/// <summary>
/// Interprets the received list and spawns / destroys instances of robots
/// </summary>
/// <param name="runningInstances">Instances of robots that should be synchronized with the scene</param>
private void ReceiveMessage(RunningInstance[] runningInstances)
{
#if DEBUG
Debug.Log($"Recevied {runningInstances.Length} filtered instances");
#endif
foreach (var instance in runningInstances)
{
if (!currentSceneDicionary.ContainsKey(instance.inst.inst_id))
{
//object does not exist. Create it.
UrdfSyncher syncher = new UrdfSyncher(SceneContainerObject, transform.GetComponent <RosConnector>(), instance.comp.pretty_name, RobotContainerPrefab);
currentSceneDicionary[instance.inst.inst_id] = syncher;
}
currentSceneDicionary[instance.inst.inst_id].SynchUrdf(instance.inst.urdf_dyn);
}
//Destroy components that are not present anymore
for (int i = currentSceneDicionary.Values.Count - 1; i >= 0; i--)
{
var currentInstance = currentSceneDicionary.Values.ElementAt(i);
var currentKey = currentSceneDicionary.Keys.ElementAt(i);
if (!runningInstances.Any(x => x.inst.inst_id == currentKey))
{
currentInstance.Destroy();
currentSceneDicionary.Remove(currentKey);
}
}
AttachablesManager.Instance.ReapplyMaterials();
}
public void Awake()
{
if (UIHandler != null)
{
RosSharp.Output.SetHandlers(UIHandler.ShowText, UIHandler.ShowError);
}
UrdfSyncher.InitializeUrdfSyncher();
}
