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services-ros1-xbee_mav
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illformed message discarding change

This commit is contained in:
vivek-shankar 2017-01-27 05:43:53 -05:00
parent 47d5060c1b
commit bd6bb41d25
1 changed files with 3 additions and 3 deletions
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6
src/CommunicationManager.cpp
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@ -373,7 +373,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
&current_int64); &current_int64);
header = u64_cvt_u16(current_int64); header = u64_cvt_u16(current_int64);
std::cout << "Received header" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl; std::cout << "Received header" <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
if(header[3]==1 && header[0]==0){ if(header[3]==1 && header[0]==0 && header[1]>1 && header[2]==1){
for (std::size_t i = 1; i < in_message->size()-1; i++) for (std::size_t i = 1; i < in_message->size()-1; i++)
{ {
@ -387,9 +387,9 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
} }
std::cout << "Single packet message received" << std::endl; std::cout << "Single packet message received" << std::endl;
mavlink_publisher_.publish(mavlink_msg); mavlink_publisher_.publish(mavlink_msg);
delete[] header; //delete[] header;
} }
else if (header[3]>1 && header[0]==0){ else if (header[3]>1 && header[0]==0 && header[1]>1){
std::cout << "Multi packet: check_cur:"<<cur_checksum<< std::endl; std::cout << "Multi packet: check_cur:"<<cur_checksum<< std::endl;
if (multi_msgs.empty()){ if (multi_msgs.empty()){