Fix ROSSerialization example.

lf-lang · Jul 21, 2023 · 80ee05e · 80ee05e
1 parent 75823af
commit 80ee05e
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/examples/CCpp/src/ROS/ROSSerialization.lf b/examples/CCpp/src/ROS/ROSSerialization.lf
@@ -33,7 +33,7 @@ reactor Clock(offset: time = 0, period: time = 1 sec) {
 
   timer t(0, period)
   state count: int = 0
-  state serialized_msg: rclcpp::SerializedMessage = {= rclcpp::SerializedMessage(0u) =}
+  state serialized_msg: rclcpp::SerializedMessage* = {= new rclcpp::SerializedMessage(0u) =}
 
   reaction(t) -> y {=
     (self->count)++;
@@ -45,13 +45,13 @@ reactor Clock(offset: time = 0, period: time = 1 sec) {
 
     auto message_header_length = 8u;
     auto message_payload_length = 10u;
-    self->serialized_msg.reserve(message_header_length + message_payload_length);
+    self->serialized_msg->reserve(message_header_length + message_payload_length);
 
     static rclcpp::Serialization<std_msgs::msg::Int32> serializer_obj;
-    serializer_obj.serialize_message(msg.get(), &self->serialized_msg);
+    serializer_obj.serialize_message(msg.get(), self->serialized_msg);
 
-    SET_NEW_ARRAY(y, self->serialized_msg.size());
-    y->value = self->serialized_msg.get_rcl_serialized_message().buffer;
+    SET_NEW_ARRAY(y, self->serialized_msg->size());
+    y->value = self->serialized_msg->get_rcl_serialized_message().buffer;
   =}
 }