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Fixed a bug whereby all navdata messages with array-typed members would grow in size.

Ver Código-Fonte 
This bug was introduced when moving local scope message variables to class-level. This move meant that messages wouldn't be reset after being sent. This was not a problem for non-array type message members, which were reassigned before being sent. However for array-type message members, which are filled using .push_back, no reset occurred. This fix appropriately clears these members before re-filling them on every send-loop.
Esse commit está contido em:
Mike Hamer
2012-11-27 12:57:29 +01:00
pai 4bfa20b278
commit d3249e151e
2 arquivos alterados com 22 adições e 0 exclusões
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scripts/NavdataMessageDefinitionsTemplate.c
+1
Ver Arquivo
@@ -77,6 +77,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
} }
% else: % else:
${item['struct_name']}_msg.${member['name']}.clear();
for(int i=0; i<${member['array_size']}; i++) for(int i=0; i<${member['array_size']}; i++)
{\ {\
${format_member(item, member, 'i')} ${format_member(item, member, 'i')}
src/NavdataMessageDefinitions.h
+21
Ver Arquivo
@@ -552,6 +552,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_raw_measures_msg.size = m; navdata_raw_measures_msg.size = m;
} }
navdata_raw_measures_msg.raw_gyros.clear();
for(int i=0; i<NB_GYROS; i++) for(int i=0; i<NB_GYROS; i++)
{ {
int16_t c = n.navdata_raw_measures.raw_gyros[i]; int16_t c = n.navdata_raw_measures.raw_gyros[i];
@@ -561,6 +562,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_raw_measures_msg.raw_gyros.push_back(m); navdata_raw_measures_msg.raw_gyros.push_back(m);
} }
navdata_raw_measures_msg.raw_gyros_110.clear();
for(int i=0; i<2; i++) for(int i=0; i<2; i++)
{ {
int16_t c = n.navdata_raw_measures.raw_gyros_110[i]; int16_t c = n.navdata_raw_measures.raw_gyros_110[i];
@@ -717,6 +719,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_phys_measures_msg.gyro_temp = m; navdata_phys_measures_msg.gyro_temp = m;
} }
navdata_phys_measures_msg.phys_accs.clear();
for(int i=0; i<NB_ACCS; i++) for(int i=0; i<NB_ACCS; i++)
{ {
float32_t c = n.navdata_phys_measures.phys_accs[i]; float32_t c = n.navdata_phys_measures.phys_accs[i];
@@ -726,6 +729,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_phys_measures_msg.phys_accs.push_back(m); navdata_phys_measures_msg.phys_accs.push_back(m);
} }
navdata_phys_measures_msg.phys_gyros.clear();
for(int i=0; i<NB_GYROS; i++) for(int i=0; i<NB_GYROS; i++)
{ {
float32_t c = n.navdata_phys_measures.phys_gyros[i]; float32_t c = n.navdata_phys_measures.phys_gyros[i];
@@ -786,6 +790,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_gyros_offsets_msg.size = m; navdata_gyros_offsets_msg.size = m;
} }
navdata_gyros_offsets_msg.offset_g.clear();
for(int i=0; i<NB_GYROS; i++) for(int i=0; i<NB_GYROS; i++)
{ {
float32_t c = n.navdata_gyros_offsets.offset_g[i]; float32_t c = n.navdata_gyros_offsets.offset_g[i];
@@ -1566,6 +1571,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_of_msg.size = m; navdata_vision_of_msg.size = m;
} }
navdata_vision_of_msg.of_dx.clear();
for(int i=0; i<5; i++) for(int i=0; i<5; i++)
{ {
float32_t c = n.navdata_vision_of.of_dx[i]; float32_t c = n.navdata_vision_of.of_dx[i];
@@ -1575,6 +1581,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_of_msg.of_dx.push_back(m); navdata_vision_of_msg.of_dx.push_back(m);
} }
navdata_vision_of_msg.of_dy.clear();
for(int i=0; i<5; i++) for(int i=0; i<5; i++)
{ {
float32_t c = n.navdata_vision_of.of_dy[i]; float32_t c = n.navdata_vision_of.of_dy[i];
@@ -1840,6 +1847,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_perf_msg.time_update = m; navdata_vision_perf_msg.time_update = m;
} }
navdata_vision_perf_msg.time_custom.clear();
for(int i=0; i<NAVDATA_MAX_CUSTOM_TIME_SAVE; i++) for(int i=0; i<NAVDATA_MAX_CUSTOM_TIME_SAVE; i++)
{ {
float32_t c = n.navdata_vision_perf.time_custom[i]; float32_t c = n.navdata_vision_perf.time_custom[i];
@@ -1876,6 +1884,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_trackers_send_msg.size = m; navdata_trackers_send_msg.size = m;
} }
navdata_trackers_send_msg.locked.clear();
