void Update()
{
// ---- process commands and send them out if time threshold has been reached ----
sendNextUpdates += Time.deltaTime;
if (sendNextUpdates >= messageSendRateMs / 1000)
{
// for each module first check if there are new values, if so send them a command over serial
foreach (KeyValuePair <int, Command> entry in commandsById)
{
Command command = entry.Value;
int moduleId = entry.Key;
int[] newValues = null;
switch (modulesById[moduleId].actuatorType)
{
case ActuatorType.Haptic:
newValues = MaxStackValues(queuedActuatorValuesById[moduleId]);
break;
case ActuatorType.Temperature:
newValues = MaxStackValues(queuedActuatorValuesById[moduleId]);
//newValues = AverageStackValues(queuedActuatorValuesById[moduleId]);
break;
case ActuatorType.EMS:
newValues = MaxStackValues(queuedActuatorValuesById[moduleId]);
//newValues = AverageStackValues(queuedActuatorValuesById[moduleId]);
break;
}
if (newValues != null)
{
command.values = newValues;
commandsToSendNext.Push(command);
SetColor(moduleId, command.values);
}
}
SendCommands();
sendNextUpdates = 0.0f;
}
// ---- process incomming messages ----
string message = ReceiveMessage();
if (message == null)
{
return;
}
// Check if the message is plain data or a connect/disconnect event.
if (ReferenceEquals(message, SerialController.SERIAL_DEVICE_CONNECTED))
{
Debug.Log("Connection established");
}
else if (ReferenceEquals(message, SerialController.SERIAL_DEVICE_DISCONNECTED))
{
Debug.Log("Connection attempt failed or disconnection detected");
}
else
{
if (ShowInMessages == true)
{
Debug.Log("Received message: " + message);
}
// parse json
try
{
Summary summary = Summary.CreateFromJSON(message);
foreach (ModuleInformation item in summary.modules)
{
modulesById[item.id].setReadValues(item.values.ToArray());
modulesById[item.id].setMeasuredValues(item.measurements.ToArray());
}
}
catch (ArgumentException e)
{
Debug.Log("Not valid JSON: " + message);
}
}
}
