public static unsafe Error OpenModality(string robotID, OpenModalityProto openModality)
{
var buffer = openModality.ToByteArray();
fixed(byte *p = buffer)
{
IntPtr ptr = (IntPtr)p;
var protoMsgC = new ProtoMessageC
{
data = new SWIGTYPE_p_void(ptr, false),
len = (uint)buffer.Length
};
var sdkReturn = animus_client_sdk.OpenModalityGo(robotID, protoMsgC);
if (sdkReturn == null)
{
return(new Error {
Success = false
});
}
var err = new Error();
err.MergeFrom(sdkReturn.GetBytes());
return(err);
}
}
private void Start()
{
requested_rate = 30;
if (!internalFlag)
{
_modalityEnabled = false;
Debug.Log($"Started {modalityName} modality setter");
var driverSuccess = (bool)initModality.Invoke(client, new object[0]);
if (driverSuccess)
{
Debug.Log($"{modalityName} Modality opened successfully");
}
else
{
Debug.Log($"{modalityName} Modality failed to open");
}
}
else
{
Debug.Log($"Started {modalityName} modality setter in internal mode");
}
Debug.Log($"{modalityName} Human Modality opened successfully");
bool isinterval = false;
var openModality = new OpenModalityProto
{
ModalityName = modalityName,
Fps = 30,
};
var transportSuccess = AnimusClient.AnimusClient.OpenModality(robotID, openModality);
if (transportSuccess.Success)
{
Debug.Log($"{modalityName} Transport Modality opened successfully");
_modalityEnabled = true;
getModalityFPS = new FpsLag(modalityName, fpsinterval, "end of update to end of update");
}
else
{
Debug.Log("Open modality error: " + transportSuccess.Description);
}
if (!internalFlag)
{
StartCoroutine(SetterCoroutine());
}
}
private void Start()
{
if (!internalFlag)
{
Debug.Log($"Started {modalityName} modality sampler");
var driverSuccess = (bool)initModality.Invoke(client, new object[0]);
if (driverSuccess)
{
Debug.Log($"{modalityName} Modality opened successfully");
}
else
{
Debug.Log($"{modalityName} Modality failed to open");
}
}
else
{
Debug.Log($"Starting {modalityName} in internal mode");
}
Debug.Log($"{modalityName} Human Modality and sampler thread opened successfully");
var openModality = new OpenModalityProto
{
ModalityName = modalityName,
Fps = 30,
};
var transportSuccess = AnimusClient.AnimusClient.OpenModality(robotID, openModality);
if (transportSuccess.Success)
{
Debug.Log($"{modalityName} Transport Modality opened successfully");
_modalityEnabled = true;
setModalityFPS = new FpsLag(modalityName, 30, "set modality");
}
else
{
Debug.Log("Open modality error: " + transportSuccess.Description);
}
}
