// CalculateConvergence: Calculates the rule's convergence fitness
internal void CollectDisplacement(Vector3[] sendList)
{
int tries = 0;
while (tries < 3)
{
int count = 0;
UDPSend.SendData(UDPSend.EncodeMessage(sendList));
UDPReceive.MessageReceived = false;
while (UDPReceive.MessageReceived == false && count < 3)
{
Thread.Sleep(70);
count++;
}
if (UDPReceive.MessageReceived == true)
{
displacement = UDPReceive.maxDisplacement;
break;
}
tries++;
if (tries == 3)
{
Debug.Log("Action Lost");
}
}
}
private void Awake()
{
UDPScript = network.GetComponent <UDPEditMode>();
udpSend = network.GetComponent <UDPSend>();
udpReceive = network.GetComponent <UDPReceive>();
baxterCmdList = new List <BaxterCommands>();
}
// Start is called before the first frame update
void OnEnable()
{
this.requestData = Encoding.ASCII.GetBytes(this.broadcastMessage);
this.udpBroadcaster = new UDPSend(string.Empty, this.remotePort);
this.broadcastingRoutine = BroadcastingRoutine();
StartCoroutine(this.broadcastingRoutine);
}
// StringMsg rosMsg = new StringMsg("");
// Use this for initialization
void Start()
{
sendObj = new UDPSend();
sendObj.IP = IP;
sendObj.port = 2368;
sendObj.init();
ranges = new byte[1206];
for (int i = 0; i < ranges.Length; i++)
{
ranges[i] = 0;
}
myref = transform;
ScannerLoc = myref.position;
prevScannerLoc = ScannerLoc;
if (!SensorRotator)
{
SensorRotator = myref.Find("Laser Sensor").transform;
}
if (!emitter)
{
SensorRotator = myref.Find("Emitter").transform;
}
NoOfScansPerFrame = (int)((HorScanAngRange / HorRes) * hz * Time.fixedDeltaTime);
currentangle = 0;
}
// StringMsg rosMsg = new StringMsg("");
// Use this for initialization
void Start()
{
myref = transform;
ScannerLoc = myref.position;
prevScannerLoc = ScannerLoc;
if (!SensorRotator)
{
SensorRotator = myref.Find("Laser Sensor").transform;
}
if (!emitter)
{
SensorRotator = myref.Find("Emitter").transform;
}
attachedRB = GetComponentInParent <Rigidbody>();
if (UDP && !ROS)
{
// sendObj =gameObject.AddComponent< UDPSend>();
sendObj = new UDPSend();
sendObj.init();
}
PointsTemp = new List <Vector3>();
Points = new List <Vector3>();
// writer = new StreamWriter(Application.dataPath+"/Data.csv");
NoOfScansPerFrame = (int)((HorScanAngRange / HorRes) * hz * Time.fixedDeltaTime);
currentangle = -HorScanAngRange / 2;
if (ROS)
{
wsc = FindObjectOfType <WebsocketClient>();
wsc.Advertise("velodyne", "std_msgs/String");
// SimulationManager.instance.ros.AddPublisher(typeof(VelodyneStringPublisher));
}
// writer.WriteLine("This is a data file");
// datacolumn=new float[lasercount];
}
public Connection(string _remoteIP)
{
this.remoteIP = _remoteIP;
this.status = false;
this.udpSender = new UDPSend(_remoteIP);
this.udpReceiver = new UDPReceive();
this.tcpSender = new TCPSend(_remoteIP);
}
void Start(){
DontDestroyOnLoad(this.gameObject);
connectedPlayers = new List<string>();
Application.runInBackground = true;
udpReceive = GetComponent<UDPReceive>();
udpSend = GetComponent<UDPSend>();
}
// call it from shell (as program)
private static void Main()
{
UDPSend sendObj = new UDPSend();
sendObj.init();
// testing via console
// sendObj.inputFromConsole();
}
// call it from shell (as program)
private static void Main()
{
UDPSend sendObj = new UDPSend();
sendObj.init();
// as server sending endless
sendObj.sendEndless(" endless infos \n");
}
private static void Main()
{
UDPSend sendObj=new UDPSend();
sendObj.init();
sendObj.sendEndless(" endless infos \n");
}
// call it from shell (as program)
private static void Main()
{
UDPSend sendObj = new UDPSend();
