public void ReceiveGetCarteisanPositions(NetworkMessage message)
{
float[] positions = KinovaAPI.GetCartesianPositions();
Debug.Log("<color=blue>Received:</color> got cart positions:"
+ positions[0] + ", "
+ positions[1] + ", "
+ positions[2] + ", "
+ positions[3] + ", "
+ positions[4] + ", "
+ positions[5] + ", "
+ positions[6] + ", "
+ positions[7]
);
//if (clientView == null) {
string currentArmCartesianPositionStr =
positions[0].ToString() + "," + // x pos
positions[1].ToString() + "," +
positions[2].ToString() + "," +
positions[3].ToString() + "," + // x rot
positions[4].ToString() + "," +
positions[5].ToString() + "," +
positions[6].ToString() + "," + // finger 1
positions[7].ToString() + "," +
0.ToString(); // no 3rd finger, so placing a zero..
//FindObjectOfType<ClientBroadcaster>().SendPosToClient(currentArmCartesianPositionStr);
//}
}
private void ReceiveCartesianPositionRequest(NetworkMessage netMsg)
{
var msg = netMsg.ReadMessage <RequestCartesianPositionMessage>(); // irrelevent, client doesn't need to send us anything except the request itself
RequestCartesianPositionMessage m = new RequestCartesianPositionMessage();
float[] positions = KinovaAPI.GetCartesianPositions();
m.x = positions[0];
m.y = positions[1];
m.z = positions[2];
m.thetaX = positions[3];
m.thetaY = positions[4];
m.thetaZ = positions[5];
m.fp1 = positions[6];
m.fp2 = positions[7];
m.fp3 = 0;
NetworkServer.SendToAll(MyMsgTypes.MSG_REQUEST_CARTESIAN_POSITION, m);
Debug.Log("Sending frozen position!");
}