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services-ros1-xbee_mav
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addition of safety against illformed msg

This commit is contained in:
vivek-shankar 2017-01-27 05:20:56 -05:00
parent fae7d245c7
commit 47d5060c1b
1 changed files with 3 additions and 3 deletions
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6
src/CommunicationManager.cpp
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@ -373,8 +373,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
&current_int64); &current_int64);
header = u64_cvt_u16(current_int64); header = u64_cvt_u16(current_int64);
std::cout << "Received header" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl; std::cout << "Received header" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
if(header[3]==1){ if(header[3]==1 && header[0]==0){
for (std::size_t i = 1; i < in_message->size(); i++) for (std::size_t i = 1; i < in_message->size()-1; i++)
{ {
if (' ' == in_message->at(i) || 0 == i) if (' ' == in_message->at(i) || 0 == i)
@ -389,7 +389,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
mavlink_publisher_.publish(mavlink_msg); mavlink_publisher_.publish(mavlink_msg);
delete[] header; delete[] header;
} }
else if (header[3]>1){ else if (header[3]>1 && header[0]==0){
std::cout << "Multi packet: check_cur:"<<cur_checksum<< std::endl; std::cout << "Multi packet: check_cur:"<<cur_checksum<< std::endl;
if (multi_msgs.empty()){ if (multi_msgs.empty()){