// Update is called once per frame
void Update()
{
if (device.IsReading)
{
isActive = true;
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
for (int i = 0; i < packets.Count; i++)
{
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To parse a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(i);
int size = packets.get_packet_size(i);
string content = System.Text.ASCIIEncoding.ASCII.GetString(packets.Buffer, indx, size);
content = content.Substring(6, content.IndexOf("FINAL") - 6);
string[] data = content.Split(new string[] { " " }, StringSplitOptions.None);
accelerometer = new Vector3(float.Parse(data[0]), float.Parse(data[1]), float.Parse(data[2]));
gyroscope = new Vector3(float.Parse(data[3]), float.Parse(data[4]), float.Parse(data[5]));
magnetometer = new Vector3(float.Parse(data[6]), float.Parse(data[7]), float.Parse(data[8]));
textRead = content;
}
}
}
else
{
}
}
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status : Connected & Can read";
while (device.IsConnected && device.IsReading)
{
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
/*
* parse packets, packets are ordered by indecies (0,1,2,3 ... N),
* where Nth packet is the latest packet and 0th is the oldest/first arrived packet.
*
* Since this while loop is looping one time per frame, we only need the Nth(the latest potentiometer/joystick position in this frame).
*
*/
int N = packets.Count - 1;
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To get a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(N);
int size = packets.get_packet_size(N);
if (size == 4)
{
// packets.Buffer[indx] equals lowByte(x1) and packets.Buffer[indx+1] equals highByte(x2)
int val1 = (packets.Buffer[indx + 1] << 8) | packets.Buffer[indx];
//Shift back 3 bits, because there was << 3 in Arduino
val1 = val1 >> 3;
int val2 = (packets.Buffer[indx + 3] << 8) | packets.Buffer[indx + 2];
//Shift back 3 bits, because there was << 3 in Arduino
val2 = val2 >> 3;
//#########Converting val1, val2 into something similar to Input.GetAxis (Which is from -1 to 1)#########
//since any val is from 0 to 1023
float Axis1 = ((float)val1 / 1023f) * 2f - 1f;
float Axis2 = ((float)val2 / 1023f) * 2f - 1f;
logsOnScreen.text = Axis1 + "," + Axis2;
MoveCube(Axis1, Axis2);
/*
*
* Now Axis1 or Axis2 value will be in the range -1...1. Similar to Input.GetAxis
* Check out :
*
* https://docs.unity3d.com/ScriptReference/Input.GetAxis.html
*
* https://unity3d.com/learn/tutorials/topics/scripting/getaxis
*/
}
}
yield return(null);
}
statusText.text = "Status : Done Reading";
}
//############### Reading Data #####################
//Please note that you don't have to use this Couroutienes/IEnumerator, you can just put your code in the Update() method
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status : Connected & Can read";
while (device.IsConnected && device.IsReading)
{
count = (count + 1) % 500;
statusText.text = "Status : Connected & Can read" + count;
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
/*
* parse packets, packets are ordered by indecies (0,1,2,3 ... N),
* where Nth packet is the latest packet and 0th is the oldest/first arrived packet.
*
* Since this while loop is looping one time per frame, we only need the Nth(the latest potentiometer/joystick position in this frame).
