void OnDestroy()
{
DisconnectRobot();
if (_connector != null)
{
_connector.Dispose();
}
_connector = null;
}
void _robotLinked()
{
if (RobotConnector != null)
{
_txeyes = RobotConnector.GetComponent <TxKitEyes> ();
_txbody = RobotConnector.GetComponent <TxKitBody> ();
_txmouth = RobotConnector.GetComponent <TxKitMouth> ();
_txears = RobotConnector.GetComponent <TxKitEars> ();
}
}
private void OpenTCPPort()
{
try
{
TCPPort = new Socket(AddressFamily.InterNetwork,
SocketType.Stream,
ProtocolType.Tcp);
TCPPort.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.NoDelay, 1);
TCPPort.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, 1);
TCPPort.Connect(host, port);
}
catch (Exception e)
{ }
ur5eConnection = new RobotConnector(host.ToString(), true);
}
// Use this for initialization
void Start()
{
AppManager.Instance.Init();
Settings.Instance.Init();
_connector = new RobotConnector();
_connector.DataCommunicator.OnMessage += OnMessage;
_connector.DataCommunicator.OnRobotInfoDetected += OnRobotInfoDetected;
_connector.DataCommunicator.OnRobotStatus += OnRobotStatus;
_connector.DataCommunicator.OnBumpSensor += OnBumpSensor;
_connector.DataCommunicator.OnServiceNetValue += _OnServiceNetValue;
_connector.DataCommunicator.OnRobotCapabilties += OnRobotCapabilties;
_connector.StartDataCommunicator();
OVRManager.HMDUnmounted += OnHMDUnmounted;
if (RobotIndex >= 0)
{
_RobotIP = AppManager.Instance.RobotManager.GetRobotInfo(RobotIndex);
}
//Send Detect Message to scan network for the available robots
/*
* _connector.RobotCommunicator.SetData ("detect", _connector.DataCommunicator.GetPort().ToString(), true,false);
* _connector.RobotCommunicator.BroadcastMessage (Settings.Instance.GetPortValue("CommPort",6000));
* _connector.RobotCommunicator.RemoveData ("detect");
*/
if (Debugger == null)
{
Debugger = GameObject.FindObjectOfType <DebugInterface> ();
}
if (Debugger != null)
{
Debugger.AddDebugElement(new DebugRobotStatus(this));
}
//VideoStream.SetConnectionComponent (this);
_OnStarted();
}
void OnRobotConnected(RobotConnector.TargetPorts ports)
{
HandController c=GameObject.FindObjectOfType<HandController> ();
if (c == null || !c.IsConnected ()) {
return;
}
_imageGrabber = new GstUnityImageGrabber ();
_imageGrabber.SetTexture2D (HandRenderer.LeapRetrival [0].MainTextureData,HandRenderer.LeapRetrival [0].Width,HandRenderer.LeapRetrival [0].Height,TextureFormat.Alpha8);
_imageGrabber.Update();//update once
_handsPort=Settings.Instance.GetPortValue("HandsPort",0);
_streamer = new GstNetworkImageStreamer ();
_streamer.SetBitRate (300);
_streamer.SetResolution (640, 240, 30);
_streamer.SetGrabber (_imageGrabber);
_streamer.SetIP (ports.RobotIP, _handsPort, false);
RobotConnector.Connector.SendData("HandPorts",_handsPort.ToString(),false);
_streamer.CreateStream ();
_streamer.Stream ();
_isConnected = true;
}
public string GetDebugString()
{
RobotConnector _connector = Robot.Connector;
string str = "";
str += "Is Connected: " + Robot.IsConnected + "\n";
if (Robot.IsConnected)
{
str += "Is Robot Connected: " + Robot.IsRobotConnected + "\n";
str += "Robot Status: " + Robot.RobotStatus + "\n";
}
if (Body != null)
{
str += "Head Position= " + Body.BodyJoints.Head.Position.ToString("F3") + "\n";
str += "Head Rotation= " + Body.BodyJoints.Head.Rotation.eulerAngles.ToString("F2") + "\n";
//str += "Rotation Speed= " + Body.BaseRotation.ToString () + "\n";
//str += "Motion Speed= " + Body.BaseSpeed.ToString () + "\n";
float[] jv = Body.RobotJointValues;
if (jv != null)
{
str += "Robot Joint Values: \n";
for (int i = 0; i < jv.Length;)
{
str += jv [i].ToString() + "/ " + jv [i + 1];
if (i != jv.Length - 2)
{
str += "\n";
}
i += 2;
}
}
}
return(str);
}
public virtual void OnRobotUpdated(RobotConnector connector)
{
}
void _OnRobotUpdated(RobotConnector connector)
{
OnRobotUpdated(connector);
}
