void SensorHandler::receiveMsg(const ComsPacket & msg)
{
if ( msg.getModuleId() != MODULE_ID) {
return;
}
if ( msg.getPacketId() != DATA_PACKET_ID ) {
return;
}
uint32_t s = msg.getSeqNumber();
if ( s == lastSeqNum_ ) {
return;
}
if ( (s+1) != lastSeqNum_ ) {
ROS_INFO("We appear to have missed USB packets");
ROS_INFO("S: %d", s);
ROS_INFO("LastSeqNum_: %d", lastSeqNum_);
}
lastSeqNum_ = s;
const uint8_t *data = msg.getPayload();
processStatus(data);
processDepth(data);
processINS(data);
processPower(data);
}
void Riff::processDLSList(int size)
{
quint32 chunkID = 0;
if (m_IOStream->atEnd()) return;
chunkID = readChunkID();
size -= 4;
switch (chunkID) {
case CKID_INFO:
processINFO(size);
break;
case CKID_LINS:
processLINS(size);
break;
case CKID_INS:
processINS(size);
break;
default:
skip(size);
}
}
