Correct sample and imu_data confusion

src/filewriter.cpp

@@ -456,15 +456,15 @@ void IMUFileWriter::ProcessDecodedMessage(int msgFunction, int msgPayloadLength,
 void IMUFileWriter::write(uint8_t *sample, size_t size, uint8_t *imu_data) {
     uint8_t *imu_data_cur(imu_data);
 
-    uint8_t softwareMajorRev=sample[0];
-    uint8_t softwareMinorRev=sample[6];
-    std::cerr << "sMR" << static_cast<int>(sample[0]) << std::endl;
+    uint8_t softwareMajorRev=imu_data[0];
+    uint8_t softwareMinorRev=imu_data[6];
+    std::cerr << "sMR" << static_cast<int>(imu_data[0]) << std::endl;
     std::cerr << "Size : " << size << std::endl;
     
     if(softwareMajorRev > 2) {
         for(int i=1; i<size-enteteSize; i++)
         {
-            DecodeMessage(sample[i]);
+            DecodeMessage(imu_data[i]);
         }
     }
     else {

src/recorder.cpp

@@ -178,6 +178,7 @@ void JasonRecorder::get_samples(std::vector<std::uint8_t> &samples, std::vector<
                 size_t start = this->additional_data_size + 6;
                 imu_data.resize(0);
                 imu_data.reserve(this->additional_data_size);
+                std::cerr << "softMajorRev : " << std::dec << &buffer[4] << std::endl;
                 imu_data.insert(imu_data.begin(), &buffer[6], &buffer[start]);
                 size_t num_samples = (received - start);
                 num_samples = (num_samples / (num_channels * this->depth)) * num_channels * this->depth;