private void Response()
{
while (true)
{
var receivedBuffer = ReceiveRequest();
var requestMessage = ParsingCameraInfoRequest(ref memoryStreamForCameraInfo, receivedBuffer);
// Debug.Log(subPartName + receivedString);
if (requestMessage != null && requestMessage.Name.Equals("request_camera_info"))
{
var cameraInfoMessage = cam.GetCameraInfo();
SetCameraInfoResponse(ref memoryStreamForCameraInfo, cameraInfoMessage);
SendResponse(memoryStreamForCameraInfo);
}
}
}
private void Response()
{
while (IsRunningThread)
{
var receivedBuffer = ReceiveRequest();
var requestMessage = ParsingInfoRequest(receivedBuffer, ref msForInfoResponse);
// Debug.Log(subPartName + receivedString);
if (requestMessage != null)
{
switch (requestMessage.Name)
{
case "request_ros2":
var topic_name = parameters.GetValue <string>("ros2/topic_name");
var frame_id = parameters.GetValue <string>("ros2/frame_id");
SetROS2CommonInfoResponse(ref msForInfoResponse, topic_name, frame_id);
break;
case "request_camera_info":
var cameraInfoMessage = cam.GetCameraInfo();
SetCameraInfoResponse(ref msForInfoResponse, cameraInfoMessage);
break;
case "request_transform":
var isSubParts = string.IsNullOrEmpty(subPartName);
var devicePose = cam.GetPose(isSubParts);
SetTransformInfoResponse(ref msForInfoResponse, devicePose);
break;
default:
break;
}
SendResponse(msForInfoResponse);
}
ThreadWait();
}
}