Function encode_pose

depot/sim-bridge/src/can_protocol.rs:50–57

Serialize a pose update for TCP wire. Returns: type(0x02) + x(f64 LE) + y(f64 LE) + theta(f64 LE)

(x: f64, y: f64, theta: f64)

/// Serialize a pose update for TCP wire.
/// Returns: type(0x02) + x(f64 LE) + y(f64 LE) + theta(f64 LE)
pub fn encode_pose(x: f64, y: f64, theta: f64) -> Vec<u8> {
    let mut buf = Vec::with_capacity(25);
    buf.push(MSG_POSE);
    buf.extend_from_slice(&x.to_le_bytes());
    buf.extend_from_slice(&y.to_le_bytes());
    buf.extend_from_slice(&theta.to_le_bytes());
    buf
}

/// Parse the next message from a byte buffer.
/// Returns (message, bytes_consumed) or None if incomplete.