std::endl; + } + + if (success) + { + ros::Rate loop_rate(LOOP_RATE); + + while (ros::ok()) + { + Check_In_Messages_and_Transfer_To_Server(); + ros::spinOnce(); + loop_rate.sleep(); + } + } + +} + + +//***************************************************************************** +void CommunicationManager::Run_In_Swarm_Mode() +{ + std::string out_messages_topic; + std::string in_messages_topic; + bool success_1 = false; + bool success_2 = false; + + if (node_handle_.getParam("Xbee_In_From_Buzz", out_messages_topic)) + { + mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 1000, + &CommunicationManager::Send_Mavlink_Message_Callback, this); + success_1 = true; + } + else + std::cout << "Failed to Get Topic Name: param 'Xbee_In_From_Buzz' Not Found." << std::endl; + + if (node_handle_.getParam("Xbee_Out_To_Buzz", in_messages_topic)) + { + mavlink_publisher_ = node_handle_.advertise( + in_messages_topic.c_str(), 1000); + success_2 = true; + } + else + std::cout << "Failed to Get Topic Name: param 'Xbee_Out_To_Buzz' Not Found." << std::endl; + + if (success_1 && success_2) + { + ros::Rate loop_rate(LOOP_RATE); + + while (ros::ok()) + { + Process_In_Standard_Messages(); + Process_In_Fragments(); + Process_In_Acks_and_Pings(); + Process_In_Packets(); + packets_handler_.Delete_Packets_With_Time_Out(); + ros::spinOnce(); + loop_rate.sleep(); + } + } +} + + +//***************************************************************************** +inline bool CommunicationManager::Serve_Flight_Controller(mavros_msgs::CommandInt:: + Request& request, mavros_msgs::CommandInt::Response& response) +{ + const std::size_t MAX_BUFFER_SIZE = 256; + unsigned int command = 0; + char temporary_buffer[MAX_BUFFER_SIZE]; + std::string frame; + + /*switch(request.command) + { + case mavros_msgs::CommandCode::NAV_TAKEOFF: + { + command = static_cast(mavros_msgs::CommandCode::NAV_TAKEOFF); + sprintf(temporary_buffer, "%u ", command); + response.success = true; + break; + } + case mavros_msgs::CommandCode::NAV_LAND: + { + command = static_cast(mavros_msgs::CommandCode::NAV_LAND); + sprintf(temporary_buffer, "%u ", command); + response.success = true; + break; + } + case mavros_msgs::CommandCode::NAV_RETURN_TO_LAUNCH: + { + command = static_cast(mavros_msgs::CommandCode::NAV_RETURN_TO_LAUNCH); + sprintf(temporary_buffer, "%u ", command); + response.success = true; + break; + } + case mavros_msgs::CommandCode::NAV_WAYPOINT: + { + command = static_cast(mavros_msgs::CommandCode::NAV_WAYPOINT); + sprintf(temporary_buffer, "%u %u %u %lf %u %u ", + command, request.x, request.y, request.z, 0, 1); // TO DO change 0 and 1 + response.success = true; + break; + } + case mavros_msgs::CommandCode::CMD_MISSION_START: + { + command = static_cast(mavros_msgs::CommandCode::CMD_MISSION_START); + sprintf(temporary_buffer, "%u ", command); + response.success = true; + break; + } + default: + response.success = false; + } + + if (command != 0) + { + Generate_Transmit_Request_Frame(temporary_buffer, &frame); + serial_device_.Send_Frame(frame); + }*/ + + return true; +} + + +//***************************************************************************** +void CommunicationManager::Display_Init_Communication_Failure() +{ + std::cout << "Failed to Init Communication With XBee." << std::endl; + std::cout << "Please Check The Following Parameters:" << std::endl; + std::cout << " 1) Device (e.g. /dev/ttyUSB0 for Linux. " << std::endl; + std::cout << " 2) Baud Rate." << std::endl; + std::cout << " 3) Press Reset Button on The XBee." << std::endl; + std::cout << " 4) Connect and Disconnect The XBee." << std::endl; + std::cout << " 5) Update The XBee Firmware." << std::endl; + std::cout << " 6) Reinstall The FTDI Driver." << std::endl; +} + + +//***************************************************************************** +/*inline void CommunicationManager::Generate_Transmit_Request_Frame( + const char* const message, + std::string * frame, + const unsigned char frame_ID, + const std::string& destination_adssress, + const std::string& short_destination_adress, + const std::string& broadcast_radius, + const std::string& options) +{ + const unsigned char FAME_TYPE = static_cast(0x10); /* Transmit Request Frame */ + /*std::string frame_parameters; + std::string bytes_frame_parameters; + + frame_parameters.append(destination_adssress); + frame_parameters.append(short_destination_adress); + frame_parameters.append(broadcast_radius); + frame_parameters.append(options); + + Convert_HEX_To_Bytes(frame_parameters, &bytes_frame_parameters); + + frame->push_back(FAME_TYPE); + frame->push_back(frame_ID); + frame->append(bytes_frame_parameters); + frame->append(message, std::strlen(message)); + + Calculate_and_Append_Checksum(frame); + Add_Length_and_Start_Delimiter(frame); +}*/ + + +//***************************************************************************** +/*inline void CommunicationManager::Convert_HEX_To_Bytes( + const std::string& HEX_data, std::string* converted_data) +{ + const unsigned short TWO_BYTES = 2; + char temporary_buffer[TWO_BYTES]; + unsigned char temporary_char; + int temporary_HEX; + + for (unsigned short i = 0; i <= HEX_data.size() - TWO_BYTES; + i += TWO_BYTES) + { + memcpy(temporary_buffer, HEX_data.c_str() + i, TWO_BYTES); + sscanf(temporary_buffer, "%02X", &temporary_HEX); + temporary_char = static_cast(temporary_HEX); + converted_data->push_back(temporary_char); + } +}*/ + + +//***************************************************************************** +/*inline void CommunicationManager::Calculate_and_Append_Checksum( + std::string* frame) +{ + unsigned short bytes_sum = 0; + unsigned lowest_8_bits = 0; + unsigned short checksum = 0; + unsigned char checksum_byte; + + for (unsigned short i = 0; i < frame->size(); i++) + bytes_sum += static_cast(frame->at(i)); + + lowest_8_bits = bytes_sum & 0xFF; + checksum = 0xFF - lowest_8_bits; + checksum_byte = static_cast(checksum); + frame->push_back(checksum_byte); +}*/ + + +//***************************************************************************** +/*inline void CommunicationManager::Add_Length_and_Start_Delimiter( + std::string* frame) +{ + const unsigned short FIVE_BYTES = 5; + char temporary_buffer[FIVE_BYTES]; + unsigned char temporary_char; + int Hex_frame_length_1; + int Hex_frame_length_2; + std::string header; + int frame_length = frame->size() - 1; /* frame_length = frame_size - checksum byte */ + + /*header.push_back(START_DLIMITER); + sprintf(temporary_buffer, "%04X", frame_length); + sscanf(temporary_buffer, "%02X%02X", &Hex_frame_length_1, + &Hex_frame_length_2); + temporary_char = static_cast(Hex_frame_length_1); + header.push_back(temporary_char); + temporary_char = static_cast(Hex_frame_length_2); + header.push_back(temporary_char); + frame->insert(0, header); +}*/ + + +//***************************************************************************** +/*inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() // TO DO delete +{ + std::size_t size_in_messages = in_messages_->Get_Size(); + + if (size_in_messages > 0) + { + uint64_t current_int64 = 0; + + for (std::size_t j = 0; j < size_in_messages; j++) + { + std::shared_ptr in_message = + in_messages_->Pop_Front(); + mavros_msgs::Mavlink mavlink_msg; + + for (std::size_t i = 0; i < in_message->size(); i++) + { + if (' ' == in_message->at(i) || 0 == i) + { + sscanf(in_message->c_str() + i, "%" PRIu64 " ", + ¤t_int64); + mavlink_msg.payload64.push_back(current_int64); + } + + } + + mavlink_publisher_.publish(mavlink_msg); + } + + } +}*/ + + +//***************************************************************************** +inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // TO DO change it +{ + //std::size_t size_in_messages = in_messages_->Get_Size(); + + /*if (size_in_messages > 0) + { + for (std::size_t j = 0; j < size_in_messages; j++) + { + std::shared_ptr in_message = + in_messages_->Pop_Front(); + mavros_msgs:: CommandInt command_msg; + unsigned int command = 0; + + sscanf(in_message->c_str(), "%u", &command); + + if (static_cast(mavros_msgs::CommandCode::NAV_WAYPOINT) == command) + { + Waypoint_S new_waypoint; + sscanf(in_message->c_str(), "%u %u %u %lf %u %u ", + &command, &new_waypoint.latitude, + &new_waypoint.longitude, &new_waypoint.altitude, + &new_waypoint.staytime, &new_waypoint.heading); + command_msg.request.x = new_waypoint.latitude; + command_msg.request.y = new_waypoint.longitude; + command_msg.request.z = new_waypoint.altitude; + // TO DO add staytime and heading; + } + + command_msg.request.command = command; + + if (mav_dji_client_.call(command_msg)) + ROS_INFO("XBeeMav: Command Successfully Tranferred to Dji Mav."); + else + ROS_INFO("XBeeMav: Faild to Tranfer Command."); + + } + }*/ +} + + +//***************************************************************************** +inline void CommunicationManager::Send_Mavlink_Message_Callback( + const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) +{ + std::cout << "Received Message From Buzz" << std::endl; // TO DO delete + packets_handler_.Handle_Mavlink_Message(mavlink_msg); +} + + +//***************************************************************************** +void CommunicationManager::Display_Drone_Type_and_Running_Mode( + DRONE_TYPE drone_type, RUNNING_MODE running_mode) +{ + if (DRONE_TYPE::MASTER == drone_type) + std::cout << "Drone: MASTER" << std::endl; + else + std::cout << "Drone: SLAVE" << std::endl; + + if (RUNNING_MODE::SOLO == running_mode) + std::cout << "XBeeMav Running in SOLO Mode..." << std::endl; + else + std::cout << "XBeeMav Running in SWARM Mode..." << std::endl; +} + + +//***************************************************************************** +void CommunicationManager::Process_In_Standard_Messages() +{ + std::size_t in_messages_size = in_std_messages_.Get_Size(); + + if (in_messages_size > 0) + { + for (std::size_t j = 0; j < in_messages_size; j++) + { + std::shared_ptr in_message = + in_std_messages_.Pop_Front(); + mavros_msgs::Mavlink mavlink_msg; + + packets_handler_.Deserialize_Mavlink_Message(in_message->c_str(), &mavlink_msg, in_message->size()); + mavlink_publisher_.publish(mavlink_msg); + } + } +} + + +//***************************************************************************** +void CommunicationManager::Process_In_Acks_and_Pings() +{ + std::size_t in_messages_size = in_Acks_and_Pings_.Get_Size(); + + if (in_messages_size > 0) + { + for (std::size_t j = 0; j < in_messages_size; j++) + { + std::shared_ptr in_message = + in_Acks_and_Pings_.Pop_Front(); + + packets_handler_.Process_Ping_Or_Acknowledgement(in_message); + } + } +} + + +//***************************************************************************** +void CommunicationManager::Process_In_Fragments() +{ + std::size_t in_messages_size = in_fragments_.Get_Size(); + + if (in_messages_size > 0) + { + for (std::size_t j = 0; j < in_messages_size; j++) + { + std::shared_ptr in_message = + in_fragments_.Pop_Front(); + + packets_handler_.Process_Fragment(in_message); + } + } +} + + +//***************************************************************************** +void CommunicationManager::Process_In_Packets() +{ + std::size_t in_messages_size = in_packets_.Get_Size(); + + if (in_messages_size > 0) + { + for (std::size_t j = 0; j < in_messages_size; j++) + { + std::shared_ptr in_message = + in_packets_.Pop_Front(); + mavros_msgs::Mavlink mavlink_msg; + + packets_handler_.Deserialize_Mavlink_Message(in_message->c_str(), &mavlink_msg, in_message->size()); + mavlink_publisher_.publish(mavlink_msg); + } + } +} + + +//***************************************************************************** +void CommunicationManager::Process_Command_Responses() +{ + std::size_t in_messages_size = command_responses_.Get_Size(); + + if (in_messages_size > 0) + { + for (std::size_t j = 0; j < in_messages_size; j++) + { + std::shared_ptr in_message = + command_responses_.Pop_Front(); + + packets_handler_.Process_Command_Response(in_message->c_str()); + } + } +} + + +} + + +} diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp new file mode 100644 index 0000000..94c6525 --- /dev/null +++ b/src/PacketsHandler.cpp @@ -0,0 +1,778 @@ +/* PacketsHandler.cpp -- Packets Handler class for XBee: + Serialize, deserialize, fragment and reassemly mavlink + messages (packets and std messages) -- */ +/* ------------------------------------------------------------------------- */ +/* February 06, 2017 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include"PacketsHandler.h" + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +PacketsHandler::PacketsHandler(): + MAX_PACEKT_SIZE(64000), + XBEE_NETWORK_MTU(250), + FRAGMENT_HEADER_SIZE(6), + MAX_TIME_TO_SEND_PACKET(30000), + START_DLIMITER(static_cast(0x7E)), + device_64_bits_address_("12345678"), + loaded_SL_(false), + loaded_SH_(false), + optimum_MT_NBR_(3), + delay_interframes_(100 * 1000) +{ +} + + +//***************************************************************************** +PacketsHandler::~PacketsHandler() +{ +} + + +//***************************************************************************** +bool PacketsHandler::Init(SerialDevice* serial_device, + Thread_Safe_Deque* in_packets) +{ + serial_device_ = serial_device; + + if (!Load_Database_Addresses()) + return false; + + // TO DO node dicov + + Send_SL_and_SH_Commands(); + in_packets_ = in_packets; + + return true; +} + + +//***************************************************************************** +bool PacketsHandler::Init_Device_ID() +{ + if (Get_Local_Address()) + return true; + else + return false; +} + + +//***************************************************************************** +void PacketsHandler::Run() +{ + quit_.store(false); + + while (!quit_.load()) + { + Process_Out_Standard_Messages(); + Process_Out_Packets(); + } +} + + +//***************************************************************************** +void PacketsHandler::Handle_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) +{ + std::shared_ptr serialized_packet = + std::make_shared(); + + Serialize_Mavlink_Message(mavlink_msg, serialized_packet); + + if (serialized_packet->size() > XBEE_NETWORK_MTU && serialized_packet->size() <= MAX_PACEKT_SIZE) + { + std::shared_ptr>> fragmented_packet = + std::make_shared>>(); + + std::size_t offset = 0; + std::size_t NBR_of_bytes = 0; + std::size_t NBR_of_fragments = std::ceil( + static_cast(serialized_packet->size()) / XBEE_NETWORK_MTU); + + for (uint8_t i = 0; i < NBR_of_fragments; i++) + { + fragmented_packet->push_back(std::make_shared()); + NBR_of_bytes = std::min(XBEE_NETWORK_MTU, serialized_packet->size() - offset); + Insert_Fragment_Header(false, fragmented_packet->at(i), mavlink_msg->msgid, i, offset); + fragmented_packet->at(i)->append(serialized_packet->c_str() + offset, NBR_of_bytes); + offset += NBR_of_bytes; + } + + out_packets_.Push_Back({mavlink_msg->msgid, fragmented_packet}); + } + else if (serialized_packet->size() < XBEE_NETWORK_MTU) + { + serialized_packet->insert(0, 1, 'S'); + out_std_messages_.Push_Back(serialized_packet); + } +} + + +//***************************************************************************** +void PacketsHandler::Process_Fragment(std::shared_ptr fragment) +{ + uint8_t packet_ID = fragment->at(1); + uint8_t node_8_bits_address = fragment->at(2); + uint8_t fragment_ID = fragment->at(3); + uint16_t offset = static_cast( + static_cast(static_cast(fragment->at(4))) << 8 | + static_cast(static_cast(fragment->at(5)))); + + assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); + + if (assembly_map_it_ != packets_assembly_map_.end()) + { + if (assembly_map_it_->second.packet_ID_ == packet_ID) + { + std::set::iterator it = assembly_map_it_->second.received_fragments_IDs_.find(fragment_ID); + + if (it == assembly_map_it_->second.received_fragments_IDs_.end()) + { + if (assembly_map_it_->second.received_fragments_IDs_.size() == 0) + assembly_map_it_->second.time_since_creation_ = std::clock(); + + Insert_Fragment_In_Packet_Buffer(&assembly_map_it_->second.packet_buffer_, fragment->c_str(), offset, fragment->size()); + assembly_map_it_->second.received_fragments_IDs_.insert(fragment_ID); + } + } + else + { + assembly_map_it_->second = {}; + assembly_map_it_->second.packet_ID_ = packet_ID; + Insert_Fragment_In_Packet_Buffer(&assembly_map_it_->second.packet_buffer_, fragment->c_str(), offset, fragment->size()); + assembly_map_it_->second.received_fragments_IDs_.insert(fragment_ID); + assembly_map_it_->second.time_since_creation_ = std::clock(); + } + } + else + { + Add_New_Node_To_Network(node_8_bits_address); + assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); + assembly_map_it_->second.packet_ID_ = packet_ID; + Insert_Fragment_In_Packet_Buffer(&assembly_map_it_->second.packet_buffer_, fragment->c_str(), offset, fragment->size()); + assembly_map_it_->second.received_fragments_IDs_.insert(fragment_ID); + assembly_map_it_->second.time_since_creation_ = std::clock(); + } +} + + +//***************************************************************************** +void