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services-ros1-xbee_mav
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wrong parameter bug correction

This commit is contained in:
vivek-shankar 2017-01-29 14:00:52 -05:00
parent e7c2d489df
commit 5d5d1f946d
1 changed files with 7 additions and 5 deletions
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12
src/CommunicationManager.cpp
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@ -644,7 +644,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
uint16_t* header_16 = u64_cvt_u16(header);
/*buffer byte counter*/
int tot=0;
//std::cout << "Sent header" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
std::cout << "Sent header" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
delete[] header_16;
/*Single frame message*/
if(mavlink_msg->payload64.size() <= MAX_NBR_OF_INT64){
@ -686,18 +686,20 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
/*Copy the msgs into a 64bit array*/
uint64_t message_obt[mavlink_msg->payload64.size()];
/*buffer for easy handel operation*/
uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ) );
memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*mavlink_msg->payload64.size() ));
uint8_t* cpy_buff = (uint8_t*)malloc( sizeof(uint64_t)+sizeof(uint16_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 ) );
memset(cpy_buff, 0,sizeof(uint64_t) + ( sizeof(uint64_t)*MAX_NBR_OF_INT64 ));
for (std::size_t i =0; i<mavlink_msg->payload64.size(); i++)
{
message_obt[i] =(uint64_t)mavlink_msg->payload64[i];
}
//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<number; i++)
for (uint16_t i =1; i<total; i++)
{
/*Copy the header*/
memcpy(cpy_buff,&header,sizeof(uint64_t));
@ -761,7 +763,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot);
multi_msgs_send_dict.push_back(frame);
}
delete[] cpy_buff;
std::cout << "total size of multi msg dict mavlink size:" <<multi_msgs_send_dict.size() << std::endl;
std::cout << "uint64_counter size:" <<uint64_counter << std::endl;
/*Send the first message chunk*/