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changes in loop rate and to overcome reberve wave of multi msg

This commit is contained in:
vivek-shankar 2017-01-29 05:10:22 -05:00
parent ff1b3a0bcb
commit e4bc9bb7a0
1 changed files with 8 additions and 2 deletions
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10
src/CommunicationManager.cpp
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@ -44,7 +44,7 @@ namespace Xbee
//***************************************************************************** //*****************************************************************************
CommunicationManager::CommunicationManager(): CommunicationManager::CommunicationManager():
START_DLIMITER(static_cast<unsigned char>(0x7E)), START_DLIMITER(static_cast<unsigned char>(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); ros::Rate loop_rate(LOOP_RATE);
counter=0;
while (ros::ok()) while (ros::ok())
{ {
Check_In_Messages_and_Transfer_To_Topics(); 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(); multi_msgs_receive.clear();
receiver_cur_checksum=0; 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; uint64_t current_int64 = 0;
for (std::size_t j = 0; j < size_in_messages; j++) 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); mavlink_publisher_.publish(mavlink_msg);
multi_msgs_receive.clear(); multi_msgs_receive.clear();
receiver_cur_checksum=0; receiver_cur_checksum=0;
counter=10;
} }
steps=0; steps=0;