private void Response()
{
while (IsRunningThread)
{
var receivedBuffer = ReceiveRequest();
var requestMessage = CameraPlugin.ParsingInfoRequest(receivedBuffer, ref msForInfoResponse);
if (requestMessage != null)
{
var cameraName = (requestMessage.Value == null) ? string.Empty : requestMessage.Value.StringValue;
switch (requestMessage.Name)
{
case "request_ros2":
if (parameters.GetValues <string>("ros2/frames_id/frame_id", out var frames_id))
{
SetROS2FramesIdInfoResponse(ref msForInfoResponse, frames_id);
}
break;
case "request_camera_info":
{
var camera = multicam.GetCamera(cameraName);
var cameraInfoMessage = camera.GetCameraInfo();
CameraPlugin.SetCameraInfoResponse(ref msForInfoResponse, cameraInfoMessage);
}
break;
case "request_transform":
{
var camera = multicam.GetCamera(cameraName);
var devicePose = camera.GetPose();
SetTransformInfoResponse(ref msForInfoResponse, devicePose);
}
break;
default:
break;
}
SendResponse(msForInfoResponse);
}
ThreadWait();
}
}
private void Response()
{
while (true)
{
var receivedBuffer = ReceiveRequest();
var requestMessage = CameraPlugin.ParsingCameraInfoRequest(ref memoryStreamForCameraInfo, receivedBuffer);
if (requestMessage != null && requestMessage.Name.Equals("request_camera_info"))
{
var cameraName = requestMessage.Value.StringValue;
if (cameraName != null)
{
var cameraInfoMessage = cam.GetCameraInfo(cameraName);
CameraPlugin.SetCameraInfoResponse(ref memoryStreamForCameraInfo, cameraInfoMessage);
}
SendResponse(memoryStreamForCameraInfo);
}
}
}
