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services-ros1-xbee_mav
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debug print removed

This commit is contained in:
vivek-shankar 2017-01-29 15:49:47 -05:00
parent 889e4f2e39
commit cd413833b8
1 changed files with 17 additions and 17 deletions
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34
src/CommunicationManager.cpp
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@ -400,7 +400,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
&current_int64);*/ &current_int64);*/
std::cout<<in_message<< std::endl; std::cout<<in_message<< std::endl;
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;
/*Check header for msgs or ack msg */ /*Check header for msgs or ack msg */
if(header[0]==(uint16_t)MESSAGE_CONSTANT){ if(header[0]==(uint16_t)MESSAGE_CONSTANT){
if(header[3]==1 && header[1]>1 && header[2]==1){ if(header[3]==1 && header[1]>1 && header[2]==1){
@ -408,13 +408,13 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
uint16_t tmp_size=0; uint16_t tmp_size=0;
memcpy(&tmp_size,in_message->c_str()+tot,sizeof(uint16_t)); memcpy(&tmp_size,in_message->c_str()+tot,sizeof(uint16_t));
tot+=sizeof(uint16_t); tot+=sizeof(uint16_t);
std::cout<<"received size in bytes: "<<tmp_size << std::endl; //std::cout<<"received size in bytes: "<<tmp_size << std::endl;
//int uint64_size=tmp_size/sizeof(uint64_t); //int uint64_size=tmp_size/sizeof(uint64_t);
uint64_t message_obt[tmp_size]; uint64_t message_obt[tmp_size];
/*Copy obt msg*/ /*Copy obt msg*/
memcpy(message_obt,in_message->c_str()+tot,tmp_size*sizeof(uint64_t)); memcpy(message_obt,in_message->c_str()+tot,tmp_size*sizeof(uint64_t));
tot+=tmp_size*sizeof(uint64_t); tot+=tmp_size*sizeof(uint64_t);
std::cout<<"tot size : "<<tot<< std::endl; //std::cout<<"tot size : "<<tot<< std::endl;
for (uint16_t i = 0; i < tmp_size; i++) for (uint16_t i = 0; i < tmp_size; i++)
{ {
mavlink_msg.payload64.push_back(message_obt[i]); mavlink_msg.payload64.push_back(message_obt[i]);
@ -426,7 +426,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
}*/ }*/
} }
std::cout << "Single packet message received size"<<mavlink_msg.payload64.size()<< std::endl; //std::cout << "Single packet message received size"<<mavlink_msg.payload64.size()<< std::endl;
mavlink_publisher_.publish(mavlink_msg); mavlink_publisher_.publish(mavlink_msg);
//delete[] header; //delete[] header;
} }
@ -458,7 +458,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
//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 " <<ACK_MESSAGE_CONSTANT<<" "<<header[1] <<" "<<header[2]<<" "<<device_id<<" "<< 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]);
@ -482,13 +482,13 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
uint16_t tmp_size=0; uint16_t tmp_size=0;
memcpy(&tmp_size,it->second->c_str()+tot,sizeof(uint16_t)); memcpy(&tmp_size,it->second->c_str()+tot,sizeof(uint16_t));
tot+=sizeof(uint16_t); tot+=sizeof(uint16_t);
std::cout<<"multi publisher received size in bytes: "<<tmp_size << std::endl; //std::cout<<"multi publisher received size in bytes: "<<tmp_size << std::endl;
//int uint64_size=tmp_size/sizeof(uint64_t); //int uint64_size=tmp_size/sizeof(uint64_t);
uint64_t message_obt[tmp_size]; uint64_t message_obt[tmp_size];
/*Copy obt msg*/ /*Copy obt msg*/
memcpy(message_obt,it->second->c_str()+tot,tmp_size*sizeof(uint64_t)); memcpy(message_obt,it->second->c_str()+tot,tmp_size*sizeof(uint64_t));
tot+=tmp_size*sizeof(uint64_t); tot+=tmp_size*sizeof(uint64_t);
std::cout<<"tot size : "<<tot<< std::endl; //std::cout<<"tot size : "<<tot<< std::endl;
for (uint16_t i = 0; i < tmp_size; i++) for (uint16_t i = 0; i < tmp_size; i++)
{ {
mavlink_msg.payload64.push_back(message_obt[i]); mavlink_msg.payload64.push_back(message_obt[i]);
@ -511,7 +511,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
/*Copy obt msg*/ /*Copy obt msg*/
