Commit bcbae7dc authored by Simon Krissel's avatar Simon Krissel
Browse files

First tests with real hardware

parent 2a9d3b11
......@@ -119,9 +119,8 @@ int gazebo_send(int sockfd, int32_t msg) {
int32_t ret;
// Sanity check
if (sockfd >= 0) {
uint8_t buf[sizeof(msg)+1];
uint8_t buf[sizeof(msg)];
encode_int32(buf, msg);
buf[sizeof(buf)-1] = '\0';
ret = send(sockfd, buf, sizeof(buf), MSG_NOSIGNAL);
if (ret <= 0) {
......@@ -221,7 +220,8 @@ static void* gazebo_thread (void *arg) {
if(heartbeat_watchdog_triggered) {
message = 0;
} else {
message = mc_torque;
message = htonl(mc_torque); // TODO protobuf?
printf("sending: %d\n", message);
}
if(gazebo_send(client, message) != 0) {
close(client);
......
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