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services-ros1-xbee_mav
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printing in and out chunks

This commit is contained in:
vivek-shankar 2017-01-27 01:46:37 -05:00
parent 270a48df0e
commit 8a0f93dce2
1 changed files with 8 additions and 4 deletions
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12
src/CommunicationManager.cpp
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@ -415,6 +415,7 @@ 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.find(i); it = multi_msgs.find(i);
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:"<<it->second << std::endl;
std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl; std::cout<<"Size of map : "<< multi_msgs.size()<< std::endl;
for (std::size_t j = 1; j < it->second->size(); j++) for (std::size_t j = 1; j < it->second->size(); j++)
{ {
@ -541,30 +542,33 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
{ {
if(cnt<10){ if(cnt<10){
cnt++;
converted_bytes += sprintf( converted_bytes += sprintf(
temporary_buffer+converted_bytes, "%" PRIu64 " ", temporary_buffer+converted_bytes, "%" PRIu64 " ",
(uint64_t)mavlink_msg->payload64.at(i)); (uint64_t)mavlink_msg->payload64.at(i));
cnt++;
} }
if(cnt==10) if(cnt==10)
{ std::cout << "Multi frame sent no:"<<number << std::endl; { std::cout << "Multi frame sent no:"<<number << std::endl;
Generate_Transmit_Request_Frame(temporary_buffer, &frame); Generate_Transmit_Request_Frame(temporary_buffer, &frame);
serial_device_.Send_Frame(frame); serial_device_.Send_Frame(frame);
std::cout << "Frame:"<<frame << std::endl;
std::cout << "size of frame:"<<std::strlen(temporary_buffer)<< std::endl;
number++; number++;
cnt=0; cnt=0;
frame = ""; frame = "";
std::cout << "checksum:" <<total << std::endl; std::cout << "total:" <<total << std::endl;
header=0; header=0;
header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
header_16 = u64_cvt_u16(header); header_16 = u64_cvt_u16(header);
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;
memset(temporary_buffer, 0, MAX_BUFFER_SIZE); memset(temporary_buffer, 0, MAX_BUFFER_SIZE);
converted_bytes = sprintf( converted_bytes = sprintf(
temporary_buffer, "%" PRIu64 " ", temporary_buffer, "%" PRIu64 " ",
(uint64_t)header); (uint64_t)header);
delete[] header_16;
} }
} }
if(total==1){ if(total==1){