// Update is called once per frame
void Update()
{
if (ROSCommunicationManager.Instance.connectedToROS)
{
if (!languageCalled)
{
TextToSpeechManager.Instance.LoadLanguage();
languageCalled = true;
}
if (!ntpTimeSet)
{
ntpTimeSet = true;
UnbiasedTime.Init(MainMenuManager.Instance.currentSetup.GetIP());
}
//Load known object types from database
if (!ObjectsManager.Instance.objectReloadInitiated)
{
ObjectsManager.Instance.ReloadObjectTypes();
ObjectsManager.Instance.objectReloadInitiated = true;
}
if (!ObjectsManager.Instance.objectTypesLoaded)
{
return;
}
//wait until time synchronizes with ntp
if (!UnbiasedTime.Instance.TimeSynchronized)
{
//Debug.Log("TIME STILL NOT SYNCHRONIZED");
return;
}
//Load robot reach radius
if (!robotRadiusCalled)
{
robotRadiusCalled = true;
RobotHelper.LoadRobotRadius();
RobotHelper.LoadTableSize();
}
if (!TextToSpeechManager.Instance.languageSet)
{
return;
}
#if UNITY_EDITOR
if (!calibrated)
{
calibrated = true;
//StartCoroutine(startFakeCalibration());
//GameObject super_root = new GameObject("super_root");
//super_root.transform.position = Vector3.zero;
//worldAnchor.transform.parent = super_root.transform;
//super_root.transform.eulerAngles = new Vector3(-90f, 0f, 0f);
worldAnchor.transform.eulerAngles = new Vector3(-90f, 20f, 0f);
//worldAnchor.transform.Rotate(180f, 0f, 0f, Space.Self);
worldAnchorVisualizationCube.gameObject.SetActive(true);
worldAnchorRecalibrationButton.gameObject.SetActive(true);
if (OnSystemStarted != null)
{
OnSystemStarted();
}
}
#endif
#if !UNITY_EDITOR
if (!anchorLoaded && !calibrated && !calibration_launched && (WorldAnchorManager.Instance.AnchorStore != null))
{
string[] ids = WorldAnchorManager.Instance.AnchorStore.GetAllIds();
//world anchor is present
if (ids.Length == 1)
{
//attaching an existing anchor name will load it instead
WorldAnchorManager.Instance.AttachAnchor(worldAnchor.gameObject, ids[0]);
worldAnchorVisualizationCube.gameObject.SetActive(true);
worldAnchorRecalibrationButton.gameObject.SetActive(true);
//helpAnchorVisualizationCube.gameObject.SetActive(false);
anchorLoaded = true;
calibrated = true;
if (OnSystemStarted != null)
{
OnSystemStarted();
}
}
else
{
StartCoroutine(startCalibration());
calibration_launched = true;
}
}
#endif
}
}
// Use this for initialization
void Start()
{
UnbiasedTime.Init("time.windows.com");
}