/// <summary>
/// 异步接收回调
/// </summary>
/// <param name="ar"></param>
private void CallBackRecvive(IAsyncResult ar)
{
try
{
//将传过来的异步结果转为我们需要解析的类型
UDPData state = ar.AsyncState as UDPData;
IPEndPoint ipEndPoint = state.EndPoint;
//结束异步接受 不结束会导致重复挂起线程卡死
byte[] data = state.UDPClient.EndReceive(ar, ref ipEndPoint);
//解析数据 编码自己调整暂定为默认 依客户端传过来的编码而定
receiveData = Encoding.UTF8.GetString(data);
ipEnd = ipEndPoint;
//Debug.Log(receiveData);
if (!client.Contains(ipEndPoint))
{
client.Add(ipEndPoint);
}
//数据的解析再Update里执行 Unity中Thread无法调用主线程的方法
//再次开启异步接收数据
state.UDPClient.BeginReceive(CallBackRecvive, state);
}
catch (Exception e)
{
Debug.LogError(e.Message);
throw;
}
}
public ItemDetailPage()
{
InitializeComponent();
UDPData item = new UDPData();
// viewModel = new ItemDetailViewModel(item);
// BindingContext = viewModel;
}
private static void WriteData(UDPData data)
{
Console.SetCursorPosition(0, 2);
Console.WriteLine($"IsRaceOn:\t{data.IsRaceOn,15:N0}\t\tTimestampMS:\t {data.TimestampMS,15:N0}", data);
Console.WriteLine($"CarOrdinal:{data.CarOrdinal,7:N0}\tCarClass:{data.CarClass,4:N0}\tCarPerformanceIndex:{data.CarPerformanceIndex,4:N0}\tDrivetrainType:{data.DrivetrainType,4:N0}\tNumCylinders:{data.NumCylinders,4:N0}", data);
Console.WriteLine($"EngineMaxRpm:\t{data.EngineMaxRpm,17:F11}\tEngineIdleRpm:\t {data.EngineIdleRpm,15:F11}\tCurrentEngineRpm: {data.CurrentEngineRpm,17:F11}", data);
Console.WriteLine($"AccelerationX:\t{data.AccelerationX,17:F11}\tAccelerationY:\t {data.AccelerationY,15:F11}\tAccelerationZ:\t\t{data.AccelerationZ,15:F11}", data);
Console.WriteLine($"VelocityX:\t{data.VelocityX,17:F11}\tVelocityY:\t {data.VelocityY,15:F11}\tVelocityZ:\t\t{data.VelocityZ,15:F11}", data);
Console.WriteLine($"AngularVelocityX: {data.AngularVelocityX,15:F11}\tAngularVelocityY:{data.AngularVelocityY,15:F11}\tAngularVelocityZ:\t{data.AngularVelocityZ,15:F11}", data);
Console.WriteLine($"Yaw:\t\t{data.Yaw,17:F11}\tPitch:\t\t {data.Pitch,15:F11}\tRoll:\t\t\t{data.Roll,15:F11}", data);
Console.WriteLine($"NormalizedSuspensionTravelFrontLeft:\t{data.NormalizedSuspensionTravelFrontLeft,15:F11}\t\tNormalizedSuspensionTravelFrontRight:{data.NormalizedSuspensionTravelFrontRight,15:F11}", data);
Console.WriteLine($"NormalizedSuspensionTravelRearLeft:\t{data.NormalizedSuspensionTravelRearLeft,15:F11}\t\tNormalizedSuspensionTravelRearRight: {data.NormalizedSuspensionTravelRearRight,15:F11}", data);
Console.WriteLine($"TireSlipRatioFrontLeft:\t\t\t{data.TireSlipRatioFrontLeft,15:F11}\t\tTireSlipRatioFrontRight:\t\t {data.TireSlipRatioFrontRight,15:F11}", data);
Console.WriteLine($"TireSlipRatioRearLeft:\t\t\t{data.TireSlipRatioRearLeft,15:F11}\t\tTireSlipRatioRearRight:\t\t\t {data.TireSlipRatioRearRight,15:F11}", data);
Console.WriteLine($"WheelRotationSpeedFrontLeft:\t\t{data.WheelRotationSpeedFrontLeft,15:F11}\t\tWheelRotationSpeedFrontRight:\t\t {data.WheelRotationSpeedFrontRight,15:F11}", data);
