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services-ros1-xbee_mav
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debug

This commit is contained in:
vivek-shankar 2017-02-18 23:32:14 -05:00
parent 0bafbed48d
commit 5907c34069
1 changed files with 2 additions and 2 deletions
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4
src/PacketsHandler.cpp
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@ -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; std::cout << "[Debug: ] Multi packets received from buzz with framgents: "<<NBR_of_fragments << 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; std::cout << "[Debug: ] Fragment received with id"<< (int)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())