void GetData()
{
try
{
if (this.client.IsAvailable > 3)
{
this.client.Update(ref this.data);
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
dec.Source = this.data;
this.robotPos.x = dec.get_float();
this.robotPos.y = dec.get_float();
this.robotPos.z = dec.get_float();
this.robotLightPos.x = dec.get_float();
this.robotLightPos.y = dec.get_float();
this.robotLightPos.z = dec.get_float();
}
}
catch
{
Debug.Log("Error:ReceiveData");
}
}
// Update is called once per frame
void Update () {
if (this.cipc == null) return;
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
dec.Source = this.cipc.Data;
if (this.cipc.Data.Length > 1900)
{
dec.Source = this.cipc.Data;
dec.get_int();//2
dec.get_int();//6
for (int j = 0; j < 6; j++)
{
dec.get_int();//0
for (int i = 0; i < 20; i++)
{
float x = dec.get_float();//x
float y = dec.get_float();//y
float z = dec.get_float();//z
int state = dec.get_int();//trackingstate skst => 2
this.skeletons[j].bone[i].GlobalVec = new Vector3f(x, y, z);
this.skeletons[j].bone[i].trackingstate = Bone.TrackingState.Tracked;
}
}
this.HaveData = true;
}
}
List<Vector3> GetData()
{
List<Vector3> list_position = new List<Vector3>();
try
{
this.client.Update(ref this.data);
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
dec.Source = this.data;
//データ格納
int humanNum = dec.get_int();
for (int i = 0; i < humanNum; i++)
{
float x = - (float)dec.get_double();
float z = (float)dec.get_double();
list_position.Add(new Vector3(x, 0, z));
}
//Debug.Log(list_position[0].ToString());
}
catch
{
}
return list_position;
}
void GetData()
{
try
{
this.client.Update(ref this.data);
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
dec.Source = this.data;
//データ格納
this.List_Humans.Clear();
int MaxofHuman = (int)dec.get_byte();
int NumofHuman = (int)dec.get_byte();
this.List_Humans = new List<Human>();
for (int i = 0; i < NumofHuman; i++)
{
Human human = new Human();
human.id = i;
human.numofBone = (int)dec.get_byte();
human.bones = new Bone[human.numofBone];
for (int j = 0; j < human.numofBone; j++)
{
Bone bone = new Bone();
bone.dimensiton = (int)dec.get_byte();
bone.position.x = dec.get_float();
bone.position.y = dec.get_float();
bone.position.z = dec.get_float();
bone.quaternion.x = dec.get_float();
bone.quaternion.y = dec.get_float();
bone.quaternion.z = dec.get_float();
bone.quaternion.w = dec.get_float();
bone.IsTracking = dec.get_byte();
human.bones[j] = bone;
//if(j == 0) Debug.Log(bone.position.ToString()) ;
}
this.List_Humans.Add(human);
}
}
catch
{
Debug.Log("Error:ReceiveData");
}
}
void GetData()
{
try
{
this.client.Update(ref this.data);
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
dec.Source = this.data;
//データ格納
this.List_Humans.Clear();
int MaxofHuman = (int)dec.get_byte();
int NumofHuman = (int)dec.get_byte();
this.List_Humans = new List <Human>();
for (int i = 0; i < NumofHuman; i++)
{
Human human = new Human();
human.id = i;
human.numofBone = (int)dec.get_byte();
human.bones = new Bone[human.numofBone];
for (int j = 0; j < human.numofBone; j++)
{
Bone bone = new Bone();
bone.dimensiton = (int)dec.get_byte();
bone.position.x = dec.get_float();
bone.position.y = dec.get_float();
bone.position.z = dec.get_float();
bone.quaternion.x = dec.get_float();
bone.quaternion.y = dec.get_float();
bone.quaternion.z = dec.get_float();
bone.quaternion.w = dec.get_float();
bone.IsTracking = dec.get_byte();
human.bones[j] = bone;
//if(j == 0) Debug.Log(bone.position.ToString()) ;
}
this.List_Humans.Add(human);
}
}
catch
{
Debug.Log("Error:ReceiveData");
}
}
public void Connect()
{
byte[] data = CLIENT.Recieve();
UPD = new UDP_PACKETS_DECODER(data);
nPackets = UPD.get_int();
recieveSize = UPD.get_int();
data_length = UPD.get_int();
width = UPD.get_int();
height = UPD.get_int();
stride = UPD.get_int();
UPE=new UDP_PACKETS_ENCODER();
UPE+=(int)0;
CLIENT.Send(UPE.data);
isconnected = true;
}
private void ReceiveSkeletonFromCIPCClient()
{
this.CIPCClient.Update(ref receiveddata);
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
if (this.receiveddata.Length > 1900)
{
dec.Source = this.receiveddata;
dec.get_int();//2
dec.get_int();//6
dec.get_int();//0
for (int i = 0; i < 20; i++)
{
float x = dec.get_float();//x
float y = dec.get_float();//y
float z = dec.get_float();//z
int state = dec.get_int();//trackingstate skst => 2
this.CurrentSkeleton.bone[i].GlobalVec = new Vector3f(x, y, z);
this.CurrentSkeleton.bone[i].trackingstate = Bone.TrackingState.Tracked;
}
Debug.Log("dec.length" + dec.Length.ToString());
}
}
public byte[] Recieve(int id)
{
if (isconnected == true)
{
int counter;
byte[] data= new byte[data_length];
for (int i = 0; i < nPackets; i++)
{
byte[] _data = CLIENT.Recieve();
UPD = null;
UPD = new UDP_PACKETS_DECODER(_data);
if(UPD.get_int() == id)
{
counter = UPD.get_int();
Array.Copy(UPD.get_bytes(_data.Length - 2 * sizeof(int)), 0, data, counter * recieveSize, _data.Length - 2 * sizeof(int));
}
_data = null;
}
return data;
}
else
{
throw new Exception("error from UDP_STREAMING, connect before to recieve.");
}
}
public bool[] Recieve_bool(int id)
{
if (isconnected == true)
{
int counter;
bool[] data = new bool[data_length];
for (int i = 0; i < nPackets; i++)
{
byte[] _data = CLIENT.Recieve();
UPD = null;
UPD = new UDP_PACKETS_DECODER(_data);
if (UPD.get_int() == id)
{
counter = UPD.get_int();
for (int t = 0; t < _data.Length-2*sizeof(int); t++ )
{
data[t+recieveSize*counter] = UPD.get_bool();
}
}
_data = null;
}
return data;
}
else
{
throw new Exception("error from UDP_STREAMING, connect before to recieve.");
}
}
void GetData()
{
try
{
while (true)
{
if (IsCIPC && this.client.IsAvailable > 0)
{
this.client.Update(ref this.data);
UDP_PACKETS_CODER.UDP_PACKETS_DECODER dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
dec.Source = this.data;
//データ取得
CIPCKey = dec.get_string();
}
}
}
catch
{
}
}
