//send as packed struct
public void Send(FullDataFrame data)
{
byte[] dataBytes = new byte[messageLen]; //declare byte array and initialize its size
System.IntPtr ptr = Marshal.AllocHGlobal(messageLen); //pointer to byte array
Marshal.StructureToPtr(data, ptr, true);
Marshal.Copy(ptr, dataBytes, 0, messageLen);
Marshal.FreeHGlobal(ptr);
Send(dataBytes);
}
void Update()
{
float yaw = (transform.localRotation.eulerAngles.y - lastYaw) / Time.deltaTime;
float roll = (transform.localRotation.eulerAngles.z - lastRoll) / Time.deltaTime;
lastRoll = transform.localRotation.eulerAngles.z;
lastYaw = transform.localRotation.eulerAngles.y;
if (Time.time - lastSend < sendRate)
{
return;
}
float time = Time.time;
//GearPosActual
int gear = vehicleController.IsShifting ? -3 : vehicleController.Gear;
//AcceleratorPedalPos
int pedalPos = Mathf.RoundToInt(Mathf.Clamp01(vehicleController.accellInput) * 100);
//DeceleratorPedalPos
int brakePos = Mathf.RoundToInt(Mathf.Clamp(-1, 0, vehicleController.accellInput) * 100);
//SteeringWheelAngle
int wheelAngle = Mathf.RoundToInt(vehicleController.steerInput * 720);
//VehicleSpeed
float kmh = rb.velocity.magnitude * 3.6f;
//TODO: calculate this from wheel rpm
FullDataFrame frame = new FullDataFrame()
{
time = time,
cruiseSpeed = 0f,
rpm = vehicleController.RPM,
gearPosActual = gear,
gearPosTarget = vehicleController.Gear,
accelleratorPos = pedalPos,
deceleratorPos = brakePos,
rollRate = roll,
steeringWheelAngle = wheelAngle,
vehicleSpeed = kmh,
vehicleSpeedOverGround = kmh,
wheelSpeedFL = vehicleController.WheelFL.rpm * 60,
wheelSpeedFR = vehicleController.WheelFR.rpm * 60,
wheelSpeedRL = vehicleController.WheelRL.rpm * 60,
wheelSpeedRR = vehicleController.WheelRR.rpm * 60,
yawRate = yaw
};
dataStream.SendAsText(frame);
}
public void SendAsText(FullDataFrame frame)
{
foreach (var connection in connections)
{
byte[] data;
if (connection.IC)
{
data = Encoding.ASCII.GetBytes(frame.ToICCSV());
}
else
{
data = Encoding.ASCII.GetBytes(frame.ToCSV());
}
SendTCP(data, connection.client);
}
}
public void SendAsText(FullDataFrame frame)
{
foreach (var connection in connections)
{
if (connection != null)
{
byte[] data;
if (connection.IC)
{
data = Encoding.ASCII.GetBytes(frame.ToICCSV());
SendTCP(data, connection.client);
}
else if (connection.events)
{
//do nothing here, event frames sent on their own
}
else
{
data = Encoding.ASCII.GetBytes(frame.ToCSV());
SendTCP(data, connection.client);
}
}
}
}
void Update()
{
float yaw = (transform.localRotation.eulerAngles.y - lastYaw) / Time.deltaTime;
float roll = (transform.localRotation.eulerAngles.z - lastRoll) / Time.deltaTime;
lastRoll = transform.localRotation.eulerAngles.z;
lastYaw = transform.localRotation.eulerAngles.y;
if (Time.time - lastSend < sendRate)
{
return;
}
float time = Time.time;
//GearPosActual
int gear = vehicleController.IsShifting ? -3 : vehicleController.Gear;
//AcceleratorPedalPos
int pedalPos = Mathf.RoundToInt(Mathf.Clamp01(vehicleController.accellInput) * 100);
//DeceleratorPedalPos
int brakePos = Mathf.RoundToInt(Mathf.Clamp(-1, 0, vehicleController.accellInput) * 100);
//SteeringWheelAngle
int wheelAngle = Mathf.RoundToInt(vehicleController.steerInput * 720);
//VehicleSpeed
float kmh = rb.velocity.magnitude * 3.6f;
//TODO: calculate this from wheel rpm
//CarLoc
float carXLoc = TrackController.Instance.car.transform.position.x;
float carYLoc = TrackController.Instance.car.transform.position.y;
float carZLoc = TrackController.Instance.car.transform.position.z;
float xAngle = TrackController.Instance.car.transform.rotation.eulerAngles.x;
float yAngle = TrackController.Instance.car.transform.rotation.eulerAngles.y;
float zAngle = TrackController.Instance.car.transform.rotation.eulerAngles.z;
FullDataFrame frame = new FullDataFrame()
{
time = time,
cruiseSpeed = 0f,
rpm = vehicleController.RPM,
gearPosActual = gear,
gearPosTarget = vehicleController.Gear,
accelleratorPos = pedalPos,
deceleratorPos = brakePos,
rollRate = roll,
steeringWheelAngle = wheelAngle,
vehicleSpeed = kmh,
vehicleSpeedOverGround = kmh,
wheelSpeedFL = vehicleController.WheelFL.rpm * 60,
wheelSpeedFR = vehicleController.WheelFR.rpm * 60,
wheelSpeedRL = vehicleController.WheelRL.rpm * 60,
wheelSpeedRR = vehicleController.WheelRR.rpm * 60,
yawRate = yaw,
triggeredEvent1TimeStamp = 0f,
carXLoc = carXLoc,
carYLoc = carYLoc,
carZLoc = carZLoc,
xAngle = xAngle,
yAngle = yAngle,
zAngle = zAngle
};
if (triggerTimeStamp1 > 0f || triggerTimeStamp2 > 0f || triggerTimeStamp3 > 0f)
{
TriggeredEventFrame eventFrame = new TriggeredEventFrame()
{
triggeredEvent1TimeStamp = triggerTimeStamp1,
triggeredEvent2TimeStamp = triggerTimeStamp2,
triggeredEvent3TimeStamp = triggerTimeStamp3
};
dataStream.SendAsText(eventFrame);
}
//add triggered events if required
if (triggerTimeStamp1 > 0f)
{
frame.triggeredEvent1TimeStamp = triggerTimeStamp1;
triggerTimeStamp1 = 0f;
}
if (triggerTimeStamp2 > 0f)
{
frame.triggeredEvent2TimeStamp = triggerTimeStamp2;
triggerTimeStamp2 = 0f;
}
if (triggerTimeStamp3 > 0f)
{
frame.triggeredEvent3TimeStamp = triggerTimeStamp3;
triggerTimeStamp3 = 0f;
}
dataStream.SendAsText(frame);
}
