private void InitializeMessage()
{
message = new SensorJoy();
message.header.frame_id = FrameId;
message.axes = new float[JoyAxisReaders.Length];
message.buttons = new int[JoyButtonReaders.Length];
}
private void ReceiveMessage(object sender, MessageEventArgs e)
{
message = (SensorJoy)e.Message;
int I = joyButtonWriters.Length < message.buttons.Length ? joyButtonWriters.Length : message.buttons.Length;
for (int i = 0; i < I; i++)
{
if (joyButtonWriters[i] != null)
{
joyButtonWriters[i].Write(message.buttons[i]);
}
}
I = joyAxisWriters.Length < message.axes.Length ? joyAxisWriters.Length : message.axes.Length;
for (int i = 0; i < I; i++)
{
if (joyAxisWriters[i] != null)
{
joyAxisWriters[i].Write(message.axes[i]);
}
}
}
