private void Update()
{
if (!_modalityEnabled || internalFlag)
{
return;
}
try
{
threadNewSamp = AnimusClient.AnimusClient.GetModality(robotID, modalityName, false);
if (threadNewSamp == null)
{
return;
}
if (threadNewSamp.Error != null)
{
if (threadNewSamp.Error.Success)
{
updateNewSamp = AnimusUtils.DecodeData(threadNewSamp.Sample);
setModality.Invoke(client, new object[] { updateNewSamp.Data });
setModalityFPS.increment(-1);
}
}
}
catch (Exception e)
{
Debug.Log($"Set Modality error for {modalityName} modality: {e}");
}
}
IEnumerator SetterCoroutine()
{
while (_modalityEnabled)
{
var thisSample = (Sample)getModality.Invoke(client, new object[] {});
if (thisSample != null)
{
var success = AnimusClient.AnimusClient.SetModality(robotID, modalityName, (int)thisSample.DataType, thisSample.Data);
getModalityFPS.increment(-1);
}
yield return(null);
}
}