private void Update(object sender, EventArgs e)
{
if (ct.receiveMessage != null)
{
SetText("Server: " + ct.receiveMessage);
ct.receiveMessage = null;
}
if (ct.IsConnected)
{
isWaitingForConnection = false;
ct.Receive();
}
else
{
SetText("Server: Disconnected!");
if (!isWaitingForConnection || isWaitingForConnectionCounter > IsWaitingForConnectionCounterMax)
{
ct.StopConnect();
ct.StartConnect();
isWaitingForConnection = true;
isWaitingForConnectionCounter = 0;
}
}
if (isWaitingForConnection)
{
isWaitingForConnectionCounter++;
}
}
private void Update()
{
if (ct.receiveMessage != null)
{
Debug.Log(ct.receiveMessage);
// Ting
PlayerParam.Server = JsonUtility.FromJson <GameData>(ct.receiveMessage);
// Debug.Log("get: " + PlayerParam.Server.Player_Pos_X);
// Debug.Log("get: " + PlayerParam.Server.Player_Pos_Y);
// rr = JsonUtility.FromJson<senddata>(ct.receiveMessage);
// Debug.Log("get: " + rr.a);
// Debug.Log("get: " + rr.b);
Debug.Log("Server: success");
PlayerParam.Status_Update = true;
// Debug.Log("Server:" + ct.receiveMessage);
ct.receiveMessage = null;
}
if (isSend == true)
{
StartCoroutine(delaySend());
}
ct.Receive();
}
private void Update()
{
if (ct.receiveMessage != null)
{
Debug.Log("Server:" + ct.receiveMessage);
ct.receiveMessage = null;
}
if (Input.GetKeyDown("w"))
{
StartCoroutine(keySend("w"));
}
if (Input.GetKeyDown("a"))
{
StartCoroutine(keySend("a"));
}
if (Input.GetKeyDown("s"))
{
StartCoroutine(keySend("s"));
}
if (Input.GetKeyDown("d"))
{
StartCoroutine(keySend("d"));
}
ct.Receive();
}
private void Update()
{
if (ct != null)
{
c_btn.interactable = !ct.clientSocket.Connected;
if (ct.receiveMessage != null)
{
Debug.Log("Server:" + ct.receiveMessage);
chatmsg += ct.receiveMessage + Environment.NewLine;
Chatbox.text = chatmsg;
ct.receiveMessage = null;
}
ct.Receive();
}
lock (mThreadTaskOnMain)
{
if (mThreadTaskOnMain.Count < 1)
{
return;
}
// 取出
var task = mThreadTaskOnMain.Dequeue();
// 執行
task();
}
}
private void Update()
{
if (!ct.begin_flag)
{
if (!ct.rec)
{
ct.Receive();
}
}
if (ct.receiveMessage != null)
{
Debug.Log("Server:" + ct.receiveMessage);
ct.receiveMessage = null;
}
/*if (ct.receive_joint != null)
* {
* Debug.Log("Server:" + ct.receive_joint);
* ct.receive_joint = null;
* }*/
if (ct.recieve_flag != 0)
{
//Debug.Log("Server:" + ct.frame_size.ToString());
if (ct.frame_img.Length != ct.dataLength_frame)
{
Debug.Log("Receive : " + ct.frame_img.Length.ToString() + ", len : " + ct.dataLength.ToString());
}
Mat mat_img = new Mat(1, ct.frame_img.Length, CvType.CV_8U);
mat_img.put(0, 0, ct.frame_img);
Mat frame_img_mat = Imgcodecs.imdecode(mat_img, 1);
Imgproc.cvtColor(frame_img_mat, frame_img_mat, Imgproc.COLOR_BGR2RGB);
//Debug.Log(frame_img_mat.size());
byte[] image = new byte[252 * 448 * 3];
frame_img_mat.get(0, 0, image);
var texture = rawImage.texture as Texture2D;
texture.LoadRawTextureData(image); //TODO: Should be able to do this: texture.LoadRawTextureData(pointerToImage, 1280 * 720 * 4);
texture.Apply();
ct.recieve_flag = 0;
ct.rec = false;
}
}
private void Update()
{
if (ct.receiveMessage != null)
{
GameObject.Find("Canvas/Textbox").GetComponent <UnityEngine.UI.Text>().text = "Server:" + ct.receiveMessage;
Debug.Log("Server:" + ct.receiveMessage);
ct.receiveMessage = null;
}
if (isSend == true)
{
StartCoroutine(delaySend());
}
ct.Receive();
}
private void Update()
{
ct.Receive();
if (ct.receiveMessage != null) //***** Update 'actual angle' ***** /// W/out protect yet!