sendObj.init();
// testing via console
// sendObj.inputFromConsole();
// as server sending endless
sendObj.sendEndless(" endless infos \n");
}
// Start is called before the first frame update
void OnEnable()
{
this.requestData = Encoding.ASCII.GetBytes(this.broadcastMessage);
this.udpBroadcaster = new UDPSend(string.Empty, this.remotePort);
// this.broadcastingRoutine = BroadcastingRoutine();
// StartCoroutine(this.broadcastingRoutine);
this.broadcastingThread = new ThreadInterface(Broadcast,
Convert.ToInt32(this.expireTime) * 1000);
this.broadcastingThread.Start();
}
// Use this for initialization
void Start()
{
// initialize PID parameters
integralPositionError = new Vector3(0, 0, 0);
previousPositionError = new Vector3(0, 0, 0);
integralOrientationError = 0.0f;
previousOrientationError = 0.0f;
// get raspberry pi socket
udpclient = gameObject.GetComponent <UDPSend>();
}
// call it from shell (as program)
private static void Main()
{
UDPSend sendObj = new UDPSend();
sendObj.init();
// testing via console
// sendObj.inputFromConsole();
// as server sending endless
sendObj.sendEndless(" endless infos \n");
}
// log and send ship motion info to comm
private void sendData()
{
UDPSend.newPacket();
UDPSend.addFloat(Time.time);
UDPSend.addFloat(scale * Movement.instance.getLinVel().magnitude);
UDPSend.addVector(scale * Movement.instance.getAngVel());
UDPSend.addVector(scale * Movement.instance.getLinAcc());
UDPSend.addVector(scale * Movement.instance.getAngAcc());
UDPSend.addVector(transform.rotation.eulerAngles);
UDPSend.sendPacket();
}
void Start(){
System.Random random = new System.Random();
id = random.Next(1000000).ToString();
Application.runInBackground = true;
udpReceive = GetComponent<UDPReceive>();
udpSend = GetComponent<UDPSend>();
sendLimit = 0.5f;
sendCounter = 0;
}
// Use this for initialization
void Start()
{
udpSender = GetComponent <UDPDoubleArrSend> ();
triggerSender = GetComponent <UDPSend> ();
stream = GetComponent <txtStreamReader> ();
while (Directory.Exists("E:/HrTestData/" + participantID))
{
participantID += 1;
}
Directory.CreateDirectory("E:/HrTestData/" + participantID);
directoryPath = "E:/HrTestData/" + participantID + "/";
}
private void Awake()
{
audioHum = AddAudio(clipHum, true, false, 0.5f);
audioClash = AddAudio(clipClash, false, false, 0.5f);
//gameManager = GameManager.Instance;'
if (baxter == null)
{
baxter = GameObject.FindGameObjectWithTag("Network");
}
UDPScript = baxter.GetComponent <UDPSend>();
lensFlare = Instantiate(lensFlarePrefab, gameObject.transform);
lensFlare.SetActive(false);
}
// Use this for initialization
void Start()
{
shield = new Shield();
blur = new BlurEffect();
rb = GetComponent <Rigidbody>();
speedometer = new Speedometer();
udpSendRef = sendRef.GetComponent <UDPSend> ();
aDoubleTap = new DoubleTap(KeyCode.A, 0.2f, DashLeft);
bDoubleTap = new DoubleTap(KeyCode.D, 0.2f, DashRight);
wheelSmoke = GameObject.FindGameObjectsWithTag("WheelSmoke");
portalDesertSpawner = gameObject.GetComponent <PortalDesertSpawner>();
Invoke("ReadyToDie", 5.0f);
}
// Use this for initialization
void Start()
{
// let's first get access to the other components of this object
udpSender = GetComponent <UDPDoubleArrSend> ();
triggerSender = GetComponent <UDPSend> ();
stream = GetComponent <Main> ();
// This is for the purpose of separating the different subjects you have recorded
// each time the program is restarted it creates a new folder for the new participant,
// in this way you know exactly which participant you are working with and the number that has been through.
