//unsubscribe form topics
#if UNITY_EDITOR
void OnApplicationQuit()
{
if (ros != null)
{
ros.Publish(HoloLensActivityPublisher.GetMessageTopic(), new BoolMsg(false));
ros.Disconnect();
}
}
//may be used for unsubscribing in hololens.. gotta try how it will work
#if !UNITY_EDITOR
void OnApplicationFocus(bool focus)
{
if (!focus)
{
if (ros != null)
{
//send message of hololens inactivity
ros.Publish(HoloLensActivityPublisher.GetMessageTopic(), new BoolMsg(false));
//not needed .. system automatically disconnects from rosbridge
//ros.Disconnect();
}
}
}
void Update()
{
if (connectToROS)
{
ros.SetIPConfig(serverIP, port);
ros.AddSubscriber(typeof(DetectedObjectsSubscriber));
ros.AddSubscriber(typeof(InterfaceStateSubscriber));
ros.AddSubscriber(typeof(HololensStateSubscriber));
ros.AddSubscriber(typeof(CollisionEnvSubscriber));
ros.AddSubscriber(typeof(LearningRequestActionResultSubscriber));
ros.AddPublisher(typeof(HoloLensClickPublisher));
ros.AddPublisher(typeof(HoloLensActivityPublisher));
ros.AddPublisher(typeof(HoloLensLearningPublisher));
ros.AddPublisher(typeof(InterfaceStatePublisher));
ros.AddPublisher(typeof(CollisionEnvPublisher));
ros.AddPublisher(typeof(TFPublisher));
ros.AddPublisher(typeof(LearningRequestActionGoalPublisher));
ros.AddPublisher(typeof(TF2WebRepublisherGoalPublisher));
ros.AddPublisher(typeof(TF2WebRepublisherCancelPublisher));
ros.AddSubscriber(typeof(TF2WebRepublisherFeedbackSubscriber));
ros.AddSubscriber(typeof(GuiNotificationsSubscriber));
ros.AddSubscriber(typeof(RobotLeftArmGraspedObjectSubscriber));
ros.AddSubscriber(typeof(RobotRightArmGraspedObjectSubscriber));
ros.AddServiceResponse(typeof(ROSCommunicationManager));
ros.Connect();
connectToROS = false;
}
if (ros._connected)
{
connectedToROS = true;
//activate callbacks
ros.Render();
//every 5 secs publish activity msg
if (awake_counter <= 0f)
{
ros.Publish(HoloLensActivityPublisher.GetMessageTopic(), new BoolMsg(true), debug_log: false);
ros.Publish(HoloLensLearningPublisher.GetMessageTopic(), new BoolMsg(InteractiveProgrammingManager.Instance.holoLearningEnabled), debug_log: false);
awake_counter = 5f;
}
awake_counter -= Time.deltaTime;
//if(UnbiasedTime.Instance.TimeSynchronized) {
// try {
// Debug.Log(ROSTimeHelper.GetCurrentTime().ToYAMLString());
// }
// catch (Exception e) {
// }
//}
}
if (!ros._connected)
{
connectedToROS = false;
}
}