PacketsHandler::Insert_Fragment_In_Packet_Buffer(std::string* buffer, const char* fragment, const uint16_t offset, const std::size_t length) // TO DO delete length +{ + if (offset >= buffer->size()) + buffer->append(fragment + FRAGMENT_HEADER_SIZE, length - FRAGMENT_HEADER_SIZE); + else + buffer->insert(offset, fragment + FRAGMENT_HEADER_SIZE, length - FRAGMENT_HEADER_SIZE); +} + + +//***************************************************************************** +void PacketsHandler::Process_Ping_Or_Acknowledgement(std::shared_ptr frame) // TO DO change useless std::shared_ptr frame args to ->c_str() +{ + uint8_t packet_ID = frame->at(12); + uint8_t node_8_bits_address = frame->at(13); + + if (frame->at(11) == 'A') + { + /*std::lock_guard guard(mutex_); + + connected_network_nodes_it_ = connected_network_nodes_.find(node_8_bits_address); + + if (connected_network_nodes_it_ == connected_network_nodes_.end()) + { + Add_New_Node_To_Network(node_8_bits_address); + connected_network_nodes_it_ = connected_network_nodes_.find(node_8_bits_address); + } + + if (packet_ID == current_processed_packet_ID_) + { + if (frame->size() < 15) + connected_network_nodes_it_->second = true; + else + { + for (uint8_t i = 14; i < frame->size(); i++) + fragments_indexes_to_transmit_.insert(frame->at(i)); + } + }*/ + } + else if (frame->at(11) == 'P') + { + assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); + + if (assembly_map_it_ == packets_assembly_map_.end()) + { + Add_New_Node_To_Network(node_8_bits_address); + assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); + assembly_map_it_->second.packet_ID_ = packet_ID; + assembly_map_it_->second.time_since_creation_ = std::clock(); + } + + if (assembly_map_it_->second.packet_ID_ == packet_ID) + { + std::string Acknowledgement = "A"; + Acknowledgement.push_back(packet_ID); + Acknowledgement.push_back(device_address_); + uint8_t packet_size = frame->at(14); + + if (assembly_map_it_->second.received_fragments_IDs_.size() == packet_size) + { + in_packets_->Push_Back(std::make_shared(assembly_map_it_->second.packet_buffer_)); + assembly_map_it_->second.packet_buffer_.clear(); + assembly_map_it_->second.received_fragments_IDs_.clear(); + assembly_map_it_->second.time_since_creation_ = 0; + } + else + { + std::set::iterator it = assembly_map_it_->second.received_fragments_IDs_.begin(); + uint8_t j = 0; + + while (j <= packet_size - 1) + { + if (j != *it) + Acknowledgement.push_back(j); + else if (it != std::prev(assembly_map_it_->second.received_fragments_IDs_.end())) + it++; + + j++; + } + } + + std::string Ack_frame; + Generate_Transmit_Request_Frame(Acknowledgement.c_str(), &Ack_frame, Acknowledgement.size()); // TO Do send as unicast + serial_device_->Send_Frame(Ack_frame); + usleep(delay_interframes_); + + } + else + { + assembly_map_it_->second = {}; + assembly_map_it_->second.packet_ID_ = packet_ID; + } + } +} + + +//***************************************************************************** +void PacketsHandler::Add_New_Node_To_Network(const uint8_t new_node_address) +{ + std::set empty_set; + packets_assembly_map_.insert(std::pair(new_node_address, {})); + + std::lock_guard guard(mutex_); + connected_network_nodes_.insert(std::pair(new_node_address, false)); +} + + +//***************************************************************************** +void PacketsHandler::Process_Command_Response(const char* command_response) +{ + if (command_response[0] == 'N' && command_response[1] == 'D') + { + uint64_t new_node_address = 0; + std::lock_guard guard(mutex_); + + if (command_response[2] == static_cast(0)) // TO DO check this + { + new_node_address = static_cast( // TO DO correct this + static_cast(command_response[5]) << 56 | + static_cast(command_response[6]) << 48 | + static_cast(command_response[7]) << 40 | + static_cast(command_response[8]) << 32 | + static_cast(command_response[9]) << 24 | + static_cast(command_response[10]) << 16 | + static_cast(command_response[11]) << 8 | + static_cast(command_response[12])); + } + + database_addresses_it_ = database_addresses_.find(new_node_address); + + if (database_addresses_it_ != database_addresses_.end()) + device_address_ = database_addresses_it_->second; + else + std::cout << "Remote Node Not in Database" << std::endl; + } + else if (command_response[0] == 'S' && command_response[1] == 'H') + { + if (command_response[2] == static_cast(0)) // TO DO check this + { + loaded_SH_ = true; + + for (std::size_t i = 0; i < 4; i++) + device_64_bits_address_[i] = command_response[3 + i]; + } + } + else if (command_response[0] == 'S' && command_response[1] == 'L') + { + if (command_response[2] == static_cast(0)) // TO DO check this + { + loaded_SL_ = true; + + for (std::size_t i = 0; i < 4; i++) + device_64_bits_address_[4 + i] = command_response[3 + i]; + } + } +} + + +//***************************************************************************** +void PacketsHandler::Quit() +{ + quit_.store(true); +} + + +//***************************************************************************** +void PacketsHandler::Serialize_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr& + mavlink_msg, std::shared_ptr serialized_packet) +{ + serialized_packet->push_back(mavlink_msg->sysid); + serialized_packet->push_back(mavlink_msg->msgid); + + std::string bytes="12345678"; + + for (std::size_t j = 0; j < mavlink_msg->payload64.size(); j++) + { + for (std::size_t i = 0; i < 8; i++) + bytes[7 - i] = (mavlink_msg->payload64.at(j) >> (i * 8)); + + serialized_packet->append(bytes); + } +} + + +//***************************************************************************** +void PacketsHandler::Insert_Fragment_Header(bool single_fragment, + std::shared_ptr fragment, const uint8_t packet_ID, + const uint8_t fragment_ID, const uint16_t offset) +{ + if (!single_fragment) + { + fragment->push_back('F'); + fragment->push_back(packet_ID); + fragment->push_back(device_address_); + fragment->push_back(fragment_ID); + fragment->push_back(offset >> (1 * 8)); + fragment->push_back(offset >> (0 * 8)); + } + else + fragment->push_back('S'); +} + + +//***************************************************************************** +void PacketsHandler::Delete_Packets_With_Time_Out() +{ + for(auto& iterator: packets_assembly_map_) + { + if (std::clock_t() - iterator.second.time_since_creation_ > MAX_TIME_TO_SEND_PACKET && iterator.second.time_since_creation_ != 0) + iterator.second = {}; + } +} + + +//***************************************************************************** +void PacketsHandler::Process_Out_Standard_Messages() +{ + std::size_t deque_size = out_std_messages_.Get_Size(); + + if (deque_size > 0) + { + std::string frame; + std::shared_ptr out_message; + + for (std::size_t i = 0; i < deque_size; i++) + { + frame.clear(); + out_message = out_std_messages_.Pop_Front(); + + Generate_Transmit_Request_Frame(out_message->c_str(), &frame, out_message->size()); + serial_device_->Send_Frame(frame); + usleep(delay_interframes_); + } + } +} + + +//***************************************************************************** +void PacketsHandler::Process_Out_Packets() +{ + std::size_t deque_size = out_packets_.Get_Size(); + + if (deque_size > 0) + { + Out_Packet_S out_packet; + + for (std::size_t i = 0; i < deque_size; i++) + { + Process_Out_Standard_Messages(); + out_packet = out_packets_.Pop_Front(); + + Send_Packet(out_packet); + } + } +} + + +//***************************************************************************** +void PacketsHandler::Send_Packet(const Out_Packet_S& packet) +{ + std::size_t NBR_of_transmission = 0; + std::vector frames; + + Init_Network_Nodes_For_New_Transmission(packet.packet_ID_, &frames, packet.packet_buffer_); + + std::clock_t elapsed_time = std::clock(); + + //while (NBR_of_transmission <= optimum_MT_NBR_ && !Check_Packet_Transmitted_To_All_Nodes()) + //{ + //NBR_of_transmission++; + + Transmit_Fragments(frames); + + // TO DO usleep(flow_control_time) + // TO DO clear fragments_IDs_to_transmit_set + Send_End_Of_Packet_Ping(packet.packet_ID_, packet.packet_buffer_->size()); + // TO DO sleep after ping + //} + + elapsed_time = std::clock() - elapsed_time; + Adjust_Optimum_MT_Number(elapsed_time, NBR_of_transmission); +} + + +//***************************************************************************** +void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint8_t total_NBR_of_fragments) +{ + std::string ping_message = "P"; + std::string ping_frame; + + ping_message.push_back(packet_ID); + ping_message.push_back(device_address_); + ping_message.push_back(total_NBR_of_fragments); + + Generate_Transmit_Request_Frame(ping_message.c_str(), &ping_frame, ping_message.size()); + serial_device_->Send_Frame(ping_frame); + usleep(delay_interframes_); +} + + +//***************************************************************************** +bool PacketsHandler::Load_Database_Addresses() +{ + const std::string FILE_PATH = "/home/aymen/catkin_ws/src/xbee_ros_node/Resources/database.xml"; + + if (!boost::filesystem::exists(FILE_PATH)) + { + std::cout << "database.xml Not Found." << std::endl; + return false; + } + + ptree pt; + boost::property_tree::read_xml(FILE_PATH, pt); + std::string short_address; + std::string address_64_bits; + unsigned int short_address_int; + uint64_t address_64_bits_int; + + BOOST_FOREACH(ptree::value_type const&v, pt.get_child("Addresses")) + { + if (v.first == "Device") + { + short_address = v.second.get(".Address"); + address_64_bits = v.second.data(); + + if (sscanf(short_address.c_str(), "%3u", &short_address_int) < 0) + { + std::cout << "Short Address Error. Please Check database.xml For Possible Errors." << std::endl; + return false; + } + + if (sscanf(address_64_bits.c_str(), "%" SCNx64, &address_64_bits_int) < 0) + { + std::cout << "64 bits Address Error. Please Check database.xml For Possible Errors." << std::endl; + return false; + } + + database_addresses_.insert(std::pair(address_64_bits_int, static_cast(short_address_int))); + } + } + + return true; +} + + +//***************************************************************************** +bool PacketsHandler::Get_Local_Address() +{ + const useconds_t ONE_SECOND = 1*1000*1000; /* 1s = 1 * 10⁶ microseconds. */ + usleep(ONE_SECOND); + + if (loaded_SH_ && loaded_SL_) + { + uint64_t local_64_bits_address = ( + static_cast(static_cast(device_64_bits_address_[0])) << 56 | + static_cast(static_cast(device_64_bits_address_[1])) << 48 | + static_cast(static_cast(device_64_bits_address_[2])) << 40 | + static_cast(static_cast(device_64_bits_address_[3])) << 32 | + static_cast(static_cast(device_64_bits_address_[4])) << 24 | + static_cast(static_cast(device_64_bits_address_[5])) << 16 | + static_cast(static_cast(device_64_bits_address_[6])) << 8 | + static_cast(static_cast(device_64_bits_address_[7]))); + + database_addresses_it_ = database_addresses_.find(local_64_bits_address); + + if (database_addresses_it_ != database_addresses_.end()) + { + device_address_ = database_addresses_it_->second; + std::cout << "Loaded Short Device Address : " << static_cast(device_address_) << std::endl; + return true; + } + else + { + std::cout << "Local Address Not Found In Database. Please Add The Xbee Address to database.xml." << std::endl; + return false; + } + } + else + { + Send_SL_and_SH_Commands(); + return false; + } +} + + +//***************************************************************************** +bool PacketsHandler::Check_Packet_Transmitted_To_All_Nodes() +{ + std::lock_guard guard(mutex_); + + if (connected_network_nodes_.size() == 0) + return false; + + for (auto it : connected_network_nodes_) + { + if (!it.second) + return false; + } + + return true; +} + + +//***************************************************************************** +void PacketsHandler::Init_Network_Nodes_For_New_Transmission(const uint8_t packet_ID, std::vector* frames, std::shared_ptr>> packet) +{ + std::lock_guard guard(mutex_); + fragments_indexes_to_transmit_.clear(); + + for (auto it : connected_network_nodes_) + it.second = false; + + current_processed_packet_ID_ = packet_ID; + + for (uint8_t i = 0; i < packet->size(); i++) + { + frames->push_back(""); + fragments_indexes_to_transmit_.insert(i); + Generate_Transmit_Request_Frame(packet->at(i)->c_str(), &frames->at(i), packet->at(i)->size()); + } +} + + +//***************************************************************************** +void PacketsHandler::Transmit_Fragments(const std::vector& frames) +{ + std::lock_guard guard(mutex_); + + for (auto index: fragments_indexes_to_transmit_) + { + serial_device_->Send_Frame(frames.at(index)); + usleep(delay_interframes_); + } + +} + + +//***************************************************************************** +void PacketsHandler::Adjust_Optimum_MT_Number(const std::clock_t elapsed_time, + const std::size_t NBR_of_transmission) +{ + if (NBR_of_transmission < optimum_MT_NBR_) + optimum_MT_NBR_ = NBR_of_transmission; + else if (NBR_of_transmission == optimum_MT_NBR_) + { + std::lock_guard guard(mutex_); + + if (elapsed_time <= MAX_TIME_TO_SEND_PACKET && fragments_indexes_to_transmit_.size() > 0) + optimum_MT_NBR_++; + } +} + + +//***************************************************************************** +void PacketsHandler::Send_SL_and_SH_Commands() +{ + std::string command; + std::string frame; + + command = "SL"; + Generate_AT_Command(command.c_str(), &frame); + serial_device_->Send_Frame(frame); + + command = "SH"; + frame = ""; + Generate_AT_Command(command.c_str(), &frame); + serial_device_->Send_Frame(frame); +} + + +//***************************************************************************** +void PacketsHandler::Deserialize_Mavlink_Message(const char * bytes, + mavros_msgs::Mavlink* mavlink_msg, const std::size_t msg_size) +{ + mavlink_msg->sysid = bytes[0]; + mavlink_msg->msgid = bytes[1]; + uint64_t current_int64 = 0; + + for (std::size_t i = 2; i < msg_size; i += 8) + { + current_int64 = ( + static_cast(static_cast(bytes[i])) << 56 | + static_cast(static_cast(bytes[i + 1])) << 48 | + static_cast(static_cast(bytes[i + 2])) << 40 | + static_cast(static_cast(bytes[i + 3])) << 32 | + static_cast(static_cast(bytes[i + 4])) << 24 | + static_cast(static_cast(bytes[i + 5])) << 16 | + static_cast(static_cast(bytes[i + 6])) << 8 | + static_cast(static_cast(bytes[i + 7]))); + + mavlink_msg->payload64.push_back(current_int64); + } +} + + +//***************************************************************************** +inline void PacketsHandler::Generate_Transmit_Request_Frame( + const char* message, + std::string * frame, + const std::size_t message_size, + const unsigned char frame_ID, + const std::string& destination_adssress, + const std::string& short_destination_adress, + const std::string& broadcast_radius, + const std::string& options) +{ + const unsigned char FAME_TYPE = static_cast(0x10); /* Transmit Request Frame */ + std::string frame_parameters; + std::string bytes_frame_parameters; + + frame_parameters.append(destination_adssress); + frame_parameters.append(short_destination_adress); + frame_parameters.append(broadcast_radius); + frame_parameters.append(options); + + Convert_HEX_To_Bytes(frame_parameters, &bytes_frame_parameters); + + frame->push_back(FAME_TYPE); + frame->push_back(frame_ID); + frame->append(bytes_frame_parameters); + frame->append(message, message_size); + + Calculate_and_Append_Checksum(frame); + Add_Length_and_Start_Delimiter(frame); +} + + +//***************************************************************************** +inline void PacketsHandler::Add_Length_and_Start_Delimiter( + std::string* frame) +{ + const unsigned short FIVE_BYTES = 5; + char temporary_buffer[FIVE_BYTES]; + unsigned char temporary_char; + int Hex_frame_length_1; + int Hex_frame_length_2; + std::string header; + int frame_length = frame->size() - 1; /* frame_length = frame_size - checksum byte */ + + header.push_back(START_DLIMITER); + sprintf(temporary_buffer, "%04X", frame_length); + sscanf(temporary_buffer, "%02X%02X", &Hex_frame_length_1, + &Hex_frame_length_2); + temporary_char = static_cast(Hex_frame_length_1); + header.push_back(temporary_char); + temporary_char = static_cast(Hex_frame_length_2); + header.push_back(temporary_char); + frame->insert(0, header); +} + + +//***************************************************************************** +inline void PacketsHandler::Calculate_and_Append_Checksum( + std::string* frame) +{ + unsigned short bytes_sum = 0; + unsigned lowest_8_bits = 0; + unsigned short checksum = 0; + unsigned char checksum_byte; + + for (unsigned short i = 0; i < frame->size(); i++) + bytes_sum += static_cast(frame->at(i)); + + lowest_8_bits = bytes_sum & 0xFF; + checksum = 0xFF - lowest_8_bits; + checksum_byte = static_cast(checksum); + frame->push_back(checksum_byte); +} + + +//***************************************************************************** +inline void PacketsHandler::Convert_HEX_To_Bytes( + const