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27 行
851 B
27 行
851 B
using System.Net.Sockets;
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using System.Threading.Tasks;
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using UnityEngine;
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using RosColor = RosMessageTypes.RoboticsDemo.UnityColor;
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public class RosSubscriberExample : RosSubscriber
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{
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public GameObject cube;
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protected override async Task HandleConnectionAsync(TcpClient tcpClient)
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{
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await Task.Yield();
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using (var networkStream = tcpClient.GetStream())
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{
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RosColor colorMessage = (RosColor)ReadMessage(networkStream, new RosColor());
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Debug.Log("Color(" + colorMessage.r + ", " + colorMessage.g + ", " + colorMessage.b + ", " + colorMessage.a + ")");
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cube.GetComponent<Renderer>().material.color = new Color32((byte)colorMessage.r, (byte)colorMessage.g, (byte)colorMessage.b, (byte)colorMessage.a);
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}
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}
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void Start()
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{
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StartMessageServer();
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}
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}
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