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services-ros1-xbee_mav
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lots of changes in communication for packets with reply

This commit is contained in:
vivek-shankar 2017-01-29 03:05:38 -05:00
parent 9911faf6e0
commit 5bbcc4c630
3 changed files with 262 additions and 129 deletions
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22
include/CommunicationManager.h
View File

@ -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<std::string> > multi_msgs;
std::vector<uint16_t> multi_msgs_available;
uint16_t cur_checksum;
uint16_t counter;
std::map< std::size_t, std::shared_ptr<std::string> > multi_msgs_receive;
std::vector<std::string> 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<uint16_t> multi_msgs_send_counter;
//std::vector<uint16_t> 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;
};

1
launch/xbeemav.launch
View File

@ -7,6 +7,7 @@
<!-- xmee_mav Topics and Services Names -->
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="No_of_dev" type="int" value="3" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
</launch>

368
src/CommunicationManager.cpp
View File

@ -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" <<device_id << std::endl;
if (success_1 && success_2)
{
@ -355,11 +372,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
uint16_t* header;
if (size_in_messages > 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 " ",
&current_int64);
header = u64_cvt_u16(current_int64);
//std::cout << "Received header" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
if(header[3]==1 && header[0]==0 && header[1]>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" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
if(header[3]==1 && header[1]>1 && header[2]==1){
for (std::size_t i = 1; i < in_message->size()-1; i++)
{
sscanf(in_message->c_str() + i, "%" PRIu64 " ",
&current_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:"<<cur_checksum<< std::endl;
if (multi_msgs.empty()){
//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) {
std::map< std::size_t, std::shared_ptr<std::string> >::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 " ",
&current_int64);
mavlink_msg.payload64.push_back(current_int64);
}
else{
multi_msgs.insert(make_pair(header[2], in_message));
counter++;
}
//std::cout << "multi msg counter" <<counter << std::endl;
/*If the total size of msg reached transfer to topic*/
if(counter==header[3]){
std::cout << "Single packet message received size"<<mavlink_msg.payload64.size()<< std::endl;
mavlink_publisher_.publish(mavlink_msg);
//delete[] header;
}
else if (header[3]>1 && header[1]>1){
/*multimsg received send ack msg*/
char temporary_buffer[20];
std::string frame;
std::cout << "Multi msg Received header " <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
if (multi_msgs_receive.empty()){
//std::cout << "first message" << std::endl;
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) ;
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) ;
sprintf(temporary_buffer, "%" PRIu64 " ",(uint64_t)ack_msg);
Generate_Transmit_Request_Frame(temporary_buffer, &frame);
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);
delete[] tmp_printer_16;
std::cout << "Send ACK for " <<tmp_printer_16[0]<<" "<<tmp_printer_16[1]<<" "<<tmp_printer_16[2]<<" "<<tmp_printer_16[3]<<" "<< std::endl;
/*tmp*/
std::map< std::size_t, std::shared_ptr<std::string> >::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" <<counter << std::endl;
/*If the total size of msg reached transfer to topic*/
if(counter==header[3]){
for(uint16_t i =1; i<=header[3];i++){
it = multi_msgs.find(i);
//std::cout<<"Transfering to topic chunk no. :"<<it->first << "Size of current map" <<it->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. :"<<it->first << "Size of current map" <<it->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 " ",
&current_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 " ",
&current_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 :" <<mavlink_msg.payload64.size() << std::endl;
mavlink_publisher_.publish(mavlink_msg);
multi_msgs.clear();
cur_checksum=0;
}
steps=0;
std::cout << "one multi message published in topic with size :" <<mavlink_msg.payload64.size() << std::endl;
mavlink_publisher_.publish(mavlink_msg);
multi_msgs_receive.clear();
receiver_cur_checksum=0;
}
steps=0;
}
}
delete[] header;
}
else if(header[0]==(uint16_t)ACK_MESSAGE_CONSTANT){
std::cout << "ACK Received header " <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
