private void Update()
{
if (!_modalityEnabled || internalFlag)
{
return;
}
try
{
threadNewSamp = AnimusClient.AnimusClient.GetModality(robotID, modalityName, false);
if (threadNewSamp == null)
{
return;
}
if (threadNewSamp.Error != null)
{
if (threadNewSamp.Error.Success)
{
updateNewSamp = AnimusUtils.DecodeData(threadNewSamp.Sample);
setModality.Invoke(client, new object[] { updateNewSamp.Data });
setModalityFPS.increment(-1);
}
}
}
catch (Exception e)
{
Debug.Log($"Set Modality error for {modalityName} modality: {e}");
}
}
public static unsafe GetModalityProto GetModality(string robotID, string modalityName, bool blocking)
{
var sdkReturn = animus_client_sdk.GetModalityGo(robotID, modalityName, (blocking) ? 1:0);
if (sdkReturn == null)
{
return(new GetModalityProto {
Error = new Error {
Success = false
}
});
}
var err = new GetModalityProto();
err.MergeFrom(sdkReturn.GetBytes());
return(err);
}