void EncodeMessage()
{
//encoded message to be written
float cte = wpt.CrossTrackError(_carController);
writeBuffer[0] = BitConverter.GetBytes(cte)[0];
writeBuffer[1] = BitConverter.GetBytes(cte)[1];
writeBuffer[2] = BitConverter.GetBytes(cte)[2];
writeBuffer[3] = BitConverter.GetBytes(cte)[3];
float speed = _carController.CurrentSpeed;
writeBuffer[4] = BitConverter.GetBytes(speed)[0];
writeBuffer[5] = BitConverter.GetBytes(speed)[1];
writeBuffer[6] = BitConverter.GetBytes(speed)[2];
writeBuffer[7] = BitConverter.GetBytes(speed)[3];
string Image = Convert.ToBase64String(CameraHelper.CaptureFrame(FrontFacingCamera));
var encoding = Encoding.UTF8;
encoding.GetBytes(Image, 0, Image.Length, writeBuffer, 8);
writeBufferSize = 8 + Image.Length;
//Debug.Log(writeBufferSize);
}
void EmitTelemetry(SocketIOEvent obj)
{
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
print("Attempting to Send...");
// send only if it's not being manually driven
if ((Input.GetKey(KeyCode.W)) || (Input.GetKey(KeyCode.S)))
{
_socket.Emit("telemetry", new JSONObject());
}
else
{
// Collect Data from the Car
Dictionary <string, JSONObject> data = new Dictionary <string, JSONObject>();
var cte = wpt.CrossTrackError(_carController);
data["steering_angle"] = new JSONObject(_carController.CurrentSteerAngle);
data["throttle"] = new JSONObject(_carController.AccelInput);
data["speed"] = new JSONObject(_carController.CurrentSpeed);
data["cte"] = new JSONObject(cte);
Dictionary <string, string> images = new Dictionary <string, string>();
images["camera0"] = Convert.ToBase64String(CameraHelper.CaptureFrame(FrontFacingCamera));
data["images"] = new JSONObject(images);
_socket.Emit("telemetry", new JSONObject(data));
}
});
}