// ------------------------------------------------------------------------
// Invoked whenever the SerialController gameobject is activated.
// It creates a new thread that tries to connect to the serial device
// and start reading from it.
// ------------------------------------------------------------------------
void OnEnable()
{
serialThread = new SerialThread(portName, baudRate, reconnectionDelay,
maxUnreadMessages);
thread = new Thread(new ThreadStart(serialThread.RunForever));
thread.Start();
}
// Setup the Bicycle Configuration
void Start()
{
// Set component sizes
const float wheelWidth = 0.01f;
const float frameWidth = 0.05f;
Vector3 v = new Vector3(2 * rR, wheelWidth, 2 * rR);
rearWheel.transform.localScale = v;
v = new Vector3(2 * rF, wheelWidth, 2 * rF);
frontWheel.transform.localScale = v;
// set camera offset from bicycle origin
camera.transform.localPosition = new Vector3(0.162f, 0.0f, -1.38f);
cameraRoll = true;
q = new VizState();
SetBicycleTransform(q);
countdownInfo.text = "";
if (GamePrefs.device != null)
{
serial = new SerialThread(GamePrefs.device, 115200);
}
else
{
serial = new SerialThread("/dev/tty.usbmodem311", 115200);
}
stopwatch = new System.Diagnostics.Stopwatch();
pose = new BicyclePose();
serial.Start();
timestamp = 0;
stopwatch.Start();
}
// ------------------------------------------------------------------------
// Invoked whenever the SerialController gameobject is deactivated.
// It stops and destroys the thread that was reading from the serial device.
// ------------------------------------------------------------------------
void OnDisable()
{
// If there is a user-defined tear-down function, execute it before
// closing the underlying COM port.
if (userDefinedTearDownFunction != null)
{
userDefinedTearDownFunction();
}
// The serialThread reference should never be null at this point,
// unless an Exception happened in the OnEnable(), in which case I've
// no idea what face Unity will make.
if (serialThread != null)
{
serialThread.RequestStop();
serialThread = null;
}
// This reference shouldn't be null at this point anyway.
if (thread != null)
{
thread.Join();
thread = null;
}
}
// ------------------------------------------------------------------------
// Invoked whenever the SerialController gameobject is activated.
// It creates a new thread that tries to connect to the serial device
// and start reading from it.
// ------------------------------------------------------------------------
void OnEnable()
{
serialThread = new SerialThread(portName, baudRate, reconnectionDelay,
maxUnreadMessages);
thread = new Thread(new ThreadStart(serialThread.RunForever));
thread.Start();
Debug.LogWarning("Hit thread here");
Console.WriteLine("test");
Debug.Log("TESTSTST");
}
void disconnect()
{
// The serialThread reference should never be null at this point,
// unless an Exception happened in the OnEnable(), in which case I've
// no idea what face Unity will make.
if (serialThread != null)
{
serialThread.RequestStop();
serialThread = null;
}
// This reference shouldn't be null at this point anyway.
if (thread != null)
{
thread.Join();
thread = null;
}
}
// Use this for initialization
IEnumerator Start()
{
// Connect to the robot and start the serial thread
var serialThread = new SerialThread(portName, baudRate, delayBeforeReconnecting, maxUnreadMessages);
var thread = new Thread(new ThreadStart(serialThread.RunForever));
thread.Start();
// Connect to the Tellynet web socket server
var ws = new WebSocket(tellynetSocketProtocol + tellynetServer + tellynetPort);
try {
ws.Connect();
socket = ws;
//Send a room specific join message to Tellynet
ws.Send("join #letsrobot");
//Grabs messages from TellyNet
ws.OnMessage += (sender, e) => {
//Check to see if robot says first.
string botReply = serialThread.ReadSerialMessage();
if (botReply != null)
{
Debug.Log("Bot replied: " + botReply);
}
Console.WriteLine("Laputa says: " + e.Data);
string reply = e.Data;
if (e.IsText)
{
//The messages from TellyNet are JSON objects
try {
SimpleJSON.JSONNode msg = SimpleJSON.JSON.Parse(reply);
//This is a special use case for the bitslapper,
//We need to develop a whole new command protocol instead.
if (msg ["bits"].Value != "")
{
Debug.Log(msg ["bits"].Value);
var bitAmount = int.Parse(msg ["bits"].Value);
if (bitAmount >= 100)
{
toRobot = "bitslap";
}
else if (bitAmount <= 99 && bitAmount >= 10)
{
toRobot = "bittyslap";
}
}
else
{
//Comment this out if you don't want to send all messages to robot
toRobot = msg["message"].Value;
}
//example of how to grab user chat messages from TellyNet.
Debug.Log(msg ["username"].Value + ": " + msg ["message"].Value);
} catch (KeyNotFoundException) {
}
//If there is a message we can send the robot, that happens here.
if (toRobot != null)
{
serialThread.SendSerialMessage(toRobot);
Debug.Log(toRobot);
toRobot = "";
}
}
};
} catch { Debug.Log("Can't connect to TellyNet"); }
yield return(0);
}
