// ====================================
// All button handlers.
// ====================================
private void onRosConnectButtonClick()
{
Logger.Log("Ros Connect Button clicked");
string rosbridgeIp = Constants.DEFAULT_ROSBRIDGE_IP;
// If user entered a different IP, use it, otherwise stick to default.
if (this.rosInputText.text != "")
{
rosbridgeIp = this.rosInputText.text;
Logger.Log("Trying to connect to roscore at " + rosbridgeIp);
}
if (this.rosManager == null || !this.rosManager.isConnected())
{
this.rosManager = new RosManager(rosbridgeIp, Constants.DEFAULT_ROSBRIDGE_PORT, this);
this.storyManager.SetRosManager(this.rosManager);
if (this.rosManager.Connect())
{
// If connection successful, update status text.
this.rosStatusText.text = "Connected!";
this.rosStatusText.color = Color.green;
this.hideElement(this.rosConnectButton.gameObject);
this.showElement(this.enterLibraryButton.gameObject);
// Set up the command handlers, happens the first time connection is established.
this.registerRosMessageHandlers();
Thread.Sleep(1000); // Wait for a bit to make sure connection is established.
this.rosManager.SendHelloWorldAction().Invoke();
Logger.Log("Sent hello ping message");
}
else
{
this.rosStatusText.text = "Failed to connect, try again.";
this.rosStatusText.color = Color.red;
}
}
else
{
Logger.Log("Already connected to ROS, not trying to connect again");
}
}
public void SetRosManager(RosManager ros)
{
this.rosManager = ros;
}
public void SetRosManager(RosManager ros)
{
this.rosManager = ros;
this.stanzaManager.SetRosManager(this.rosManager);
}
