public void OnMatlabResponseReceived(MatlabResponse res)
{
//Debug.Log($"Answer: {(res != null ? res.response : new MatlabResponse().response)}");
float value = res != null ? res.response : prevValue;
text.text = value.ToString();
prevValue = value;
}
IEnumerator _Connect()
{
try
{
socket = new TcpClient();
socket.Connect(host, port);
connected = socket.Connected;
connectionEstablished.Invoke();
Debug.Log("Connected!");
stream = socket.GetStream();
}
catch
{
TryReconnect(reconnectTime);
}
while (connected)
{
connected = socket.Connected;
if (connected == false)
{
connectionFinished.Invoke();
}
try
{
if (isWriting)
{
deltaRpm = drivetrain.rpm - oldRpm;
oldRpm = drivetrain.rpm;
VehicleData obj = new VehicleData(drivetrain.rpm, drivetrain.gear - 1, drivetrain.velo * kMhRatio, deltaRpm);
string wrapped = JsonUtility.ToJson(obj);
byte[] bytes = Encoding.UTF8.GetBytes(wrapped);
stream.Write(bytes, 0, bytes.Length);
stream.Flush();
isWriting = false;
}
else
{
if (stream.CanRead)
{
byte[] bytes = new byte[512];
int nuberOfBytesRead = 0;
string message = "";
while (stream.DataAvailable)
{
nuberOfBytesRead = stream.Read(bytes, 0, bytes.Length);
message += Encoding.UTF8.GetString(bytes, 0, nuberOfBytesRead);
}
MatlabResponse response = JsonUtility.FromJson <MatlabResponse>(message);
matlabResponseReceived.Invoke(response);
}
isWriting = true;
}
}
catch (Exception e)
{
Debug.LogException(e);
}
yield return(new WaitForEndOfFrame());
}
}