/*
* Update is called once per frame
* Take the most recent ZMQ message and use it to position the cameras.
* If there has not been a recent message, the renderer should probably pause rendering until a new request is received.
*/
void Update()
{
if (pull_socket.HasIn || socket_initialized)
{
// Receive most recent message
var msg = new NetMQMessage();
var new_msg = new NetMQMessage();
// Blocking receive for a message
msg = pull_socket.ReceiveMultipartMessage();
// Make sure that splashscreen is disabled
splashScreen.SetActive(false);
// Check if this is the latest message
while (pull_socket.TryReceiveMultipartMessage(ref new_msg))
{
;
}
// Check that we got the whole message
if (new_msg.FrameCount >= msg.FrameCount)
{
msg = new_msg;
}
if (msg.FrameCount == 0)
{
return;
}
// Get scene state from LCM
state = JsonConvert.DeserializeObject <StateMessage_t>(msg[1].ConvertToString());
// Make sure that all objects are initialized properly
initializeObjects();
// Ensure that dynamic object settings such as depth-scaling and color are set correctly.
updateDynamicObjectSettings();
// Update position of game objects.
updateObjectPositions();
// Mark socket as initialized
socket_initialized = true;
}
else
{
// Throttle to 10hz when idle
Thread.Sleep(100); // [ms]
}
}
