void OnClickEvent()
{
if (surface_pointcloud)
{
Debug.Log("Switching to surface point cloud");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
//lampSensor_ROS.Unsubscribe();
}
if (Level_0)
{
Debug.Log("Switching to Level 0");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
//lampSensor_ROS.Unsubscribe();
}
if (Level_1)
{
Debug.Log("Switching to Level 1");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
//lampSensor_ROS.Unsubscribe();
}
if (Level_2)
{
Debug.Log("Switching to Level 2");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
//lampSensor_ROS.Unsubscribe();
}
if (Level_3)
{
Debug.Log("Switching to Level 3");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
//lampSensor_ROS.Unsubscribe();
}
if (Level_4)
{
Debug.Log("Switching to Level 4");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
//lampSensor_ROS.Unsubscribe();
}
if (Level_5)
{
Debug.Log("Switching to Level 5");
GameObject sensor = WorldProperties.GetSelectedSensor();
LampSensor_ROSSensorConnection lampSensor_ROS = sensor.GetComponent <LampSensor_ROSSensorConnection>();
}
}
/// <summary>
/// Create a Sensor gameobject and attach & init required ROSSensorConnnection.
/// </summary>
/// <param name="rosSensorConnectionInput"></param>
private ROSSensorConnectionInterface InstantiateSensor(ROSSensorConnectionInput rosSensorConnectionInput)
{
SensorType sensorType = rosSensorConnectionInput.sensorType;
string sensorIP = rosSensorConnectionInput.url;
int sensorPort = rosSensorConnectionInput.port;
List <string> sensorSubscribers = new List <string>();
ROSSensorConnectionInterface rosSensorConnection = null;
foreach (SensorSubscribers subscriber in rosSensorConnectionInput.sensorSubscribers)
{
sensorSubscribers.Add(subscriber.ToString());
}
GameObject sensor = new GameObject(rosSensorConnectionInput.sensorName);
sensor.transform.parent = this.transform;
switch (sensorType)
{
case SensorType.PointCloud:
Debug.Log("PointCloud Sensor created");
PointCloudSensor_ROSSensorConnection pcSensor_rosSensorConnection = sensor.AddComponent <PointCloudSensor_ROSSensorConnection>();
pcSensor_rosSensorConnection.InitilizeSensor(uniqueID, sensorIP, sensorPort, sensorSubscribers);
ROSSensorConnections.Add(uniqueID, pcSensor_rosSensorConnection);
rosSensorConnection = pcSensor_rosSensorConnection;
break;
case SensorType.Mesh:
Debug.Log("Mesh Sensor created");
MeshSensor_ROSSensorConnection meshSensor_rosSensorConnection = sensor.AddComponent <MeshSensor_ROSSensorConnection>();
meshSensor_rosSensorConnection.InitilizeSensor(uniqueID, sensorIP, sensorPort, sensorSubscribers);
ROSSensorConnections.Add(uniqueID, meshSensor_rosSensorConnection);
rosSensorConnection = meshSensor_rosSensorConnection;
break;
case SensorType.LAMP:
Debug.Log("LAMP Sensor created");
LampSensor_ROSSensorConnection lamp_rosSensorConnection = sensor.AddComponent <LampSensor_ROSSensorConnection>();
lamp_rosSensorConnection.InitilizeSensor(uniqueID, sensorIP, sensorPort, sensorSubscribers);
ROSSensorConnections.Add(uniqueID, lamp_rosSensorConnection);
rosSensorConnection = lamp_rosSensorConnection;
break;
case SensorType.PCFace:
Debug.Log("PCFace Sensor created");
PCFaceSensor_ROSSensorConnection pcFace_rosSensorConnection = sensor.AddComponent <PCFaceSensor_ROSSensorConnection>();
pcFace_rosSensorConnection.InitilizeSensor(uniqueID, sensorIP, sensorPort, sensorSubscribers);
ROSSensorConnections.Add(uniqueID, pcFace_rosSensorConnection);
rosSensorConnection = pcFace_rosSensorConnection;
break;
case SensorType.Image:
Debug.Log("Camera Stream created");
CameraSensor_ROSSensorConnection camera_rosSensorConnection = sensor.AddComponent <CameraSensor_ROSSensorConnection>();
VideoPlayers videoType = rosSensorConnectionInput.videoPlayers;
switch (videoType)
{
case VideoPlayers.BackVideo:
camera_rosSensorConnection.SetVideoType("BackVideo");
break;
case VideoPlayers.FrontVideo:
camera_rosSensorConnection.SetVideoType("FrontVideo");
break;
case VideoPlayers.LeftVideo:
camera_rosSensorConnection.SetVideoType("LeftVideo");
break;
case VideoPlayers.RightVideo:
camera_rosSensorConnection.SetVideoType("RightVideo");
break;
default:
Debug.Log("No Video Type Selected.");
return(null);
}
camera_rosSensorConnection.InitilizeSensor(uniqueID, sensorIP, sensorPort, sensorSubscribers);
ROSSensorConnections.Add(uniqueID, camera_rosSensorConnection);
rosSensorConnection = camera_rosSensorConnection;
break;
default:
Debug.Log("No sensor type selected");
return(null);
}
// Add sensor to list of sensors in World Properties
WorldProperties.AddSensor(uniqueID, sensor);
uniqueID++;
return(rosSensorConnection);
}