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services-ros1-xbee_mav
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crash fix for wrong memory index

This commit is contained in:
vivek-shankar 2017-01-30 18:58:21 -05:00
parent dc77c690bf
commit 3d6385c527
1 changed files with 15 additions and 10 deletions
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25
src/CommunicationManager.cpp
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@ -697,15 +697,17 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
//std::cout << "put header in dict" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
/*copy msg size*/
uint16_t tmp_size=(uint16_t)MAX_NBR_OF_INT64;
uint16_t uint64_counter=0;
/*Multi message frame received, split them into chunks and store them in dict*/
for (uint16_t i =1; i<total; i++)
while(number!=total)
{
/*Copy the header*/
memcpy(cpy_buff,&header,sizeof(uint64_t));
tot+=sizeof(uint64_t);
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t));
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint16_t));
tot+=sizeof(uint16_t);
/*Copy obt msg*/
memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size);
@ -731,6 +733,9 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
//usleep(1000);
//std::cout << "Frame:"<<frame << std::endl;
//std::cout << "size of frame:"<<std::strlen(temporary_buffer)<< std::endl;
if(mavlink_msg->payload64.size() - uint64_counter >= MAX_NBR_OF_INT64)
tmp_size=(uint16_t)MAX_NBR_OF_INT64;
else tmp_size = mavlink_msg->payload64.size() - uint64_counter;
tot =0;
number++;
frame = "";
@ -749,22 +754,22 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
}
delete[] header_16;
if(uint64_counter!=mavlink_msg->payload64.size()){
tmp_size=mavlink_msg->payload64.size() - uint64_counter;
/* if(uint64_counter!=mavlink_msg->payload64.size()){
tmp_size=mavlink_msg->payload64.size() - uint64_counter; */
/*Copy the header*/
memcpy(cpy_buff,&header,sizeof(uint64_t));
/* memcpy(cpy_buff,&header,sizeof(uint64_t));
tot+=sizeof(uint64_t);
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t));
tot+=sizeof(uint16_t);
tot+=sizeof(uint16_t);*/
/*Copy obt msg*/
memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size);
/* memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size);
uint64_counter+=tmp_size;
tot+=( sizeof(uint64_t) )*tmp_size;
tot+=( sizeof(uint64_t) )*tmp_size;*/
/*Copy the data to char buff*/
memcpy((void*)temporary_buffer,(void*)cpy_buff,tot);
/* memcpy((void*)temporary_buffer,(void*)cpy_buff,tot);
Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot);
multi_msgs_send_dict.push_back(frame);
}
}*/
delete[] cpy_buff;
//std::cout << " Received size: " <<mavlink_msg->payload64.size() << std::endl;
//std::cout << "total size of multi msg dict mavlink size:" <<multi_msgs_send_dict.size() << std::endl;