// Update is called once per frame
void Update()
{
robotEnable.IsStateLocked = !zmqClient.isComms() && !enableWithoutComms;
if (pastZMQIsComms != zmqClient.isComms())
{
robotEnable.SetRobotState(false);
}
robotState = robotEnable.RobotState;
if (robotState)
{
if (!pastRobotState)
{
robotMode.SetDropdownLockState(true);
robotRigidbody.isKinematic = false;
}
SetPacketRobotMode(robotMode.RobotState + 1);
}
else
{
offsetTime = Time.time;
if (pastRobotState)
{
if (!lockRobotMode)
{
robotMode.SetDropdownLockState(false);
}
softReset();
}
if (zmqClient.isComms())
{
zmqClient.zmqThread.unityPacket.robotMode = 0;
}
SetPacketRobotMode(0);
}
pastRobotState = robotState;
pastZMQIsComms = zmqClient.isComms();
timeNow = Time.time - offsetTime;
elapsedTime.text = "T+" + timeNow.ToString("000.0");
}
private void FixedUpdate()
{
if (!(zmqClient.zmqThread is null) && !(zmqClient.zmqThread.unityPacket is null) &&
zmqClient.zmqThread.unityPacket.hardware.Count != hardware.Count)
{
zmqClient.unityPacket.hardware.Clear();
zmqClient.unityPacket.hardware.AddRange(hardware);
}
if (zmqClient.isComms())
{
for (int i = 0; i < hardware.Count; i++)
{
// TODO: Fix indexOutOfBoundsException, likely has to do with multithreading
try
{
hardware[i].CopyRelValues(zmqClient.zmqThread.robotPacket.hardware[i]);
}
catch
{
return;
}
}
zmqClient.zmqThread.unityPacket.hardware = this.hardware;
}
}
private void Update()
{
if (zmqClient.isComms())
{
RawImage.color = Green;
}
else
{
RawImage.color = Red;
}
}
private void Update()
{
robotEnable.YellowMode = !zmqClient.isComms();
if (zmqClient.isComms())
{
return;
}
if (simpleDriveEnabled && robotEnable.RobotState)
{
float linearPower = drivebaseController.maxMotorTorque * Input.GetAxis("Vertical");
float turnPower = 0.5f * drivebaseController.maxSteeringPower * Input.GetAxis("Horizontal");
drivebaseController.ArcadeDrive(linearPower, turnPower);
}
else
{
drivebaseController.TankDrive(0f, 0f);
}
}
// Update is called once per frame
void Update()
{
if (zmqClient.isComms())
{
commsStatusImage.color = green;
}
else
{
commsStatusImage.color = red;
}
if (Input.GetJoystickNames().Length == 0 || Input.GetJoystickNames()[0].Equals(""))
{
joyStatusImage.color = red;
}
else
{
joyStatusImage.color = green;
}
if (Input.GetKeyDown(KeyCode.Space) && (zmqClient.isComms()))// || drivebase.simpleDriveEnabled))
{
robotState = !robotState;
}
if (pastZMQIsComms != zmqClient.isComms())
{
robotState = false;
}
if (robotState)
{
if (!pastRobotState)
{
robotRigidbody.isKinematic = false;
}
enableArea.color = green;
enableText.text = "Disable";
if (zmqClient.isComms())
{
zmqClient.zmqThread.unityPacket.robotMode = robotMode + 1;
}
}
else
{
offsetTime = Time.time;
if (pastRobotState)
{
softReset();
//SceneManager.LoadScene(SceneManager.GetActiveScene().name, LoadSceneMode.Single);
}
enableArea.color = red;
enableText.text = "Enable";
if (zmqClient.isComms())
{
zmqClient.zmqThread.unityPacket.robotMode = 0;
}
}
if (modeChangingEnabled)
{
arrowTop.enabled = true;
modeCover.enabled = false;
modeDropdown.interactable = true;
}
else
{
arrowTop.enabled = false;
modeCover.enabled = true;
modeDropdown.interactable = false;
}
if (!modeChangingLock)
{
modeChangingEnabled = !robotState;
}
pastRobotState = robotState;
pastZMQIsComms = zmqClient.isComms();
timeNow = Time.time - offsetTime;
elapsedTime.text = "Elapsed Time " + timeNow.ToString("000.0");
}
