private void Update()
{
if (!mainSystem.IsFinishReadConfig())
{
return;
}
else
{
if (!finish_set_address)
{
ws = new WebSocket(mainSystem.GetConfig().ros_ip);
//open message
ws.OnOpen += (sender, e) => {
Debug.Log("*********** Websocket connected ***********");
conneciton_state = wscCONST.STATE_CONNECTED;
};
//close message
ws.OnClose += (sender, e) => {
Debug.Log("*********** Websocket disconnected ***********");
conneciton_state = wscCONST.STATE_DISCONNECTED;
};
//error message
ws.OnError += (sender, e) => {
Debug.Log("Error : " + e.Message);
conneciton_state = wscCONST.STATE_ERROR;
};
OnMessage();
finish_set_address = true;
Debug.Log("OK ROS_IP");
Connect();
}
}
}
// Update is called once per frame
void Update()
{
if (!Main.IsFinishReadConfig())
{
return;
}
else
{
if (!finish_setup)
{
SetupWebSocket();
Connect();
}
}
}
// Update is called once per frame
void Update()
{
if (!mainSystem.IsFinishReadConfig())
{
return;
}
if (wsc.conneciton_state == wscCONST.STATE_DISCONNECTED) //切断時
{
time_access += Time.deltaTime;
if (time_access > 5.0f)
{
time_access = 0.0f;
wsc.Connect();
}
}
if (wsc.conneciton_state == wscCONST.STATE_CONNECTED) //接続時
{
if (!success_access || !abort_access)
{
//Vehicle
if (wait_VehicleState)
{
WaitResponce(0.5f);
}
if (wait_VehiclePos)
{
WaitResponce(0.5f);
}
if (wait_VehicleStop)
{
WaitResponce(1.0f);
}
if (wait_VehicleMove)
{
WaitResponce(1.0f);
}
//Right Arm
if (wait_RightArmPower)
{
WaitResponce(0.5f);
}
if (wait_RightArmServo)
{
WaitResponce(0.5f);
}
if (wait_RightArmState)
{
WaitResponce(0.5f);
}
if (wait_RightArmPos)
{
WaitResponce(0.5f);
}
if (wait_RightArmStop)
{
WaitResponce(1.0f);
}
if (wait_RightArmReset)
{
WaitResponce(1.0f);
}
if (wait_RightArmMove)
{
WaitResponce(1.0f);
}
if (wait_RightArmClearAlarm)
{
WaitResponce(1.0f);
}
//Left Arm
if (wait_LeftArmPower)
{
WaitResponce(0.5f);
}
if (wait_LeftArmServo)
{
WaitResponce(0.5f);
}
if (wait_LeftArmState)
{
WaitResponce(0.5f);
}
if (wait_LeftArmPos)
{
WaitResponce(0.5f);
}
if (wait_LeftArmStop)
{
WaitResponce(1.0f);
}
if (wait_LeftArmReset)
{
WaitResponce(1.0f);
}
if (wait_LeftArmMove)
{
WaitResponce(1.0f);
}
if (wait_LeftArmClearAlarm)
{
WaitResponce(1.0f);
}
//Right Gripper
if (wait_RightGripperState)
{
WaitResponce(0.5f);
}
if (wait_RightGripperPos)
{
WaitResponce(0.5f);
}
if (wait_RightGripperStop)
{
WaitResponce(1.0f);
}
if (wait_RightGripperMove)
{
WaitResponce(1.0f);
}
//Left Gripper
if (wait_LeftGripperState)
{
WaitResponce(0.5f);
}
if (wait_LeftGripperPos)
{
WaitResponce(0.5f);
}
if (wait_LeftGripperStop)
{
WaitResponce(1.0f);
}
if (wait_LeftGripperMove)
{
WaitResponce(1.0f);
}
}
}
}