while (Directory.Exists("E:/HrTestData/" + participantID))
{
participantID += 1;
}
Directory.CreateDirectory("E:/HrTestData/" + participantID);
directoryPath = "E:/HrTestData/" + participantID + "/";
}
void foo()
{
Vector3 winnerVector = new Vector3();
List <float> disps = new List <float>();
for (int i = 0; i < 30; i++)
{
int tries = 0;
var randomAgent = listAgents[UnityEngine.Random.Range(0, listAgents.Length - 1)];
var v = randomAgent.Cell.GetFaceNeighbours().Where(x => x.Alive == false).ToArray()[0].Center;
Vector3[] N = new Vector3[] { v };
while (tries < 3)
{
int count = 0;
UDPSend.SendData(UDPSend.EncodeMessage(listAgents.Select(a => a.Cell.Center).Union(N).ToArray()));
UDPReceive.MessageReceived = false;
while (UDPReceive.MessageReceived == false && count < 3)
{
Thread.Sleep(40);
count++;
}
if (UDPReceive.MessageReceived == true)
{
print("Count: " + count + ", Tries: " + tries);
print("_" + UDPReceive.maxDisplacement.ToString("F10"));
disps.Add(UDPReceive.maxDisplacement);
if (disps.Min() >= UDPReceive.maxDisplacement)
{
winnerVector = v;
}
break;
}
tries++;
}
}
print("Winner: " + winnerVector + "," + disps.Min().ToString("F10"));
Instantiate(agentPrefab, winnerVector, Quaternion.identity);
}
public Client()
{
ClientReceiveManager = new ClientReceiveManager();
Send = new ClientSend();
Action <Packet> receivePacketAction = (packet) =>
{
ClientReceiveManager.ExecuteOnMainThread(() =>
{
ClientReceiveManager.ProcessPacket(packet.PacketTypeId, this, packet);
});
};
tcp = new TCP(this, receivePacketAction);
udpSend = new UDPSend(this, receivePacketAction);
udpReceive = new UDPReceive(receivePacketAction);
}
public void Awake()
{
instance = this;
DontDestroyOnLoad(gameObject);
//如果不填写Ip则广播
IPAddress ip;
if (IPAddress.TryParse(ipSend, out ip))
{
remoteEndPoint = new IPEndPoint(ip, sendPort);
}
else
{
remoteEndPoint = new IPEndPoint(IPAddress.Broadcast, sendPort);
}
client = new UdpClient();
}
public Client(int _clientId)
{
Id = _clientId;
Action <Packet> receivePacketAction = (packet) =>
{
Server.ReceiveManager.ExecuteOnMainThread(() =>
{
Server.ReceiveManager.ProcessPacket(packet.PacketTypeId, packet);
});
};
tcp = new TCP(this, receivePacketAction);
if (Constants.AllowUDP)
{
udp = new UDPSend(this, receivePacketAction);
}
player = new Player(Id, "NewPlayer", new Vector3(0, 0, 0), this);
}
public override void RunInterface(string pluginName)
{
this.Log.Debug("Running interface");
pName = pluginName;
OSAEObjectTypeManager.ObjectTypeUpdate("ONKYO RECEIVER", "ONKYO RECEIVER", "Onkyo Receiver", pluginName, "ONKYO RECEIVER", 0, 0, 0, 1);
_UDPListen = new UDPListen();
_UDPSend = new UDPSend();
_UDPListen.OnkyoDevice += new DelegateOnkyoReply(OnkyoMessageHandler);
_UDPListen.Listen();
_UDPSend.Send();
OSAEObjectCollection objects = OSAEObjectManager.GetObjectsByType("ONKYO RECEIVER");
foreach (OSAEObject obj in objects)
{
Receiver r = new Receiver(obj.Name);
foreach (OSAEObjectProperty prop in obj.Properties)
{
switch (prop.Name)
{
case "Communication Type":
r.Type = prop.Value;
break;
case "IP":
r.IP = prop.Value;
break;
case "Network Port":
try
{
r.NetworkPort = Int32.Parse(prop.Value);
}
catch
{
r.NetworkPort = 0;
}
break;
case "COM Port":
try
{
r.ComPort = Int32.Parse(prop.Value);
}
catch
{
r.ComPort = 0;
}
break;
}
}
receivers.Add(r);
this.Log.Debug("Added receiver to list: " + r.Name);
try
{
if (r.Type == "Network" && r.IP != "" && r.NetworkPort != 0)
{
this.Log.Debug("Creating TCP Client: ip-" + r.IP + " port-" + r.NetworkPort);
