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services-ros1-xbee_mav
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changes in unsighned and singned comparision

This commit is contained in:
vivek-shankar 2017-01-29 04:03:13 -05:00
parent 625c5bbaa5
commit b895bc9f8f
1 changed files with 16 additions and 11 deletions
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27
src/CommunicationManager.cpp
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@ -677,10 +677,23 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
else */ else */
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( multi_msgs_send_dict.size() - 1 != sending_chunk_no ){ if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)no_of_dev){
if(ack_received_dict.size() == (uint16_t) no_of_dev){ std::cout << "clearing multi msg queue and telling buzz"<< std::endl;
multi_msgs_send_dict.clear();
sending_chunk_no=0;
/*Multi message packet sent tell rosbuzz this*/
mavros_msgs::Mavlink mavlink_msg;
mavlink_msg.payload64.push_back(XBEE_MESSAGE_CONSTANT);
mavlink_publisher_.publish(mavlink_msg);
}
else{
std::cout << "current size of ack in sender " <<ack_received_dict.size()<<(uint16_t) no_of_dev<< std::endl;
if((uint16_t)ack_received_dict.size() == (uint16_t) no_of_dev){
sending_chunk_no++; sending_chunk_no++;
ack_received_dict.clear(); ack_received_dict.clear();
std::cout << "sending next msg"<< std::endl;
} }
std::cout << "Sent frame no. " <<sending_chunk_no+1 << std::endl; std::cout << "Sent frame no. " <<sending_chunk_no+1 << std::endl;
//uint64_t tmp_printer; //uint64_t tmp_printer;
@ -692,16 +705,8 @@ 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{
std::cout << "clearing multi msg queue and telling buzz"<< std::endl;
multi_msgs_send_dict.clear();
sending_chunk_no=0;
/*Multi message packet sent tell rosbuzz this*/
mavros_msgs::Mavlink mavlink_msg;
mavlink_msg.payload64.push_back(XBEE_MESSAGE_CONSTANT);
mavlink_publisher_.publish(mavlink_msg);
}
} }
//} //}
} }