void Awake()
{
if (instance != null && instance != this)
{
Debug.LogError("Too many ROSControllers! Only one must exist.");
Destroy(gameObject);
return;
}
GetConfigFile();
Debug.LogWarning("Main thread ID " + System.Threading.Thread.CurrentThread.ManagedThreadId);
status = ROSStatus.Disconnected;
// Application.targetFrameRate = 0;
if (QualitySettings.vSyncCount == 2)
{
Application.targetFrameRate = 30;
}
else
{
Application.targetFrameRate = 60;
}
// Debug.Log ( "ros master is " + ROS.ROS_MASTER_URI );
if ((string.IsNullOrEmpty(Environment.GetEnvironmentVariable("ROS_MASTER_URI", EnvironmentVariableTarget.User)) &&
string.IsNullOrEmpty(Environment.GetEnvironmentVariable("ROS_MASTER_URI", EnvironmentVariableTarget.Machine))) || overrideURI)
{
ROS.ROS_MASTER_URI = rosMasterURI;
}
if (overrideIP)
{
if (rosIP == "0.0.0.0")
{
Debug.LogError("host IP is set to override but address is set to 0.0.0.0");
}
else
{
ROS.ROS_IP = rosIP;
}
}
// delayedStart = true;
instance = this;
initComplete = false;
StartROS();
new Thread(new ThreadStart(UpdateMasterConnection)).Start();
}
void Update()
{
if (ROS.isStarted() && ROS.ok && connectedToMaster)
{
status = ROSStatus.Connected;
}
else
if (ROS.shutting_down || !ROS.isStarted() || !ROS.ok)
{
status = ROSStatus.Disconnected;
}
else
{
status = ROSStatus.Connecting;
}
}
void Update()
{
status = ROSController.Status;
if (status != lastStatus)
{
if (status == ROSStatus.Connected)
{
connectionStatus.color = Color.green;
connectionStatusText.text = "Connected to ROS";
}
else
if (status == ROSStatus.Connecting)
{
connectionStatus.color = orange;
connectionStatusText.text = "Connecting to ROS";
}
else
{
connectionStatus.color = Color.red;
connectionStatusText.text = "Disconnected from ROS";
}
lastStatus = status;
}
}
void Awake()
{
instance = this;
lastStatus = ROSStatus.Unknown;
}
