public void SetCommunicatorLayer(ICommunicationLayer c)
{
if (m_communicator != null)
{
m_communicator.RemoveListener(this);
}
m_communicator = c;
if (m_communicator != null)
{
m_communicator.AddListener(this);
}
}
public void OnDataArrived(ICommunicationLayer layer, CommunicationData d)
{
foreach (var m in m_motorConnectors)
{
if (!m.Value.IsConnected())
{
continue;
}
foreach (var data in d.Data)
{
if (m.Value.GetSourceJoint() == data.name)
{
_listeners.ForEach(p => p.OnDataReceived(this, d.TargetName, m.Value.GetTargetJoint(), data.values));
}
}
}
}
public void OnClosed(ICommunicationLayer l)
{
}
public void OnSchemeChanged(ICommunicationLayer layer, List <string> names)
{
}