public override void OnRobotUpdated(RobotConnector connector)
{
// Drive (_robotHandler,connector.Speed.x,connector.Speed.y,(int)connector.Rotation);
}
static void Main(string[] args)
{
RobotConnector rc = new RobotConnector();
// Artec.Studuino.BoardType res = rc.checkBoardType();
// Debug.WriteLine(res);
}
void OnRobotConnected(RobotConnector.TargetPorts ports)
{
SetRemoteHost (ports.RobotIP, ports);
}
public void SetRemoteHost(string IP,RobotConnector.TargetPorts ports)
{
_remoteHostIP = IP;
/*
MultipleNetworkCameraSource c;
_cameraSource = (c=new MultipleNetworkCameraSource());
c.TargetNode=gameObject;
c.Host = IP;
c.port = port;
c.Init();*/
if(this.CameraType==CameraSourceType.Remote)
{
if (_cameraSource != null) {
_cameraSource.Close();
_cameraSource=null;
}
MultipleNetworkCameraSource c;
_cameraSource = (c = new MultipleNetworkCameraSource ());
c.StreamsCount = 2;
c.TargetNode = gameObject;
c.Host = IP;
c.port = Settings.Instance.GetPortValue("VideoPort",0);
c.Init ();
_cameraSource.GetBaseTexture ().OnFrameGrabbed += OnFrameGrabbed;
m_grabbedFrames=0;
//disable the renderes until we video stream starts
//_camRenderer[0].Disable();
//_camRenderer[1].Disable();
_videoPorts=new uint[2]{0,0};
_videoPorts[0]=c.Texture.Player.GetVideoPort(0);
_videoPorts[1]=c.Texture.Player.GetVideoPort(1);
RobotConnector.Connector.SendData("VideoPorts",_videoPorts[0].ToString()+","+_videoPorts[1].ToString(),true);
if(_audioPlayer!=null)
{
int port= Settings.Instance.GetPortValue("AudioPort",0);
_audioPlayer.SetIP(IP,0,false);
_audioPlayer.CreateStream();
_audioPlayer.Play();
_audioPort=_audioPlayer.GetAudioPort();
RobotConnector.Connector.SendData("AudioPort",_audioPort.ToString(),true);
}
if(_audioStreamer!=null)
{
_audioStreamer.SetIP(IP,7010,false);//port should be dynamically assigned from remote side
_audioStreamer.Stream();
}
for(int i=0;i<2;++i)
_camRenderer[i].CamSource=_cameraSource;
if (Debugger) {
Debugger.RemoveDebugElement(_cameraDebugElem);;
_cameraDebugElem=new DebugCameraCaptureElement(_cameraSource.GetBaseTexture());
Debugger.AddDebugElement(_cameraDebugElem);;
}
}
{
//request camera settings
RobotConnector.Connector.SendData("CameraParameters","",false);
//request netvalue port
RobotConnector.Connector.RobotCommunicator.SetData ("NetValuePort", "AVStreamServiceModule,"+RobotConnector.Connector.DataCommunicator.Port.ToString(), false,false);
}
}
// Use this for initialization
void Start()
{
_connector = new RobotConnector ();
switch (HeadControllerType) {
case AppManager.HeadControllerType.Oculus:
default:
_connector.HeadController=new OculusHeadController();
break;
}
switch (BaseControllerType) {
case AppManager.BaseControllerType.Oculus:
default:
_connector.BaseController=new OculusBaseController();
break;
}
_connector.RobotCommunicator = new RemoteRobotCommunicator ();
_connector.DataCommunicator.OnMessage += OnMessage;
_connector.DataCommunicator.OnRobotInfoDetected += OnRobotInfoDetected;
_connector.DataCommunicator.OnRobotStatus += OnRobotStatus;
_connector.DataCommunicator.OnJointValues += OnJointValues;
_connector.DataCommunicator.OnBumpSensor += OnBumpSensor;
_connector.DataCommunicator.OnServiceNetValue += _OnServiceNetValue;
_connector.StartDataCommunicator ();
if(RobotIndex>=0)
_RobotIP=AppManager.Instance.RobotManager.GetRobotInfo(RobotIndex);
//Send Detect Message to scan network for the available robots
_connector.RobotCommunicator.SetData ("detect", _connector.DataCommunicator.Port.ToString(), true,false);
_connector.RobotCommunicator.BroadcastMessage (Settings.Instance.GetPortValue("CommPort",6000));
_connector.RobotCommunicator.RemoveData ("detect");
if (Debugger != null) {
Debugger.AddDebugElement(new DebugRobotStatus(this));
}
//VideoStream.SetConnectionComponent (this);
_OnStarted ();
}
void OnDestroy()
{
_connector.Dispose();
_connector = null;
}
