void SendMessageWithStream(MessageSerializer messageSerializer, Stream stream, Message message)
{
//Clear the serializer
messageSerializer.Clear();
//Prepare the data to send.
messageSerializer.Write(TopicName);
messageSerializer.SerializeMessageWithLength(message);
//Send via the stream.
messageSerializer.SendTo(stream);
}
public void PopulateSysCommand(MessageSerializer messageSerializer)
{
messageSerializer.Clear();
// syscommands are sent as:
// 4 byte command length, followed by that many bytes of the command
// (all command names start with __ to distinguish them from ros topics)
messageSerializer.Write(Command);
// 4-byte json length, followed by a json string of that length
string json = JsonUtility.ToJson(BuildParam());
messageSerializer.WriteUnaligned(json);
}