*
*/
int N = packets.Count - 1;
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To get a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(N);
int size = packets.get_packet_size(N);
if (size == 2)
{
// packets.Buffer[indx] equals lowByte(x1) and packets.Buffer[indx+1] equals highByte(x2)
val1 = packets.Buffer[indx];
val2 = packets.Buffer[indx + 1];
theta = val1;
//theta=theta+1;
t = theta / 255.0 * 2 * Mathf.PI;
cube.transform.position = new Vector3(5 * Mathf.Cos((float)t), 0, 5 * Mathf.Sin((float)t));
//#########Converting val1, val2 into something similar to Input.GetAxis (Which is from -1 to 1)#########
//since any val is from 0 to 1023
logsOnScreen.text = val1 + "," + val2;
//MoveCube(Axis1,Axis2);
/*
*
* Now Axis1 or Axis2 value will be in the range -1...1. Similar to Input.GetAxis
* Check out :
*
* https://docs.unity3d.com/ScriptReference/Input.GetAxis.html
*
* https://unity3d.com/learn/tutorials/topics/scripting/getaxis
*/
}
}
yield return(null);
}
statusText.text = "Status : Done Reading";
}
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status: Connected & Can Read";
while (device.IsConnected && device.IsReading)
{
BtPackets packets = device.readAllPackets();
if (packets != null)
{
int N = packets.Count - 1;
int indx = packets.get_packet_offset_index(N);
int size = packets.get_packet_size(N);
if (size == 6)
{
int fire = (packets.Buffer [indx + 1] << 8) | packets.Buffer [indx];
fire = fire >> 3;
int acX = (packets.Buffer [indx + 3] << 8) | packets.Buffer [indx + 2];
acX = acX >> 3;
int acY = (packets.Buffer [indx + 5] << 8) | packets.Buffer [indx + 4];
acY = acY >> 3;
vrRotation = new Vector3(acX, acY, 0);
if (statusText != null)
{
statusText.text = fire.ToString() + ", "
+ acX.ToString() + ", " +
acY.ToString();
}
if (fire == 1)
{
isShooting = true;
}
else if (fire == 0)
{
isShooting = false;
}
}
}
yield return(null);
}
}
IEnumerator ManageConnection(BluetoothDevice device)
{
while (true)
{
BtPackets packets = device.readAllPackets();
if (packets != null)
{
for (int i = 0; i < packets.Count; i++)
{
int idx = packets.get_packet_offset_index(i);
int size = packets.get_packet_size(i);
string content = System.Text.Encoding.ASCII.GetString(packets.Buffer, idx, size);
//char direction;
//char.TryParse(content, out direction);
debug.text = content[0].ToString();
inputReceivedEvent.Invoke(content[0]);
}
}
yield return(null);
}
}
//############### Reading Data #####################
//Please note that you don't have to use Couroutienes, you can just put your code in the Update() method
//If you want to achieve a minimum delay please check the "High Bit Rate Terminal" demo
IEnumerator ManageConnection(BluetoothDevice device)
{ //Manage Reading Coroutine
//Switch to Terminal View
InfoCanvas.SetActive(false);
DataCanvas.SetActive(true);
while (device.IsReading)
{
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
/*
* parse packets, packets are ordered by indecies (0,1,2,3 ... N),
* where Nth packet is the latest packet and 0th is the oldest/first arrived packet.
*
*/
for (int i = 0; i < packets.Count; i++)
{
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To parse a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(i);
int size = packets.get_packet_size(i);
string content = System.Text.ASCIIEncoding.ASCII.GetString(packets.Buffer, indx, size);
readDataText.add(device.Name, content);
}
}
yield return(null);
}
//Switch to Menue View after reading stoped
DataCanvas.SetActive(false);
InfoCanvas.SetActive(true);
}
IEnumerator ManageConnection(BluetoothDevice device)
{
send();
while (device.IsReading)
{
send();
BtPackets packets = device.readAllPackets();
if (packets != null)
{
send();
for (int i = 0; i < packets.Count; i++)
{
int indx = packets.get_packet_offset_index(i);
int size = packets.get_packet_size(i);
string content = System.Text.ASCIIEncoding.ASCII.GetString(packets.Buffer, indx, size);
string[] Numbers = content.Split(':');
short.TryParse(Numbers[0], out ax);
gas = short.Parse(Numbers[1]);
send();
}
}
yield return(null);
}
}
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status : Connected & Can read";
while (device.IsConnected && device.IsReading)
{
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
/*
* parse packets, packets are ordered by indecies (0,1,2,3 ... N),
* where Nth packet is the latest packet and 0th is the oldest/first arrived packet.
*
* Since this while loop is looping one time per frame, we only need the Nth(the latest potentiometer/joystick position in this frame).