{
string[] recv_msg = ct.receiveMessage.Split(','); //用逗號分割字串; using System;
//string[] recv_msg = ct.receiveMessage.Split (new string[] { "," }, StringSplitOptions.RemoveEmptyEntries); //用逗號分割字串; using System;
////Debug.Log ("Recv raw:" + ct.receiveMessage);
if (recv_msg.Length > 6)
{
for (int i = 0; i < 6; i++)
{
theta_tar_a [i] = -float.Parse(recv_msg [i]) + theta_0 [i]; //Convert: string -> float
}
theta_tar_a [6] = float.Parse(recv_msg [6]); //update actual Gripper status
}
else
{
Debug.Log(" ![ERROR]! : recv_msg.Length = " + recv_msg.Length);
}
/*Debug.Log ("recv_msg.Length = " + recv_msg.Length);
* for(int x=0; x<recv_msg.Length; x++)
* Debug.Log (x + " ~ " + recv_msg [x]);
*/
ct.receiveMessage = null;
}
if (isSend == true) //***** Send 'target angle' to PC ***** //0509
{
for (int i = 0; i < 6; i++)
{
theta_user [i] = -(Robot_jR.theta_tar [i] - theta_0 [i]);
}
StartCoroutine(SendTargetAngle()); //延遲發送訊息 //0508 Pick&Place
/*if (devider % 5000 == 0) { //-----0508 Following-----
* StartCoroutine (SendTargetAngle ());//延遲發送訊息
* devider = 0;
* } else {
* devider++;
* }*/
}
}
private void Update()
{
if (ct.receiveMessage != null) //***** Update 'actual angle' /// W/out protect yet!
{
string[] recv_msg = ct.receiveMessage.Split(','); //用逗號分割字串; using System;
//string[] recv_msg = ct.receiveMessage.Split (new string[] { "," }, StringSplitOptions.RemoveEmptyEntries); //用逗號分割字串; using System;
Debug.Log("ct.receiveMessage:" + ct.receiveMessage);
if (recv_msg.Length > 6)
{
for (int i = 0; i < 6; i++)
{
theta_tar_a [i] = -float.Parse(recv_msg [i]) + theta_0[i]; //Convert: string -> float
}
}
else
{
//Debug.Log ("ct.receiveMessage ERROR: " + ct.receiveMessage);
Debug.Log("ct.receiveMessage ERROR: recv_msg.Length = " + recv_msg.Length);
}
ct.receiveMessage = null;
Debug.Log("recv_msg : " + recv_msg[0] + " // ");
}
if (isSend == true) //***** Send 'target angle' to PC
{
for (int i = 0; i < 6; i++)
{
theta_user [i] = -(Robot_jR.theta_tar [i] - theta_0 [i]);
}
/*
* targetAngle[0] = 0; //range: ( -159.93 ~ +159.97 ) ; bound: +- 150 deg
* targetAngle[1] = 0; //range: ( -45 ~ +93.71 ) ; bound: +- 40 deg
* targetAngle[2] = 90; //range: ( +50.09 ~ +169.89 ) ; bound: +- 35 deg
* targetAngle[3] = -25; //range: ( -159.87 ~ +138.11 ) ; bound: +- 130 deg
* targetAngle[4] = 0; //range: ( -119.97 ~ +119.9 ) ; bound: +- 115 deg
* targetAngle[5] = 0; //range: ( -199.88 ~ +200 ) ; bound: +- 190 deg
*/
SendTargetAngle();
}
ct.Receive();
// -------------------------------------------------- //
for (int i = 0; i < 6; i++)
{
dtheta_a [i] = theta_tar_a [i] - theta_now_a [i];
}
joint1_a.transform.RotateAround(Vector3.zero, Vector3.up, dtheta_a [0]);
joint2_a.transform.Rotate(Vector3.up, dtheta_a [1]);
joint3_a.transform.Rotate(Vector3.up, dtheta_a [2]);
joint4_a.transform.Rotate(Vector3.up, dtheta_a [3]);
joint5_a.transform.Rotate(Vector3.up, dtheta_a [4]);
joint6_a.transform.Rotate(Vector3.up, dtheta_a [5]);
for (int i = 0; i < 6; i++) //refresh: after rotate
{
theta_now_a [i] = theta_tar_a [i];
}
Debug.Log("~ theta_now_a = ( " + theta_now_a[0] + ", " + theta_now_a[1] + ", " + theta_now_a[2] + ", " + theta_now_a[3] + ", " + theta_now_a[4] + ", " + theta_now_a[5] + ")\n");
Debug.Log("~ theta_tar_a = ( " + theta_tar_a[0] + ", " + theta_tar_a[1] + ", " + theta_tar_a[2] + ", " + theta_tar_a[3] + ", " + theta_tar_a[4] + ", " + theta_tar_a[5] + ")\n");
Debug.Log("~~ theta_tar = ( " + Robot_jR.theta_tar[0] + ", " + Robot_jR.theta_tar[1] + ", " + Robot_jR.theta_tar[2] + ", " + Robot_jR.theta_tar[3] + ", " + Robot_jR.theta_tar[4] + ", " + Robot_jR.theta_tar[5] + ")\n");
Debug.Log("~ theta_user = ( " + theta_user[0] + ", " + theta_user[1] + ", " + theta_user[2] + ", " + theta_user[3] + ", " + theta_user[4] + ", " + theta_user[5] + ")\n\n");
}
