private StateEstimate UnpackStateEstimate(byte[] bytes)
{
StateEstimate se = new StateEstimate();
if (bytes != null)
{
Stream s = new MemoryStream(bytes);
BinaryReader br = new BinaryReader(s);
if (br.BaseStream.Length == sizeof(float) * 6)
{
se.xAtt = br.ReadSingle();
se.yAtt = br.ReadSingle();
se.zAtt = br.ReadSingle();
se.xPos = br.ReadSingle();
se.yPos = br.ReadSingle();
se.zPos = br.ReadSingle();
se.isValid = true;
}
else
{
Debug.LogError("Error: wrong byte count (" + br.BaseStream.Length + ")");
se.isValid = false;
}
}
else
{
Debug.LogError("Error: invalid byte array!");
se.isValid = false;
}
return(se);
}
private IEnumerator PeriodicallyCaptureImagesAndSendToGround()
{
while (true)
{
Texture2D tx = new Texture2D(rt.width, rt.height, TextureFormat.ARGB32, false);
RenderTexture.active = rt;
tx.ReadPixels(new Rect(0, 0, rt.width, rt.height), 0, 0);
yield return(null);
tx.Apply();
yield return(null);
RenderTexture.active = null;
byte[] imageBytes = tx.EncodeToJPG();
yield return(null);
UnityWebRequest www = UnityWebRequest.Put(groundProcessingServerUrl, imageBytes);
www.timeout = 5;
yield return(www.Send());
if (www.isNetworkError)
{
Debug.LogError(www.error);
}
else
{
Debug.Log("Upload complete!");
byte[] receivedData = www.downloadHandler.data;
Debug.Log("Received response of length " + receivedData.Length + " bytes");
StateEstimate se = UnpackStateEstimate(receivedData);
if (se.isValid)
{
Debug.Log("Valid packet!");
uiUpdater.UpdateTextFromStateEstimate(se);
}
else
{
Debug.LogError("Invalid packet!");
}
}
imageIdx++;
yield return(new WaitForSecondsRealtime(timeBetweenCaptures));
}
}
public void UpdateTextFromStateEstimate(StateEstimate se)
{
xAttText.text = "x: " + se.xAtt.ToString("0.000");
yAttText.text = "y: " + se.yAtt.ToString("0.000");
zAttText.text = "z: " + se.zAtt.ToString("0.000");
xPosText.text = "x: " + se.xPos.ToString("0.000");
yPosText.text = "y: " + se.yPos.ToString("0.000");
zPosText.text = "z: " + se.zPos.ToString("0.000");
}