*
*/
int N = packets.Count - 1;
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To get a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(N);
int size = packets.get_packet_size(N);
if (size == 4)
{
// packets.Buffer[indx] equals lowByte(x1) and packets.Buffer[indx+1] equals highByte(x2)
int val1 = (packets.Buffer[indx + 1] << 8) | packets.Buffer[indx];
//Shift back 3 bits, because there was << 3 in Arduino
val1 = val1 >> 3;
int val2 = (packets.Buffer[indx + 3] << 8) | packets.Buffer[indx + 2];
//Shift back 3 bits, because there was << 3 in Arduino
val2 = val2 >> 3;
//#########Converting val1, val2 into something similar to Input.GetAxis (Which is from -1 to 1)#########
//since any val is from 0 to 1023
float Axis1 = ((float)val1 / 1023f) * 2f - 1f;
if (Axis1 == 1)
{
eje = 2;
}
if (Axis1 == -1)
{
eje = 4;
}
float Axis2 = ((float)val2 / 1023f) * 2f - 1f;
if (Axis2 == 1)
{
eje = 1;
}
if (Axis2 == -1)
{
eje = 3;
}
if (Axis1 <= 0.03 && Axis1 >= -0.03 && Axis2 <= 0.03 && Axis2 >= -0.03)
{
eje = 0;
}
if (eje == 0)
{
ahora = 0;
antes = 0;
}
if (ahora == eje)
{
ahora = ahora;
}
else if (ahora != eje)
{
antes = ahora;
ahora = eje;
}
if (antes == 1 && ahora == 2 || antes == 2 && ahora == 3 || antes == 3 && ahora == 4 || antes == 4 && ahora == 1)
{
direccion.text = "la direccion es adelante";
mover = 5;
}
else if (antes == 1 && ahora == 4 || antes == 4 && ahora == 3 || antes == 3 && ahora == 2 || antes == 2 && ahora == 1)
{
direccion.text = "la direccion es atras";
mover = -5;
}
if (antes == 0 && ahora == 0)
{
mover = 0;
direccion.text = "sin movimineto";
}
variables.text = "Ahora= " + ahora + " antes= " + antes + " eje= " + eje;
axis.text = "Axis1= " + Axis1 + " Axis2= " + Axis2;
logsOnScreen.text = eje.ToString();
MoveCube(mover, 0);
/*
*
* Now Axis1 or Axis2 value will be in the range -1...1. Similar to Input.GetAxis
* Check out :
*
* https://docs.unity3d.com/ScriptReference/Input.GetAxis.html
*
* https://unity3d.com/learn/tutorials/topics/scripting/getaxis
*/
}
}
yield return(null);
}
statusText.text = "Status : Done Reading";
}
//############### Reading Data #####################
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status : Connected & Can read";
Main.BluetoothMessage("Remove");
while (device.IsReading)
{
BtPackets packets = device.readAllPackets();
if (packets != null)
{
for (int i = 0; i < packets.Count; i++)
{
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To parse a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(i);
int size = packets.get_packet_size(i);
string content = System.Text.ASCIIEncoding.ASCII.GetString(packets.Buffer, indx, size);
statusText.text = "MSG : " + content;
if (content.Contains(" : "))
{
//it's a movement command!
string RightWheelInput = content.Remove(content.IndexOf(" : "));
string LeftWheelInput = content.Replace(RightWheelInput + " : ", "");
try
{
float RightWheel = float.Parse(RightWheelInput);
float LeftWheel = float.Parse(LeftWheelInput);
if ( //test to make sure the data makes sense, the blueooth module is picking up nasty power
RightWheel > 0 && RightWheel < 65536 &&
LeftWheel > 0 && LeftWheel < 65536
)
{
Wheelchaircontrol.WheelchairMovement(LeftWheel, RightWheel);
//device.send(System.Text.Encoding.ASCII.GetBytes("MA100" + (char)10));
}
}
catch { }
}
else if (content.Contains("lagtestreply"))
{
//we got the reply from the arduino, now to send it back!
WebSocketClient.messageforws = "messagePair lagtestreply";
WebSocketClient.LagTestSwitch = false;
statusText.text = WebSocketClient.LagTestTime.ToString() + "ms for a reply from arduino";
WebSocketClient.messageforws = WebSocketClient.LagTestTime.ToString() + "ms for a reply from arduino";
WebSocketClient.LagTestTime = 0f;
}
}
}
if (!messagesent)
{
foreach (string message in MessageToSendList)
{
device.send(System.Text.Encoding.ASCII.GetBytes(message + (char)10));
}
MessageToSendList.Clear();
//device.send(System.Text.Encoding.ASCII.GetBytes(MessageToSend + (char)10));
messagesent = true;
}
yield return(null);
}
statusText.text = "Status : Done Reading";
}
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status : Connected & Can read";
while (device.IsConnected && device.IsReading)
{
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
/*
* parse packets, packets are ordered by indecies (0,1,2,3 ... N),
* where Nth packet is the latest packet and 0th is the oldest/first arrived packet.
*
* Since this while loop is looping one time per frame, we only need the Nth(the latest potentiometer/joystick position in this frame).
