public void Begin(string ipAddress, int port)
{
// Give the network stuff its own special thread
var thread = new Thread(() =>
{
// We'll use `LowPassFilter` to filter out some incorrect readings coming from the sensor
var filter = new LowPassFilter(0.95f);
// This class makes it super easy to do network stuff
var client = new TcpClient();
// Change this to your devices real address
client.Connect(ipAddress, port);
var stream = new StreamReader(client.GetStream());
// We'll read values and buffer them up in here
var buffer = new List <byte>();
while (client.Connected)
{
// Read the next byte
var read = stream.Read();
// We split readings with a carriage return, so check for it
if (read == 13)
{
// Once we have a reading, convert our buffer to a string, since the values are coming as strings
var str = Encoding.ASCII.GetString(buffer.ToArray());
// We assume that they're floats
var dist = float.Parse(str);
// Ignore any value outside of our expected input range
dist = Mathf.Clamp(dist, _minInputY, _maxInputY);
// Use the `LowPassFilter` to smooth out values
filter.Step(dist);
// Remap the value from our input range to our planes movement range
CurrentValue = filter.SmoothedValue.Remap(_minInputY, _maxInputY, _minFinalY, _maxFinalY);
// Clear the buffer ready for another reading
buffer.Clear();
}
else
{
// If this wasn't the end of a reading, then just add this new byte to our buffer
buffer.Add((byte)read);
}
}
});
thread.Start();
}
/*void SocketSend(string sendStr)
* {
* //清空发送缓存
* sendData=new byte[1024];
* //数据类型转换
* sendData=Encoding.ASCII.GetBytes(sendStr);
* //发送给指定客户端
* socket.SendTo(sendData,sendData.Length,SocketFlags.None,clientEnd);
* }*/
void SocketReceive()
{
//进入接收循环
while (true)
{
var filter = new LowPassFilter(0.95f);
//对data清零
recvData = new byte[1024];
//获取客户端，获取客户端数据，用引用给客户端赋值
recvLen = socket.ReceiveFrom(recvData, ref clientEnd);
//print("message from: "+clientEnd.ToString()); //打印客户端信息
//输出接收到的数据
recvStr = Encoding.ASCII.GetString(recvData, 0, recvLen);
// print(recvStr);
char[] splitChar = { ' ', ',', ':', '\t', ';' };
string[] dataRaw = recvStr.Split(splitChar);
RotateX = float.Parse(dataRaw[2]);
RotateY = float.Parse(dataRaw[1]);
RotateZ = float.Parse(dataRaw[0]);
PoseX2 = float.Parse(dataRaw[3]);
PoseY2 = float.Parse(dataRaw[4]);
PoseZ2 = float.Parse(dataRaw[5]);
// Use the `LowPassFilter` to smooth out values
filter.Step(RotateX);
filter.Step(RotateY);
filter.Step(RotateZ);
filter.Step(PoseX2);
filter.Step(PoseY2);
filter.Step(PoseZ2);
}
}
/*void SocketSend(string sendStr)
* {
* //清空發送緩存
* sendData=new byte[1024];
* //數據類型轉換
* sendData=Encoding.ASCII.GetBytes(sendStr);
* //發送給指定客戶端
* socket.SendTo(sendData,sendData.Length,SocketFlags.None,clientEnd);
* }*/
void SocketReceive()
{
//進入接收循環
while (true)
{
var filter = new LowPassFilter(0.95f);
//對data清零
recvData = new byte[1024];
//獲取客戶端，獲取客戶端數據，用引用給客戶端賦值
recvLen = socket.ReceiveFrom(recvData, ref clientEnd);
//print("message from: "+clientEnd.ToString()); //列印客户端信息
//輸出接收到的數據
recvStr = Encoding.ASCII.GetString(recvData, 0, recvLen);
// print(recvStr);
char[] splitChar = { ' ', ',', ':', '\t', ';' };
string[] dataRaw = recvStr.Split(splitChar);
RotateX = float.Parse(dataRaw[0]);
RotateY = float.Parse(dataRaw[1]);
RotateZ = float.Parse(dataRaw[2]);
RotateX2 = float.Parse(dataRaw[3]);
RotateY2 = float.Parse(dataRaw[4]);
RotateZ2 = float.Parse(dataRaw[5]);
Flexval = int.Parse(dataRaw[6]);
// Use the `LowPassFilter` to smooth out values
filter.Step(RotateX);
filter.Step(RotateY);
filter.Step(RotateZ);
filter.Step(RotateX2);
filter.Step(RotateY2);
filter.Step(RotateZ2);
}
}
/* void SocketSend(string sendStr)
* {
* //清空發送緩存
* sendData=new byte[1024];
* //數據類型轉換
* sendData=Encoding.ASCII.GetBytes(sendStr);
* //發送給指定客戶端
* clientSocket.Send(sendData,sendData.Length,SocketFlags.None);
* }*/
//伺服器接收
void SocketReceive()
{
//連接
SocketConnet();
//接收迴圈
while (true)
{
sw.Start();
for (int i = 0; i < 10; i++)
{
var filter = new LowPassFilter(0.95f);
//清空數據
recvData = new byte[1024];
//獲取收到的數據長度
recvLen = clientSocket.Receive(recvData);
//如果收到的數據長度為0，則重新連線進入下一個循環
if (recvLen == 0)
{
SocketConnet();
continue;
}
//輸出接收到的數據
recvStr = Encoding.ASCII.GetString(recvData, 0, recvLen);
print(recvStr);
//分割字串
char[] splitChar = { ' ', ',', ':', '\t', ';' };
string[] dataRaw = recvStr.Split(splitChar);
RotateX = int.Parse(dataRaw[0]);
RotateY = int.Parse(dataRaw[1]);
RotateZ = int.Parse(dataRaw[2]);
filter.Step(RotateX);
filter.Step(RotateY);
filter.Step(RotateZ);
}
sw.Stop();//碼錶停止
string result1 = sw.Elapsed.TotalMilliseconds.ToString();
print(result1);
}
}
void SocketReceive()
{
//接收資料端
while (true)
{
var filter = new LowPassFilter(0.95f);
//清空資料緩存
recvData = new byte[1024];
//獲取客戶端送來的資料
recvLen = socket.ReceiveFrom(recvData, ref clientEnd);
//輸出接收到的資料
recvStr = Encoding.ASCII.GetString(recvData, 0, recvLen);
// print(recvStr);
//分割字串
char[] splitChar = { ' ', ',', ':', '\t', ';' };
string[] dataRaw = recvStr.Split(splitChar);
RotateX = int.Parse(dataRaw[0]);
RotateY = int.Parse(dataRaw[1]);
RotateZ = int.Parse(dataRaw[2]);
RotateX2 = int.Parse(dataRaw[3]);
RotateY2 = int.Parse(dataRaw[4]);
RotateZ2 = int.Parse(dataRaw[5]);
AccX = int.Parse(dataRaw[6]);
AccY = int.Parse(dataRaw[7]);
AccZ = int.Parse(dataRaw[8]);
AccX2 = int.Parse(dataRaw[9]);
AccY2 = int.Parse(dataRaw[10]);
AccZ2 = int.Parse(dataRaw[11]);
// FlexValue = float.Parse(dataRaw[6]);
// 使用低通濾波
filter.Step(RotateX);
filter.Step(RotateY);
filter.Step(RotateZ);
filter.Step(RotateX2);
filter.Step(RotateY2);
filter.Step(RotateZ2);
//filter.Step(FlexValue);
}
}