//memcpy(current_int64, it->second->c_str()+tot, tmp_size*sizeof(uint64_t)); //memcpy(current_int64, it->second->c_str()+tot, tmp_size*sizeof(uint64_t));
std::cout << "received Frame:" << current_int64 << std::endl; //std::cout << "received Frame:" << current_int64 << std::endl;
//if(previous_int64 != current_int64){ //if(previous_int64 != current_int64){
//mavlink_msg.payload64.push_back(current_int64); //mavlink_msg.payload64.push_back(current_int64);
//previous_int64=current_int64; //previous_int64=current_int64;
@ -533,8 +533,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
} }
} }
else if(header[0]==(uint16_t)ACK_MESSAGE_CONSTANT){ else if(header[0]==(uint16_t)ACK_MESSAGE_CONSTANT){
std::cout << "ACK Received header " <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl; //std::cout << "ACK Received header " <<header[0]<<" "<<header[1]<<" "<<header[2]<<" "<<header[3]<<" "<< std::endl;
std::cout << "size of ack map before adding" << ack_received_dict.size()<< std::endl; //std::cout << "size of ack map before adding" << ack_received_dict.size()<< std::endl;
/*Ack message about a message packet find wheather that matches with your current expectation*/ /*Ack message about a message packet find wheather that matches with your current expectation*/
if(header[1]==Sender_cur_checksum && header[2]== (sending_chunk_no+1)){ if(header[1]==Sender_cur_checksum && header[2]== (sending_chunk_no+1)){
std::map< uint16_t, uint16_t >::iterator it = ack_received_dict.find(header[3]); std::map< uint16_t, uint16_t >::iterator it = ack_received_dict.find(header[3]);
@ -547,7 +547,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
} }
} }
std::cout << "ACK added and size of ack map " << ack_received_dict.size()<< std::endl; //std::cout << "ACK added and size of ack map " << ack_received_dict.size()<< std::endl;
} }
delete[] header; delete[] header;
@ -672,7 +672,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
/*Copy the data to char buff*/ /*Copy the data to char buff*/
memcpy((void*)temporary_buffer,(void*)cpy_buff,tot); memcpy((void*)temporary_buffer,(void*)cpy_buff,tot);
delete[] cpy_buff; delete[] cpy_buff;
std::cout << "Single packet message sent size"<<mavlink_msg->payload64.size()<<" Tot size: "<< tot<< std::endl; //std::cout << "Single packet message sent size"<<mavlink_msg->payload64.size()<<" Tot size: "<< tot<< std::endl;
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);
@ -765,9 +765,9 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
multi_msgs_send_dict.push_back(frame); multi_msgs_send_dict.push_back(frame);
} }
delete[] cpy_buff; delete[] cpy_buff;
std::cout << " Received size: " <<mavlink_msg->payload64.size() << std::endl; //std::cout << " Received size: " <<mavlink_msg->payload64.size() << std::endl;
std::cout << "total size of multi msg dict mavlink size:" <<multi_msgs_send_dict.size() << std::endl; //std::cout << "total size of multi msg dict mavlink size:" <<multi_msgs_send_dict.size() << std::endl;
std::cout << "uint64_counter size:" <<uint64_counter << std::endl; //std::cout << "uint64_counter size:" <<uint64_counter << std::endl;
/*Send the first message chunk*/ /*Send the first message chunk*/
//serial_device_.Send_Frame(multi_msgs_send_dict[0]); //serial_device_.Send_Frame(multi_msgs_send_dict[0]);
} }
@ -798,11 +798,11 @@ void CommunicationManager::Send_multi_msg(){
} }
else{ else{
std::cout << "current size of ack in sender " <<ack_received_dict.size()<<(uint16_t) no_of_dev<< std::endl; std::cout << "current size of ack in sender " <<ack_received_dict.size()<<"No. of devices"<<(uint16_t) no_of_dev<< std::endl;
if((uint16_t)ack_received_dict.size() == (uint16_t) (no_of_dev)-1){ if((uint16_t)ack_received_dict.size() == (uint16_t) (no_of_dev)-1){
sending_chunk_no++; sending_chunk_no++;
ack_received_dict.clear(); ack_received_dict.clear();
std::cout << "sending next msg"<< std::endl; //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;