r.tcpClient = new TcpClient(r.IP, r.NetworkPort);
//get a network stream from server
r.clientSockStream = r.tcpClient.GetStream();
// create new writer and reader stream to send and receive
r.clientStreamWriter = new StreamWriter(r.clientSockStream);
r.clientStreamReader = new StreamReader(r.clientSockStream);
//Start listening
r.Connect();
}
else if (r.Type == "Serial" && r.ComPort != 0)
{
//not implemented
}
else
{
this.Log.Info(r.Name + " - Properties not set");
}
}
catch (Exception ex)
{
this.Log.Error("Error creating connection to receiver", ex);
}
}
this.Log.Info("Run Interface Complete");
}
// PID
void Update()
{
if (!goal)
{
return;
}
// compute errors
Vector3 positionError = goal.transform.position - transform.position;
Vector3 derivativeError = (positionError - previousPositionError) / elapseTime;
float angle = goal.transform.rotation.eulerAngles.y - transform.rotation.eulerAngles.y;
// keep angle between -180 and 180 degree
if (angle > 180)
{
angle -= 360.0f;
}
else if (angle < -180)
{
angle += 360.0f;
}
float orientationError = Mathf.Deg2Rad * angle;
float derivativeOrientationError = (orientationError - previousOrientationError) / elapseTime;
// compute PID
Vector3 commandPosition = new Vector3();
commandPosition.x = Kp_pitchroll * positionError.x + Ki_pitchroll * integralPositionError.x + Kd_pitchroll * derivativeError.x;
commandPosition.y = Kp_vertical * positionError.y + Ki_vertical * integralPositionError.y + Kd_vertical * derivativeError.y;
commandPosition.z = Kp_pitchroll * positionError.z + Ki_pitchroll * integralPositionError.z + Kd_pitchroll * derivativeError.z;
float commandOrientation = Kp_yaw * orientationError + Ki_yaw * integralOrientationError + Kd_yaw * derivativeOrientationError;
// update PID parameters
previousPositionError = positionError;
integralPositionError += elapseTime * positionError;
previousOrientationError = orientationError;
integralOrientationError += elapseTime * orientationError;
// clamp commands and integral error to prevent drone dammages
commandPosition.x = Mathf.Clamp(commandPosition.x, -CommandClamp_pitchroll, CommandClamp_pitchroll);
commandPosition.y = Mathf.Clamp(commandPosition.y, -CommandClamp_vertical, CommandClamp_vertical);
commandPosition.z = Mathf.Clamp(commandPosition.z, -CommandClamp_pitchroll, CommandClamp_pitchroll);
commandOrientation = Mathf.Clamp(commandOrientation, -CommandClamp_yaw, CommandClamp_yaw);
integralPositionError.x = Mathf.Clamp(integralPositionError.x, -IntegralClamp_pitchroll, IntegralClamp_pitchroll);
integralPositionError.y = Mathf.Clamp(integralPositionError.y, -IntegralClamp_vertical, IntegralClamp_vertical);
integralPositionError.z = Mathf.Clamp(integralPositionError.z, -IntegralClamp_pitchroll, IntegralClamp_pitchroll);
integralOrientationError = Mathf.Clamp(integralOrientationError, -IntegralClamp_yaw, IntegralClamp_yaw);
// compute local command : from global Optitrack to local drone body
Matrix4x4 localToWorld = Matrix4x4.Translate(transform.position) * Matrix4x4.Rotate(transform.rotation);
Vector4 localPositionCommand = localToWorld.inverse * new Vector4(commandPosition.x, commandPosition.y, commandPosition.z, 0.0f);
Vector3Int msgComm = new Vector3Int(Mathf.RoundToInt(localPositionCommand.x), Mathf.RoundToInt(localPositionCommand.y), Mathf.RoundToInt(localPositionCommand.z));
// Send command to raspberry pi : to make sure the order of execution doesnt matter (unity <-> raspberry pi)
if (udpclient)
{
