// 发送数据
void EmitTelemetry(SocketIOEvent obj, LiDarData hitPoint)
{
//UnityMainThreadDispatcher.Instance().Enqueue(() =>
//{
print("Attempting to Send...");
// send only if it's not being manually driven
// 手动模式下
if ((Input.GetKey(KeyCode.W)) || (Input.GetKey(KeyCode.S)))
{
// _socket.Emit("telemetry", new JSONObject());
}
else
{
// Collect Data from the Car
// 从车上收集信息
Dictionary <string, string> data = new Dictionary <string, string>();
// json数据
// 角度
// 图像bytes转base64字符串
// data["image"] = Convert.ToBase64String(CameraHelper.CaptureFrame(FrontFacingCamera));
// 添加点云数据
// float 转 bytes
data["Velodyne"] = Convert.ToBase64String(hitPoint.ToByteArray());
_socket.Emit("telemetry", new JSONObject(data));
}
//});
}
// 发送数据
void EmitTelemetry(SocketIOEvent obj, LiDarData hitPoint)
{
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
print("Attempting to Send...");
// send only if it's not being manually driven
// 手动模式下
if ((Input.GetKey(KeyCode.W)) || (Input.GetKey(KeyCode.S)))
{
_socket.Emit("telemetry", new JSONObject());
}
else
{
// Collect Data from the Car
// 从车上收集信息
Dictionary <string, string> data = new Dictionary <string, string>();
// json数据
// 角度
data["steering_angle"] = _carController.CurrentSteerAngle.ToString("N4");
data["throttle"] = _carController.AccelInput.ToString("N4");
data["speed"] = _carController.CurrentSpeed.ToString("N4");
data["Velodyne"] = Convert.ToBase64String(hitPoint.ToByteArray());
_socket.Emit("telemetry", new JSONObject(data));
}
});
}