for(int i=0; i<DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT; i++) for(int i=0; i<DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT; i++)
{ {
int32_t c = n.navdata_trackers_send.locked[i]; int32_t c = n.navdata_trackers_send.locked[i];
@@ -1885,6 +1894,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_trackers_send_msg.locked.push_back(m); navdata_trackers_send_msg.locked.push_back(m);
} }
navdata_trackers_send_msg.point.clear();
for(int i=0; i<DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT; i++) for(int i=0; i<DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT; i++)
{ {
screen_point_t c = n.navdata_trackers_send.point[i]; screen_point_t c = n.navdata_trackers_send.point[i];
@@ -1930,6 +1940,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.nb_detected = m; navdata_vision_detect_msg.nb_detected = m;
} }
navdata_vision_detect_msg.type.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.type[i]; uint32_t c = n.navdata_vision_detect.type[i];
@@ -1939,6 +1950,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.type.push_back(m); navdata_vision_detect_msg.type.push_back(m);
} }
navdata_vision_detect_msg.xc.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.xc[i]; uint32_t c = n.navdata_vision_detect.xc[i];
@@ -1948,6 +1960,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.xc.push_back(m); navdata_vision_detect_msg.xc.push_back(m);
} }
navdata_vision_detect_msg.yc.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.yc[i]; uint32_t c = n.navdata_vision_detect.yc[i];
@@ -1957,6 +1970,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.yc.push_back(m); navdata_vision_detect_msg.yc.push_back(m);
} }
navdata_vision_detect_msg.width.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.width[i]; uint32_t c = n.navdata_vision_detect.width[i];
@@ -1966,6 +1980,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.width.push_back(m); navdata_vision_detect_msg.width.push_back(m);
} }
navdata_vision_detect_msg.height.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.height[i]; uint32_t c = n.navdata_vision_detect.height[i];
@@ -1975,6 +1990,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.height.push_back(m); navdata_vision_detect_msg.height.push_back(m);
} }
navdata_vision_detect_msg.dist.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.dist[i]; uint32_t c = n.navdata_vision_detect.dist[i];
@@ -1984,6 +2000,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.dist.push_back(m); navdata_vision_detect_msg.dist.push_back(m);
} }
navdata_vision_detect_msg.orientation_angle.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
float32_t c = n.navdata_vision_detect.orientation_angle[i]; float32_t c = n.navdata_vision_detect.orientation_angle[i];
@@ -1993,6 +2010,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.orientation_angle.push_back(m); navdata_vision_detect_msg.orientation_angle.push_back(m);
} }
navdata_vision_detect_msg.rotation.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
matrix33_t c = n.navdata_vision_detect.rotation[i]; matrix33_t c = n.navdata_vision_detect.rotation[i];
@@ -2010,6 +2028,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.rotation.push_back(m); navdata_vision_detect_msg.rotation.push_back(m);
} }
navdata_vision_detect_msg.translation.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
vector31_t c = n.navdata_vision_detect.translation[i]; vector31_t c = n.navdata_vision_detect.translation[i];
@@ -2021,6 +2040,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_vision_detect_msg.translation.push_back(m); navdata_vision_detect_msg.translation.push_back(m);
} }
navdata_vision_detect_msg.camera_source.clear();
for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++) for(int i=0; i<NB_NAVDATA_DETECTION_RESULTS; i++)
{ {
uint32_t c = n.navdata_vision_detect.camera_source[i]; uint32_t c = n.navdata_vision_detect.camera_source[i];
@@ -2092,6 +2112,7 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t &n)
navdata_adc_data_frame_msg.version = m; navdata_adc_data_frame_msg.version = m;
} }
navdata_adc_data_frame_msg.data_frame.clear();
for(int i=0; i<32; i++) for(int i=0; i<32; i++)
{ {
uint8_t c = n.navdata_adc_data_frame.data_frame[i]; uint8_t c = n.navdata_adc_data_frame.data_frame[i];