From 42e3368f8c9c46c1e0ec502568c1f542ed3231ea Mon Sep 17 00:00:00 2001 From: TobiasSimon Date: Sat, 18 Feb 2012 13:32:27 +0100 Subject: [PATCH] fixed debug output and removed tab indents --- src/comm/MAVLinkProtocol.cc | 42 +++++++++++++++++++------------------ 1 file changed, 22 insertions(+), 20 deletions(-) diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc index d3924cf81..aaf937841 100644 --- a/src/comm/MAVLinkProtocol.cc +++ b/src/comm/MAVLinkProtocol.cc @@ -351,33 +351,35 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) // Update last message sequence ID uint8_t expectedIndex; - if (lastIndex[message.sysid][message.compid] == -1) + if (lastIndex[message.sysid][message.compid] == -1) { lastIndex[message.sysid][message.compid] = message.seq; expectedIndex = message.seq; - } + } else { - // NOTE: Using uint8_t here auto-wraps the number around to 0. + // NOTE: Using uint8_t here auto-wraps the number around to 0. expectedIndex = lastIndex[message.sysid][message.compid] + 1; - } - - // Make some noise if a message was skipped + } + + // Make some noise if a message was skipped //qDebug() << "SYSID" << message.sysid << "COMPID" << message.compid << "MSGID" << message.msgid << "EXPECTED INDEX:" << expectedIndex << "SEQ" << message.seq; - if (message.seq != expectedIndex) - { - // Determine how many messages were skipped accounting for 0-wraparound - int16_t lostMessages = message.seq - expectedIndex; - if (lostMessages < 0) - { - // Usually, this happens in the case of an out-of order packet - lostMessages = 0; - } - qDebug() << QString("Lost %1 messages: expected sequence ID %2 but received %3.").arg(lostMessages).arg(expectedIndex).arg(message.seq); - - totalLossCounter += lostMessages; - currLossCounter += lostMessages; - } + if (message.seq != expectedIndex) + { + // Determine how many messages were skipped accounting for 0-wraparound + int16_t lostMessages = message.seq - expectedIndex; + if (lostMessages < 0) + { + // Usually, this happens in the case of an out-of order packet + lostMessages = 0; + } + else + { + qDebug() << QString("Lost %1 messages: expected sequence ID %2 but received %3.").arg(lostMessages).arg(expectedIndex).arg(message.seq); + } + totalLossCounter += lostMessages; + currLossCounter += lostMessages; + } // Update the last sequence ID lastIndex[message.sysid][message.compid] = message.seq; -- 2.22.0