public void OnSampleRateUpdate(std_msgs.Int32 sample_rate)
{
var changed = false;
lock (config.ConfigLock)
{
if (config.sample_rate != sample_rate.data)
{
config.sample_rate = sample_rate.data;
changed = true;
}
}
if (changed)
{
OnSettingsChanged();
}
}
public void OnNumChannelUpdate(std_msgs.Int32 num_channels)
{
var changed = false;
lock (config.ConfigLock)
{
if (config.num_channels != num_channels.data)
{
config.num_channels = num_channels.data;
changed = true;
}
}
if (changed)
{
OnSettingsChanged();
}
}
public void Loop()
{
var msec_pause = (config.controller_hz < 1) ? 1 : 1000 / config.controller_hz;
std_msgs.Int32 msg_nchan = new std_msgs.Int32();
std_msgs.Int32 msg_srate = new std_msgs.Int32();
while (true)
{
lock (config.ConfigLock)
{
msg_nchan.data = config.num_channels;
msg_srate.data = config.sample_rate;
}
lock (config.SocketLock)
{
config.socket.Publish(config.get_nchan_topic_id, msg_nchan);
config.socket.Publish(config.get_srate_topic_id, msg_srate);
}
Thread.Sleep(msec_pause);
}
}