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services-ros1-xbee_mav
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increase in data per chunk

This commit is contained in:
vivek-shankar 2017-01-29 06:28:48 -05:00
parent 64feacf3cf
commit 5a75f14a5c
1 changed files with 6 additions and 1 deletions
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7
src/CommunicationManager.cpp
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@ -457,6 +457,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
for(uint16_t i =1; i<=header[3];i++){ for(uint16_t i =1; i<=header[3];i++){
it = multi_msgs_receive.find(i); it = multi_msgs_receive.find(i);
uint64_t previous_int64=0;
//std::cout<<"Transfering to topic chunk no. :"<<it->first << "Size of current map" <<it->second->size()<< std::endl; //std::cout<<"Transfering to topic chunk no. :"<<it->first << "Size of current map" <<it->second->size()<< std::endl;
//std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl; //std::cout << "received Frame:"<<(void *) it->second->c_str() << std::endl;
//std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; //std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl;
@ -468,8 +469,12 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
{ {
sscanf(it->second->c_str() + j, "%" PRIu64 " ", sscanf(it->second->c_str() + j, "%" PRIu64 " ",
&current_int64); &current_int64);
std::cout << "received Frame:" << current_int64 << std::endl; std::cout << "received Frame:" << current_int64 << std::endl;
if(previous_int64 != current_int64){
mavlink_msg.payload64.push_back(current_int64); mavlink_msg.payload64.push_back(current_int64);
previous_int64=current_int64;
}
} }
} }
@ -558,7 +563,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) const mavros_msgs::Mavlink::ConstPtr& mavlink_msg)
{ {
const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */
const unsigned short MAX_NBR_OF_INT64 = 10; const unsigned short MAX_NBR_OF_INT64 = 21;
char temporary_buffer[MAX_BUFFER_SIZE]; char temporary_buffer[MAX_BUFFER_SIZE];
std::string frame; std::string frame;
int converted_bytes = 0; int converted_bytes = 0;