I am trying to check whether the packed message is handled correctly.
The message was serialized using:
kj::VectorOutputStream output;
capnp::MallocMessageBuilder message;
typename msgT::Builder r1 = message.initRoot<msgT>();
assign_function(&r1);
capnp::writePackedMessage(output, message);
serialized_size = output.getArray().size();
And was deserialized using:
typename msgT::Reader r2;
kj::ArrayInputStream input(output.getArray());
capnp::PackedMessageReader reader(input);
r2 = reader.getRoot<msgT>();
It was then checked using:
capnp::AnyStruct::Reader left = r1.asReader();
capnp::AnyStruct::Reader right = r2;
return left == right;
The message assign function is:
void capnproto::assign_function(RobotControl::Builder *r) {
auto states = r->initState(nested_iter);
for (int i = 0; i < nested_iter; i++) {
auto command = states[i].initRobotCommand();
if (i%2 == 0) {
command.setMove(1);
} else {
command.setGrasp(1);
}
auto pose = states[i].initPose();
auto pos = pose.initPos();
auto ori = pose.initOri();
pos.setX(static_cast<double>(i + 1.0));
pos.setY(static_cast<double>(i + 1.0));
pos.setZ(static_cast<double>(i + 1.0));
ori.setX(static_cast<double>(i + 1.0));
ori.setY(static_cast<double>(i + 1.0));
ori.setZ(static_cast<double>(i + 1.0));
ori.setW(static_cast<double>(i + 1.0));
}
}
I also tried to print out r2, but it returned:
unknown file: Failure
C++ exception with description "capnp/layout.c++:2240: failed: expected
ref->kind() == WirePointer::LIST; Message contains non-list pointer where
list pointer was expected.
stack: 0x4e86bb 0x4dfb0b 0x611d71 0x60b375 0x5ee6f8 0x5ef090 0x5ef783
0x5f68ca 0x613349 0x60c1b7 0x5f5366 0x4dd3c8 0x7f84f1d6c830 0x4ddde9"
thrown in the test body.
The print function is:
void capnproto::print_function(RobotControl::Reader *r) {
auto states = r->getState();
for (int i = 0; i < nested_iter; i++) {
auto command = states[i].getRobotCommand();
if (i%2 == 0) {
std::cout << command.isMove() << std::endl;
} else {
std::cout << command.isGrasp() << std::endl;
}
auto pose = states[i].getPose();
auto pos = pose.getPos();
auto ori = pose.getOri();
std::cout << pos.getX() << " " << pos.getY() <<
" " << pos.getZ() << std::endl;
std::cout << ori.getX() << " " << ori.getY() <<
" " << ori.getZ() << " " << ori.getW() << std::endl;
}
}
However, this test for simple scalar value message passed.
Can anyone help me with this?
Best,
Shuo
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