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services-ros1-xbee_mav
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map implementation of multi packet

This commit is contained in:
vivek-shankar 2017-01-26 21:33:22 -05:00
parent 32718681c0
commit 118f5ebc46
2 changed files with 35 additions and 54 deletions
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5
include/CommunicationManager.h
View File

@ -88,6 +88,11 @@ private:
ros::Publisher mavlink_publisher_;
ros::ServiceClient mav_dji_client_;
ros::ServiceServer mav_dji_server_;
/*Vector msgs*/
std::map< int, std::shared_ptr<std::string> > multi_msgs;
std::vector<uint16_t> multi_msgs_available;
uint16_t cur_checksum;
//uint16_t multi_msg_size;
};

84
src/CommunicationManager.cpp
View File

@ -356,9 +356,6 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
if (size_in_messages > 0)
{
uint64_t current_int64 = 0;
uint16_t checksum_cur;
std::vector<uint64_t> msgs;
int cur_pos;
for (std::size_t j = 0; j < size_in_messages; j++)
{
std::shared_ptr<std::string> in_message =
@ -369,7 +366,6 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
sscanf(in_message->c_str(), "%" PRIu64 " ",
&current_int64);
header = u64_cvt_u16(current_int64);
uint16_t checksum_cur=header[1];
std::cout << "Received header" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
if(header[3]==1){
for (std::size_t i = 1; i < in_message->size(); i++)
@ -389,62 +385,42 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
}
else{
std::cout << "Multi packet message" << std::endl;
if (msgs.size()==0 && header[2]==1){
if (multi_msgs.size()==0 ){
std::cout << "first message" << std::endl;
checksum_cur=header[1];
cur_pos=header[2]+1;
for (std::size_t i = 1; i < in_message->size(); i++)
{
if (' ' == in_message->at(i) || 0 == i)
{
sscanf(in_message->c_str() + i, "%" PRIu64 " ",
&current_int64);
msgs.push_back(current_int64);
}
multi_msgs.insert(make_pair(header[2], in_message));
cur_checksum=header[1];
}
else if (header[1]==cur_checksum) {
std::map< int, std::shared_ptr<std::string> >::iterator it = multi_msgs.find(header[2]);
if(it!=multi_msgs.end())
multi_msgs.erase(it);
multi_msgs.insert(make_pair(header[2], in_message));
/*If the total size of msg reached transfer to topic*/
if(multi_msgs.size()==header[3]){
for(int i =1; i<header[3]+1;i++){
it = multi_msgs.find(i);
for (int j = 1; j < it->second->size(); j++)
{
if (' ' == it->second->at(j) || 0 == j)
{
sscanf(it->second->c_str() + j, "%" PRIu64 " ",
&current_int64);
mavlink_msg.payload64.push_back(current_int64);
}
}
delete[] header;
}
else if(msgs.size() > 0 && header[1] == checksum_cur && (cur_pos == header[2])){
for (std::size_t i = 1; i < in_message->size(); i++)
{
if (' ' == in_message->at(i) || 0 == i)
{
sscanf(in_message->c_str() + i, "%" PRIu64 " ",
&current_int64);
msgs.push_back(current_int64);
}
}
std::cout << "one multi message published in topic" << std::endl;
mavlink_publisher_.publish(mavlink_msg);
multi_msgs.clear();
cur_checksum=0;
}
std::cout << "Correspoding Packet" << std::endl;
cur_pos++;
if(msgs.size()==header[3]){
for (std::size_t i = 0; i < msgs.size(); i++)
{
mavlink_msg.payload64.push_back(msgs[i]);
}
mavlink_publisher_.publish(mavlink_msg);
delete[] header;
msgs.clear();
checksum_cur=0;
cur_pos=0;
std::cout << "Last packet received sucessfully" << std::endl;
}
delete[] header;
}
else {
msgs.clear();
cur_pos=0;
checksum_cur=0;
std::cout << "Wrong ordered message" << std::endl;
delete[] header;
}
delete[] header;
}
}