void receiveFromRC()
{
RXdata = new byte[1024];
IPEndPoint ipep = new IPEndPoint(IPAddress.Any, recPort);
RXnewsock = new Socket(AddressFamily.InterNetwork,
SocketType.Dgram, ProtocolType.Udp);
print("Waiting for a udp client... On port " + recPort);
RXnewsock.Bind(ipep);
IPEndPoint sender = new IPEndPoint(IPAddress.Any, 0);
RXRemote = (EndPoint)(sender);
while (true)
{
RXdata = new byte[1024];
RXrecv = RXnewsock.ReceiveFrom(RXdata, ref RXRemote);
string message = Encoding.ASCII.GetString(RXdata, 0, RXrecv);
print(message);
if (message.Contains("reset"))
{
reconnectEncoderSocket = true;
frontLeftWheelCmd = 0f;
frontRightWheelCmd = 0f;
backLeftWheelCmd = 0f;
backRightWheelCmd = 0f;
frontLeftWheelEnc = 0f;
frontRightWheelEnc = 0f;
backLeftWheelEnc = 0f;
backRightWheelEnc = 0f;
}
else
{
RobotPowers powers = RobotPowers.CreateFromJSON(message);
frontLeftWheelCmd = powers.motor1;
frontRightWheelCmd = powers.motor2;
backLeftWheelCmd = powers.motor3;
backRightWheelCmd = powers.motor4;
motorPower5 = powers.motor5;
motorPower6 = powers.motor6;
motorPower7 = powers.motor7;
motorPower8 = powers.motor8;
}
}
}
void sendToRC()
{
TXdata = new byte[1024];
IPEndPoint ipep = new IPEndPoint(IPAddress.Any, sendPort);
TXnewsock = new Socket(AddressFamily.InterNetwork,
SocketType.Dgram, ProtocolType.Udp);
TXnewsock.Bind(ipep);
while (true)
{
try
{
if (reconnectEncoderSocket)
{
IPEndPoint sender = new IPEndPoint(IPAddress.Any, 0);
TXRemote = (EndPoint)(sender);
TXrecv = TXnewsock.ReceiveFrom(TXdata, ref TXRemote);
string welcome = "Welcome to my test server";
TXdata = Encoding.ASCII.GetBytes(welcome);
TXnewsock.SendTo(TXdata, TXdata.Length, SocketFlags.None, TXRemote);
reconnectEncoderSocket = false;
}
if (canSendEncoder)
{
RobotPowers robotencoders = new RobotPowers();
robotencoders.motor1 = frontLeftWheelEnc;
robotencoders.motor2 = frontRightWheelEnc;
robotencoders.motor3 = backLeftWheelEnc;
robotencoders.motor4 = backRightWheelEnc;
//Convert to JSON
string encodersJSON = JsonUtility.ToJson(robotencoders);
TXdata = Encoding.ASCII.GetBytes(encodersJSON);
TXnewsock.SendTo(TXdata, TXdata.Length, SocketFlags.None, TXRemote);
canSendEncoder = false;
}
}
catch (Exception e)
{
Debug.LogError(e.ToString());
}
}
}
