RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Correct PoseMsg length

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This commit is contained in:
Pascal Serrarens 2025-06-06 09:14:52 +02:00
parent 690426eb69
commit d5c301fa86
1 changed files with 3 additions and 4 deletions
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5
src/Messages/PoseMsg.cs
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@ -14,7 +14,7 @@ namespace RoboidControl {
/// <summary> /// <summary>
/// The length of the message /// The length of the message
/// </summary> /// </summary>
public const byte length = 4 + 4 + 4; public byte length = 4 + 4 + 4;
/// <summary> /// <summary>
/// The network ID of the thing /// The network ID of the thing
/// </summary> /// </summary>
@ -108,12 +108,12 @@ namespace RoboidControl {
if ((this.poseType & Pose_Position) != 0) if ((this.poseType & Pose_Position) != 0)
this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix); this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
if ((this.poseType & Pose_Orientation) != 0) if ((this.poseType & Pose_Orientation) != 0)
//this.orientation = SwingTwist.FromQuat32(LowLevelMessages.ReceiveQuat32(buffer, ref ix));
this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix); this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
if ((this.poseType & Pose_LinearVelocity) != 0) if ((this.poseType & Pose_LinearVelocity) != 0)
this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix); this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
if ((this.poseType & Pose_AngularVelocity) != 0) if ((this.poseType & Pose_AngularVelocity) != 0)
this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix); this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
this.length = ix;
} }
/// @copydoc Passer::RoboidControl::IMessage::Serialize /// @copydoc Passer::RoboidControl::IMessage::Serialize
@ -133,7 +133,6 @@ namespace RoboidControl {
if ((poseType & Pose_Position) != 0) if ((poseType & Pose_Position) != 0)
LowLevelMessages.SendSpherical(buffer, ref ix, this.position); LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
if ((poseType & Pose_Orientation) != 0) if ((poseType & Pose_Orientation) != 0)
//LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
LowLevelMessages.SendSwingTwist(buffer, ref ix, this.orientation); LowLevelMessages.SendSwingTwist(buffer, ref ix, this.orientation);
if ((poseType & Pose_LinearVelocity) != 0) if ((poseType & Pose_LinearVelocity) != 0)
LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity); LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);