private void Update() { if (!mainSystem.IsFinishReadConfig()) { return; } else { if (!finish_set_address) { ws = new WebSocket(mainSystem.GetConfig().ros_ip); //open message ws.OnOpen += (sender, e) => { Debug.Log("*********** Websocket connected ***********"); conneciton_state = wscCONST.STATE_CONNECTED; }; //close message ws.OnClose += (sender, e) => { Debug.Log("*********** Websocket disconnected ***********"); conneciton_state = wscCONST.STATE_DISCONNECTED; }; //error message ws.OnError += (sender, e) => { Debug.Log("Error : " + e.Message); conneciton_state = wscCONST.STATE_ERROR; }; OnMessage(); finish_set_address = true; Debug.Log("OK ROS_IP"); Connect(); } } }
// Update is called once per frame void Update() { if (!Main.IsFinishReadConfig()) { return; } else { if (!finish_setup) { SetupWebSocket(); Connect(); } } }
// Update is called once per frame void Update() { if (!mainSystem.IsFinishReadConfig()) { return; } if (wsc.conneciton_state == wscCONST.STATE_DISCONNECTED) //切断時 { time_access += Time.deltaTime; if (time_access > 5.0f) { time_access = 0.0f; wsc.Connect(); } } if (wsc.conneciton_state == wscCONST.STATE_CONNECTED) //接続時 { if (!success_access || !abort_access) { //Vehicle if (wait_VehicleState) { WaitResponce(0.5f); } if (wait_VehiclePos) { WaitResponce(0.5f); } if (wait_VehicleStop) { WaitResponce(1.0f); } if (wait_VehicleMove) { WaitResponce(1.0f); } //Right Arm if (wait_RightArmPower) { WaitResponce(0.5f); } if (wait_RightArmServo) { WaitResponce(0.5f); } if (wait_RightArmState) { WaitResponce(0.5f); } if (wait_RightArmPos) { WaitResponce(0.5f); } if (wait_RightArmStop) { WaitResponce(1.0f); } if (wait_RightArmReset) { WaitResponce(1.0f); } if (wait_RightArmMove) { WaitResponce(1.0f); } if (wait_RightArmClearAlarm) { WaitResponce(1.0f); } //Left Arm if (wait_LeftArmPower) { WaitResponce(0.5f); } if (wait_LeftArmServo) { WaitResponce(0.5f); } if (wait_LeftArmState) { WaitResponce(0.5f); } if (wait_LeftArmPos) { WaitResponce(0.5f); } if (wait_LeftArmStop) { WaitResponce(1.0f); } if (wait_LeftArmReset) { WaitResponce(1.0f); } if (wait_LeftArmMove) { WaitResponce(1.0f); } if (wait_LeftArmClearAlarm) { WaitResponce(1.0f); } //Right Gripper if (wait_RightGripperState) { WaitResponce(0.5f); } if (wait_RightGripperPos) { WaitResponce(0.5f); } if (wait_RightGripperStop) { WaitResponce(1.0f); } if (wait_RightGripperMove) { WaitResponce(1.0f); } //Left Gripper if (wait_LeftGripperState) { WaitResponce(0.5f); } if (wait_LeftGripperPos) { WaitResponce(0.5f); } if (wait_LeftGripperStop) { WaitResponce(1.0f); } if (wait_LeftGripperMove) { WaitResponce(1.0f); } } } }