std::string& HEX_data, std::string* converted_data) +{ + const unsigned short TWO_BYTES = 2; + char temporary_buffer[TWO_BYTES]; + unsigned char temporary_char; + int temporary_HEX; + + for (unsigned short i = 0; i <= HEX_data.size() - TWO_BYTES; + i += TWO_BYTES) + { + memcpy(temporary_buffer, HEX_data.c_str() + i, TWO_BYTES); + sscanf(temporary_buffer, "%02X", &temporary_HEX); + temporary_char = static_cast(temporary_HEX); + converted_data->push_back(temporary_char); + } +} + + +//***************************************************************************** +void PacketsHandler::Generate_AT_Command(const char* command, + std::string* frame, + const unsigned char frame_ID) +{ + const unsigned char FAME_TYPE = static_cast(0x09);/* AT Command Frame */ + std::string temporary_parameter_value; + + frame->push_back(FAME_TYPE); + frame->push_back(frame_ID); + frame->append(command); + + Calculate_and_Append_Checksum(frame); + Add_Length_and_Start_Delimiter(frame); +} + + +} + + +} diff --git a/src/SerialDevice.cpp b/src/SerialDevice.cpp new file mode 100644 index 0000000..5b00d0e --- /dev/null +++ b/src/SerialDevice.cpp @@ -0,0 +1,287 @@ +/* SerialDevice.cpp -- Serial Device class to handle serial communications + with XBee -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include "SerialDevice.h" + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +SerialDevice::SerialDevice(): + serial_port_(io_service_) +{ +} + + +//***************************************************************************** +SerialDevice::~SerialDevice() +{ +} + + +//***************************************************************************** +bool SerialDevice::Init( + const std::string & device, const std::size_t baud_rate) +{ + serial_port_.open(device); + + if (serial_port_.is_open()) + { + Set_Port_Options(baud_rate); + Init_Frame_Type_Keys(); + return true; + } + else + { + std::cout << "Port Failed To Open." << std::endl; + return false; + } +} + + +//***************************************************************************** +void SerialDevice::Set_Port_Options(const std::size_t baud_rate) +{ + serial_port_.set_option(boost::asio::serial_port::baud_rate(baud_rate)); + serial_port_.set_option(boost::asio::serial_port::character_size(8)); + serial_port_.set_option(boost::asio::serial_port::parity( + boost::asio::serial_port::serial_port_base::parity::none)); + serial_port_.set_option(boost::asio::serial_port::stop_bits( + boost::asio::serial_port::serial_port_base::stop_bits::one)); + serial_port_.set_option(boost::asio::serial_port::flow_control( + boost::asio::serial_port::serial_port_base::flow_control::none)); +} + + +//***************************************************************************** +void SerialDevice::Send_Frame(const std::string& frame) +{ + io_service_.post( + [this, frame]() + { + bool write_in_progress = !out_messages_.empty(); + out_messages_.push_back(frame); + + if (!write_in_progress) + Write_Frame(); + }); +} + + +//***************************************************************************** +void SerialDevice::Run_Service() +{ + Read_Frame_Header(); + io_service_.run(); +} + + +//***************************************************************************** +void SerialDevice::Stop_Service() +{ + io_service_.post([this]() {io_service_.stop(); }); +} + + +//***************************************************************************** +void SerialDevice::Close_Serial_Port() +{ + io_service_.post([this]() {serial_port_.close(); }); +} + + +//***************************************************************************** +void SerialDevice::Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages, + Thread_Safe_Deque* in_fragments, + Thread_Safe_Deque* in_Acks_and_Pings, + Thread_Safe_Deque* command_responses) +{ + in_std_messages_ = in_std_messages; + in_fragments_ = in_fragments; + in_Acks_and_Pings_ = in_Acks_and_Pings; + command_responses_ = command_responses; +} + + +//***************************************************************************** +void SerialDevice::Init_Frame_Type_Keys() +{ + sscanf("08", "%02X", &FRAME_TYPE_KEYS[AT_COMMAND]); + sscanf("09", "%02X", &FRAME_TYPE_KEYS[AT_COMMAND_QUEUE_REGISTER_VALUE]); + sscanf("10", "%02X", &FRAME_TYPE_KEYS[TRANSMIT_REQUEST]); + sscanf("11", "%02X", + &FRAME_TYPE_KEYS[EXPLICIT_ADDRESSING_COMMAND_FRAME]); + sscanf("17", "%02X", &FRAME_TYPE_KEYS[REMOTE_AT_COMMAND]); + sscanf("88", "%02X", &FRAME_TYPE_KEYS[AT_COMMAND_RESPONSE]); + sscanf("8A", "%02X", &FRAME_TYPE_KEYS[MODEM_STATUS]); + sscanf("8B", "%02X", &FRAME_TYPE_KEYS[TRANSMIT_STATUS]); + sscanf("8D", "%02X", &FRAME_TYPE_KEYS[ROUTE_INFORMATION_PACKET]); + sscanf("8E", "%02X", &FRAME_TYPE_KEYS[AGGREGATE_ADDRESSING_UPDATE]); + sscanf("90", "%02X", &FRAME_TYPE_KEYS[RECEIVE_PACKET]); + sscanf("91", "%02X", &FRAME_TYPE_KEYS[EXPLICIT_RX_INDICATOR]); + sscanf("92", "%02X", &FRAME_TYPE_KEYS[IO_DATA_SAMPLE_RX_INDICATOR]); + sscanf("95", "%02X", &FRAME_TYPE_KEYS[NODE_IDENTIFICATION_INDICATOR]); + sscanf("97", "%02X", &FRAME_TYPE_KEYS[REMOTE_AT_COMMAND_RESPONSE]); +} + + +//***************************************************************************** +void SerialDevice::Read_Frame_Header() +{ + boost::asio::async_read(serial_port_, + boost::asio::buffer(current_frame_.Get_Frame_Data(), + Xbee::Frame::FRAME_HEADER_LENGTH), + [this](boost::system::error_code error, std::size_t) + { + if (!error) + { + int start_delimiter_position = + current_frame_.Get_Start_Delimiter_Position(); + + if (start_delimiter_position >= 0) + { + if (0 == start_delimiter_position) + current_frame_.Decode_Frame_Header(); + else + { + /* The header is corrupted. */ + boost::asio::async_read(serial_port_, + boost::asio::buffer(current_frame_.Get_Frame_Data(), + start_delimiter_position), + [this](boost::system::error_code error, std::size_t) + { + current_frame_.Rearrange_Corrupted_Header(); + current_frame_.Decode_Frame_Header(); + }); + } + + Read_Frame_Body(); + } + else + { + /* The header is totally corrupted, read another header. */ + Read_Frame_Header(); + } + } + else + { + std::cout << "Error Occured:" << std::endl; + std::cout << error << std::endl; + std::cout << "Communication With XBee is Lost." << std::endl; + serial_port_.close(); + } + }); +} + + +//***************************************************************************** +void SerialDevice::Read_Frame_Body() +{ + boost::asio::async_read(serial_port_, + boost::asio::buffer(current_frame_.Get_Frame_Body(), + current_frame_.Get_Frame_Body_Length()), + [this](boost::system::error_code error, std::size_t) + { + if (!error) + { + if (current_frame_.Get_Frame_Type() == + FRAME_TYPE_KEYS[RECEIVE_PACKET]) + { + char msg_type = current_frame_.Get_Message_Type(); + std::shared_ptr in_message = + std::make_shared(); + + if (msg_type == 'F') + { + in_message->append(current_frame_.Get_Frame_Body() + + 11, + current_frame_.Get_Frame_Body_Length() - 12); + in_fragments_->Push_Back(in_message); + } + + else if (msg_type == 'A' || msg_type == 'P') + { + in_message->append(current_frame_.Get_Frame_Body(), + current_frame_.Get_Frame_Body_Length() - 1); + in_Acks_and_Pings_->Push_Back(in_message); + } + + else if (msg_type == 'S') + { + in_message->append(current_frame_.Get_Frame_Body() + 12, + current_frame_.Get_Frame_Body_Length() - 13); + in_std_messages_->Push_Back(in_message); + } + } + else if (current_frame_.Get_Frame_Type() == + FRAME_TYPE_KEYS[AT_COMMAND_RESPONSE]) + { + std::shared_ptr in_message = + std::make_shared(); + + in_message->append(current_frame_.Get_Frame_Body() + 1, + current_frame_.Get_Frame_Body_Length() - 2); + + command_responses_->Push_Back(in_message); + } + + Read_Frame_Header(); + } + else + { + std::cout << "Error Occured:" << std::endl; + std::cout << error << std::endl; + std::cout << "Communication With XBee is Lost." << std::endl; + serial_port_.close(); + } + }); +} + + +//***************************************************************************** +void SerialDevice::Write_Frame() +{ + boost::asio::async_write(serial_port_, + boost::asio::buffer(out_messages_.front().data(), + out_messages_.front().size()), + [this](boost::system::error_code error, + std::size_t transferred_bytes) + { + if (!error) + { + out_messages_.pop_front(); + if (!out_messages_.empty()) + Write_Frame(); + } + }); +} + + +//***************************************************************************** +bool SerialDevice::Is_IO_Service_Stopped() +{ + return io_service_.stopped(); +} + + +//***************************************************************************** +void SerialDevice::Reset_IO_Service() +{ + io_service_.reset(); +} + + +} + + +} diff --git a/src/TestBuzz.cpp b/src/TestBuzz.cpp new file mode 100644 index 0000000..5341620 --- /dev/null +++ b/src/TestBuzz.cpp @@ -0,0 +1,98 @@ +/* RosBuzz.cpp -- Basic ROS Buzz node -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include +#include +#include + +#include +#include + + + +//***************************************************************************** +void Receive_Payload_Callback(const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) +{ + std::cout << "Received Mavlink Message:" << std::endl; + for (unsigned short i = 0; i < mavlink_msg->payload64.size(); i++) + std::cout << mavlink_msg->payload64.at(i) << std::endl; + std::cout << std::endl; +} + + +//***************************************************************************** +unsigned int Get_Random_Size(unsigned int min, unsigned int max) +{ + return rand() % (max - min) + min; +} + + +//***************************************************************************** +unsigned long long Get_Random_Int64(unsigned long long min, unsigned long long max) +{ + return rand() % (max - min) + min; +} + + +//***************************************************************************** +void Init_Random_Seed() +{ + srand (time(NULL)); +} + + +//***************************************************************************** +int main(int argc, char **argv) +{ + const unsigned int MIN_PAYLOAD_SIZE = 750; + const unsigned int MAX_PAYLOAD_SIZE = 752; + + ros::init(argc, argv, "test_buzz"); + + ros::NodeHandle node_handle; + ros::Publisher mavlink_pub = node_handle.advertise("outMavlink", 1000); + ros::Subscriber mavlink_sub = node_handle.subscribe("inMavlink", 1000, Receive_Payload_Callback); + + Init_Random_Seed(); + + int count = 0; + const std::size_t MAX_BUFFER_SIZE = 64; + char line[MAX_BUFFER_SIZE]; + + std::cout << "Press Enter to Send New Mavlink Message..." << std::endl; + + while (ros::ok() && std::cin.getline(line, MAX_BUFFER_SIZE)) + { + mavros_msgs::Mavlink mavlink_msg_; + mavlink_msg_.sysid = 2; + mavlink_msg_.msgid = 1; + + unsigned int payload_size = Get_Random_Size(MIN_PAYLOAD_SIZE, MAX_PAYLOAD_SIZE); + + for (unsigned int i = 0; i < payload_size; i++) + { + mavlink_msg_.payload64.push_back(Get_Random_Int64(1, ULLONG_MAX)); + } + + std::cout << "Sent Mavlink Message " << count << std::endl; + + for (unsigned int i = 0; i < payload_size; i++) + { + std::cout << mavlink_msg_.payload64.at(i) << std::endl; + } + + std::cout << std::endl; + + mavlink_pub.publish(mavlink_msg_); + + ros::spinOnce(); + + count++; + std::cout << "Press Enter to Send New Mavlink Message..." << std::endl; + } + + return 0; +} diff --git a/src/TestController.cpp b/src/TestController.cpp new file mode 100644 index 0000000..9f1aeaf --- /dev/null +++ b/src/TestController.cpp @@ -0,0 +1,212 @@ +/* FlightController.cpp -- Basic Flight Controller ROS node -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include +#include +#include +#include + +#include +#include +#include +#include + + +enum DRONE_TYPE {MASTER, SLAVE}; +const std::size_t LOOP_RATE = 10; /* (10 fps) */ + + +//***************************************************************************** +float Get_Random_Float(float min, float max) +{ + return min + static_cast (rand()) /( static_cast (RAND_MAX/(max - min))); +} + + +//***************************************************************************** +unsigned long int Get_Random_Unsigned_Int(unsigned long int min, unsigned long int max) +{ + return rand() % (max - min) + min; +} + + +//***************************************************************************** +bool Fill_Command_Message(mavros_msgs::CommandInt* cmd_msg, const unsigned int command_ID) +{ + switch (command_ID) + { + case 7: + cmd_msg->request.command = mavros_msgs::CommandCode::NAV_TAKEOFF; + return true; + case 8: + cmd_msg->request.command = mavros_msgs::CommandCode::NAV_LAND; + return true; + case 9: + cmd_msg->request.command = mavros_msgs::CommandCode::NAV_RETURN_TO_LAUNCH; + return true; + case 21: + cmd_msg->request.command = mavros_msgs::CommandCode::NAV_WAYPOINT; + cmd_msg->request.x = Get_Random_Unsigned_Int(0, ULONG_MAX); + cmd_msg->request.y = Get_Random_Unsigned_Int(0, ULONG_MAX); + cmd_msg->request.z = Get_Random_Float(0, FLT_MAX); + return true; + case 22: + cmd_msg->request.command = mavros_msgs::CommandCode::CMD_MISSION_START; + return true; + case 23: + cmd_msg->request.command = mavros_msgs::CommandCode::CMD_MISSION_START; + cmd_msg->request.param1 = 666; + return true; + default: + return false; + } +} + + +//***************************************************************************** +void Init_Random_Seed() +{ + srand (time(NULL)); +} + + +//***************************************************************************** +bool Serve_XBee(mavros_msgs::CommandInt::Request& request, + mavros_msgs::CommandInt::Response& response) +{ + switch(request.command) + { + case mavros_msgs::CommandCode::NAV_TAKEOFF: + response.success = true; + std::cout << "Received TakeOff Command" << std::endl; + return true; + case mavros_msgs::CommandCode::NAV_LAND: + response.success = true; + std::cout << "Received Land Command" << std::endl; + return true; + case mavros_msgs::CommandCode::NAV_RETURN_TO_LAUNCH: + response.success = true; + std::cout << "Received Return To Launch Command" << std::endl; + return true; + case mavros_msgs::CommandCode::NAV_WAYPOINT: + std::cout << "Received New Waypoint Command" << std::endl; + std::cout << " Latitude " << request.x << std::endl; + std::cout << " Longitude " << request.y << std::endl; + std::cout << " Altitude " << request.z << std::endl; + std::cout << " Staytime " << std::endl; + std::cout << " Heading " << std::endl; + response.success = true; + return true; + case mavros_msgs::CommandCode::CMD_MISSION_START: + std::cout << "Received Mission Start Command" << std::endl; + response.success = true; + return true; + default: + std::cout << "Unknown Command" << std::endl; + response.success = false; + return false; + } + +} + + +//***************************************************************************** +void Run_As_Master_Drone() +{ + + + Init_Random_Seed(); + + const std::size_t MAX_BUFFER_SIZE = 64; + char line[MAX_BUFFER_SIZE]; + unsigned int command_ID = 0; + const unsigned int MIN_COMMAND_ID = 1; + const unsigned int MAX_COMMAND_ID = 32; + ros::NodeHandle node_handle; + ros::ServiceClient mav_dji_client_ = node_handle.serviceClient("xbee_cmd"); + + std::cout << "Enter a Command ID Between 1 and 32" << std::endl; + + ros::Rate loop_rate(LOOP_RATE); + + while (ros::ok() && std::cin.getline(line, MAX_BUFFER_SIZE)) + { + sscanf(line, "%u", &command_ID); + + if (command_ID >= MIN_COMMAND_ID && command_ID <= MAX_COMMAND_ID) + { + mavros_msgs::CommandInt new_command; + Fill_Command_Message(&new_command, command_ID); + + if (mav_dji_client_.call(new_command)) + std::cout << "Sent Command." << std::endl; + else + std::cout << "Failed to Send Command." << std::endl; + } + else + { + if (command_ID < MIN_COMMAND_ID) + std::cout << "Introduced Command is Smaller Than 1" << std::endl; + else if (command_ID > MAX_COMMAND_ID) + std::cout << "Introduced Command is Greater Than 32" << std::endl; + } + + + ros::spinOnce(); + loop_rate.sleep(); + std::cout << "Enter a Command ID Between 1 and 32" << std::endl; + } +} + + + + +//***************************************************************************** +void Run_As_Slave_Drone() +{ + ros::NodeHandle node_handle; + ros::ServiceServer service = node_handle.advertiseService("mav_dji_cmd", Serve_XBee); + + ros::Rate loop_rate(LOOP_RATE); + while (ros::ok()) + { + ros::spinOnce(); + loop_rate.sleep(); + } +} + + +//***************************************************************************** +int main(int argc, char** argv) +{ + DRONE_TYPE drone_type = SLAVE; + + if (argc > 1) + { + if (!strcmp(argv[1], "master")) + drone_type = MASTER; + } + + if (SLAVE == drone_type) + std::cout << "Drone: Slave" << std::endl; + else + std::cout << "Drone: Master" << std::endl; + + + std::cout << "Flight Controller Running in SOLO Mode..." << std::endl; + + ros::init(argc, argv, "flight_controller"); + + if (MASTER == drone_type) + Run_As_Master_Drone(); + else + Run_As_Slave_Drone(); + + + std::cout << "Flight Controller Exited." << std::endl; + + return 0; +} diff --git a/src/XBeeFrame.cpp b/src/XBeeFrame.cpp new file mode 100644 index 0000000..1a99176 --- /dev/null +++ b/src/XBeeFrame.cpp @@ -0,0 +1,154 @@ +/* XBeeFrame.cpp -- XBee Frame class -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include "XBeeFrame.h" + + +namespace Mist +{ + + +namespace Xbee +{ + + +//***************************************************************************** +Frame::Frame(): + frame_body_length_(0), + frame_type_(0), + start_delimiter_position_(0) +{ +} + + +//***************************************************************************** +Frame::~Frame() +{ +} + + +//***************************************************************************** +const char * Frame::Get_Frame_Data() const +{ + return data_buffer_; +} + + +//***************************************************************************** +char * Frame::Get_Frame_Data() +{ + return data_buffer_; +} + + +//***************************************************************************** +std::size_t Frame::Get_Frame_Length() const +{ + return FRAME_HEADER_LENGTH + frame_body_length_; +} + + +//***************************************************************************** +const char * Frame::Get_Frame_Body() const +{ + return data_buffer_ + FRAME_HEADER_LENGTH; +} + + +//***************************************************************************** +char * Frame::Get_Frame_Body() +{ + return data_buffer_ + FRAME_HEADER_LENGTH; +} + + +//***************************************************************************** +std::size_t Frame::Get_Frame_Body_Length() const +{ + return frame_body_length_; +} + + +//***************************************************************************** +bool Frame::Decode_Frame_Header() +{ + const unsigned short THREE_BYTES = 3; + const unsigned short EIGHT_BYTES = 8; + const unsigned short FRAME_LENGTH_OFFSET = 1; + int frame_length_1 = 0; + int frame_length_2 = 0; + unsigned int frame_length = 0; + unsigned char temporary_buffer[THREE_BYTES]; + char header_buffer[EIGHT_BYTES]; + + memcpy(temporary_buffer, data_buffer_ + FRAME_LENGTH_OFFSET, THREE_BYTES); + + frame_length_1 = static_cast(temporary_buffer[0]); + frame_length_2 = static_cast(temporary_buffer[1]); + frame_type_ = static_cast(temporary_buffer[2]); + + sprintf(header_buffer, "%02X%02X%02X", frame_length_1, + frame_length_2, frame_type_); + sscanf(header_buffer, "%04X%02X", &frame_length, &frame_type_); + frame_body_length_ = frame_length; + + if (frame_body_length_ > MAX_FRAME_BODY_LENGTH) + frame_body_length_ = 0; /* The message header is corrupted. Ignore the total frame */ + + return true; +} + + +//***************************************************************************** +std::size_t Frame::Get_Frame_Type() const +{ + return frame_type_; +} + + +//***************************************************************************** +int Frame::Get_Start_Delimiter_Position() +{ + const unsigned char START_DELIMITER = static_cast(0x7E); + + for (int i = 0; i < FRAME_HEADER_LENGTH; i++) + { + if (START_DELIMITER == data_buffer_[i]) + { + start_delimiter_position_ = i; + return i; + } + } + + return -1; +} + + +//***************************************************************************** +void Frame::Rearrange_Corrupted_Header() +{ + char temporary_char; + + for (unsigned short i = 0; i < start_delimiter_position_; i++) + { + temporary_char = data_buffer_[i]; + data_buffer_[i] = data_buffer_[start_delimiter_position_ + i]; + data_buffer_[start_delimiter_position_ + i] = temporary_char; + } +} + + +//***************************************************************************** +char Frame::Get_Message_Type() +{ + return data_buffer_[15]; +} + + +} + + +} diff --git a/src/XBeeModule.cpp b/src/XBeeModule.cpp new file mode 100644 index 0000000..421c35c --- /dev/null +++ b/src/XBeeModule.cpp @@ -0,0 +1,206 @@ +/* XBeeModule.cpp -- Xbee Module class provides functions to communicate + with Xbee -- */ +/* ------------------------------------------------------------------------- */ +/* November 30, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include "XBeeModule.h" + + +//***************************************************************************** +XBeeModule::XBeeModule(): + TIME_OUT(7), + serial_port_(io_service_), + timer_(serial_port_.get_io_service()), + connected_to_XBee_(false), + time_out_exceeded_(false) +{ +} + + +//***************************************************************************** +XBeeModule::~XBeeModule() +{ +} + + +//***************************************************************************** +bool XBeeModule::Init_Port(const std::string& device_port, const unsigned int baud_rate) +{ + if (Open_Port(device_port)) + { + serial_port_.set_option(boost::asio::serial_port::baud_rate(baud_rate)); + Start_Receive(); + Set_AT_Command_Mode(); + timer_.expires_from_now(posix_time::seconds(TIME_OUT)); + timer_.async_wait(bind(&XBeeModule::Check_Time_Out, this, + boost::asio::placeholders::error)); + return true; + } + else + return false; +} + + +//***************************************************************************** +bool XBeeModule::Open_Port(const std::string& device_port) +{ + serial_port_.open(device_port); + + if (serial_port_.is_open()) + { + std::cout << "Serial Port Open..." << std::endl; + return true; + } + else + { + std::cout << "Failed to Open The Serial Port." << std::endl; + std::cout << "Please Check The Introduced Serial Port is Correct." << std::endl; + return false; + } +} + + +//***************************************************************************** +void XBeeModule::Start_Receive() +{ + const std::size_t THREE_BYTES = 3; + + boost::asio::async_read(serial_port_, + boost::asio::buffer(receive_buffer_, THREE_BYTES), + bind(&XBeeModule::Handle_Receive, this, + asio::placeholders::error, + asio::placeholders::bytes_transferred)); +} + + +//***************************************************************************** +void XBeeModule::Handle_Receive(const boost::system::error_code& error, size_t bytes_transferred) +{ + if (error) + { + std::cout << "An Error Occured: " << error << std::endl; + } + + if (0 == strncmp(receive_buffer_, "OK\r", bytes_transferred) && !connected_to_XBee_) + { + connected_to_XBee_ = true; + } +} + + +//***************************************************************************** +void XBeeModule::Set_AT_Command_Mode() +{ + const useconds_t ONE_SECOND = 1*1000*1000; /* 1s = 1 * 10⁶ microseconds. */ + char AT_command_sequence[] = "+++"; + const unsigned short THREE_BYTES = 3; + + usleep(ONE_SECOND); + serial_port_.write_some(asio::buffer(AT_command_sequence, THREE_BYTES)); + usleep(ONE_SECOND); +} + + +//***************************************************************************** +void XBeeModule::Check_Time_Out(const system::error_code& error) +{ + if (error) + return; + else + { + if (!connected_to_XBee_) + { + std::cout << "Time Out: The XBee Module is Not Responding." << std::endl; + std::cout << "Please Try One of The Following Options:" << std::endl; + std::cout << " 1) Change The Baud Rate. Make Sure It Matches The Baud Rate Used by The XBee." << std::endl; + std::cout << " 2) Disconnect and Connect The XBee." << std::endl; + std::cout << " 3) Press The Reset Button on The XBee." << std::endl; + std::cout << " 4) Update The Firmware With XCTU." << std::endl; + + serial_port_.close(); + time_out_exceeded_ = true; + } + } +} + + +//***************************************************************************** +void XBeeModule::Run_Service() +{ + io_service_.run(); +} + + +//***************************************************************************** +void XBeeModule::Send_Data(const std::string& command) +{ + io_service_.post( + [this, command]() + { + bool write_in_progress = !commands_sequence_.empty(); + commands_sequence_.push_back(command); + if (!write_in_progress) + Do_Write(); + }); +} + + +//***************************************************************************** +void XBeeModule::Exit_AT_Command_Mode() +{ + const unsigned short FIVE_BYTES = 5; + serial_port_.write_some(boost::asio::buffer("ATCN\r", FIVE_BYTES)); + + io_service_.post([this]() {io_service_.stop(); }); + io_service_.post([this]() {serial_port_.close(); }); +} + + +//***************************************************************************** +bool XBeeModule::Is_Connected() +{ + return connected_to_XBee_; +} + + +//***************************************************************************** +bool XBeeModule::Check_Time_Out_Exceeded() +{ + return time_out_exceeded_; +} + + +//***************************************************************************** +void XBeeModule::Do_Write() +{ + boost::asio::async_write(serial_port_, + boost::asio::buffer(commands_sequence_.front().data(), commands_sequence_.front().size()), + boost::bind(&XBeeModule::Handle_Write, this, + asio::placeholders::error)); +} + + +//***************************************************************************** +void XBeeModule::Handle_Write(const system::error_code& error) +{ + if (!error) + { + commands_sequence_.pop_front(); + if (!commands_sequence_.empty()) + Do_Write(); + } +} + + +//***************************************************************************** +void XBeeModule::Format_AT_Command(const XBee_Parameter_S& parameter, std::string* command) +{ + std::string current_command = "AT"; + current_command.append(parameter.command_); + current_command.append(" "); + current_command.append(parameter.value_); + current_command.append("\r"); + command->append(current_command); +} diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp new file mode 100644 index 0000000..525e75e --- /dev/null +++ b/src/XMLConfigParser.cpp @@ -0,0 +1,73 @@ +/* XMLConfigParser.cpp -- XML Config Parser class -- */ +/* ------------------------------------------------------------------------- */ +/* November 30, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include "XMLConfigParser.h" + + +//***************************************************************************** +XMLConfigParser::XMLConfigParser(): + config_loaded_successfully_(false) +{ +} + + +//***************************************************************************** +XMLConfigParser::~XMLConfigParser() +{ +} + + +//***************************************************************************** +bool XMLConfigParser::Load_Config() +{ + const std::string FILE_NAME = "/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml"; + + if (Check_Config_File_Exists(FILE_NAME)) + { + ptree pt; + boost::property_tree::read_xml(FILE_NAME, pt); + + config_loaded_successfully_ = true; + + BOOST_FOREACH(ptree::value_type const&v, pt.get_child("XBeeConfig.Settings")) + { + if (v.first == "Parameter") + { + XBee_Parameter_S new_xbee_parameter; + new_xbee_parameter.command_ = v.second.get(".Command"); + new_xbee_parameter.value_ = v.second.data(); + xbee_parameters_.push_back(new_xbee_parameter); + } + } + + return true; + } + else + { + std::cout << "Error: Config File Not Found." << std::endl; + return false; + } +} + + +//***************************************************************************** +std::vector* XMLConfigParser::Get_Loaded_Parameters() +{ + return &xbee_parameters_; +} + + +//***************************************************************************** +bool XMLConfigParser::Check_Config_File_Exists(const std::string& file_name) +{ + return boost::filesystem::exists(file_name); +} + + +bool XMLConfigParser::Is_Config_Loaded_Successfully() +{ + return config_loaded_successfully_; +} diff --git a/src/Xbee.cpp b/src/Xbee.cpp new file mode 100644 index 0000000..496d531 --- /dev/null +++ b/src/Xbee.cpp @@ -0,0 +1,56 @@ +/* xbee.cpp -- XBeeMav ROS node main -- */ +/* ------------------------------------------------------------------------- */ +/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include "CommunicationManager.h" + + +//***************************************************************************** +int main(int argc, char* argv[]) +{ + + try + { + ros::init(argc, argv, "xbee"); + + Mist::Xbee::CommunicationManager communication_manager; + const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command. + const std::size_t baud_rate = 230400; // TO DO Can be introduced as command. + Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = + Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE; + Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode = + Mist::Xbee::CommunicationManager::RUNNING_MODE::SOLO; + + if (argc > 1) + { + if (!strcmp(argv[1], "master")) + drone_type = Mist::Xbee::CommunicationManager::DRONE_TYPE::MASTER; + + if (argc > 2) + { + if (!strcmp(argv[2], "swarm")) + running_mode = Mist::Xbee::CommunicationManager::RUNNING_MODE::SWARM; + } + } + + if (communication_manager.Init(device, baud_rate)) + communication_manager.Run(drone_type, running_mode); + } + catch (const std::exception& e) + { + std::cout << "Error Occured:" << std::endl; + std::cout << e.what() << std::endl; + } + catch (...) + { + std::cout << "Unexpected Fatal Error." << std::endl; + std::cout << "Communication With XBee is Lost." << std::endl; + return EXIT_FAILURE; + } + + std::cout << std::endl; + std::cout << "XBeeMav Exited." << std::endl; + return EXIT_SUCCESS; +} diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..97bb2de --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,114 @@ +/* main.cpp -- */ +/* ------------------------------------------------------------------------- */ +/* November 30, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ +/* (aymen.soussia@gmail.com) */ + + +#include + +#include"XBeeModule.h" +#include"XMLConfigParser.h" + + +//***************************************************************************** +void Setup_XBee(const std::string& device_port, const unsigned int baud_rate) +{ + XBeeModule xbee_module; + XMLConfigParser config_parser; + + if (xbee_module.Init_Port(device_port, baud_rate)) + { + std::thread th_service(&XBeeModule::Run_Service, &xbee_module); + + while (!xbee_module.Is_Connected() && !xbee_module.Check_Time_Out_Exceeded()) + { + continue; + } + + if (xbee_module.Is_Connected()) + { + std::cout << "Connected to XBee." << std::endl; + std::cout << "Loading Config File..." << std::endl; + + if (config_parser.Load_Config()) + { + std::cout << "Config Loaded Successfully." << std::endl; + std::cout << "Transferring Data..." << std::endl; + std::vector* config_parameters = config_parser.Get_Loaded_Parameters(); + + for (std::size_t i = 0; i < config_parameters->size(); i++) + { + std::string current_command; + xbee_module.Format_AT_Command(config_parameters->at(i), ¤t_command); + xbee_module.Send_Data(current_command); + } + + std::string write_command = "ATWR \r"; + xbee_module.Send_Data(write_command); + } + } + + th_service.join(); + + std::cout << "Exiting AT Command Mode..." << std::endl; + + if (xbee_module.Is_Connected()) + { + xbee_module.Exit_AT_Command_Mode(); + + if (config_parser.Is_Config_Loaded_Successfully()) + std::cout << "XBee Configured Successfully." << std::endl; + else + std::cout << "XBee Configuration Failed." << std::endl; + } + else + { + std::cout << "XBee Configuration Failed." << std::endl; + } + } +} + + +//***************************************************************************** +int main(int argc, char*argv[]) +{ + try + { + std::string device_port; + unsigned int baud_rate = 0; + const unsigned int DEFAULT_BAUD_RATE = 9600; + const std::string DEFAULT_DEVICE_PORT = "/dev/ttyUSB0"; + + if (argc < 1) + device_port = DEFAULT_DEVICE_PORT; + else + device_port.append(argv[1]); + + if (argc < 2) + baud_rate = DEFAULT_BAUD_RATE; + else + sscanf(argv[2], "%u", &baud_rate); + + Setup_XBee(device_port, baud_rate); + } + catch (const std::exception& e) + { + std::cout << "Error: " << e.what() << std::endl; + std::cout << "Please Try One of The Following Options:" << std::endl; + std::cout << " 1) Change The Baud Rate. Make Sure It Matches The Current Baud Rate Used by The XBee (By default BD = 9600 bps)." << std::endl; + std::cout << " 2) Change The Specified Device (e.g. COM1 for Windows or /dev/tty/USB0 for Linux)." << std::endl; + std::cout << " 3) Disconnect and Connect The XBee." << std::endl; + std::cout << " 4) Press The Reset Button on The XBee." << std::endl; + std::cout << " 5) Update The Firmware With XCTU." << std::endl; + std::cout << "XBee Configuration Failed." << std::endl; + + } + catch (...) + { + std::cout << " Unexpected Error." << std::endl; + std::cout << "XBee Configuration Failed." << std::endl; + return EXIT_FAILURE; + } + + return EXIT_SUCCESS; +} From 5196f7048c5a2937c1342082a061e4682e6cdc27 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 17 Feb 2017 15:42:35 -0500 Subject: [PATCH 70/91] merge conflicts resolved --- src/CommunicationManager.cpp | 578 ----------------------------------- src/SerialDevice.cpp | 36 --- src/TestBuzz.cpp | 26 -- src/XBeeFrame.cpp | 3 - src/XMLConfigParser.cpp | 4 - src/Xbee.cpp | 9 - 6 files changed, 656 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 6385972..3012b2f 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -9,33 +9,6 @@ #include "CommunicationManager.h" -<<<<<<< HEAD -uint16_t* u64_cvt_u16(uint64_t u64){ - uint16_t* out = new uint16_t[4]; - uint32_t int32_1 = u64 & 0xFFFFFFFF; - uint32_t int32_2 = (u64 & 0xFFFFFFFF00000000 ) >> 32; - out[0] = int32_1 & 0xFFFF; - out[1] = (int32_1 & (0xFFFF0000) ) >> 16; - out[2] = int32_2 & 0xFFFF; - out[3] = (int32_2 & (0xFFFF0000) ) >> 16; - //cout << " values " <>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 namespace Mist { @@ -47,11 +20,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), -<<<<<<< HEAD - LOOP_RATE(50) /* 10 fps */ -======= LOOP_RATE(10) /* 10 fps */ ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 { } @@ -68,10 +37,6 @@ bool CommunicationManager::Init( { if (serial_device_.Init(device, baud_rate)) { -<<<<<<< HEAD - in_messages_ = serial_device_.Get_In_Messages_Pointer(); - return true; -======= serial_device_.Set_In_Messages_Pointers(&in_std_messages_, &in_fragments_, &in_Acks_and_Pings_, &command_responses_); @@ -96,18 +61,14 @@ bool CommunicationManager::Init( if (!device_ID_loaded) return false; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } else { Display_Init_Communication_Failure(); return false; } -<<<<<<< HEAD -======= return true; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } @@ -116,11 +77,7 @@ bool CommunicationManager::Init( void CommunicationManager::Run(DRONE_TYPE drone_type, RUNNING_MODE running_mode) { -<<<<<<< HEAD - std::thread thread_service(&SerialDevice::Run_Service, &serial_device_); -======= std::thread thread_packets_handler(&PacketsHandler::Run, &packets_handler_); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 Display_Drone_Type_and_Running_Mode(drone_type, running_mode); @@ -130,14 +87,10 @@ void CommunicationManager::Run(DRONE_TYPE drone_type, Run_In_Solo_Mode(drone_type); serial_device_.Stop_Service(); -<<<<<<< HEAD - thread_service.join(); -======= serial_device_.Close_Serial_Port(); packets_handler_.Quit(); service_thread_->join(); thread_packets_handler.join(); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } @@ -151,11 +104,7 @@ void CommunicationManager::Run_In_Solo_Mode(DRONE_TYPE drone_type) { if (node_handle_.getParam("Xbee_In_From_Controller", service_name)) { -<<<<<<< HEAD - mav_dji_server_ = node_handle_.advertiseService(service_name.c_str(), &CommunicationManager::Serve_Flight_Controller, this); -======= mav_dji_server_ = node_handle_.advertiseService(service_name.c_str(), &CommunicationManager::Serve_Flight_Controller, this); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 success = true; } else @@ -213,25 +162,6 @@ void CommunicationManager::Run_In_Swarm_Mode() else std::cout << "Failed to Get Topic Name: param 'Xbee_Out_To_Buzz' Not Found." << std::endl; -<<<<<<< HEAD - /*Get no of devices*/ - node_handle_.getParam("No_of_dev", no_of_dev); - /*Get device Id feom host name*/ - device_id=get_deviceid(); - std::cout << "Device Id" <>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } } } @@ -255,20 +184,12 @@ void CommunicationManager::Run_In_Swarm_Mode() inline bool CommunicationManager::Serve_Flight_Controller(mavros_msgs::CommandInt:: Request& request, mavros_msgs::CommandInt::Response& response) { -<<<<<<< HEAD - const std::size_t MAX_BUFFER_SIZE = 255; -======= const std::size_t MAX_BUFFER_SIZE = 256; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 unsigned int command = 0; char temporary_buffer[MAX_BUFFER_SIZE]; std::string frame; -<<<<<<< HEAD - switch(request.command) -======= /*switch(request.command) ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 { case mavros_msgs::CommandCode::NAV_TAKEOFF: { @@ -312,15 +233,9 @@ inline bool CommunicationManager::Serve_Flight_Controller(mavros_msgs::CommandIn if (command != 0) { -<<<<<<< HEAD - //Generate_Transmit_Request_Frame(temporary_buffer, &frame); - serial_device_.Send_Frame(frame); - } -======= Generate_Transmit_Request_Frame(temporary_buffer, &frame); serial_device_.Send_Frame(frame); }*/ ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 return true; } @@ -341,16 +256,9 @@ void CommunicationManager::Display_Init_Communication_Failure() //***************************************************************************** -<<<<<<< HEAD -inline void CommunicationManager::Generate_Transmit_Request_Frame( - const char* const message, - std::string * frame, - int tot, -======= /*inline void CommunicationManager::Generate_Transmit_Request_Frame( const char* const message, std::string * frame, ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 const unsigned char frame_ID, const std::string& destination_adssress, const std::string& short_destination_adress, @@ -358,11 +266,7 @@ inline void CommunicationManager::Generate_Transmit_Request_Frame( const std::string& options) { const unsigned char FAME_TYPE = static_cast(0x10); /* Transmit Request Frame */ -<<<<<<< HEAD - std::string frame_parameters; -======= /*std::string frame_parameters; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 std::string bytes_frame_parameters; frame_parameters.append(destination_adssress); @@ -375,17 +279,6 @@ inline void CommunicationManager::Generate_Transmit_Request_Frame( frame->push_back(FAME_TYPE); frame->push_back(frame_ID); frame->append(bytes_frame_parameters); -<<<<<<< HEAD - frame->append(message, tot); - - Calculate_and_Append_Checksum(frame); - Add_Length_and_Start_Delimiter(frame); -} - - -//***************************************************************************** -inline void CommunicationManager::Convert_HEX_To_Bytes( -======= frame->append(message, std::strlen(message)); Calculate_and_Append_Checksum(frame); @@ -395,7 +288,6 @@ inline void CommunicationManager::Convert_HEX_To_Bytes( //***************************************************************************** /*inline void CommunicationManager::Convert_HEX_To_Bytes( ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 const std::string& HEX_data, std::string* converted_data) { const unsigned short TWO_BYTES = 2; @@ -411,19 +303,11 @@ inline void CommunicationManager::Convert_HEX_To_Bytes( temporary_char = static_cast(temporary_HEX); converted_data->push_back(temporary_char); } -<<<<<<< HEAD -} - - -//***************************************************************************** -inline void CommunicationManager::Calculate_and_Append_Checksum( -======= }*/ //***************************************************************************** /*inline void CommunicationManager::Calculate_and_Append_Checksum( ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 std::string* frame) { unsigned short bytes_sum = 0; @@ -438,35 +322,11 @@ inline void CommunicationManager::Calculate_and_Append_Checksum( checksum = 0xFF - lowest_8_bits; checksum_byte = static_cast(checksum); frame->push_back(checksum_byte); -<<<<<<< HEAD -} - -unsigned short CommunicationManager::Caculate_Checksum(std::string* frame) -{ - - unsigned short bytes_sum = 0; - unsigned lowest_8_bits = 0; - unsigned short checksum = 0; - //unsigned char checksum_byte; - - for (unsigned short i = 0; i < frame->size(); i++) - bytes_sum += static_cast(frame->at(i)); - - lowest_8_bits = bytes_sum & 0xFF; - checksum = 0xFF - lowest_8_bits; - -return checksum; -} - -//***************************************************************************** -inline void CommunicationManager::Add_Length_and_Start_Delimiter( -======= }*/ //***************************************************************************** /*inline void CommunicationManager::Add_Length_and_Start_Delimiter( ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 std::string* frame) { const unsigned short FIVE_BYTES = 5; @@ -477,11 +337,7 @@ inline void CommunicationManager::Add_Length_and_Start_Delimiter( std::string header; int frame_length = frame->size() - 1; /* frame_length = frame_size - checksum byte */ -<<<<<<< HEAD - header.push_back(START_DLIMITER); -======= /*header.push_back(START_DLIMITER); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 sprintf(temporary_buffer, "%04X", frame_length); sscanf(temporary_buffer, "%02X%02X", &Hex_frame_length_1, &Hex_frame_length_2); @@ -490,30 +346,6 @@ inline void CommunicationManager::Add_Length_and_Start_Delimiter( temporary_char = static_cast(Hex_frame_length_2); header.push_back(temporary_char); frame->insert(0, header); -<<<<<<< HEAD -} - - -//***************************************************************************** -inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() -{ - std::size_t size_in_messages = in_messages_->Get_Size(); - uint16_t* header; - if (size_in_messages > 0) - { - /*if(!multi_msgs_receive.empty()) steps++; - if(steps>500){ - steps=0; - multi_msgs_receive.clear(); - receiver_cur_checksum=0; - }*/ - /*T0 overcome mesages after the stop transmission of multi packet*/ - if(counter!=0){ - multi_msgs_receive.clear(); - counter--; - } - uint64_t current_int64 = 0; -======= }*/ @@ -526,188 +358,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() { uint64_t current_int64 = 0; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 for (std::size_t j = 0; j < size_in_messages; j++) { std::shared_ptr in_message = in_messages_->Pop_Front(); mavros_msgs::Mavlink mavlink_msg; -<<<<<<< HEAD - int tot = 0; - //uint64_t header=0; - /*Copy the header*/ - memcpy(¤t_int64,in_message->c_str(),sizeof(uint64_t)); - tot+=sizeof(uint64_t); - /*sscanf(in_message->c_str(), "%" PRIu64 " ", - ¤t_int64);*/ - //std::cout<1 && header[2]==1){ - /*copy msg size*/ - uint16_t tmp_size=0; - memcpy(&tmp_size,in_message->c_str()+tot,sizeof(uint16_t)); - tot+=sizeof(uint16_t); - //std::cout<<"received size in bytes: "<c_str()+tot,tmp_size*sizeof(uint64_t)); - tot+=tmp_size*sizeof(uint64_t); - //std::cout<<"tot size : "<at(i) || 0 == i) - { - sscanf(in_message->c_str() + i, "%" PRIu64 " ", - ¤t_int64); - mavlink_msg.payload64.push_back(current_int64); - }*/ - - } - //std::cout << "Single packet message received size"<1 && header[1]>1){ - - /*multimsg received send ack msg*/ - char temporary_buffer[20]; - std::string frame; - std::cout << "Multi msg Received header " < >::iterator it = multi_msgs_receive.find(header[2]); - if(it!=multi_msgs_receive.end()){ - multi_msgs_receive.erase(it); - multi_msgs_receive.insert(make_pair(header[2], in_message)); - } - else{ - multi_msgs_receive.insert(make_pair(header[2], in_message)); - //counter++; - } - std::cout << "multi msg counter " <second->c_str()+tot,sizeof(uint16_t)); - tot+=sizeof(uint16_t); - //std::cout<<"multi publisher received size in bytes: "<second->c_str()+tot,tmp_size*sizeof(uint64_t)); - tot+=tmp_size*sizeof(uint64_t); - //std::cout<<"tot size : "<first << "Size of current map" <second->size()<< std::endl; - //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; - //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; - /* for (std::size_t j = 1; j < it->second->size()-1; j++) - { - - - if (' ' == it->second->at(j) || 0 == j) - {*/ - //current_int64=0 - //sscanf(it->second->c_str() + j, "%" PRIu64 " ", - // ¤t_int64); - /*Copy obt msg*/ - - //memcpy(current_int64, it->second->c_str()+tot, tmp_size*sizeof(uint64_t)); - //std::cout << "received Frame:" << current_int64 << std::endl; - //if(previous_int64 != current_int64){ - //mavlink_msg.payload64.push_back(current_int64); - //previous_int64=current_int64; - //} - /* } - - } */ - } - - std::cout << "one multi message published in topic with size :" <::iterator it = ack_received_dict.find(header[3]); - if(it!=ack_received_dict.end()){ - ack_received_dict.erase(it); - ack_received_dict.insert(std::make_pair((uint16_t)header[3], (uint16_t)ACK_MESSAGE_CONSTANT)); - } - else{ - ack_received_dict.insert( std::make_pair( (uint16_t)header[3], (uint16_t)ACK_MESSAGE_CONSTANT ) ); - } - - } - //std::cout << "ACK added and size of ack map " << ack_received_dict.size()<< std::endl; - - } - delete[] header; - - } - - } -} - - -//***************************************************************************** -inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() -{ - std::size_t size_in_messages = in_messages_->Get_Size(); - - if (size_in_messages > 0) -======= for (std::size_t i = 0; i < in_message->size(); i++) { @@ -733,7 +388,6 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // //std::size_t size_in_messages = in_messages_->Get_Size(); /*if (size_in_messages > 0) ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 { for (std::size_t j = 0; j < size_in_messages; j++) { @@ -765,11 +419,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // ROS_INFO("XBeeMav: Faild to Tranfer Command."); } -<<<<<<< HEAD - } -======= }*/ ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } @@ -777,229 +427,10 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { -<<<<<<< HEAD - const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ - const unsigned short MAX_NBR_OF_INT64 = 24; - char temporary_buffer[MAX_BUFFER_SIZE]; - std::string frame; - int converted_bytes = 0; - if((uint64_t)mavlink_msg->payload64.at(0)==(uint64_t)XBEE_STOP_TRANSMISSION && mavlink_msg->payload64.size() == 1){ - std::cout << "clearing multi msg queue after request from buzz"<< std::endl; - multi_msgs_send_dict.clear(); - ack_received_dict.clear(); - sending_chunk_no=0; - /*Multi message packets stoped tell rosbuzz this*/ - mavros_msgs::Mavlink mavlink_msg; - mavlink_msg.payload64.push_back(XBEE_MESSAGE_CONSTANT); - mavlink_publisher_.publish(mavlink_msg); - } - else if(mavlink_msg->payload64.size() > MAX_NBR_OF_INT64 && !( multi_msgs_send_dict.empty() ) ){ - std::cout << "Sending previous multi message not complete yet, so dropping message"<payload64.size(); i++) - { - converted_bytes += sprintf( - temporary_buffer_check + converted_bytes, "%" PRIu64 " ", - (uint64_t)mavlink_msg->payload64.at(i)); - - } - - frame.append(temporary_buffer_check, std::strlen(temporary_buffer_check)); - uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); - uint16_t number=1; - uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)MAX_NBR_OF_INT64)); - //std::cout <<"Payload size" <payload64.size() << std::endl; - /*Create a header for the msgs*/ - uint64_t header = (uint64_t)MESSAGE_CONSTANT | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; - frame=""; - memset(temporary_buffer, 0, MAX_BUFFER_SIZE); - uint16_t* header_16 = u64_cvt_u16(header); - /*buffer byte counter*/ - int tot=0; - std::cout << "Sent header" <payload64.size() <= MAX_NBR_OF_INT64){ - - uint64_t message_obt[mavlink_msg->payload64.size()]; - uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ) ); - memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() )); - - for (std::size_t i =0; ipayload64.size(); i++) - { - message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; - - } - /*Copy the header*/ - memcpy(cpy_buff,&header,sizeof(uint64_t)); - tot+=sizeof(uint64_t); - /*copy msg size*/ - uint16_t tmp_size=(uint16_t)mavlink_msg->payload64.size(); - memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); - tot+=sizeof(uint16_t); - std::cout<<"tmp size in sender"<payload64.size()<<" Tot size: "<< tot<< std::endl; - Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); - serial_device_.Send_Frame(frame); - - } - else{ - /*clear all the related parameter and get ready to send multi msg*/ - sending_chunk_no=0; - Sender_cur_checksum = check_sum; - ack_received_dict.clear(); - multi_msgs_send_dict.clear(); - /*Copy the msgs into a 64bit array*/ - uint64_t message_obt[mavlink_msg->payload64.size()]; - /*buffer for easy handel operation*/ - uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 ) ); - memset(cpy_buff, 0,sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 )); - for (std::size_t i =0; ipayload64.size(); i++) - { - message_obt[i] =(uint64_t)mavlink_msg->payload64[i]; - - } - //std::cout << "put header in dict" <payload64.at(i)); - */ - //std::cout << "Sent Frame in (uint64):"<payload64.at(i) << std::endl; - //std::cout << "Sent Frame in string"<payload64.size()){ - tmp_size=mavlink_msg->payload64.size() - uint64_counter; - /*Copy the header*/ - memcpy(cpy_buff,&header,sizeof(uint64_t)); - tot+=sizeof(uint64_t); - memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t)); - tot+=sizeof(uint16_t); - /*Copy obt msg*/ - memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size); - uint64_counter+=tmp_size; - tot+=( sizeof(uint64_t) )*tmp_size; - /*Copy the data to char buff*/ - memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); - Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); - multi_msgs_send_dict.push_back(frame); - } - delete[] cpy_buff; - //std::cout << " Received size: " <payload64.size() << std::endl; - //std::cout << "total size of multi msg dict mavlink size:" <>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 //***************************************************************************** void CommunicationManager::Display_Drone_Type_and_Running_Mode( @@ -1017,14 +448,6 @@ void CommunicationManager::Display_Drone_Type_and_Running_Mode( } -<<<<<<< HEAD -} - - -} - - -======= //***************************************************************************** void