Spiri
/
services-ros1-xbee_mav
12
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
src/CommunicationManager.cpp
View File

@ -677,10 +677,23 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
else */
if( !( multi_msgs_send_dict.empty() ) ){
/*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(ack_received_dict.size() == (uint16_t) no_of_dev){
if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)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++;
ack_received_dict.clear();
std::cout << "sending next msg"<< std::endl;
}
std::cout << "Sent frame no. " <<sending_chunk_no+1 << std::endl;
//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));
}
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);
}
}
//}
}