func TestSerialize(t *testing.T) {
var msg rosgo_tests.AllFieldTypes
msg.H.Seq = 0x89ABCDEF
msg.H.Stamp = ros.NewTime(0x89ABCDEF, 0x01234567)
msg.H.FrameId = "frame_id"
msg.B = 0x01
msg.I8 = 0x01
msg.I16 = 0x0123
msg.I32 = 0x01234567
msg.I64 = 0x0123456789ABCDEF
msg.U8 = 0x01
msg.U16 = 0x0123
msg.U32 = 0x01234567
msg.U64 = 0x0123456789ABCDEF
msg.F32 = 3.141592653589793238462643383
msg.F64 = 3.1415926535897932384626433832795028842
msg.T = ros.NewTime(0x89ABCDEF, 0x01234567)
msg.D = ros.NewDuration(0x89ABCDEF, 0x01234567)
msg.S = "Hello, world!"
msg.C = std_msgs.ColorRGBA{1.0, 0.5, 0.25, 0.125}
msg.DynAry = append(msg.DynAry, 0x01234567)
msg.DynAry = append(msg.DynAry, 0x89ABCDEF)
msg.FixAry[0] = 0x01234567
msg.FixAry[1] = 0x89ABCDEF
var buf bytes.Buffer
err := msg.Serialize(&buf)
if err != nil {
t.Error(err)
}
result := buf.Bytes()
expected := getTestData()
CheckBytes(t, expected, result)
}
func TestSerializeHeader(t *testing.T) {
var msg std_msgs.Header
msg.Seq = 0x89ABCDEF
msg.Stamp = ros.NewTime(0x89ABCDEF, 0x01234567)
msg.FrameId = "frame_id"
var buf bytes.Buffer
err := msg.Serialize(&buf)
if err != nil {
t.Error(err)
}
result := buf.Bytes()
expected := []byte{
// Header.Seq
0xEF, 0xCD, 0xAB, 0x89,
// Header.Stamp
0xEF, 0xCD, 0xAB, 0x89,
0x67, 0x45, 0x23, 0x01,
// Header.FrameId
0x08, 0x00, 0x00, 0x00,
0x66, 0x72, 0x61, 0x6D, 0x65, 0x5F, 0x69, 0x64,
}
CheckBytes(t, expected, result)
}