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Fixed max chunk size for landmark transmission from imk file #347

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Fixed max chunk size for landmark transmission from imk file #347

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22 changes: 13 additions & 9 deletions driver/src/sick_scan_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4024,15 +4024,19 @@ namespace sick_scan_xd
if (sendSopasAorBgetAnswer(sopasCmdVec[CMD_SET_NAV_OPERATIONAL_MODE_2], &sopas_response, useBinaryCmd) != 0) // set operational mode mapping
return ExitError;
if (get2ndSopasResponse(sopas_response, "mNEVAChangeState") != ExitSuccess)
return ExitError;
std::vector<uint8_t> addLandmarkRequestPayload = createNAV350BinaryAddLandmarkRequest(navImkLandmarks);
std::vector<uint8_t> addLandmarkRequest = { 0x02, 0x02, 0x02, 0x02, 0, 0, 0, 0 };
addLandmarkRequest.insert(addLandmarkRequest.end(), addLandmarkRequestPayload.begin(), addLandmarkRequestPayload.end());
setLengthAndCRCinBinarySopasRequest(&addLandmarkRequest);
ROS_DEBUG_STREAM("Sending landmarks, " << addLandmarkRequest.size() << " byte sopas request (" << addLandmarkRequestPayload.size()
<< " byte payload): \"" << DataDumper::binDataToAsciiString(addLandmarkRequest.data(), addLandmarkRequest.size()) << "\"");
if (sendSopasAndCheckAnswer(addLandmarkRequest, &sopas_response) != 0)
return ExitError;
return ExitError;
for (size_t i = 0; i < navImkLandmarks.size(); i += 50)
{
size_t limit = std::min(navImkLandmarks.size(), i + 50);
std::vector<uint8_t> addLandmarkRequestPayload = createNAV350BinaryAddLandmarkRequest({ navImkLandmarks.begin() + i, navImkLandmarks.begin() + limit });
std::vector<uint8_t> addLandmarkRequest = { 0x02, 0x02, 0x02, 0x02, 0, 0, 0, 0 };
addLandmarkRequest.insert(addLandmarkRequest.end(), addLandmarkRequestPayload.begin(), addLandmarkRequestPayload.end());
setLengthAndCRCinBinarySopasRequest(&addLandmarkRequest);
ROS_DEBUG_STREAM("Sending landmarks, " << addLandmarkRequest.size() << " byte sopas request (" << addLandmarkRequestPayload.size()
<< " byte payload): \"" << DataDumper::binDataToAsciiString(addLandmarkRequest.data(), addLandmarkRequest.size()) << "\"");
if (sendSopasAndCheckAnswer(addLandmarkRequest, &sopas_response) != 0)
return ExitError;
}
// Store mapping layout: "sMN mNLAYStoreLayout"
if (sendSopasAorBgetAnswer(sopasCmdVec[CMD_SET_NAV_STORE_LAYOUT], &sopas_response, useBinaryCmd) != 0)
return ExitError;
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