void OnQuit()
{
if (_use_connection)
{
switch (_connection_mode)
{
case "ros":
Debug.Log("Closing Connection with ROS");
if (_robot_connection != null)
{
((Networking.ROSConnection)_robot_connection).close_connection();
_robot_connection = null;
}
break;
case "thalamus":
break;
default:
break;
}
}
if (_instance != null)
{
_instance = null;
}
}
// Use this for initialization
void Start()
{
if (_instance == null)
{
DontDestroyOnLoad(gameObject);
_instance = this;
// Initialize IPs and ports (Android vs Linux/Windows/Mac vs Editor)
if (!Application.isEditor)
{
string os = SystemInfo.operatingSystem;
if (os.ToLower().Contains("android"))
{
initialize_android();
}
else if (os.ToLower().Contains("windows") || os.ToLower().Contains("mac") || os.ToLower().Contains("linux"))
{
initialize_standalone();
}
}
_rand_generator = new System.Random();
if (_use_connection && (_robot_connection == null))
{
_ask_start = DateTime.MinValue;
switch (_play_mode)
{
case "regular":
if (_connection_mode.Contains("ros"))
{
//TODO
}
else if (_connection_mode.Contains("thalamus"))
{
//TODO
}
break;
case "help":
if (_connection_mode.Contains("ros"))
{
_robot_connection = new Networking.RosBridge.AskHelpROS(_connection_ip, _connection_port);
//((Networking.RosBridge.AskHelpROS)_robot_connection).advertize(_ros_pub_topic, "std_msgs/String");
((Networking.RosBridge.AskHelpROS)_robot_connection).subscribe(_ros_sub_topic, "std_msgs/String");
_game_begin = DateTime.Now;
}
else if (_connection_mode.Contains("thalamus"))
{
//TODO
}
break;
default:
break;
}
}
}
else if (_instance != this)
{
gameObject.SetActive(false);
return;
}
}
