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This commit is contained in:
John Zhao 2018-04-17 14:46:11 +08:00
parent 460c707253
commit 185ffc2811
2 changed files with 14 additions and 14 deletions
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20
src/internal/channels.cc
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@ -514,16 +514,16 @@ bool Channels::GetFiles(
std::uint16_t size = _from_data<std::uint16_t>(data + 1); std::uint16_t size = _from_data<std::uint16_t>(data + 1);
std::uint8_t checksum = data[3 + size]; std::uint8_t checksum = data[3 + size];
std::uint8_t checksum_cal = 0; std::uint8_t checksum_now = 0;
for (std::size_t i = 4, n = 4 + size; i < n; i++) { for (std::size_t i = 4, n = 4 + size; i < n; i++) {
checksum_cal = (checksum_cal ^ data[i]); checksum_now = (checksum_now ^ data[i]);
} }
if (checksum_cal != checksum) { if (checksum != checksum_now) {
LOG(WARNING) << "Files checksum should be 0x" << std::hex LOG(WARNING) << "Files checksum should be 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0') << std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(checksum_cal) << ", but 0x" << static_cast<int>(checksum) << ", but 0x" << std::setw(2)
<< std::setw(2) << std::setfill('0') << std::setfill('0') << static_cast<int>(checksum_now)
<< static_cast<int>(checksum) << " now"; << " now";
return false; return false;
} }
@ -901,12 +901,12 @@ bool Channels::XuImuRead(ImuResPacket *res) const {
for (std::size_t i = 4, n = 4 + res->size; i < n; i++) { for (std::size_t i = 4, n = 4 + res->size; i < n; i++) {
checksum = (checksum ^ data[i]); checksum = (checksum ^ data[i]);
} }
if (checksum != res->checksum) { if (res->checksum != checksum) {
LOG(WARNING) << "Imu response packet checksum should be 0x" << std::hex LOG(WARNING) << "Imu response packet checksum should be 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0') << std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(checksum) << ", but 0x" << std::setw(2) << static_cast<int>(res->checksum) << ", but 0x"
<< std::setfill('0') << static_cast<int>(res->checksum) << std::setw(2) << std::setfill('0')
<< " now"; << static_cast<int>(checksum) << " now";
return false; return false;
} }

8
src/internal/streams.cc
View File

@ -47,12 +47,12 @@ bool unpack_stereo_img_data(
for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) { // content: [2,9] for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) { // content: [2,9]
checksum = (checksum ^ packet[i]); checksum = (checksum ^ packet[i]);
} }
if (checksum != img_packet.checksum) { if (img_packet.checksum != checksum) {
LOG(WARNING) << "Image packet checksum should be 0x" << std::hex LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0') << std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(checksum) << ", but 0x" << std::setw(2) << static_cast<int>(img_packet.checksum) << ", but 0x"
<< std::setfill('0') << static_cast<int>(img_packet.checksum) << std::setw(2) << std::setfill('0')
<< " now"; << static_cast<int>(checksum) << " now";
return false; return false;
} }