Console.WriteLine($"WheelRotationSpeedRearLeft:\t\t{data.WheelRotationSpeedRearLeft,15:F11}\t\tWheelRotationSpeedRearRight:\t\t {data.WheelRotationSpeedRearRight,15:F11}", data);
Console.WriteLine($"WheelOnRumbleStripFrontLeft:\t\t{data.WheelOnRumbleStripFrontLeft,15:N0}\t\tWheelOnRumbleStripFrontRight:\t\t {data.WheelOnRumbleStripFrontRight,15:N0}", data);
Console.WriteLine($"WheelOnRumbleStripRearLeft:\t\t{data.WheelOnRumbleStripRearLeft,15:N0}\t\tWheelOnRumbleStripRearRight:\t\t {data.WheelOnRumbleStripRearRight,15:N0}", data);
Console.WriteLine($"WheelInPuddleDepthFrontLeft:\t\t{data.WheelInPuddleDepthFrontLeft,15:F11}\t\tWheelInPuddleDepthFrontRight:\t\t {data.WheelInPuddleDepthFrontRight,15:F11}", data);
Console.WriteLine($"WheelInPuddleDepthRearLeft:\t\t{data.WheelInPuddleDepthRearLeft,15:F11}\t\tWheelInPuddleDepthRearRight:\t\t {data.WheelInPuddleDepthRearRight,15:F11}", data);
Console.WriteLine($"SurfaceRumbleFrontLeft:\t\t\t{data.SurfaceRumbleFrontLeft,15:F11}\t\tSurfaceRumbleFrontRight:\t\t {data.SurfaceRumbleFrontRight,15:F11}", data);
Console.WriteLine($"SurfaceRumbleRearLeft:\t\t\t{data.SurfaceRumbleRearLeft,15:F11}\t\tSurfaceRumbleRearRight:\t\t\t {data.SurfaceRumbleRearRight,15:F11}", data);
Console.WriteLine($"TireSlipAngleFrontLeft:\t\t\t{data.TireSlipAngleFrontLeft,15:F11}\t\tTireSlipAngleFrontRight:\t\t {data.TireSlipAngleFrontRight,15:F11}", data);
Console.WriteLine($"TireSlipAngleRearLeft:\t\t\t{data.TireSlipAngleRearLeft,15:F11}\t\tTireSlipAngleRearRight:\t\t\t {data.TireSlipAngleRearRight,15:F11}", data);
Console.WriteLine($"TireCombinedSlipFrontLeft:\t\t{data.TireCombinedSlipFrontLeft,15:F11}\t\tTireCombinedSlipFrontRight:\t\t {data.TireCombinedSlipFrontRight,15:F11}", data);
Console.WriteLine($"TireCombinedSlipRearLeft:\t\t{data.TireCombinedSlipRearLeft,15:F11}\t\tTireCombinedSlipRearRight:\t\t {data.TireCombinedSlipRearRight,15:F11}", data);
Console.WriteLine($"SuspensionTravelMetersFrontLeft:\t{data.SuspensionTravelMetersFrontLeft,15:F11}\t\tSuspensionTravelMetersFrontRight:\t {data.SuspensionTravelMetersFrontRight,15:F11}", data);
Console.WriteLine($"SuspensionTravelMetersRearLeft:\t\t{data.SuspensionTravelMetersRearLeft,15:F11}\t\tSuspensionTravelMetersRearRight:\t {data.SuspensionTravelMetersRearRight,15:F11}", data);
SaveDataAsync(data);
}
/// <summary>
/// 接收UDP会话
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void eventArgs_Completed(object sender, SocketAsyncEventArgs e)
{
try
{
if (e.SocketError != SocketError.Success)
{
var errorCode = (int)e.SocketError;
//The listen socket was closed
if (errorCode == 995 || errorCode == 10004 || errorCode == 10038)
{
return;
}
_logger.LogError($"UDP协议监听异常，异常码{errorCode}");
}
if (e.LastOperation == SocketAsyncOperation.ReceiveFrom)
{
try
{
var handler = NewClientAccepted;
IChannel channel = _channelFactory(_listenSocket, e.RemoteEndPoint);
if (handler != null && channel != null)
{
handler.Invoke(channel);
}
if (UDPData != null)
{
UDPData.Invoke(e.MemoryBuffer.Slice(0, e.BytesTransferred), e.RemoteEndPoint);
