protected virtual void _send_states(long now, ToolState rr_tool_state, ToolStateSensorData rr_state_sensor_data)
{
if (rrvar_tool_state != null)
{
rrvar_tool_state.OutValue = rr_tool_state;
}
rrvar_tool_state_sensor_data?.AsyncSendPacket(rr_state_sensor_data).ContinueWith(t => { var ignore = t.Exception; }, System.Threading.Tasks.TaskContinuationOptions.OnlyOnFaulted);
if (rrvar_device_clock_now != null)
{
rrvar_device_clock_now.OutValue = DateTimeUtil.FillDeviceTime(RobotRaconteurNode.s, tool_info?.device_info, _state_seqno);
}
}
protected virtual void _fill_sensor_data(long now, ToolState rr_tool_state, out ToolStateSensorData rr_state_sensor_data)
{
if (rr_tool_state == null)
{
rr_state_sensor_data = null;
return;
}
var sensor_data_header = SensorDataUtil.FillSensorDataHeader(RobotRaconteurNode.s, _tool_info?.device_info, _state_seqno);
var sensor_data = new ToolStateSensorData();
sensor_data.data_header = sensor_data_header;
sensor_data.robot_state = rr_tool_state;
rr_state_sensor_data = sensor_data;
}
