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}"); } }
IEnumerator SetterCoroutine() { while (_modalityEnabled) { var thisSample = (Sample)getModality.Invoke(client, new object[] {}); if (thisSample != null) { var success = AnimusClient.AnimusClient.SetModality(robotID, modalityName, (int)thisSample.DataType, thisSample.Data); getModalityFPS.increment(-1); } yield return(null); } }