Ros2SerialWriter.hpp

[詳解]

#pragma once
 
#include <serial/serial.h>
#include <Udon/Serializer/Serializer.hpp>
#include <Udon/Utility/Show.hpp>
 
namespace Udon
{
    
    template <typename Message>
    class Ros2SerialWriter
    {
        static constexpr size_t Size = Udon::SerializedSize<Message>();
 
        serial::Serial& serial;
 
    public:
        Ros2SerialWriter(serial::Serial& bus)
            : serial(bus)
        {
        }

        void setMessage(const Message& message)
        {
            uint8_t buffer[Size];
            Udon::Serialize(message, buffer);
            serial.write(buffer, Size);
        }
    };
}    // namespace Udon