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services-ros1-xbee_mav
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separation of multi msgs from pub and sub

This commit is contained in:
vivek-shankar 2017-01-29 05:25:35 -05:00
parent e4bc9bb7a0
commit 64feacf3cf
2 changed files with 10 additions and 3 deletions
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1
include/CommunicationManager.h
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@ -85,6 +85,7 @@ private:
Request& request, mavros_msgs::CommandInt::Response& response); Request& request, mavros_msgs::CommandInt::Response& response);
void Check_In_Messages_and_Transfer_To_Server(); void Check_In_Messages_and_Transfer_To_Server();
unsigned short Caculate_Checksum(std::string* frame); unsigned short Caculate_Checksum(std::string* frame);
void Send_multi_msg();
Mist::Xbee::SerialDevice serial_device_; Mist::Xbee::SerialDevice serial_device_;
Thread_Safe_Deque* in_messages_; Thread_Safe_Deque* in_messages_;
ros::NodeHandle node_handle_; ros::NodeHandle node_handle_;

12
src/CommunicationManager.cpp
View File

@ -44,7 +44,7 @@ namespace Xbee
//***************************************************************************** //*****************************************************************************
CommunicationManager::CommunicationManager(): CommunicationManager::CommunicationManager():
START_DLIMITER(static_cast<unsigned char>(0x7E)), START_DLIMITER(static_cast<unsigned char>(0x7E)),
LOOP_RATE(50) /* 10 fps */ LOOP_RATE(60) /* 10 fps */
{ {
} }
@ -173,6 +173,7 @@ void CommunicationManager::Run_In_Swarm_Mode()
while (ros::ok()) while (ros::ok())
{ {
Check_In_Messages_and_Transfer_To_Topics(); Check_In_Messages_and_Transfer_To_Topics();
Send_multi_msg();
ros::spinOnce(); ros::spinOnce();
loop_rate.sleep(); loop_rate.sleep();
} }
@ -680,6 +681,12 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
serial_device_.Send_Frame(multi_msgs_send_dict.at(sending_chunk_no)); serial_device_.Send_Frame(multi_msgs_send_dict.at(sending_chunk_no));
} }
else */ else */
//}
}
void CommunicationManager::Send_multi_msg(){
if( !( multi_msgs_send_dict.empty() ) ){ if( !( multi_msgs_send_dict.empty() ) ){
/*If the sent message chunk not the last message then send else clear the dict*/ /*If the sent message chunk not the last message then send else clear the dict*/
if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){ if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){
@ -713,9 +720,8 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
} }
//}
}
}
//***************************************************************************** //*****************************************************************************
void CommunicationManager::Display_Drone_Type_and_Running_Mode( void CommunicationManager::Display_Drone_Type_and_Running_Mode(