// Start is called before the first frame update
void Start()
{
this.root = GameObject.Find("Robot");
this.myObject = GameObject.Find("Robot/" + this.transform.name);
this.parts = myObject.GetComponentInChildren <Hakoniwa.Assets.EV3.IEV3Parts>();
this.isConnected = false;
this.InitActuator();
this.InitSensor();
this.writer = this.myObject.GetComponentInChildren <IoWriter>();
this.reader = this.myObject.GetComponentInChildren <IoReader>();
this.reader.Initialize();
this.reader.SetCallback(UdpServerCallback);
}
public void Initialize()
{
this.root = GameObject.Find("Robot");
this.myObject = GameObject.Find("Robot/" + this.transform.name);
this.parts = myObject.GetComponentInChildren <Hakoniwa.Assets.EV3.IEV3Parts>();
this.isConnected = false;
this.InitActuator();
this.InitSensor();
GameObject hakoniwa = GameObject.Find("Hakoniwa");
HakoniwaConfig hakoniwa_cfg = hakoniwa.GetComponentInChildren <Hakoniwa.Core.HakoniwaConfig>();
if (hakoniwa_cfg == null)
{
UnityEngine.Debug.LogError("Not found hakoniwa_cfg : " + hakoniwa_cfg);
return;
}
this.writer = this.myObject.GetComponentInChildren <IoWriter>();
this.reader = this.myObject.GetComponentInChildren <IoReader>();
this.robotConfig = hakoniwa_cfg.GetRobotConfig(this.transform.name);
if (robotConfig == null)
{
UnityEngine.Debug.LogError("Not found hakoniwa_robot_cfg : " + robotConfig);
return;
}
if (hakoniwa_cfg.IsMmap(robotConfig))
{
this.writer.filepath = hakoniwa_cfg.GetRobotMmapWriterFilePath(this.transform.name);
this.reader.filepath = hakoniwa_cfg.GetRobotMmapReaderFilePath(this.transform.name);
this.writer.InitializeMmap();
this.reader.InitializeMmap();
}
else
{
this.writer.host = hakoniwa_cfg.GetRobotConfig(this.transform.name).Udp.AthrillIpAddr;
this.writer.port = hakoniwa_cfg.GetRobotConfig(this.transform.name).Udp.AthrillPort;
this.reader.port = hakoniwa_cfg.GetRobotConfig(this.transform.name).Udp.UnityPort;
this.writer.Initialize();
this.reader.Initialize();
}
this.reader.SetCallback(UdpServerCallback);
}