CommunicationManager::Process_In_Standard_Messages() { @@ -1123,4 +546,3 @@ void CommunicationManager::Process_Command_Responses() } ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 diff --git a/src/SerialDevice.cpp b/src/SerialDevice.cpp index 4735352..5b00d0e 100644 --- a/src/SerialDevice.cpp +++ b/src/SerialDevice.cpp @@ -39,10 +39,6 @@ bool SerialDevice::Init( { Set_Port_Options(baud_rate); Init_Frame_Type_Keys(); -<<<<<<< HEAD - Read_Frame_Header(); -======= ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 return true; } else @@ -85,10 +81,7 @@ void SerialDevice::Send_Frame(const std::string& frame) //***************************************************************************** void SerialDevice::Run_Service() { -<<<<<<< HEAD -======= Read_Frame_Header(); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 io_service_.run(); } @@ -97,25 +90,17 @@ void SerialDevice::Run_Service() void SerialDevice::Stop_Service() { io_service_.post([this]() {io_service_.stop(); }); -<<<<<<< HEAD -======= } //***************************************************************************** void SerialDevice::Close_Serial_Port() { ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 io_service_.post([this]() {serial_port_.close(); }); } //***************************************************************************** -<<<<<<< HEAD -Thread_Safe_Deque * SerialDevice::Get_In_Messages_Pointer() -{ - return &in_messages_; -======= void SerialDevice::Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages, Thread_Safe_Deque* in_fragments, Thread_Safe_Deque* in_Acks_and_Pings, @@ -125,7 +110,6 @@ void SerialDevice::Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages, in_fragments_ = in_fragments; in_Acks_and_Pings_ = in_Acks_and_Pings; command_responses_ = command_responses; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } @@ -184,15 +168,10 @@ void SerialDevice::Read_Frame_Header() Read_Frame_Body(); } else -<<<<<<< HEAD - /* The header is totally corrupted, read another header. */ - Read_Frame_Header(); -======= { /* The header is totally corrupted, read another header. */ Read_Frame_Header(); } ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } else { @@ -218,17 +197,6 @@ void SerialDevice::Read_Frame_Body() if (current_frame_.Get_Frame_Type() == FRAME_TYPE_KEYS[RECEIVE_PACKET]) { -<<<<<<< HEAD - const unsigned short ELEVEN_BYTES = 11; - const unsigned short TWELVE_BYTES = 12; - - std::shared_ptr in_message = - std::make_shared(); - in_message->append(current_frame_.Get_Frame_Body() - + ELEVEN_BYTES, - current_frame_.Get_Frame_Body_Length() - TWELVE_BYTES); - in_messages_.Push_Pack(in_message); -======= char msg_type = current_frame_.Get_Message_Type(); std::shared_ptr in_message = std::make_shared(); @@ -265,7 +233,6 @@ void SerialDevice::Read_Frame_Body() current_frame_.Get_Frame_Body_Length() - 2); command_responses_->Push_Back(in_message); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } Read_Frame_Header(); @@ -300,8 +267,6 @@ void SerialDevice::Write_Frame() } -<<<<<<< HEAD -======= //***************************************************************************** bool SerialDevice::Is_IO_Service_Stopped() { @@ -316,7 +281,6 @@ void SerialDevice::Reset_IO_Service() } ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } diff --git a/src/TestBuzz.cpp b/src/TestBuzz.cpp index b39c9a8..5341620 100644 --- a/src/TestBuzz.cpp +++ b/src/TestBuzz.cpp @@ -47,34 +47,15 @@ void Init_Random_Seed() //***************************************************************************** int main(int argc, char **argv) { -<<<<<<< HEAD - const unsigned int MIN_PAYLOAD_SIZE = 1; - const unsigned int MAX_PAYLOAD_SIZE = 10; - - ros::init(argc, argv, "flight_controller"); -======= const unsigned int MIN_PAYLOAD_SIZE = 750; const unsigned int MAX_PAYLOAD_SIZE = 752; ros::init(argc, argv, "test_buzz"); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 ros::NodeHandle node_handle; ros::Publisher mavlink_pub = node_handle.advertise("outMavlink", 1000); ros::Subscriber mavlink_sub = node_handle.subscribe("inMavlink", 1000, Receive_Payload_Callback); -<<<<<<< HEAD - ros::Rate loop_rate(0.2); - - Init_Random_Seed(); - - int count = 0; - - - while (ros::ok()) - { - mavros_msgs::Mavlink mavlink_msg_; -======= Init_Random_Seed(); int count = 0; @@ -88,7 +69,6 @@ int main(int argc, char **argv) mavros_msgs::Mavlink mavlink_msg_; mavlink_msg_.sysid = 2; mavlink_msg_.msgid = 1; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 unsigned int payload_size = Get_Random_Size(MIN_PAYLOAD_SIZE, MAX_PAYLOAD_SIZE); @@ -110,14 +90,8 @@ int main(int argc, char **argv) ros::spinOnce(); -<<<<<<< HEAD - loop_rate.sleep(); - - count++; -======= count++; std::cout << "Press Enter to Send New Mavlink Message..." << std::endl; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } return 0; diff --git a/src/XBeeFrame.cpp b/src/XBeeFrame.cpp index 91761a5..1a99176 100644 --- a/src/XBeeFrame.cpp +++ b/src/XBeeFrame.cpp @@ -141,8 +141,6 @@ void Frame::Rearrange_Corrupted_Header() } -<<<<<<< HEAD -======= //***************************************************************************** char Frame::Get_Message_Type() { @@ -150,7 +148,6 @@ char Frame::Get_Message_Type() } ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 } diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp index 56a1760..525e75e 100644 --- a/src/XMLConfigParser.cpp +++ b/src/XMLConfigParser.cpp @@ -23,11 +23,7 @@ XMLConfigParser::~XMLConfigParser() //***************************************************************************** bool XMLConfigParser::Load_Config() { -<<<<<<< HEAD - const std::string FILE_NAME = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/XBee_Config.xml"; -======= const std::string FILE_NAME = "/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml"; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 if (Check_Config_File_Exists(FILE_NAME)) { diff --git a/src/Xbee.cpp b/src/Xbee.cpp index c7a375a..496d531 100644 --- a/src/Xbee.cpp +++ b/src/Xbee.cpp @@ -17,11 +17,7 @@ int main(int argc, char* argv[]) Mist::Xbee::CommunicationManager communication_manager; const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command. -<<<<<<< HEAD - const std::size_t baud_rate = 115200; // TO DO Can be introduced as command. -======= const std::size_t baud_rate = 230400; // TO DO Can be introduced as command. ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE; Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode = @@ -38,12 +34,7 @@ int main(int argc, char* argv[]) running_mode = Mist::Xbee::CommunicationManager::RUNNING_MODE::SWARM; } } -<<<<<<< HEAD - - -======= ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 if (communication_manager.Init(device, baud_rate)) communication_manager.Run(drone_type, running_mode); } From a55662ff3e27d0ed77a73035843526e1c3ed4875 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 17 Feb 2017 16:41:50 -0500 Subject: [PATCH 71/91] merge conflict fix --- CMakeLists.txt | 20 +---------- include/CommunicationManager.h | 60 --------------------------------- include/MultithreadingDeque.hpp | 4 --- include/SerialDevice.h | 12 ------- include/XBeeFrame.h | 7 ---- 5 files changed, 1 insertion(+), 102 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ae971cb..a4fb046 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,32 +53,19 @@ include_directories( ) -<<<<<<< HEAD -add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp) -target_link_libraries(xbee_mav ${catkin_LIBRARIES}) -add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) -target_link_libraries(config ${catkin_LIBRARIES}) -======= add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) target_link_libraries(xbee_mav ${catkin_LIBRARIES}) #add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) #target_link_libraries(config ${catkin_LIBRARIES}) ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 #add_executable(test_controller src/TestController.cpp) #target_link_libraries(test_controller ${catkin_LIBRARIES}) -<<<<<<< HEAD -#add_executable(test_buzz src/TestBuzz.cpp) -#target_link_libraries(test_buzz ${catkin_LIBRARIES}) -======= + add_executable(test_buzz src/TestBuzz.cpp) target_link_libraries(test_buzz ${catkin_LIBRARIES}) ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 - - ############# ## Install ## @@ -89,9 +76,4 @@ target_link_libraries(test_buzz ${catkin_LIBRARIES}) ############# ## Testing ## ############# -<<<<<<< HEAD - - -======= ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index cfa0da1..1bbf6bb 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -1,10 +1,6 @@ /* CommunicationManager.h -- Communication Manager class for XBee: Handles all communications with other ROS nodes -<<<<<<< HEAD - and the serial port -- */ -======= and the serial port -- */ ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 /* ------------------------------------------------------------------------- */ /* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ /* (aymen.soussia@gmail.com) */ @@ -20,18 +16,9 @@ #include #include -<<<<<<< HEAD -#include"SerialDevice.h" - -#define MESSAGE_CONSTANT 238 -#define ACK_MESSAGE_CONSTANT 911 -#define XBEE_MESSAGE_CONSTANT 586782343 -#define XBEE_STOP_TRANSMISSION 4355356352 -======= #include"PacketsHandler.h" #include"SerialDevice.h" ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 namespace Mist { @@ -72,30 +59,14 @@ private: void Run_In_Solo_Mode(DRONE_TYPE drone_type); void Run_In_Swarm_Mode(); -<<<<<<< HEAD - void Generate_Transmit_Request_Frame( - const char* const message, - std::string* frame, - int tot, -======= /*void Generate_Transmit_Request_Frame( const char* const message, std::string* frame, ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 const unsigned char frame_ID = static_cast(0x01), const std::string& destination_adssress = "000000000000FFFF", const std::string& short_destination_adress = "FFFF", const std::string& broadcast_radius = "00", -<<<<<<< HEAD - const std::string& options = "00"); - void Check_In_Messages_and_Transfer_To_Topics(); - void Display_Init_Communication_Failure(); - void Convert_HEX_To_Bytes(const std::string& HEX_data, - std::string* converted_data); - void Calculate_and_Append_Checksum(std::string* frame); - void Add_Length_and_Start_Delimiter(std::string* frame); -======= const std::string& options = "00");*/ //void Check_In_Messages_and_Transfer_To_Topics(); void Display_Init_Communication_Failure(); @@ -103,7 +74,6 @@ private: //std::string* converted_data); //void Calculate_and_Append_Checksum(std::string* frame); //void Add_Length_and_Start_Delimiter(std::string* frame); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 void Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg); void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type, @@ -111,12 +81,6 @@ private: bool Serve_Flight_Controller(mavros_msgs::CommandInt:: Request& request, mavros_msgs::CommandInt::Response& response); void Check_In_Messages_and_Transfer_To_Server(); -<<<<<<< HEAD - unsigned short Caculate_Checksum(std::string* frame); - void Send_multi_msg(); - Mist::Xbee::SerialDevice serial_device_; - Thread_Safe_Deque* in_messages_; -======= void Process_In_Standard_Messages(); void Process_In_Acks_and_Pings(); void Process_In_Fragments(); @@ -130,36 +94,12 @@ private: Thread_Safe_Deque in_Acks_and_Pings_; Thread_Safe_Deque command_responses_; Thread_Safe_Deque in_packets_; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 ros::NodeHandle node_handle_; ros::Subscriber mavlink_subscriber_; ros::Publisher mavlink_publisher_; ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; -<<<<<<< HEAD - /*No of robots*/ - int no_of_dev; - int device_id; - /*Vector msgs*/ - std::map< std::size_t, std::shared_ptr > multi_msgs_receive; - std::vector multi_msgs_send_dict; - /*Sending param*/ - uint16_t sending_chunk_no, Sender_cur_checksum; - std::map< uint16_t, uint16_t > ack_received_dict; - //std::vector multi_msgs_send_counter; - //std::vector multi_msgs_sender; - /*Receiving param*/ - uint16_t receiver_cur_checksum; - uint16_t counter; //After implementation change this to vector.size() - uint16_t receiveing_cur_totalsize; - uint16_t steps; - //uint16_t multi_msg_size; - uint64_t message_obtmulti[600]; - //int test_1; - //struct timeval t1, t2; -======= std::shared_ptr service_thread_; // TO DO delete !? ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 }; diff --git a/include/MultithreadingDeque.hpp b/include/MultithreadingDeque.hpp index 6d0e80d..ea9aa6a 100644 --- a/include/MultithreadingDeque.hpp +++ b/include/MultithreadingDeque.hpp @@ -36,11 +36,7 @@ public: //**************************************************************************** -<<<<<<< HEAD - void Push_Pack(const _T& new_data) -======= void Push_Back(const _T& new_data) ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 { std::lock_guard guard(mutex_); deque_.push_back(new_data); diff --git a/include/SerialDevice.h b/include/SerialDevice.h index 0012c13..25333cf 100644 --- a/include/SerialDevice.h +++ b/include/SerialDevice.h @@ -25,9 +25,6 @@ namespace Xbee { -<<<<<<< HEAD -typedef MultithreadingDeque> Thread_Safe_Deque; -======= struct Out_Packet_S { uint8_t packet_ID_; @@ -36,7 +33,6 @@ struct Out_Packet_S typedef MultithreadingDeque> Thread_Safe_Deque; typedef MultithreadingDeque Thread_Safe_Deque_Of_Vectors; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 //***************************************************************************** @@ -50,9 +46,6 @@ public: void Send_Frame(const std::string& frame); void Run_Service(); void Stop_Service(); -<<<<<<< HEAD - Thread_Safe_Deque* Get_In_Messages_Pointer(); -======= void Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages, Thread_Safe_Deque* in_fragments, Thread_Safe_Deque* in_Acks_and_Pings, @@ -60,7 +53,6 @@ public: bool Is_IO_Service_Stopped(); // TO DO delete this function void Reset_IO_Service(); // TO DO delete this function void Close_Serial_Port(); ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 private: @@ -92,14 +84,10 @@ private: boost::asio::io_service io_service_; boost::asio::serial_port serial_port_; std::deque out_messages_; -<<<<<<< HEAD - Thread_Safe_Deque in_messages_; -======= Thread_Safe_Deque* in_std_messages_; Thread_Safe_Deque* in_fragments_; Thread_Safe_Deque* in_Acks_and_Pings_; Thread_Safe_Deque* command_responses_; ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 Mist::Xbee::Frame current_frame_; unsigned int FRAME_TYPE_KEYS[REMOTE_AT_COMMAND_RESPONSE + 1]; }; diff --git a/include/XBeeFrame.h b/include/XBeeFrame.h index c7073b0..50ed2b3 100644 --- a/include/XBeeFrame.h +++ b/include/XBeeFrame.h @@ -27,11 +27,7 @@ public: ~Frame(); enum {FRAME_HEADER_LENGTH = 4}; -<<<<<<< HEAD - enum {MAX_FRAME_BODY_LENGTH = 280}; // TO DO check value -======= enum {MAX_FRAME_BODY_LENGTH = 270}; // TO DO check value ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 const char* Get_Frame_Data() const; char* Get_Frame_Data(); @@ -43,10 +39,7 @@ public: std::size_t Get_Frame_Type() const; int Get_Start_Delimiter_Position(); void Rearrange_Corrupted_Header(); -<<<<<<< HEAD -======= char Get_Message_Type(); // TO DO const !? ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 private: From aa5c394722e2149396bf88f990a55d3cce825525 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 17 Feb 2017 16:50:38 -0500 Subject: [PATCH 72/91] launch file conflict correction --- launch/xbeemav.launch | 4 ---- 1 file changed, 4 deletions(-) diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch index e2b9730..060dac3 100644 --- a/launch/xbeemav.launch +++ b/launch/xbeemav.launch @@ -7,10 +7,6 @@ -<<<<<<< HEAD - -======= ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 From 0c590a7d3ac736c1e81d002dd87ae88b7968bd9e Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 17 Feb 2017 17:00:38 -0500 Subject: [PATCH 73/91] hard coded data file locatoin correction --- src/PacketsHandler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 94c6525..1cc0c1c 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -468,7 +468,7 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint //***************************************************************************** bool PacketsHandler::Load_Database_Addresses() { - const std::string FILE_PATH = "/home/aymen/catkin_ws/src/xbee_ros_node/Resources/database.xml"; + const std::string FILE_PATH = "../ROS_WS/src/xbee_ros_node/Resources/database.xml"; if (!boost::filesystem::exists(FILE_PATH)) { From 37d8d64e6af2c4b61084b27e273c7aad7dab3426 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Fri, 17 Feb 2017 17:05:45 -0500 Subject: [PATCH 74/91] data base path correction --- src/PacketsHandler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 1cc0c1c..61baac1 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -468,7 +468,7 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint //***************************************************************************** bool PacketsHandler::Load_Database_Addresses() { - const std::string FILE_PATH = "../ROS_WS/src/xbee_ros_node/Resources/database.xml"; + const std::string FILE_PATH = "~/ROS_WS/src/xbeemav/Resources/database.xml"; if (!boost::filesystem::exists(FILE_PATH)) { From 8213e8c8f0c8ebb8e85789f9c471b2268a0fe7ca Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sat, 18 Feb 2017 17:32:25 -0500 Subject: [PATCH 75/91] xbee address fixes in data base file --- Resources/database.