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XbeeMav
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debu prints

This commit is contained in:
vivek-shankar 2017-01-27 00:18:15 -05:00
parent c74f6212f5
commit 48c89fe77c
2 changed files with 8 additions and 7 deletions
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2
include/CommunicationManager.h
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@ -89,7 +89,7 @@ private:
ros::ServiceClient mav_dji_client_; ros::ServiceClient mav_dji_client_;
ros::ServiceServer mav_dji_server_; ros::ServiceServer mav_dji_server_;
/*Vector msgs*/ /*Vector msgs*/
std::map< int, std::shared_ptr<std::string> > multi_msgs; std::map< std::size_t, std::shared_ptr<std::string> > multi_msgs;
std::vector<uint16_t> multi_msgs_available; std::vector<uint16_t> multi_msgs_available;
uint16_t cur_checksum; uint16_t cur_checksum;
uint16_t counter; uint16_t counter;

13
src/CommunicationManager.cpp
View File

@ -399,7 +399,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
counter=1; counter=1;
} }
else if (header[1]==cur_checksum) { else if (header[1]==cur_checksum) {
std::map< int, std::shared_ptr<std::string> >::iterator it = multi_msgs.find(header[2]); std::map< std::size_t, std::shared_ptr<std::string> >::iterator it = multi_msgs.find(header[2]);
if(it!=multi_msgs.end()){ if(it!=multi_msgs.end()){
multi_msgs.erase(it); multi_msgs.erase(it);
multi_msgs.insert(make_pair(header[2], in_message)); 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 the total size of msg reached transfer to topic*/
if(counter==header[3]){ 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); it = multi_msgs.find(i);
std::cout<<"Transfering to topic chunk no. :"<<i << "Size of current map" <<it->second->size(); std::cout<<"Transfering to topic chunk no. :"<<it->first << "Size of current map" <<it->second->size()<< std::endl;
for (int j = 1; j < it->second->size(); j++) 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 else
{*/ {*/
char temporary_buffer_check[6000]; char temporary_buffer_check[6000];
for(int i=0; i<mavlink_msg->payload64.size(); i++) for(std::size_t i=0; i<mavlink_msg->payload64.size(); i++)
{ {
converted_bytes += sprintf( converted_bytes += sprintf(
temporary_buffer_check + converted_bytes, "%" PRIu64 " ", temporary_buffer_check + converted_bytes, "%" PRIu64 " ",
@ -536,7 +537,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
temporary_buffer, "%" PRIu64 " ", temporary_buffer, "%" PRIu64 " ",
(uint64_t)header); (uint64_t)header);
delete[] header_16; delete[] header_16;
for (int i =0; i<mavlink_msg->payload64.size(); i++) for (std::size_t i =0; i<mavlink_msg->payload64.size(); i++)
{ {
if(cnt<10){ if(cnt<10){