Fix null mowingBlade object in MicomCommand

lge-ros2 · Nov 22, 2024 · 8b2a814 · 8b2a814
1 parent 79a0ec3
commit 8b2a814
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs b/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
@@ -332,6 +332,11 @@ private void SetMowing()
 				mowingBlade.HeightMax = GetPluginParameters().GetValue<float>("mowing/blade/height/max", 0.1f);
 				mowingBlade.RevSpeedMax = GetPluginParameters().GetValue<UInt16>("mowing/blade/rev_speed/max", 1000);
 				mowingBlade.Height = 0;
+
+				if (_micomCommand != null)
+				{
+					_micomCommand.SetMowingBlade(mowingBlade);
+				}
 			}
 		}
 	}

diff --git a/Assets/Scripts/Devices/MicomCommand.cs b/Assets/Scripts/Devices/MicomCommand.cs
@@ -37,7 +37,6 @@ protected override void OnAwake()
 
 		protected override void OnStart()
 		{
-			_mowingBlade = GetComponentInChildren<MowingBlade>();
 		}
 
 		protected override void OnReset()
@@ -50,6 +49,11 @@ public void SetMotorControl(in dynamic motorControl)
 			this._motorControl = motorControl;
 		}
 
+		public void SetMowingBlade(in dynamic mowingBlade)
+		{
+			this._mowingBlade = mowingBlade;
+		}
+
 		protected override void ProcessDevice()
 		{
 			if (PopDeviceMessage(out var receivedMessage))
@@ -189,15 +193,15 @@ private void ControlJoystick(in cloisim.msgs.Joystick message)
 
 		private void ControlMowing(in string target, in cloisim.msgs.Any value)
 		{
-			if (string.Compare(target, "mowing_blade_height") == 0)
+			if (target.Equals("mowing_blade_height"))
 			{
 				if (_mowingBlade != null && value.Type == messages.Any.ValueType.Double)
 				{
 					_mowingBlade.Height = (float)value.DoubleValue;
 					// Debug.Log($"mowing_blade_height {value} -> {_mowingBlade.Height}");
 				}
 			}
-			else if (string.Compare(target, "mowing_blade_rev_speed") == 0)
+			else if (target.Equals("mowing_blade_rev_speed"))
 			{
 				if (_mowingBlade != null && value.Type == messages.Any.ValueType.Int32)
 				{