private void publishMethod()
{
if (accx < 5000)
{
accx += 2;
}
else
{
accx = 0;
}
if (accy < 5000)
{
accy += 1;
}
else
{
accy = 0;
}
if (accz < 5000)
{
accz += 5;
}
else
{
accz = 0;
}
FlatBufferBuilder fbb = new FlatBufferBuilder(1);
StringOffset fbb_name = fbb.CreateString("sample");
Sample.StartSample(fbb);
Sample.AddTopicName(fbb, fbb_name);
Sample.AddAcc(fbb, Vec3.CreateVec3(fbb, accx, accy, accz));
Sample.AddGyro(fbb, Vec3.CreateVec3(fbb, 3, 2, 1));
Sample.AddMag(fbb, Vec3.CreateVec3(fbb, 4, 5, 6));
Sample.AddGps(fbb, GPS.CreateGPS(fbb, 84.123456, 84.123456, 213, 30, 20, 10));
Sample.AddEuler(fbb, Vec3.CreateVec3(fbb, 10, 15, 30));
Sample.AddQuat(fbb, Vec4.CreateVec4(fbb, 1, 0.5f, 0.3f, 0.2f));
var offset = Sample.EndSample(fbb);
Sample.FinishSampleBuffer(fbb, offset);
byte[] bMsg = fbb.SizedByteArray();
Debug.Log(bMsg.Length);
pub.publish(bMsg);
}
public byte[] pack()
{
StringOffset fbb_name = fbb.CreateString("sample");
Sample.StartSample(fbb);
Sample.AddTopicName(fbb, fbb_name);
Sample.AddAcc(fbb, Vec3.CreateVec3(fbb, acc.x, acc.y, acc.z));
Sample.AddGyro(fbb, Vec3.CreateVec3(fbb, gyro.x, gyro.y, gyro.z));
Sample.AddMag(fbb, Vec3.CreateVec3(fbb, mag.x, mag.y, mag.z));
Sample.AddGps(fbb, GPS.CreateGPS(fbb, lat, lon, alt, gsN, gsE, gsD));
Sample.AddEuler(fbb, Vec3.CreateVec3(fbb, euler.x, euler.y, euler.z));
Sample.AddQuat(fbb, Vec4.CreateVec4(fbb, quat.w, quat.x, quat.y, quat.z));
var offset = Sample.EndSample(fbb);
Sample.FinishSampleBuffer(fbb, offset);
byte[] bMsg = fbb.SizedByteArray();
return(bMsg);
}