std::cout << "size of ack map before adding" << ack_received_dict.size()<< std::endl;
/*Ack message about a message packet find wheather that matches with your current expectation*/
if(header[1]==Sender_cur_checksum && header[2]== (sending_chunk_no+1)){
std::map< uint16_t, uint16_t >::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"<<std::endl;
}
else{
char temporary_buffer_check[6000];
for(std::size_t i=0; i<mavlink_msg->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" <<mavlink_msg->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:" <<check_sum << std::endl;
//temporary_buffer[MAX_BUFFER_SIZE]="";
frame="";
memset(temporary_buffer, 0, MAX_BUFFER_SIZE);
uint16_t* header_16 = u64_cvt_u16(header);
//std::cout << "Sent header" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
converted_bytes= sprintf(
temporary_buffer, "%" PRIu64 " ",
(uint64_t)header);
delete[] header_16;
for (std::size_t i =0; i<mavlink_msg->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):"<<mavlink_msg->payload64.at(i) << std::endl;
//std::cout << "Sent Frame in string"<<temporary_buffer<<std::endl;
}
if(cnt==10)
{ //std::cout << "Multi frame sent no:"<<number << std::endl;
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);
//std::cout << "Frame:"<<frame << std::endl;
//std::cout << "size of frame:"<<std::strlen(temporary_buffer)<< std::endl;
number++;
cnt=0;
frame = "";
//std::cout << "total:" <<total << std::endl;
header=0;
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" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
memset(temporary_buffer, 0, MAX_BUFFER_SIZE);
converted_bytes = sprintf(
temporary_buffer, "%" PRIu64 " ",
(uint64_t)header);
delete[] header_16;
/*Single frame message*/
if(mavlink_msg->payload64.size() <= MAX_NBR_OF_INT64){
for (std::size_t i =0; i<mavlink_msg->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):"<<mavlink_msg->payload64.at(i) << std::endl;
//std::cout << "Sent Frame in string"<<temporary_buffer<<std::endl;
}
//std::cout << "Single frame" << std::endl;
std::cout << "Single packet message sent size"<<mavlink_msg->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; i<mavlink_msg->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):"<<mavlink_msg->payload64.at(i) << std::endl;
//std::cout << "Sent Frame in string"<<temporary_buffer<<std::endl;
if(cnt==MAX_NBR_OF_INT64)
{
//std::cout << "Multi frame sent no:"<<number << std::endl;
Generate_Transmit_Request_Frame(temporary_buffer, &frame);
//std::S
multi_msgs_send_dict.push_back(frame);
//serial_device_.Send_Frame(frame);
/*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/
//usleep(1000);
//std::cout << "Frame:"<<frame << std::endl;
//std::cout << "size of frame:"<<std::strlen(temporary_buffer)<< std::endl;
number++;
cnt=0;
frame = "";
//std::cout << "total:" <<total << std::endl;
header=0;
header = (uint64_t) MESSAGE_CONSTANT | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
header_16 = u64_cvt_u16(header);
std::cout << "put header in dict" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
memset(temporary_buffer, 0, MAX_BUFFER_SIZE);
converted_bytes = sprintf(
temporary_buffer, "%" PRIu64 " ",
(uint64_t)header);
//delete[] header_16;
}
}
if(cnt!=MAX_NBR_OF_INT64 && cnt!=0){
Generate_Transmit_Request_Frame(temporary_buffer, &frame);
multi_msgs_send_dict.push_back(frame);
}
std::cout << "total size of multi msg dict after geting it from rosbuzz:" <<multi_msgs_send_dict.size() << std::endl;
/*Send the first message chunk*/
//serial_device_.Send_Frame(multi_msgs_send_dict[0]);
}
}
/*check for chunk to send, if multi chunk message present*/
/*first msg*/
/* if(sending_chunk_no==0 && !( multi_msgs_send_dict.empty() ) ){
serial_device_.Send_Frame(multi_msgs_send_dict.at(sending_chunk_no));
}
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){
sending_chunk_no++;
ack_received_dict.clear();
}
std::cout << "Sent frame no. " <<sending_chunk_no+1 << std::endl;
//uint64_t tmp_printer;
//std::cout<<"Current msg in string "<<multi_msgs_send_dict.at(sending_chunk_no)<< std::endl;
//sscanf(multi_msgs_send_dict.at(sending_chunk_no).c_str(), "%" PRIu64 " ",&tmp_printer);
//uint16_t* tmp_printer_16 =u64_cvt_u16(tmp_printer);
//std::cout << "Send header" <<tmp_printer_16[0]<<" "<<tmp_printer_16[1]<<" "<<tmp_printer_16[2]<<" "<<tmp_printer_16[3]<<" "<< std::endl;
//delete[] tmp_printer_16;
serial_device_.Send_Frame(multi_msgs_send_dict.at(sending_chunk_no));
}
else{
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);
}
}
//}
}