private void ListenForData()
{
try
{
socketConnection = new TcpClient(remoteIP, 13579);
if (socketConnection.Connected)
{
Debug.Log("TCP Server connected.");
}
while (true)
{
using (NetworkStream stream = socketConnection.GetStream())
{
Byte[] bytes = new Byte[1024];
// Read incomming stream into byte arrary.
while (true)
{
try
{
TargetJSON t = new TargetJSON();
t.status = status;
t.x = target_position.x;
t.y = target_position.y;
t.z = -target_position.z;
// t.yaw = target_orientation.y / 180f * Mathf.PI;
t.yaw = target_orientation.y;
Byte[] send_msg = Encoding.UTF8.GetBytes(JsonUtility.ToJson(t));
// Byte[] send_msg = Encoding.UTF8.GetBytes("RECV");
stream.Write(send_msg, 0, send_msg.Length);
Array.Clear(bytes, 0, bytes.Length);
stream.Read(bytes, 0, bytes.Length);
string json_str = Encoding.UTF8.GetString(bytes);
// print(json_str);
PoseJSON p = JsonUtility.FromJson <PoseJSON>(json_str);
current_position.x = p.x;
current_position.y = p.y;
current_position.z = -p.z;
current_orientation.x = -p.pitch * 180f / Mathf.PI;
current_orientation.y = p.yaw * 180f / Mathf.PI;
current_orientation.z = p.roll * 180f / Mathf.PI;
}
catch (Exception e)
{
stream.Flush();
// Debug.Log(e);
}
}
}
}
}
catch (SocketException socketException)
{
Debug.Log("Socket exception: " + socketException);
}
}
private void ListenForData()
{
try
{
socketConnection = new TcpClient(remoteIP, 13579);
if (socketConnection.Connected)
{
Debug.Log("TCP Server connected.");
}
while (true)
{
using (NetworkStream stream = socketConnection.GetStream())
{
Byte[] bytes = new Byte[1024];
// Read incomming stream into byte arrary.
while (true)
{
try
{
TargetJSON t = new TargetJSON();
t.status = status;
t.x = target_position.x;
t.y = target_position.y;
t.z = -target_position.z;
// t.yaw = target_orientation.y / 180f * Mathf.PI;
t.yaw = target_orientation.y;
Byte[] send_msg = Encoding.UTF8.GetBytes(JsonUtility.ToJson(t));
// Byte[] send_msg = Encoding.UTF8.GetBytes("RECV");
stream.Write(send_msg, 0, send_msg.Length);
Array.Clear(bytes, 0, bytes.Length);
stream.Read(bytes, 0, bytes.Length);
string json_str = Encoding.UTF8.GetString(bytes);
print(json_str);
PoseJSON p = JsonUtility.FromJson <PoseJSON>(json_str);
byte[] msg = Encoding.UTF8.GetBytes("NEXTFRAME");
stream.Write(msg, 0, msg.Length);
Byte[] length_bytes;
length_bytes = new Byte[16];
stream.Read(length_bytes, 0, 16);
int length = Convert.ToInt32(Encoding.ASCII.GetString(length_bytes));
Debug.Log("Receiving data of length = " + length.ToString());
Byte[] full_buff = new Byte[length];
int current_length = 0;
int chunk_length;
Byte[] buff = new Byte[buff_size];
while (stream.CanRead && current_length < length)
{
while (stream.DataAvailable && (chunk_length = stream.Read(buff, 0, buff_size)) != 0)
{
for (int i = 0; i < chunk_length; i++)
{
full_buff[i + current_length] = buff[i];
}
current_length += chunk_length;
}
}
// JPEG Format Check
if (full_buff[0] == 255 && full_buff[1] == 216)
{
// image_bytes = full_buff;
Debug.Log(frame_queue.Count);
frame_queue.Enqueue(full_buff);
}
current_position.x = p.x;
current_position.y = p.y;
current_position.z = -p.z;
current_orientation.x = -p.pitch * 180f / Mathf.PI;
current_orientation.y = p.yaw * 180f / Mathf.PI;
current_orientation.z = p.roll * 180f / Mathf.PI;
}
catch (Exception e)
{
stream.Flush();
// Debug.Log(e);
}
}
}
}
}
catch (SocketException socketException)
{
Debug.Log("Socket exception: " + socketException);
}
}
