void ParseMarkerPositions()
{
string markerString = udpReceive.getLatestUDPPacket(0);
string[] markers = markerString.Split('\n');
for (int i = 0; i < markers.Length; i++)
{
if (markers[i].Length > 0)
{
string[] infos = markers[i].Split(':');
try
{
// parse message
int id = int.Parse(infos[0]);
string[] pos = infos[1].Trim().Split(' ');
Vector3 position = new Vector3(float.Parse(pos[0]), float.Parse(pos[1]), float.Parse(pos[2]));
Quaternion quaternion = new Quaternion(float.Parse(pos[3]), float.Parse(pos[4]), float.Parse(pos[5]), float.Parse(pos[6]));
reconstructedCamera[id].localRotation = Quaternion.identity;
reconstructedCamera[id].localPosition = Vector3.zero;
reconstructedCamera[id].Rotate(Quaternion.Inverse(quaternion).eulerAngles);
reconstructedCamera[id].Translate(-10 * position, Space.Self);
reconstructedCamera[id].gameObject.GetComponent <Renderer>().material.SetColor("_Color", Color.red);
frameMarkerIds.Add(id);
}
catch (Exception e)
{
//Debug.LogException(e, this);
//Debug.LogWarning("cannot parse: " + markers[i]);
}
}
}
}
private void updateMotors()
{
string json = udpreceiver.getLatestUDPPacket((int)UDPReceive.MessageType.MOTORS);
if (json.Length < 10)
{
return;
}
int startIndex = json.IndexOf("{") + 1;
json = json.Substring(startIndex + 1, json.Length - 2 - startIndex);
string[] motorArray = json.Split('m');
for (int i = 0; i < motorArray.Length; i++)
{
int index = motorArray[i].IndexOf("{");
motorArray[i] = motorArray[i].Substring(index, motorArray[i].Length - index);
SerializedSCS15 scs15 = JsonUtility.FromJson <SerializedSCS15>(motorArray[i]);
int id = scs15.i - 2;
float pos = sens[id] * 100.0f * ((float)(scs15.p) - offset[id] - 512.0f) / 512.0f;
motorController.SetPosition(id, pos);
}
}
// check for incomming messages
void LateUpdate()
{
// get the latest message from the smartphone
string _str = _udpListener.getLatestUDPPacket();
// strA[0] is the message, strA[1] is the priority p (0 = low; 1 = high)
string[] _strA = _str.Split(';');
// if a new message comes in fire an event
if (_lastMessage != _str && _strA.Length == 2)
{
Debug.Log("New Message (priority p = " + _strA[1] + ") : \"" + _strA[0] + "\"");
_lastMessage = _str;
ProcessIncomingNotification(_strA[0], float.Parse(_strA[1]));
}
}