*
*/
int N = packets.Count - 1;
//packets.Buffer contains all the needed packets plus a header of meta data (indecies and sizes)
//To get a packet we need the INDEX and SIZE of that packet.
int indx = packets.get_packet_offset_index(N);
int size = packets.get_packet_size(N);
/*if(size == 4){
* // packets.Buffer[indx] equals lowByte(x1) and packets.Buffer[indx+1] equals highByte(x2)
* int val1 = (packets.Buffer[indx+1] << 8) | packets.Buffer[indx];
* //Shift back 3 bits, because there was << 3 in Arduino
* val1 = val1 >> 3;
* int val2 = (packets.Buffer[indx+3] << 8) | packets.Buffer[indx+2];
* //Shift back 3 bits, because there was << 3 in Arduino
* val2 = val2 >> 3;
*
* //#########Converting val1, val2 into something similar to Input.GetAxis (Which is from -1 to 1)#########
* //since any val is from 0 to 1023
* float Axis1 = ((float)val1/1023f)*2f - 1f;
* float Axis2 = ((float)val2/1023f)*2f - 1f;
*
*
*
*
* logsOnScreen.text = Axis1 + "," + Axis2;
* MoveCube(Axis1,Axis2);
*
* }
*
*
* }*/
if (size == 8)
{
myText.text = "8";
// packets.Buffer[indx] equals lowByte(x1) and packets.Buffer[indx+1] equals highByte(x2)
int val1 = (packets.Buffer[indx + 1] << 8) | packets.Buffer[indx];
//Shift back 3 bits, because there was << 3 in Arduino
val1 = val1 >> 3;
int val2 = (packets.Buffer[indx + 3] << 8) | packets.Buffer[indx + 2];
//Shift back 3 bits, because there was << 3 in Arduino
val2 = val2 >> 3;
int val3 = (packets.Buffer[indx + 5] << 8) | packets.Buffer[indx + 4];
val3 = val3 >> 3;
int val4 = (packets.Buffer[indx + 7] << 8) | packets.Buffer[indx + 6];
val4 = val4 >> 3;
//#########Converting val1, val2 into something similar to Input.GetAxis (Which is from -1 to 1)#########
//since any val is from 0 to 1023
float Axis1 = ((float)val1 / 1023f) * 2f - 1f;
float Axis2 = ((float)val2 / 1023f) * 2f - 1f;
float Axis3 = ((float)val3 / 1023f) * 2f - 1f;
float Axis4 = ((float)val4 / 1023f) * 2f - 1f;
logsOnScreen.text = Axis1 + "," + Axis2 + " : " + val1 + " : " + val2;
MoveCube(cube, Axis1, Axis2);
MoveCube(cube2, Axis3, Axis4);
}
}
yield return(null);
}
statusText.text = "Status : Done Reading";
}
IEnumerator ManageConnection(BluetoothDevice device)
{
statusText.text = "Status : Connected & Can read";
while (device.IsConnected && device.IsReading)
{
//polll all available packets
BtPackets packets = device.readAllPackets();
if (packets != null)
{
int N = packets.Count - 1;
int indx = packets.get_packet_offset_index(N);
int size = packets.get_packet_size(N);
if (size == 8)
{
// packets.Buffer[indx] equals lowByte(x1) and packets.Buffer[indx+1] equals highByte(x2)
int val1 = (packets.Buffer[indx + 1] << 8) | packets.Buffer[indx];
//Shift back 3 bits, because there was << 3 in Arduino
val1 = val1 >> 3;
int val2 = (packets.Buffer[indx + 3] << 8) | packets.Buffer[indx + 2];
//Shift back 3 bits, because there was << 3 in Arduino
val2 = val2 >> 3;
int val3 = (packets.Buffer[indx + 5] << 8) | packets.Buffer[indx + 4];
val3 = val3 >> 3;
int val4 = (packets.Buffer[indx + 7] << 8) | packets.Buffer[indx + 6];
val4 = val4 >> 3;
//#########Converting val1, val2 into something similar to Input.GetAxis (Which is from -1 to 1)#########
