private void checkForNewValkyrieHandFingerTrajectoryRequested() { for (RobotSide robotSide : RobotSide.values) { if (valkyrieHandFingerTrajectoryMessageSubscribers.get(robotSide).isNewDesiredConfigurationAvailable()) { ValkyrieHandFingerTrajectoryMessage handFingerTrajectoryMessage = valkyrieHandFingerTrajectoryMessageSubscribers.get(robotSide).pollMessage(); ValkyrieFingerSetController controller = fingerSetControllers.get(robotSide); if (controller == null) continue; controller.getHandFingerTrajectoryMessage(handFingerTrajectoryMessage); } } }
@Override public void onNewDataMessage(Subscriber<ValkyrieHandFingerTrajectoryMessage> subscriber) { receivedPacket(subscriber.takeNextData()); }
ValkyrieHandFingerTrajectoryMessageSubscriber valkyrieHandFingerTrajectoryMessageSubscriber = new ValkyrieHandFingerTrajectoryMessageSubscriber(robotSide); valkyrieHandFingerTrajectoryMessageSubscribers.put(robotSide, valkyrieHandFingerTrajectoryMessageSubscriber);
handDesiredConfigurationMessageSubscribers.put(robotSide, handDesiredConfigurationSubscriber); ValkyrieHandFingerTrajectoryMessageSubscriber valkyrieHandFingerTrajectoryMessageSubscriber = new ValkyrieHandFingerTrajectoryMessageSubscriber(robotSide); valkyrieHandFingerTrajectoryMessageSubscribers.put(robotSide, valkyrieHandFingerTrajectoryMessageSubscriber); if (realtimeRos2Node != null)
if (valkyrieHandFingerTrajectoryMessageSubscribers.get(robotSide).isNewDesiredConfigurationAvailable()) ValkyrieHandFingerTrajectoryMessage handFingerTrajectoryMessage = valkyrieHandFingerTrajectoryMessageSubscribers.get(robotSide).pollMessage();