}
}
catch (Exception exc)
{
_logger.LogError(exc.ToString());
}
_listenSocket.ReceiveFromAsync(e);
}
}
catch (Exception ex)
{
_logger.LogError(ex.ToString());
}
}
//初始化
void InitSocket()
{
ipList = new Dictionary <string, IPEndPoint>();
client = new List <IPEndPoint>();
//LoadXMLPassword();
RecviveThread = new Thread(() =>
{
//实例化一个IPEndPoint，任意IP和对应端口 端口自行修改
IPEndPoint endPoint = new IPEndPoint(IPAddress.Any, ConnectPort);
UdpClient udpReceive = new UdpClient(endPoint);
UDPData data = new UDPData(endPoint, udpReceive);
//开启异步接收
udpReceive.BeginReceive(CallBackRecvive, data);
})
{
//设置为后台线程
IsBackground = true
};
//开启线程
RecviveThread.Start();
}
public ItemDetailViewModel(UDPData item) : this()
{
Item = item;
}
//====================================================================================
// 関数
//====================================================================================
/// <summary>
/// 表示を設定します
/// </summary>
public void SetDisp(UDPData data)
{
SetDisp(data.Text, data.OnClick);
}
//====================================================================================
// 関数
//====================================================================================
/// <summary>
/// 表示を設定します
/// </summary>
public void SetDisp(UDPData data)
{
SetDisp(data.m_text, data.m_onClick);
}
private static async void SaveDataAsync(UDPData data)
{
if (context != null)
{
Data.Models.UDPData record = new Data.Models.UDPData()
{
Created = DateTime.Now.ToUniversalTime(),
IsRaceOn = data.IsRaceOn, // = 1 when race is on. = 0 when in menus/race stopped …
//u32
TimestampMS = data.TimestampMS, //Can overflow to 0 eventually
//f32
EngineMaxRpm = data.EngineMaxRpm,
//f32
EngineIdleRpm = data.EngineIdleRpm,
//f32
CurrentEngineRpm = data.CurrentEngineRpm,
//f32
AccelerationX = data.AccelerationX, //In the car's local space; X = right, Y = up, Z = forward
AccelerationY = data.AccelerationY,
//f32
AccelerationZ = data.AccelerationZ,
//f32
VelocityX = data.VelocityX, //In the car's local space; X = right, Y = up, Z = forward
//f32
VelocityY = data.VelocityY,
//f32
VelocityZ = data.VelocityZ,
//f32
AngularVelocityX = data.AngularVelocityX, //In the car's local space; X = pitch, Y = yaw, Z = roll
//f32
AngularVelocityY = data.AngularVelocityY,
//f32
AngularVelocityZ = data.AngularVelocityZ,
//f32
Yaw = data.Yaw,
//f32
Pitch = data.Pitch,
//f32
Roll = data.Roll,
//f32
NormalizedSuspensionTravelFrontLeft = data.NormalizedSuspensionTravelFrontLeft, // Suspension travel normalized: 0.0f = max stretch; 1.0 = max compression
NormalizedSuspensionTravelFrontRight = data.NormalizedSuspensionTravelFrontRight,
//f32
NormalizedSuspensionTravelRearLeft = data.NormalizedSuspensionTravelRearLeft,
//f32
NormalizedSuspensionTravelRearRight = data.NormalizedSuspensionTravelRearRight,
//f32
TireSlipRatioFrontLeft = data.TireSlipRatioFrontLeft, // Tire normalized slip ratio, = 0 means 100% grip and |ratio| > 1.0 means loss of grip.
