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services-ros1-xbee_mav
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counter bug fix

This commit is contained in:
vivek-shankar 2017-01-26 22:45:12 -05:00
parent 33d3e0d17e
commit 03a12678ee
2 changed files with 16 additions and 4 deletions
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2
include/CommunicationManager.h
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@ -92,6 +92,8 @@ private:
std::map< int, std::shared_ptr<std::string> > multi_msgs; std::map< int, 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 steps;
//uint16_t multi_msg_size; //uint16_t multi_msg_size;
}; };

18
src/CommunicationManager.cpp
View File

@ -355,6 +355,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
uint16_t* header; uint16_t* header;
if (size_in_messages > 0) if (size_in_messages > 0)
{ {
//steps++;
//if(steps==100) steps=0;
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++)
{ {
@ -389,16 +391,23 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
std::cout << "first message" << std::endl; std::cout << "first message" << std::endl;
multi_msgs.insert(make_pair(header[2], in_message)); multi_msgs.insert(make_pair(header[2], in_message));
cur_checksum=header[1]; cur_checksum=header[1];
counter=1;
} }
else if (header[1]==cur_checksum && header[0] == 0) { else if (header[1]==cur_checksum && header[0] == 0) {
std::map< int, std::shared_ptr<std::string> >::iterator it = multi_msgs.find(header[2]); std::map< int, 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));
}
else{
multi_msgs.insert(make_pair(header[2], in_message));
counter++;
}
/*If the total size of msg reached transfer to topic*/ /*If the total size of msg reached transfer to topic*/
if(multi_msgs.size()==header[3]){ if(counter==header[3]){
for(int i =1; i<header[3]+1;i++){ for(int i =1; i<=header[3];i++){
it = multi_msgs.find(i); it = multi_msgs.find(i);
for (int j = 1; j < it->second->size(); j++) for (int j = 1; j < it->second->size(); j++)
{ {
@ -418,6 +427,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
multi_msgs.clear(); multi_msgs.clear();
cur_checksum=0; cur_checksum=0;
} }
steps=0;
} }
delete[] header; delete[] header;