From b1354f5024aa2b617d05eda3c4412f77a02108e1 Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Tue, 29 Mar 2022 23:31:20 +0200
Subject: [PATCH] fix toc bug
---
crazyflie_groundstation/inc/CTOC.h | 2 +-
crazyflie_groundstation/src/CTOC.cpp | 5 ++++-
.../src/ccrazyradio/CCrazyRadio_loopFuncs.cpp | 2 +-
crazyflie_groundstation/src/crazyflieGroundStation.cpp | 5 +++--
4 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/crazyflie_groundstation/inc/CTOC.h b/crazyflie_groundstation/inc/CTOC.h
index c07aed490..cb56ed1b3 100644
--- a/crazyflie_groundstation/inc/CTOC.h
+++ b/crazyflie_groundstation/inc/CTOC.h
@@ -82,7 +82,7 @@ class CTOC {
int m_nRadioChannel;
CCrazyRadio *m_crRadio;
CCrazyflie *m_crazyflie;
- int m_nItemCount;
+ uint16_t m_nItemCount;
std::list<struct TOCElement> m_lstTOCElements;
std::list<struct LoggingBlock> m_lstLoggingBlocks;
std::vector<std::string> m_lstActiveLogging;
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
index 745e05ff5..098547b32 100644
--- a/crazyflie_groundstation/src/CTOC.cpp
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -90,7 +90,10 @@ bool CTOC::requestMetaData() {
// bReturnvalue = true;
// }
if(crtpReceived->data()[0] == 0x03) {
- m_nItemCount = (uint8_t) crtpReceived->data()[1];
+ char amount[2];
+ amount[0] = crtpReceived->data()[1];
+ amount[1] = crtpReceived->data()[2];
+ memcpy(&m_nItemCount, amount, sizeof(uint16_t));
bReturnvalue = true;
}
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
index 1d2d7d0e1..5772cf441 100644
--- a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
@@ -23,7 +23,7 @@ void CCrazyRadio::mainLoop() {
(*it)->writeLogData();
}
- //usleep(100);
+ usleep(500);
// Check if the thread has been told to terminate
if (this->m_exitThread) {
diff --git a/crazyflie_groundstation/src/crazyflieGroundStation.cpp b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
index 5ac66203b..112f44c4f 100644
--- a/crazyflie_groundstation/src/crazyflieGroundStation.cpp
+++ b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
@@ -494,8 +494,9 @@ void closeoutProgram() {
cout << "\tBattery" << ": " << crazyflie_info[i].cflieCopter->batteryLevel() << endl;
crazyflie_info[i].cflieCopter->cycle();
crazyflie_info[i].cflieCopter->resetLoggingBlocks();
- crazyflie_info[i].cflieCopter->test_stand->close();
-
+ if(crazyflie_info[i].cflieCopter->test_stand != NULL) {
+ crazyflie_info[i].cflieCopter->test_stand->close();
+ }
delete crazyflie_info[i].cflieCopter;
}
--
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