TireSlipRatioFrontRight = data.TireSlipRatioFrontRight,
//f32
TireSlipRatioRearLeft = data.TireSlipRatioRearLeft,
//f32
TireSlipRatioRearRight = data.TireSlipRatioRearRight,
//f32
WheelRotationSpeedFrontLeft = data.WheelRotationSpeedFrontLeft, // Wheel rotation speed radians/sec.
WheelRotationSpeedFrontRight = data.WheelRotationSpeedFrontRight,
//f32
WheelRotationSpeedRearLeft = data.WheelRotationSpeedRearLeft,
//f32
WheelRotationSpeedRearRight = data.WheelRotationSpeedRearRight,
//s32
WheelOnRumbleStripFrontLeft = data.WheelOnRumbleStripFrontLeft, // = 1 when wheel is on rumble strip, = 0 when off.
//s32
WheelOnRumbleStripFrontRight = data.WheelOnRumbleStripFrontRight,
//s32
WheelOnRumbleStripRearLeft = data.WheelOnRumbleStripRearLeft,
//s32
WheelOnRumbleStripRearRight = data.WheelOnRumbleStripRearRight,
//f32
WheelInPuddleDepthFrontLeft = data.WheelInPuddleDepthFrontLeft, // = from 0 to 1, where 1 is the deepest puddle
//f32
WheelInPuddleDepthFrontRight = data.WheelInPuddleDepthFrontRight,
//f32
WheelInPuddleDepthRearLeft = data.WheelInPuddleDepthRearLeft,
//f32
WheelInPuddleDepthRearRight = data.WheelInPuddleDepthRearRight,
//f32
SurfaceRumbleFrontLeft = data.SurfaceRumbleFrontLeft, // Non-dimensional surface rumble values passed to controller force feedback
//f32
SurfaceRumbleFrontRight = data.SurfaceRumbleFrontRight,
//f32
SurfaceRumbleRearLeft = data.SurfaceRumbleRearLeft,
//f32
SurfaceRumbleRearRight = data.SurfaceRumbleRearRight,
//f32
TireSlipAngleFrontLeft = data.TireSlipAngleFrontLeft, // Tire normalized slip angle, = 0 means 100% grip and |angle| > 1.0 means loss of grip.
//f32
TireSlipAngleFrontRight = data.TireSlipAngleFrontRight,
//f32
TireSlipAngleRearLeft = data.TireSlipAngleRearLeft,
//f32
TireSlipAngleRearRight = data.TireSlipAngleRearRight,
//f32
TireCombinedSlipFrontLeft = data.TireCombinedSlipFrontLeft, // Tire normalized combined slip, = 0 means 100% grip and |slip| > 1.0 means loss of grip.
//f32
TireCombinedSlipFrontRight = data.TireCombinedSlipFrontRight,
//f32
TireCombinedSlipRearLeft = data.TireCombinedSlipRearLeft,
//f32
TireCombinedSlipRearRight = data.TireCombinedSlipRearRight,
//f32
SuspensionTravelMetersFrontLeft = data.SuspensionTravelMetersFrontLeft, // Actual suspension travel in meters
//f32
SuspensionTravelMetersFrontRight = data.SuspensionTravelMetersFrontRight,
//f32
SuspensionTravelMetersRearLeft = data.SuspensionTravelMetersRearLeft,
//f32
SuspensionTravelMetersRearRight = data.SuspensionTravelMetersRearRight,
//s32
CarOrdinal = data.CarOrdinal, //Unique ID of the car make/model
//s32
CarClass = data.CarClass, //Between 0 (D -- worst cars) and 7 (X class -- best cars) inclusive
//s32
CarPerformanceIndex = data.CarPerformanceIndex, //Between 100 (slowest car) and 999 (fastest car) inclusive
//s32
DrivetrainType = data.DrivetrainType, //Corresponds to EDrivetrainType; 0 = FWD, 1 = RWD, 2 = AWD
//s32
NumCylinders = data.NumCylinders, //Number of cylinders in the engine
};
await context.UDPDatas.AddAsync(record);
await context.SaveChangesAsync();
}
}
private static void Listener_OnReceive(object sender, ReceiveEventArgs e)
{
UDPData data = e.UdpReceiveResult.Buffer.Deserialize <UDPData>();
WriteData(data);
}