udpclient.SendMessage(msgComm.x.ToString() + " " + msgComm.y.ToString() + " " + msgComm.z.ToString() + " " + Mathf.RoundToInt(commandOrientation).ToString());
}
else
{
udpclient = gameObject.GetComponent <UDPSend>();
if (udpclient)
{
Debug.Log("CONNECTED ");
}
}
//Debug.Log(localPositionCommand.x.ToString() + " " + localPositionCommand.y.ToString() + " " + localPositionCommand.z.ToString() + " " + Mathf.RoundToInt(commandOrientation).ToString());
//Debug.Log(msgComm.x.ToString() + " " + msgComm.y.ToString() + " " + msgComm.z.ToString() + " " + Mathf.RoundToInt(commandOrientation).ToString());
}
// Use this for initialization
void Start()
{
udpSend = new UDPSend(remoteIP, sendPort);
udpReceive = new UDPReceive(localIP, remoteIP, receivePort);
}
public void sendIp(){
UDPSend sendObj = new UDPSend();
sendObj.init();
sendObj.sendString("MyIP" + " " + Network.player.ipAddress);
GameObject.Destroy(sendObj);
}
public void TestUDPSendReceive_ConnectAndSend()
{
var log = new Logger();
var ip = "127.0.0.1";
var receiverPort = 8880;
var sender1Port = 8881;
var sender2Port = 8882;
var sender1Key = UDPReceive.GetRemoteEndpointKey(ip, sender1Port);
var sender2Key = UDPReceive.GetRemoteEndpointKey(ip, sender2Port);
var hello1 = "Hello from " + sender1Port;
var hello2 = "Hello from " + sender2Port;
var bye1 = "Bye from " + sender1Port;
var bye2 = "Bye from " + sender2Port;
#region Setup
var receiverUdpClient = new UdpClient(receiverPort);
var receiver = new UDPReceive(receiverUdpClient, log);
receiver.Init();
var sender1UdpClient = new UdpClient(sender1Port);
var sender1 = new UDPSend(sender1UdpClient, log);
sender1.remoteIP = ip;
sender1.remotePort = receiverPort;
sender1.Init();
var sender2UdpClient = new UdpClient(sender2Port);
var sender2 = new UDPSend(sender2UdpClient, log);
sender2.remoteIP = ip;
sender2.remotePort = receiverPort;
sender2.Init();
#endregion
// Check startup state.
Assert.AreEqual(0, receiver.allReceivedUDPPackets.Count);
Assert.AreEqual("", receiver.lastReceivedUDPPacket);
// Send 'Hello' message from sender 1
sender1.SendString(hello1);
Thread.Sleep(100);
Assert.AreEqual(1, receiver.allReceivedUDPPackets.Count);
Assert.AreEqual(hello1, receiver.allReceivedUDPPackets[sender1Key]);
Assert.AreEqual(hello1, receiver.lastReceivedUDPPacket);
// Send 'Hello' message from sender 2
sender2.SendString(hello2);
Thread.Sleep(100);
Assert.AreEqual(2, receiver.allReceivedUDPPackets.Count);
Assert.AreEqual(hello2, receiver.allReceivedUDPPackets[sender2Key]);
Assert.AreEqual(hello2, receiver.lastReceivedUDPPacket);
// Send 'Bye' message from sender 1
sender1.SendString(bye1);
Thread.Sleep(100);
Assert.AreEqual(hello1 + bye1, receiver.allReceivedUDPPackets[sender1Key]);
Assert.AreEqual(bye1, receiver.lastReceivedUDPPacket);
// Send 'Bye' message from sender 2
sender2.SendString(bye2);
Thread.Sleep(500);
Assert.AreEqual(hello2 + bye2, receiver.allReceivedUDPPackets[sender2Key]);
Assert.AreEqual(bye2, receiver.lastReceivedUDPPacket);
#region Teardown
receiver.Shutdown();
receiverUdpClient.Close();
sender1UdpClient.Close();
sender2UdpClient.Close();
#endregion
}
private static void Main()
{
UDPSend sendObj = new UDPSend();
sendObj.init();
}
// start from unity3d
public void Start()
{
udpSendRef = sendRef.GetComponent <UDPSend> ();
init();
}
void AutoConnect()
{
send = GameObject.Find("Smart Floor").GetComponent<UDPSend>();
//send.init();
StartCoroutine(SendMessageStart());
}
private void Awake()
{
trackedObj = GetComponent <SteamVR_TrackedObject>();
UDPScript = network.GetComponent <UDPSend>();
}
