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services-ros1-xbee_mav
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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
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12
src/CommunicationManager.cpp
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@ -455,11 +455,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot); Generate_Transmit_Request_Frame(temporary_buffer, &frame,tot);
serial_device_.Send_Frame(frame); serial_device_.Send_Frame(frame);
/*tmp*/ /*tmp*/
uint64_t tmp_printer; //uint64_t tmp_printer;
sscanf(frame.c_str(), "%" PRIu64 " ",&tmp_printer); //sscanf(frame.c_str(), "%" PRIu64 " ",&tmp_printer);
uint16_t* tmp_printer_16 =u64_cvt_u16(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; std::cout << "Send ACK for " <<ACK_MESSAGE_CONSTANT<<" "<<header[1] <<" "<<header[2]<<" "<<device_id<<" "<< std::endl;
delete[] tmp_printer_16; //delete[] tmp_printer_16;
/*tmp*/ /*tmp*/
std::map< std::size_t, std::shared_ptr<std::string> >::iterator it = multi_msgs_receive.find(header[2]); std::map< std::size_t, std::shared_ptr<std::string> >::iterator it = multi_msgs_receive.find(header[2]);
if(it!=multi_msgs_receive.end()){ 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 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_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]; char temporary_buffer[MAX_BUFFER_SIZE];
std::string frame; std::string frame;
int converted_bytes = 0; int converted_bytes = 0;