//adds new object dimensions to list of known objects
public void SetObjectTypeMsgFromROS(ObjectTypeMsg msg)
{
if (!ObjectIsKnown(msg.GetName()))
{
knownObjects.Add(msg);
}
foreach (ObjectTypeMsg knownObject in knownObjects)
{
Debug.Log("KNOWN OBJECT: " + knownObject.GetName());
}
}
//callback which calls when service is received
public static void ServiceCallBack(string service, string yaml)
{
Debug.Log("SERVICE CALLBACK " + service);
if (service.Equals(programGetService))
{
JSONNode node = JSONNode.Parse(yaml);
ProgramMsg programMsg = new ProgramMsg(node["program"]);
//Debug.Log(programMsg.ToYAMLString());
ProgramManager.Instance.SetProgramMsgFromROS(programMsg);
ProgramHelper.SetProgramMsgFromROS(programMsg);
}
//1. moznost jak ziskat velikosti objektu .. asi se nebude pouzivat
if (service.Equals(objectGetService))
{
JSONNode node = JSONNode.Parse(yaml);
ObjectTypeMsg objectTypeMsg = new ObjectTypeMsg(node["object_type"]);
ObjectsManager.Instance.SetObjectTypeMsgFromROS(objectTypeMsg);
//Debug.Log(objectTypeMsg.ToYAMLString());
}
if (service.Equals(getAllObjectTypesService))
{
JSONNode node = JSONNode.Parse(yaml);
ObjectsManager.Instance.SetObjectTypesFromROS(node);
}
if (service.Equals(rosparamGetService))
{
JSONNode node = JSONNode.Parse(yaml);
try {
JSONNode parsed = JSONNode.Parse(node["message"]);
Debug.Log(parsed);
if (parsed["arms"] != null)
{
RobotHelper.SetRobotRadiusParam(parsed["arms"]);
}
if (parsed["locale"] != null)
{
TextToSpeechManager.Instance.SetLanguage(parsed["locale"]);
Debug.Log(parsed["locale"]);
}
}
catch (NullReferenceException e) {
Debug.Log(e);
}
}
//if (service.Equals(addCollisionPrimitiveService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
//if(service.Equals(deleteCollisionPrimitiveService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
//if (service.Equals(saveAllCollisionPrimitiveService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
//if (service.Equals(clearAllCollisionPrimitiveService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
//if (service.Equals(reloadAllCollisionPrimitiveService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
//if (service.Equals(robotLookAtLeftFeederService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
//if (service.Equals(robotLookAtRightFeederService)) {
// JSONNode node = JSONNode.Parse(yaml);
// //Debug.Log(node);
//}
}
