From 1e6afbf00450f50bc72474076905b09d81a94c8a Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Sun, 29 Jan 2017 18:38:09 -0500
Subject: [PATCH] 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 : "<<time_spent<<std::endl;	
 				test_1=1;
 				
-			}
+			}*/
 			if(header[0]==(uint16_t)MESSAGE_CONSTANT){
 				if(header[3]==1 && header[1]>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 " <<header[0]<<"  "<<header[1]<<"  "<<header[2]<<"  "<<header[3]<<"  "<< std::endl;
-					if (multi_msgs_receive.empty()){
+					if (header[2]==1){
 					//std::cout << "first message" << std::endl;
+					multi_msgs_receive.clear();
 					multi_msgs_receive.insert(make_pair(header[2], in_message));
 					receiver_cur_checksum=header[1];
 					//counter=1;
@@ -801,21 +804,22 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
 }
 
 void CommunicationManager::Send_multi_msg(){
-	if(test_1){
-	test_1=0;
-	char temporary_buffer[sizeof(uint64_t) * 4];
+	/*if(test_1>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){