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updated for varray
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@tmori
tmori committed Jun 14, 2024
1 parent 4517510 commit 233a5f0
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Showing 2 changed files with 9 additions and 10 deletions.
17 changes: 8 additions & 9 deletions drone/Assets/Scripts/PluggableAsset/Assets/Robot/Drone/Px4/DroneAvator.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_reader_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_reader_class;
configs[i].value.pdu_size = 88;
configs[i].value.pdu_size = 88 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();
i++;
Expand All @@ -94,7 +94,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 280;
configs[i].value.pdu_size = 280 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();
i++;
Expand All @@ -105,7 +105,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 56;
configs[i].value.pdu_size = 56 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();
i++;
Expand All @@ -116,7 +116,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 8;
configs[i].value.pdu_size = 8 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();

Expand All @@ -128,7 +128,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 40;
configs[i].value.pdu_size = 40 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();
i++;
Expand All @@ -139,7 +139,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 56;
configs[i].value.pdu_size = 56 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();
i++;
Expand All @@ -150,7 +150,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 40;
configs[i].value.pdu_size = 40 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();
i++;
Expand All @@ -161,7 +161,7 @@ public RoboPartsConfigData[] GetRoboPartsConfig()
configs[i].value.type = this.topic_type[i];
configs[i].value.class_name = ConstantValues.pdu_writer_class;
configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class;
configs[i].value.pdu_size = 52;
configs[i].value.pdu_size = 52 + ConstantValues.PduMetaDataSize;
configs[i].value.write_cycle = this.update_cycle;
configs[i].value.method_type = this.comm_method.ToString();

Expand Down Expand Up @@ -384,7 +384,6 @@ private bool GetParam(string name, out LiDAR3DParams param)
public void DoControl()
{
float[] controls = this.pdu_reader_actuator.GetReadOps().GetDataFloat32Array("controls");
//Debug.Log("controls: " + controls[0]);
my_controls = controls[0];


Expand Down
2 changes: 1 addition & 1 deletion plugin
Submodule plugin updated 15 files
+194 −0 plugin-srcs/Assets/Model/HakoRoboParts/03_Sensor/LiDAR2D.prefab
+7 −0 plugin-srcs/Assets/Model/HakoRoboParts/03_Sensor/LiDAR2D.prefab.meta
+25 −4 plugin-srcs/Assets/Plugin/src/PureCsharp/PluggableAsset/Communication/Pdu/Raw/PduOffset.cs
+34 −14 plugin-srcs/Assets/Plugin/src/PureCsharp/PluggableAsset/Communication/Pdu/Raw/RawPduReaderConverter.cs
+244 −130 plugin-srcs/Assets/Plugin/src/PureCsharp/PluggableAsset/Communication/Pdu/Raw/RawPduWriterConverter.cs
+2 −2 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Controller/CameraController.cs
+2 −2 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Controller/MagnetHolder.cs
+1 −1 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Sensor/LaserScanner.cs
+307 −0 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Sensor/LiDAR2D.cs
+11 −0 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Sensor/LiDAR2D.cs.meta
+1 −1 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Sensor/LiDAR3D.cs
+1 −1 plugin-srcs/Assets/Scripts/HakoRoboParts/Implementation/Sensor/LightSensor4way.cs
+14 −11 plugin-srcs/Assets/Scripts/HakoRoboParts/Interface/IRobotPartsConfig.cs
+21 −0 plugin-srcs/lidar2d_spec.json
+2 −2 plugin-srcs/ros_types/offset/sensor_msgs/LaserScan.offset

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