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services-ros1-xbee_mav
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addition of debug prints

This commit is contained in:
vivek-shankar 2017-02-18 22:42:55 -05:00
parent 0d5de6d487
commit 0bafbed48d
2 changed files with 4 additions and 4 deletions
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2
src/CommunicationManager.cpp
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@ -427,7 +427,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() //
inline void CommunicationManager::Send_Mavlink_Message_Callback( inline void CommunicationManager::Send_Mavlink_Message_Callback(
const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) const mavros_msgs::Mavlink::ConstPtr& mavlink_msg)
{ {
std::cout << "Received Message From Buzz" << std::endl; // TO DO delete //std::cout << "Received Message From Buzz" << std::endl; // TO DO delete
packets_handler_.Handle_Mavlink_Message(mavlink_msg); packets_handler_.Handle_Mavlink_Message(mavlink_msg);
} }

6
src/PacketsHandler.cpp
View File

@ -106,7 +106,7 @@ void PacketsHandler::Handle_Mavlink_Message(const mavros_msgs::Mavlink::ConstPtr
fragmented_packet->at(i)->append(serialized_packet->c_str() + offset, NBR_of_bytes); fragmented_packet->at(i)->append(serialized_packet->c_str() + offset, NBR_of_bytes);
offset += NBR_of_bytes; offset += NBR_of_bytes;
} }
std::cout << "[Debug: ] Multi packets received from buzz" << std::endl;
out_packets_.Push_Back({mavlink_msg->msgid, fragmented_packet}); out_packets_.Push_Back({mavlink_msg->msgid, fragmented_packet});
} }
else if (serialized_packet->size() < XBEE_NETWORK_MTU) else if (serialized_packet->size() < XBEE_NETWORK_MTU)
@ -126,7 +126,7 @@ void PacketsHandler::Process_Fragment(std::shared_ptr<std::string> fragment)
uint16_t offset = static_cast<uint16_t>( uint16_t offset = static_cast<uint16_t>(
static_cast<uint16_t>(static_cast<unsigned char>(fragment->at(4))) << 8 | static_cast<uint16_t>(static_cast<unsigned char>(fragment->at(4))) << 8 |
static_cast<uint16_t>(static_cast<unsigned char>(fragment->at(5)))); static_cast<uint16_t>(static_cast<unsigned char>(fragment->at(5))));
std::cout << "[Debug: ] Fragment received with id"<< fragment_ID<< std::endl;
assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address); assembly_map_it_ = packets_assembly_map_.find(node_8_bits_address);
if (assembly_map_it_ != packets_assembly_map_.end()) if (assembly_map_it_ != packets_assembly_map_.end())
@ -415,7 +415,7 @@ void PacketsHandler::Process_Out_Packets()
{ {
Process_Out_Standard_Messages(); Process_Out_Standard_Messages();
out_packet = out_packets_.Pop_Front(); out_packet = out_packets_.Pop_Front();
std::cout << "Multi packets sending" << std::endl;
Send_Packet(out_packet); Send_Packet(out_packet);
} }
} }