// Update is called once per frame and is used to display the point cloud sent by the robot
void Update()
{
// Update the point cloud mesh to display the most recent aligned point cloud sent by the robot side
Vector3[] newPointCloudVertices;
bool isAvailable = internalPointCloudQueue.TryDequeue(out newPointCloudVertices);
TimeSpan currentTime = Timer.SampleCurrentStopwatch();
TimeSpan elapsedRobotPointCloudReceived = currentTime - lastTimeRobotPointCloudReceived;
if (isAvailable)
{
lastTimeRobotPointCloudReceived = currentTime;
UpdatePointCloudMesh(ref newPointCloudVertices);
isShowingRobotLostTrackingMessage = false;
}
else if (elapsedRobotPointCloudReceived.TotalSeconds > thresholdRobotLostTrackingMessage)
{
thresholdRobotLostTrackingMessage = 15;
isRobotPointCloudGameObjectActive = false;
robotTargetFlag.SetActive(false);
robotPointCloudGameObject.SetActive(isRobotPointCloudGameObjectActive);
if (!isShowingRobotLostTrackingMessage)
{
isShowingRobotLostTrackingMessage = true;
string userMessage = "You are not receiving any new point clouds from the robot. Please try to move robot around using the virtual joystick!";
userMessageManager.ShowUserMessage(userMessage, 999f);
}
}
}
