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

reduced message size and debug

This commit is contained in:
vivek-shankar 2017-01-29 14:24:30 -05:00
parent 2e1adb19ec
commit cd1eb3db19
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/CommunicationManager.cpp
View File

@ -455,11 +455,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot);
serial_device_.Send_Frame(frame);
/*tmp*/
uint64_t tmp_printer;
sscanf(frame.c_str(), "%" PRIu64 " ",&tmp_printer);
uint16_t* tmp_printer_16 =u64_cvt_u16(tmp_printer);
std::cout << "Send ACK for " <<tmp_printer_16[0]<<" "<<tmp_printer_16[1]<<" "<<tmp_printer_16[2]<<" "<<tmp_printer_16[3]<<" "<< std::endl;
delete[] tmp_printer_16;
//uint64_t tmp_printer;
//sscanf(frame.c_str(), "%" PRIu64 " ",&tmp_printer);
//uint16_t* tmp_printer_16 =u64_cvt_u16(tmp_printer);
std::cout << "Send ACK for " <<ACK_MESSAGE_CONSTANT<<" "<<header[1] <<" "<<header[2]<<" "<<device_id<<" "<< std::endl;
//delete[] tmp_printer_16;
/*tmp*/
std::map< std::size_t, std::shared_ptr<std::string> >::iterator it = multi_msgs_receive.find(header[2]);
if(it!=multi_msgs_receive.end()){
@ -604,7 +604,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
const mavros_msgs::Mavlink::ConstPtr& mavlink_msg)
{
const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */
const unsigned short MAX_NBR_OF_INT64 = 21;
const unsigned short MAX_NBR_OF_INT64 = 25;
char temporary_buffer[MAX_BUFFER_SIZE];
std::string frame;
int converted_bytes = 0;