void Update()
{
if (this.networkStreamCameraInfo == null || this.networkStreamImage == null)
{
return;
}
this.elapsedTime += UnityEngine.Time.deltaTime;
if (this.isPublishingCameraInfo || this.isPublishingImage || this.elapsedTime < this.sendingInterval * 0.001f)
{
return;
}
if (!HSRPubSynchronizer.CanExecute(this.publishSequenceNumber))
{
return;
}
this.isPublishingCameraInfo = true;
this.isPublishingImage = true;
this.elapsedTime = 0.0f;
StartCoroutine(this.PubImage());
}
void Awake()
{
this.synchronizer = this.GetComponent <HSRPubSynchronizer>();
this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();
this.isUsingThread = this.synchronizer.useThread;
}
void Awake()
{
List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);
foreach (UnityEngine.Transform localLink in localLinkList)
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = localLink.parent.name;
localTransformStamped.child_frame_id = localLink.name;
TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
this.publishSequenceNumber = HSRPubSynchronizer.GetAssignedSequenceNumber();
}
void Update()
{
if (!this.leftCamera.IsConnected() || !this.rightCamera.IsConnected())
{
return;
}
this.elapsedTime += UnityEngine.Time.deltaTime;
if (this.leftCamera.IsPublishing() || this.rightCamera.IsPublishing() || this.elapsedTime < this.sendingInterval * 0.001f)
{
return;
}
if (!HSRPubSynchronizer.CanExecute(this.publishSequenceNumber))
{
return;
}
this.elapsedTime = 0.0f;
StartCoroutine(this.PubImage());
}
void Update()
{
if (this.tcpClient == null)
{
return;
}
this.elapsedTime += UnityEngine.Time.deltaTime;
if (this.isPublishing || this.elapsedTime < this.sendingInterval * 0.001f)
{
return;
}
if (!HSRPubSynchronizer.CanExecute(this.publishSequenceNumber))
{
return;
}
this.isPublishing = true;
this.elapsedTime = 0.0f;
StartCoroutine(this.PubTF());
}
void Awake()
{
List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);
foreach (UnityEngine.Transform localLink in localLinkList)
{
if (localLink.name == HSRCommon.Link.base_footprint.ToString())
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = HSRCommon.OdomName;
localTransformStamped.child_frame_id = localLink.name;
UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
else
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = localLink.parent.name;
localTransformStamped.child_frame_id = localLink.name;
TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
}
this.synchronizer = this.GetComponent <HSRPubSynchronizer>();
this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();
this.isUsingThread = this.synchronizer.useThread;
}
void Awake()
{
this.publishSequenceNumber = HSRPubSynchronizer.GetAssignedSequenceNumber();
}
