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services-ros1-xbee_mav
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crash fix

This commit is contained in:
vivek-shankar 2017-01-30 22:47:34 -05:00
parent 0a30626c6d
commit aebaf6d514
2 changed files with 19 additions and 25 deletions
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6
include/CommunicationManager.h
View File

@ -111,9 +111,9 @@ private:
uint16_t receiveing_cur_totalsize;
uint16_t steps;
//uint16_t multi_msg_size;
int test_1;
struct timeval t1, t2;
uint64_t message_obtmulti[600];
//int test_1;
//struct timeval t1, t2;
};

38
src/CommunicationManager.cpp
View File

@ -623,7 +623,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
std::cout << "Sending previous multi message not complete yet, so dropping message"<<std::endl;
}
else{
char temporary_buffer_check[6000];
char temporary_buffer_check[600000];
/* create a whole check sum to handel multi chunk msg*/
for(std::size_t i=0; i<mavlink_msg->payload64.size(); i++)
{
@ -663,7 +663,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
memcpy(cpy_buff,&header,sizeof(uint64_t));
tot+=sizeof(uint64_t);
/*copy msg size*/
uint16_t tmp_size = (uint16_t)mavlink_msg->payload64.size();
uint16_t tmp_size=(uint16_t)mavlink_msg->payload64.size();
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t));
tot+=sizeof(uint16_t);
std::cout<<"tmp size in sender"<<tmp_size<< std::endl;
@ -697,17 +697,15 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
//std::cout << "put header in dict" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
/*copy msg size*/
int tmp_size=(uint16_t)MAX_NBR_OF_INT64;
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*/
do{
for (uint16_t i =1; i<total; i++)
{
/*Copy the header*/
memcpy(cpy_buff,&header,sizeof(uint64_t));
tot+=sizeof(uint64_t);
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint16_t));
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t));
tot+=sizeof(uint16_t);
/*Copy obt msg*/
memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size);
@ -724,7 +722,6 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
//std::cout << "Sent Frame in string"<<temporary_buffer<<std::endl;
//if(cnt==MAX_NBR_OF_INT64)
//{
std::cout << "copied from buffer"<<std::endl;
//std::cout << "Multi frame sent no:"<<number << std::endl;
Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot);
//std::S
@ -734,10 +731,6 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
//usleep(1000);
//std::cout << "Frame:"<<frame << std::endl;
//std::cout << "size of frame:"<<std::strlen(temporary_buffer)<< std::endl;
if(mavlink_msg->payload64.size() - uint64_counter >= MAX_NBR_OF_INT64)
tmp_size=(uint16_t)MAX_NBR_OF_INT64;
else tmp_size = mavlink_msg->payload64.size() - uint64_counter;
std::cout<<"tmp size : "<<tmp_size<<"mav payload size" <<mavlink_msg->payload64.size()<<std::endl;
tot =0;
number++;
frame = "";
@ -754,24 +747,24 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
//}
}while(number<=total);
}
delete[] header_16;
/* if(uint64_counter!=mavlink_msg->payload64.size()){
tmp_size=mavlink_msg->payload64.size() - uint64_counter; */
if(uint64_counter!=mavlink_msg->payload64.size()){
tmp_size=mavlink_msg->payload64.size() - uint64_counter;
/*Copy the header*/
/* memcpy(cpy_buff,&header,sizeof(uint64_t));
memcpy(cpy_buff,&header,sizeof(uint64_t));
tot+=sizeof(uint64_t);
memcpy(cpy_buff+tot,&tmp_size,sizeof(uint64_t));
tot+=sizeof(uint16_t);*/
tot+=sizeof(uint16_t);
/*Copy obt msg*/
/* memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size);
memcpy(cpy_buff+tot, message_obt+uint64_counter, ( sizeof(uint64_t) )*tmp_size);
uint64_counter+=tmp_size;
tot+=( sizeof(uint64_t) )*tmp_size;*/
tot+=( sizeof(uint64_t) )*tmp_size;
/*Copy the data to char buff*/
/* memcpy((void*)temporary_buffer,(void*)cpy_buff,tot);
memcpy((void*)temporary_buffer,(void*)cpy_buff,tot);
Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot);
multi_msgs_send_dict.push_back(frame);
}*/
}
delete[] cpy_buff;
//std::cout << " Received size: " <<mavlink_msg->payload64.size() << std::endl;
//std::cout << "total size of multi msg dict mavlink size:" <<multi_msgs_send_dict.size() << std::endl;
@ -849,3 +842,4 @@ void CommunicationManager::Display_Drone_Type_and_Running_Mode(
}