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Resources/database.xml b/Resources/database.xml index be63e56..b64a7a8 100644 --- a/Resources/database.xml +++ b/Resources/database.xml @@ -2,8 +2,8 @@ 0013A20040D8CA1E - 0013A200415278B8 - 0013A2004103B363 + 0013A200415A9DDF + 0013A200415A9DDE 0013A200415278AD 0013A2004103B356 0013A200415278B7 From 0d5de6d487bb63e787b57d87b4dc0465bc928e4d Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sat, 18 Feb 2017 18:33:13 -0500 Subject: [PATCH 76/91] hardoded location for database fix --- src/PacketsHandler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 61baac1..b219a9b 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -468,7 +468,7 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint //***************************************************************************** bool PacketsHandler::Load_Database_Addresses() { - const std::string FILE_PATH = "~/ROS_WS/src/xbeemav/Resources/database.xml"; + const std::string FILE_PATH = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/database.xml"; if (!boost::filesystem::exists(FILE_PATH)) { From 0bafbed48d745c32a98147cdd1963717a6d57794 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sat, 18 Feb 2017 22:42:55 -0500 Subject: [PATCH 77/91] addition of debug prints --- src/CommunicationManager.cpp | 2 +- src/PacketsHandler.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 3012b2f..bda82f4 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -427,7 +427,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { - std::cout << "Received Message From Buzz" << std::endl; // TO DO delete + //std::cout << "Received Message From Buzz" << std::endl; // TO DO delete packets_handler_.Handle_Mavlink_Message(mavlink_msg); } diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index b219a9b..0bd0ed9 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -106,7 +106,7 @@ void PacketsHandler::Handle_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr fragmented_packet->at(i)->append(serialized_packet->c_str() + offset, NBR_of_bytes); offset += NBR_of_bytes; } - + std::cout << "[Debug: ] Multi packets received from buzz" << std::endl; out_packets_.Push_Back({mavlink_msg->msgid, fragmented_packet}); } else if (serialized_packet->size() < XBEE_NETWORK_MTU) @@ -126,7 +126,7 @@ void PacketsHandler::Process_Fragment(std::shared_ptr fragment) uint16_t offset = static_cast( static_cast(static_cast(fragment->at(4))) << 8 | static_cast(static_cast(fragment->at(5)))); - + std::cout << "[Debug: ] Fragment received with id"<< fragment_ID<< std::endl; assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); if (assembly_map_it_ != packets_assembly_map_.end()) @@ -415,7 +415,7 @@ void PacketsHandler::Process_Out_Packets() { Process_Out_Standard_Messages(); out_packet = out_packets_.Pop_Front(); - + std::cout << "Multi packets sending" << std::endl; Send_Packet(out_packet); } } From 5907c34069470fac8f50029a7dce20a6c7501d66 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sat, 18 Feb 2017 23:32:14 -0500 Subject: [PATCH 78/91] debug --- src/PacketsHandler.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 0bd0ed9..a71eb24 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -106,7 +106,7 @@ void PacketsHandler::Handle_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr fragmented_packet->at(i)->append(serialized_packet->c_str() + offset, NBR_of_bytes); offset += NBR_of_bytes; } - std::cout << "[Debug: ] Multi packets received from buzz" << std::endl; + std::cout << "[Debug: ] Multi packets received from buzz with framgents: "<msgid, fragmented_packet}); } else if (serialized_packet->size() < XBEE_NETWORK_MTU) @@ -126,7 +126,7 @@ void PacketsHandler::Process_Fragment(std::shared_ptr fragment) uint16_t offset = static_cast( static_cast(static_cast(fragment->at(4))) << 8 | static_cast(static_cast(fragment->at(5)))); - std::cout << "[Debug: ] Fragment received with id"<< fragment_ID<< std::endl; + std::cout << "[Debug: ] Fragment received with id"<< (int)fragment_ID<< std::endl; assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); if (assembly_map_it_ != packets_assembly_map_.end()) From db37ca34d1d1fa3811bf1d394f9444cefea8fa51 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 19 Feb 2017 23:31:42 -0500 Subject: [PATCH 79/91] addition of Robot id publisher --- include/CommunicationManager.h | 4 +++- include/PacketsHandler.h | 3 ++- src/CommunicationManager.cpp | 5 ++++- src/PacketsHandler.cpp | 3 +++ 4 files changed, 12 insertions(+), 3 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 1bbf6bb..8284344 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -10,7 +10,7 @@ #include #include - +#include #include #include #include @@ -97,8 +97,10 @@ private: ros::NodeHandle node_handle_; ros::Subscriber mavlink_subscriber_; ros::Publisher mavlink_publisher_; + ros::Publisher Robot_Id_Publisher_; ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; + std_msgs::UInt8 device_id_out; std::shared_ptr service_thread_; // TO DO delete !? }; diff --git a/include/PacketsHandler.h b/include/PacketsHandler.h index a450350..178cea9 100644 --- a/include/PacketsHandler.h +++ b/include/PacketsHandler.h @@ -57,7 +57,7 @@ public: void Delete_Packets_With_Time_Out(); void Deserialize_Mavlink_Message(const char * bytes, mavros_msgs::Mavlink* mavlink_msg, const std::size_t msg_size); - + uint8_t get_device_id(); private: @@ -116,6 +116,7 @@ private: const unsigned char frame_ID = static_cast(0x01)); + struct On_Line_Node_S { bool received_hole_packet_; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index bda82f4..1959db8 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -157,6 +157,9 @@ void CommunicationManager::Run_In_Swarm_Mode() { mavlink_publisher_ = node_handle_.advertise( in_messages_topic.c_str(), 1000); + Robot_Id_Publisher_= node_handle_.advertise( + "/device_id_xbee_", 1000); + device_id_out.data = packets_handler_.get_device_id(); success_2 = true; } else @@ -165,9 +168,9 @@ void CommunicationManager::Run_In_Swarm_Mode() if (success_1 && success_2) { ros::Rate loop_rate(LOOP_RATE); - while (ros::ok()) { + Robot_Id_Publisher_.publish(device_id_out); Process_In_Standard_Messages(); Process_In_Fragments(); Process_In_Acks_and_Pings(); diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index a71eb24..bbbd91f 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -771,6 +771,9 @@ void PacketsHandler::Generate_AT_Command(const char* command, Add_Length_and_Start_Delimiter(frame); } +uint8_t PacketsHandler::get_device_id(){ +return device_address_; +} } From 9177700c2662b58fb39c867e39c9ec8fdbb2aae9 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Tue, 21 Feb 2017 19:27:01 -0500 Subject: [PATCH 80/91] some crash fixes --- src/CommunicationManager.cpp | 2 +- src/PacketsHandler.cpp | 75 +++++++++++++++++------------------- 2 files changed, 36 insertions(+), 41 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 1959db8..1271f89 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -430,7 +430,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { - //std::cout << "Received Message From Buzz" << std::endl; // TO DO delete + std::cout << "Received Message From Buzz" << std::endl; // TO DO delete packets_handler_.Handle_Mavlink_Message(mavlink_msg); } diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index bbbd91f..4b0cb45 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -48,8 +48,6 @@ bool PacketsHandler::Init(SerialDevice* serial_device, if (!Load_Database_Addresses()) return false; - // TO DO node dicov - Send_SL_and_SH_Commands(); in_packets_ = in_packets; @@ -106,7 +104,7 @@ void PacketsHandler::Handle_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr fragmented_packet->at(i)->append(serialized_packet->c_str() + offset, NBR_of_bytes); offset += NBR_of_bytes; } - std::cout << "[Debug: ] Multi packets received from buzz with framgents: "<msgid, fragmented_packet}); } else if (serialized_packet->size() < XBEE_NETWORK_MTU) @@ -126,7 +124,7 @@ void PacketsHandler::Process_Fragment(std::shared_ptr fragment) uint16_t offset = static_cast( static_cast(static_cast(fragment->at(4))) << 8 | static_cast(static_cast(fragment->at(5)))); - std::cout << "[Debug: ] Fragment received with id"<< (int)fragment_ID<< std::endl; + assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); if (assembly_map_it_ != packets_assembly_map_.end()) @@ -166,7 +164,7 @@ void PacketsHandler::Process_Fragment(std::shared_ptr fragment) //***************************************************************************** -void PacketsHandler::Insert_Fragment_In_Packet_Buffer(std::string* buffer, const char* fragment, const uint16_t offset, const std::size_t length) // TO DO delete length +void PacketsHandler::Insert_Fragment_In_Packet_Buffer(std::string* buffer, const char* fragment, const uint16_t offset, const std::size_t length) { if (offset >= buffer->size()) buffer->append(fragment + FRAGMENT_HEADER_SIZE, length - FRAGMENT_HEADER_SIZE); @@ -176,20 +174,22 @@ void PacketsHandler::Insert_Fragment_In_Packet_Buffer(std::string* buffer, const //***************************************************************************** -void PacketsHandler::Process_Ping_Or_Acknowledgement(std::shared_ptr frame) // TO DO change useless std::shared_ptr frame args to ->c_str() +void PacketsHandler::Process_Ping_Or_Acknowledgement(std::shared_ptr frame) { uint8_t packet_ID = frame->at(12); uint8_t node_8_bits_address = frame->at(13); if (frame->at(11) == 'A') { - /*std::lock_guard guard(mutex_); + mutex_.lock(); connected_network_nodes_it_ = connected_network_nodes_.find(node_8_bits_address); if (connected_network_nodes_it_ == connected_network_nodes_.end()) { + mutex_.unlock(); Add_New_Node_To_Network(node_8_bits_address); + mutex_.lock(); connected_network_nodes_it_ = connected_network_nodes_.find(node_8_bits_address); } @@ -202,7 +202,9 @@ void PacketsHandler::Process_Ping_Or_Acknowledgement(std::shared_ptrsize(); i++) fragments_indexes_to_transmit_.insert(frame->at(i)); } - }*/ + } + + mutex_.unlock(); } else if (frame->at(11) == 'P') { @@ -247,7 +249,7 @@ void PacketsHandler::Process_Ping_Or_Acknowledgement(std::shared_ptrSend_Frame(Ack_frame); usleep(delay_interframes_); @@ -280,9 +282,9 @@ void PacketsHandler::Process_Command_Response(const char* command_response) uint64_t new_node_address = 0; std::lock_guard guard(mutex_); - if (command_response[2] == static_cast(0)) // TO DO check this + if (command_response[2] == static_cast(0)) { - new_node_address = static_cast( // TO DO correct this + new_node_address = static_cast( static_cast(command_response[5]) << 56 | static_cast(command_response[6]) << 48 | static_cast(command_response[7]) << 40 | @@ -302,7 +304,7 @@ void PacketsHandler::Process_Command_Response(const char* command_response) } else if (command_response[0] == 'S' && command_response[1] == 'H') { - if (command_response[2] == static_cast(0)) // TO DO check this + if (command_response[2] == static_cast(0)) { loaded_SH_ = true; @@ -312,7 +314,7 @@ void PacketsHandler::Process_Command_Response(const char* command_response) } else if (command_response[0] == 'S' && command_response[1] == 'L') { - if (command_response[2] == static_cast(0)) // TO DO check this + if (command_response[2] == static_cast(0)) { loaded_SL_ = true; @@ -352,7 +354,7 @@ void PacketsHandler::Serialize_Mavlink_Message(const mavros_msgs::Mavlink::Const //***************************************************************************** void PacketsHandler::Insert_Fragment_Header(bool single_fragment, std::shared_ptr fragment, const uint8_t packet_ID, - const uint8_t fragment_ID, const uint16_t offset) + const uint8_t fragment_ID, const uint16_t offset) { if (!single_fragment) { @@ -415,7 +417,7 @@ void PacketsHandler::Process_Out_Packets() { Process_Out_Standard_Messages(); out_packet = out_packets_.Pop_Front(); - std::cout << "Multi packets sending" << std::endl; + Send_Packet(out_packet); } } @@ -429,23 +431,19 @@ void PacketsHandler::Send_Packet(const Out_Packet_S& packet) std::vector frames; Init_Network_Nodes_For_New_Transmission(packet.packet_ID_, &frames, packet.packet_buffer_); + current_processed_packet_ID_ = packet.packet_ID_; - std::clock_t elapsed_time = std::clock(); - - //while (NBR_of_transmission <= optimum_MT_NBR_ && !Check_Packet_Transmitted_To_All_Nodes()) - //{ - //NBR_of_transmission++; + std::clock_t start_time = std::clock(); + while (std::clock() - start_time <= MAX_TIME_TO_SEND_PACKET && !Check_Packet_Transmitted_To_All_Nodes()) + { + NBR_of_transmission++; Transmit_Fragments(frames); - - // TO DO usleep(flow_control_time) - // TO DO clear fragments_IDs_to_transmit_set Send_End_Of_Packet_Ping(packet.packet_ID_, packet.packet_buffer_->size()); - // TO DO sleep after ping - //} + usleep(500 * 1000); + } - elapsed_time = std::clock() - elapsed_time; - Adjust_Optimum_MT_Number(elapsed_time, NBR_of_transmission); + Adjust_Optimum_MT_Number(std::clock() - start_time, NBR_of_transmission); } @@ -470,6 +468,7 @@ bool PacketsHandler::Load_Database_Addresses() { const std::string FILE_PATH = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/database.xml"; + if (!boost::filesystem::exists(FILE_PATH)) { std::cout << "database.xml Not Found." << std::endl; @@ -574,7 +573,7 @@ void PacketsHandler::Init_Network_Nodes_For_New_Transmission(const uint8_t packe std::lock_guard guard(mutex_); fragments_indexes_to_transmit_.clear(); - for (auto it : connected_network_nodes_) + for (auto& it : connected_network_nodes_) it.second = false; current_processed_packet_ID_ = packet_ID; @@ -598,23 +597,19 @@ void PacketsHandler::Transmit_Fragments(const std::vector& frames) serial_device_->Send_Frame(frames.at(index)); usleep(delay_interframes_); } - + + fragments_indexes_to_transmit_.clear(); } //***************************************************************************** void PacketsHandler::Adjust_Optimum_MT_Number(const std::clock_t elapsed_time, - const std::size_t NBR_of_transmission) -{ - if (NBR_of_transmission < optimum_MT_NBR_) - optimum_MT_NBR_ = NBR_of_transmission; - else if (NBR_of_transmission == optimum_MT_NBR_) - { - std::lock_guard guard(mutex_); - - if (elapsed_time <= MAX_TIME_TO_SEND_PACKET && fragments_indexes_to_transmit_.size() > 0) - optimum_MT_NBR_++; - } + const std::size_t NBR_of_transmission) +{ + if (NBR_of_transmission > 1 && elapsed_time < MAX_TIME_TO_SEND_PACKET) + delay_interframes_ += 5000; + else if (NBR_of_transmission == 1 && delay_interframes_ >= 5000) + delay_interframes_ -= 5000; } From 0c0f41740672aa92e03670acc90d49068c63d49a Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Tue, 21 Feb 2017 19:57:34 -0500 Subject: [PATCH 81/91] removed debug prints --- CMakeLists.txt | 4 ++-- Resources/XBee_Config.xml | 8 ++------ Resources/database.xml | 7 +++++-- src/CommunicationManager.cpp | 2 +- src/XMLConfigParser.cpp | 3 ++- 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a4fb046..927d79a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -57,8 +57,8 @@ include_directories( add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) target_link_libraries(xbee_mav ${catkin_LIBRARIES}) -#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) -#target_link_libraries(config ${catkin_LIBRARIES}) +add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) +target_link_libraries(config ${catkin_LIBRARIES}) #add_executable(test_controller src/TestController.cpp) #target_link_libraries(test_controller ${catkin_LIBRARIES}) diff --git a/Resources/XBee_Config.xml b/Resources/XBee_Config.xml index da8ec54..d84901d 100644 --- a/Resources/XBee_Config.xml +++ b/Resources/XBee_Config.xml @@ -5,10 +5,10 @@ 00FFFFFFFFFFFF7FFF 1 5FFF - 3 + 1 4 A - 0 + 2 0 7 1 @@ -22,11 +22,7 @@ 11 0 -<<<<<<< HEAD - 7 -======= 8 ->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1 0 0 3 diff --git a/Resources/database.xml b/Resources/database.xml index b64a7a8..d01e33f 100644 --- a/Resources/database.xml +++ b/Resources/database.xml @@ -2,8 +2,8 @@ 0013A20040D8CA1E - 0013A200415A9DDF - 0013A200415A9DDE + 0013A200415278B8 + 0013A2004103B363 0013A200415278AD 0013A2004103B356 0013A200415278B7 @@ -11,4 +11,7 @@ 0013A2004098A7BA 0013A200415A9DDD 0013A200415A9DE4 + 0013A200415A9DDF + 0013A200415A9DDE + diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 1271f89..1959db8 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -430,7 +430,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() // inline void CommunicationManager::Send_Mavlink_Message_Callback( const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) { - std::cout << "Received Message From Buzz" << std::endl; // TO DO delete + //std::cout << "Received Message From Buzz" << std::endl; // TO DO delete packets_handler_.Handle_Mavlink_Message(mavlink_msg); } diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp index 525e75e..9627889 100644 --- a/src/XMLConfigParser.cpp +++ b/src/XMLConfigParser.cpp @@ -7,6 +7,7 @@ #include "XMLConfigParser.h" + //***************************************************************************** XMLConfigParser::XMLConfigParser(): config_loaded_successfully_(false) @@ -23,7 +24,7 @@ XMLConfigParser::~XMLConfigParser() //***************************************************************************** bool XMLConfigParser::Load_Config() { - const std::string FILE_NAME = "/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml"; + const std::string FILE_NAME = "/home/vivek/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml"; if (Check_Config_File_Exists(FILE_NAME)) { From 704341e50ce948c873b97f2b97c55a145aa2ad14 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Tue, 21 Feb 2017 19:59:22 -0500 Subject: [PATCH 82/91] removed config make --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 927d79a..a4fb046 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -57,8 +57,8 @@ include_directories( add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) target_link_libraries(xbee_mav ${catkin_LIBRARIES}) -add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) -target_link_libraries(config ${catkin_LIBRARIES}) +#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) +#target_link_libraries(config ${catkin_LIBRARIES}) #add_executable(test_controller src/TestController.cpp) #target_link_libraries(test_controller ${catkin_LIBRARIES}) From afca4863411a6c7d1968a9cb61092cdff5bcd690 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Wed, 1 Mar 2017 13:51:03 -0500 Subject: [PATCH 83/91] addition of new device in database --- Resources/database.xml | 1 + src/PacketsHandler.