//since any val is from 0 to 1023
float Axis1 = ((float)val1 / 1023f) * 2f - 1f;
if (Axis1 <= 1 && Axis1 >= 0.75)
{
eje = 2;
}
if (Axis1 >= -1 && Axis1 <= -0.75)
{
eje = 4;
}
float Axis2 = ((float)val2 / 1023f) * 2f - 1f;
if (Axis2 <= 1 && Axis2 >= 0.85)
{
eje = 1;
}
if (Axis2 >= -1 && Axis2 <= -0.85)
{
eje = 3;
}
if (Axis1 <= 0.8 && Axis1 >= -0.6 && Axis2 <= 0.8 && Axis2 >= -0.6)
{
eje = 0;
}
if (eje == 0)
{
ahora = 0;
antes = 0;
}
if (ahora == eje)
{
ahora = ahora;
}
else if (ahora != eje)
{
antes = ahora;
ahora = eje;
}
if (antes == 1 && ahora == 2 || antes == 2 && ahora == 3 || antes == 3 && ahora == 4 || antes == 4 && ahora == 1)
{
j2.text = "adelante true j1";
adelante1 = true;
atras1 = false;
//direccion1 = "adelante";
//direccion.text = "la direccion es adelante";
mover = 5;
}
else if (antes == 1 && ahora == 4 || antes == 4 && ahora == 3 || antes == 3 && ahora == 2 || antes == 2 && ahora == 1)
{
j2.text = "atras true j1";
atras1 = true;
adelante1 = false;
//direccion1 = "atras";
//direccion.text = "la direccion es atras";
mover = -5;
}
if (antes == 0 && ahora == 0)
{
j2.text = "j1 sin mover";
atras1 = false;
adelante1 = false;
//direccion1 = "ND";
mover = 0;
//direccion.text = "sin movimineto";
}
float Axis3 = ((float)val3 / 1023f) * 2f - 1f;
if (Axis3 <= 1 && Axis3 >= 0.85)
{
eje2 = 2;
}
if (Axis3 >= -1 && Axis3 <= -0.85)
{
eje2 = 4;
}
float Axis4 = ((float)val4 / 1023f) * 2f - 1f;
if (Axis4 <= 1 && Axis4 >= 0.75)
{
eje2 = 1;
}
if (Axis4 >= -1 && Axis4 <= -0.75)
{
eje2 = 3;
}
if (Axis3 <= 0.8 && Axis3 >= -0.6 && Axis4 <= 0.8 && Axis4 >= -0.6)
{
eje2 = 0;
}
if (eje2 == 0)
{
ahora2 = 0;
antes2 = 0;
}
if (ahora2 == eje2)
{
ahora2 = ahora2;
}
else if (ahora2 != eje2)
{
antes2 = ahora2;
ahora2 = eje2;
}
if (antes2 == 1 && ahora2 == 2 || antes2 == 2 && ahora2 == 3 || antes2 == 3 && ahora2 == 4 || antes2 == 4 && ahora2 == 1)
{
j1.text = "j2 adelante true";
adelante2 = true;
atras2 = false;
//direccionj2 = "adelante";
//direccion2.text = "la direccion es adelante";
mover2 = 5;
}
else if (antes2 == 1 && ahora2 == 4 || antes2 == 4 && ahora2 == 3 || antes2 == 3 && ahora2 == 2 || antes2 == 2 && ahora2 == 1)
{
j1.text = "j2 atras true";
atras2 = true;
adelante2 = false;
//direccionj2 = "atras";
//direccion2.text = "la direccion es atras";
mover2 = -5;
}
if (antes2 == 0 && ahora2 == 0)
{
j1.text = "sin mover j2";
atras2 = false;
adelante2 = false;
//direccionj2 = "ND";
mover2 = 0;
//direccion2.text = "sin movimineto";
}
//movimiento del barco
if (adelante1 && adelante2)
{
moverBarco = -1;
giro = 0;
barcotxt.text = "adelante " + moverBarco.ToString();
}
else if (atras1 && atras2)
{
moverBarco = 1;
giro = 0;
barcotxt.text = "atras " + moverBarco.ToString();
}
else
{
moverBarco = 0;
barcotxt.text = "SN";
}
if (moverBarco == 0 && adelante1 == true)
{
giro = 1;
}
else if (moverBarco == 0 && adelante2 == true)
{
giro = -1;
}
else if (moverBarco > 0 || moverBarco < 0 || adelante1 == false || adelante2 == false)
{
giro = 0;
}
else
{
giro = 0;
}
//GirarCubo(b, giro);
//MoveCube(cube, 0, mover);
//MoveCube(cube2, 0, mover2);
}
}
yield return(null);
}
statusText.text = "Status : Done Reading";
}
