private void WalkOnChild(Transform transform)
{
foreach (Transform t in transform)
{
GameObject go = t.gameObject;
kinematics = GetComponentOrDefault(go, kinematics);
RobotLidar = GetComponentOrDefault(go, RobotLidar);
manualController = GetComponentOrDefault(go, manualController);
RobotCamera = GetComponentOrDefault(go, RobotCamera, "Camera", false);
FirstPersonCamera = GetGameObjectOrDefault(go, FirstPersonCamera, "FirstPersonCamera");
ThirdPersonCamera = GetGameObjectOrDefault(go, ThirdPersonCamera, "ThirdPersonCamera");
TopCamera = GetGameObjectOrDefault(go, TopCamera, "TopCamera");
WalkOnChild(t);
}
}
void Start()
{
if (kinematics == null)
{
kinematics = GetComponent <DifferentialKinematics>();
}
if (WorldCameraSelector == null)
{
WorldCameraSelector = GetComponent <CameraSelector>();
}
if (RobotCamera == null)
{
RobotCamera = Camera.main;
}
if (RobotLidar == null)
{
RobotLidar = GetComponent <Lidar>();
}
receiveBytes = new byte[921600];
Connected = false;
ClientName = "";
GetCameraImage();
IPAddress ipAddress = IPAddress.Parse("127.0.0.1");
tcpServer = new TcpListener(ipAddress, Port);
tcpServer.Server.SendTimeout = 1000;
tcpServer.Server.ReceiveTimeout = 1000;
tcpServer.Start();
running = true;
thread = new Thread(new ThreadStart(ServerThread));
thread.Start();
}