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/Resources/database.xml b/Resources/database.xml index d01e33f..3257dc9 100644 --- a/Resources/database.xml +++ b/Resources/database.xml @@ -13,5 +13,6 @@ 0013A200415A9DE4 0013A200415A9DDF 0013A200415A9DDE + 0013A200415A9DE8 diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 4b0cb45..4fab3c5 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -466,7 +466,7 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint //***************************************************************************** bool PacketsHandler::Load_Database_Addresses() { - const std::string FILE_PATH = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/database.xml"; + const std::string FILE_PATH = "/home/vivek/catkin_ws/src/xbee/Resources/database.xml"; if (!boost::filesystem::exists(FILE_PATH)) From e811425681332e065d47e0bf521699bf091b116e Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Wed, 1 Mar 2017 14:04:20 -0500 Subject: [PATCH 84/91] hardcoded link change --- src/PacketsHandler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 4fab3c5..4b0cb45 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -466,7 +466,7 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint //***************************************************************************** bool PacketsHandler::Load_Database_Addresses() { - const std::string FILE_PATH = "/home/vivek/catkin_ws/src/xbee/Resources/database.xml"; + const std::string FILE_PATH = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/database.xml"; if (!boost::filesystem::exists(FILE_PATH)) From 52ba435eccc373648930b1d34cade38b3dc5329c Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Wed, 1 Mar 2017 17:01:26 -0500 Subject: [PATCH 85/91] delay change --- src/CommunicationManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 1959db8..0e27167 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -48,7 +48,7 @@ bool CommunicationManager::Init( std::clock_t elapsed_time = std::clock(); bool device_ID_loaded = false; - while (std::clock() - elapsed_time <= 30000) + while (std::clock() - elapsed_time <= 300000) { Process_Command_Responses(); From a96b6abda55de759a81b92017f39266a11fd93ca Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sat, 1 Apr 2017 02:49:25 -0400 Subject: [PATCH 86/91] robot id service --- CMakeLists.txt | 4 ++-- Resources/XBee_Config.xml | 6 +++--- include/CommunicationManager.h | 7 +++++-- src/CommunicationManager.cpp | 18 +++++++++++++----- src/XMLConfigParser.cpp | 2 +- 5 files changed, 24 insertions(+), 13 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a4fb046..927d79a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -57,8 +57,8 @@ include_directories( add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) target_link_libraries(xbee_mav ${catkin_LIBRARIES}) -#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) -#target_link_libraries(config ${catkin_LIBRARIES}) +add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) +target_link_libraries(config ${catkin_LIBRARIES}) #add_executable(test_controller src/TestController.cpp) #target_link_libraries(test_controller ${catkin_LIBRARIES}) diff --git a/Resources/XBee_Config.xml b/Resources/XBee_Config.xml index d84901d..17284b1 100644 --- a/Resources/XBee_Config.xml +++ b/Resources/XBee_Config.xml @@ -2,13 +2,13 @@ - 00FFFFFFFFFFFF7FFF + 00FFFFFFFFFFF7FFFF 1 5FFF - 1 + 3 4 A - 2 + 0 0 7 1 diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 8284344..2e128cc 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -15,7 +15,8 @@ #include #include #include - +#include +#include #include"PacketsHandler.h" #include"SerialDevice.h" @@ -86,6 +87,7 @@ private: void Process_In_Fragments(); void Process_In_Packets(); void Process_Command_Responses(); + bool Get_ID(mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res); Mist::Xbee::SerialDevice serial_device_; Mist::Xbee::PacketsHandler packets_handler_; @@ -97,9 +99,10 @@ private: ros::NodeHandle node_handle_; ros::Subscriber mavlink_subscriber_; ros::Publisher mavlink_publisher_; - ros::Publisher Robot_Id_Publisher_; + //ros::Publisher Robot_Id_Publisher_; ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; + ros::ServiceServer Robot_Id_; std_msgs::UInt8 device_id_out; std::shared_ptr service_thread_; // TO DO delete !? }; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 0e27167..30bcc1d 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -143,7 +143,7 @@ void CommunicationManager::Run_In_Swarm_Mode() std::string in_messages_topic; bool success_1 = false; bool success_2 = false; - + Robot_Id_ = node_handle_.advertiseService("/Robot_ID_srv", &CommunicationManager::Get_ID, this); if (node_handle_.getParam("Xbee_In_From_Buzz", out_messages_topic)) { mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 1000, @@ -157,9 +157,9 @@ void CommunicationManager::Run_In_Swarm_Mode() { mavlink_publisher_ = node_handle_.advertise( in_messages_topic.c_str(), 1000); - Robot_Id_Publisher_= node_handle_.advertise( - "/device_id_xbee_", 1000); - device_id_out.data = packets_handler_.get_device_id(); + //Robot_Id_Publisher_= node_handle_.advertise( + // "/device_id_xbee_", 1000); + //device_id_out.data = packets_handler_.get_device_id(); success_2 = true; } else @@ -167,10 +167,11 @@ void CommunicationManager::Run_In_Swarm_Mode() if (success_1 && success_2) { + ros::Rate loop_rate(LOOP_RATE); while (ros::ok()) { - Robot_Id_Publisher_.publish(device_id_out); + //Robot_Id_Publisher_.publish(device_id_out); Process_In_Standard_Messages(); Process_In_Fragments(); Process_In_Acks_and_Pings(); @@ -544,6 +545,13 @@ void CommunicationManager::Process_Command_Responses() } } +bool CommunicationManager::Get_ID (mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res){ +mavros_msgs::ParamValue id; +id.integer=packets_handler_.get_device_id(); +res.value= id; +res.success=true; +return true; +} } diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp index 9627889..aed02f8 100644 --- a/src/XMLConfigParser.cpp +++ b/src/XMLConfigParser.cpp @@ -24,7 +24,7 @@ XMLConfigParser::~XMLConfigParser() //***************************************************************************** bool XMLConfigParser::Load_Config() { - const std::string FILE_NAME = "/home/vivek/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml"; + const std::string FILE_NAME = "/home/vivek/catkin_ws/src/xbee/Resources/XBee_Config.xml"; if (Check_Config_File_Exists(FILE_NAME)) { From 4234f895f8a42b05755497232fee32298a544b4b Mon Sep 17 00:00:00 2001 From: David St-Onge Date: Sun, 2 Apr 2017 14:18:50 -0400 Subject: [PATCH 87/91] extend status srv --- include/CommunicationManager.h | 5 ++--- src/CommunicationManager.cpp | 20 +++++++++++--------- 2 files changed, 13 insertions(+), 12 deletions(-) diff --git a/include/CommunicationManager.h b/include/CommunicationManager.h index 2e128cc..74dbfba 100644 --- a/include/CommunicationManager.h +++ b/include/CommunicationManager.h @@ -87,7 +87,7 @@ private: void Process_In_Fragments(); void Process_In_Packets(); void Process_Command_Responses(); - bool Get_ID(mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res); + bool Get_Param(mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res); Mist::Xbee::SerialDevice serial_device_; Mist::Xbee::PacketsHandler packets_handler_; @@ -99,10 +99,9 @@ private: ros::NodeHandle node_handle_; ros::Subscriber mavlink_subscriber_; ros::Publisher mavlink_publisher_; - //ros::Publisher Robot_Id_Publisher_; ros::ServiceClient mav_dji_client_; ros::ServiceServer mav_dji_server_; - ros::ServiceServer Robot_Id_; + ros::ServiceServer StatusSrv_; std_msgs::UInt8 device_id_out; std::shared_ptr service_thread_; // TO DO delete !? }; diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 30bcc1d..3f1156d 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -143,7 +143,7 @@ void CommunicationManager::Run_In_Swarm_Mode() std::string in_messages_topic; bool success_1 = false; bool success_2 = false; - Robot_Id_ = node_handle_.advertiseService("/Robot_ID_srv", &CommunicationManager::Get_ID, this); + StatusSrv_ = node_handle_.advertiseService("/xbee_status", &CommunicationManager::Get_Param, this); if (node_handle_.getParam("Xbee_In_From_Buzz", out_messages_topic)) { mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 1000, @@ -157,9 +157,6 @@ void CommunicationManager::Run_In_Swarm_Mode() { mavlink_publisher_ = node_handle_.advertise( in_messages_topic.c_str(), 1000); - //Robot_Id_Publisher_= node_handle_.advertise( - // "/device_id_xbee_", 1000); - //device_id_out.data = packets_handler_.get_device_id(); success_2 = true; } else @@ -171,7 +168,6 @@ void CommunicationManager::Run_In_Swarm_Mode() ros::Rate loop_rate(LOOP_RATE); while (ros::ok()) { - //Robot_Id_Publisher_.publish(device_id_out); Process_In_Standard_Messages(); Process_In_Fragments(); Process_In_Acks_and_Pings(); @@ -545,10 +541,16 @@ void CommunicationManager::Process_Command_Responses() } } -bool CommunicationManager::Get_ID (mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res){ -mavros_msgs::ParamValue id; -id.integer=packets_handler_.get_device_id(); -res.value= id; +bool CommunicationManager::Get_Param (mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res){ +mavros_msgs::ParamValue val; +if(req.param_id=="id"){ + val.integer=packets_handler_.get_device_id(); +} else if(req.param_id=="rssi"){ + val.integer=-1; +} else if(req.param_id=="pl"){ + val.integer=-1; +} +res.value= val; res.success=true; return true; } From 4e6a2a7d438c34815d4c2f1eaa124979a6749e0d Mon Sep 17 00:00:00 2001 From: FranckHumanitas Date: Tue, 11 Apr 2017 13:27:16 +0000 Subject: [PATCH 88/91] couple of dependency fixes --- CMakeLists.txt | 3 ++- package.xml | 3 +++ src/TestBuzz.cpp | 2 +- 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 927d79a..dc508d3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,6 +11,7 @@ set (BOOST_INCLUDEDIR "/usr/include") find_package(catkin REQUIRED COMPONENTS roscpp std_msgs + mavros_msgs ) ## System dependencies are found with CMake's conventions @@ -37,7 +38,7 @@ find_package(catkin REQUIRED COMPONENTS catkin_package( INCLUDE_DIRS include # LIBRARIES xbee_ros_node - CATKIN_DEPENDS roscpp std_msgs + CATKIN_DEPENDS roscpp std_msgs mavros_msgs # DEPENDS system_lib ) diff --git a/package.xml b/package.xml index d009ff0..2d1f3c1 100644 --- a/package.xml +++ b/package.xml @@ -13,6 +13,9 @@ std_msgs roscpp std_msgs + + mavros_msgs + mavros_msgs diff --git a/src/TestBuzz.cpp b/src/TestBuzz.cpp index 5341620..3bcffb9 100644 --- a/src/TestBuzz.cpp +++ b/src/TestBuzz.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include From 05e45dd8fccff10bdb9487ee868dfb5784299c2d Mon Sep 17 00:00:00 2001 From: dave Date: Thu, 20 Apr 2017 16:36:36 -0400 Subject: [PATCH 89/91] fix config node name --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index dc508d3..49d6148 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -58,8 +58,8 @@ include_directories( add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) target_link_libraries(xbee_mav ${catkin_LIBRARIES}) -add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) -target_link_libraries(config ${catkin_LIBRARIES}) +add_executable(xbee_config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) +target_link_libraries(xbee_config ${catkin_LIBRARIES}) #add_executable(test_controller src/TestController.cpp) #target_link_libraries(test_controller ${catkin_LIBRARIES}) From 50095af0f1167e0007132a3e97b5b0b7ce7ffb42 Mon Sep 17 00:00:00 2001 From: CIM Husky Date: Wed, 20 Sep 2017 12:57:20 -0400 Subject: [PATCH 90/91] re-add param for database and xbee port --- CMakeLists.txt | 6 +++++- launch/xbeemav.launch | 2 ++ src/PacketsHandler.cpp | 7 +++---- src/Xbee.cpp | 19 +++++++++++++++---- 4 files changed, 25 insertions(+), 9 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 49d6148..0bd4af3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -45,7 +45,11 @@ catkin_package( ########### ## Build ## ########### - +## Add definitions +add_definitions( + -DDATABASE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/Resources/database.xml" + -DXBEE_CONFIG_PATH="${CMAKE_CURRENT_SOURCE_DIR}/Resources/XBee_Config.xml" +) ## Specify additional locations of header files include_directories( diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch index 060dac3..4d789ce 100644 --- a/launch/xbeemav.launch +++ b/launch/xbeemav.launch @@ -9,4 +9,6 @@ + + diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp index 4b0cb45..f662614 100644 --- a/src/PacketsHandler.cpp +++ b/src/PacketsHandler.cpp @@ -466,12 +466,11 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint //***************************************************************************** bool PacketsHandler::Load_Database_Addresses() { - const std::string FILE_PATH = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/database.xml"; - - + const std::string FILE_PATH = DATABASE_PATH; + if (!boost::filesystem::exists(FILE_PATH)) { - std::cout << "database.xml Not Found." << std::endl; + std::cout << "database.xml Not Found with path: " << FILE_PATH << std::endl; return false; } diff --git a/src/Xbee.cpp b/src/Xbee.cpp index 496d531..53b2669 100644 --- a/src/Xbee.cpp +++ b/src/Xbee.cpp @@ -14,10 +14,11 @@ int main(int argc, char* argv[]) try { ros::init(argc, argv, "xbee"); + ros::NodeHandle node_handle; Mist::Xbee::CommunicationManager communication_manager; - const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command. - const std::size_t baud_rate = 230400; // TO DO Can be introduced as command. + std::string device; + double baud_rate; Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE; Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode = @@ -34,8 +35,18 @@ int main(int argc, char* argv[]) running_mode = Mist::Xbee::CommunicationManager::RUNNING_MODE::SWARM; } } - - if (communication_manager.Init(device, baud_rate)) + if (!node_handle.getParam("USB_port", device)) + { + std::cout << "Failed to Get Topic Name: param 'USB_port' Not Found." << std::endl; + return EXIT_FAILURE; + } + + if (!node_handle.getParam("Baud_rate", baud_rate)) + { + std::cout << "Failed to Get Topic Name: param 'Baud_rate' Not Found." << std::endl; + return EXIT_FAILURE; + } + if (communication_manager.Init(device, static_cast(baud_rate))) communication_manager.Run(drone_type, running_mode); } catch (const std::exception& e) From 78da1ed74b1a4c13fe796ceffe59f233d286899e Mon Sep 17 00:00:00 2001 From: CIM Husky Date: Wed, 20 Sep 2017 13:19:53 -0400 Subject: [PATCH 91/91] fix xbee_config filename --- src/XMLConfigParser.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp index aed02f8..dfd527a 100644 --- a/src/XMLConfigParser.cpp +++ b/src/XMLConfigParser.cpp @@ -24,7 +24,7 @@ XMLConfigParser::~XMLConfigParser() //***************************************************************************** bool XMLConfigParser::Load_Config() { - const std::string FILE_NAME = "/home/vivek/catkin_ws/src/xbee/Resources/XBee_Config.xml"; + const std::string FILE_NAME = XBEE_CONFIG_PATH; if (Check_Config_File_Exists(FILE_NAME)) {

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