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services-ros1-xbee_mav
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This commit is contained in:
vivek-shankar 2017-01-26 22:59:40 -05:00
parent 451eb72a96
commit 75c82e8dc5
1 changed files with 4 additions and 3 deletions
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7
src/CommunicationManager.cpp
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@ -386,14 +386,15 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
delete[] header; delete[] header;
} }
else{ else{
std::cout << "Multi packet message" << std::endl; std::cout << "Multi packet: check_cur:"<<cur_checksum<< std::endl;
if (multi_msgs.empty() && header[0] == 0){
if (multi_msgs.empty()){
std::cout << "first message" << std::endl; std::cout << "first message" << std::endl;
multi_msgs.insert(make_pair(header[2], in_message)); multi_msgs.insert(make_pair(header[2], in_message));
cur_checksum=header[1]; cur_checksum=header[1];
counter=1; counter=1;
} }
else if (header[1]==cur_checksum && header[0] == 0) { else if (header[1]==cur_checksum) {
std::map< int, std::shared_ptr<std::string> >::iterator it = multi_msgs.find(header[2]); std::map< int, std::shared_ptr<std::string> >::iterator it = multi_msgs.find(header[2]);
if(it!=multi_msgs.end()){ if(it!=multi_msgs.end()){
multi_msgs.erase(it); multi_msgs.erase(it);