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Data is received from BalanceBot

This commit is contained in:
Stedd 2023-10-22 01:17:23 +02:00
parent c4ceaee3f6
commit e558733a20
4 changed files with 128 additions and 3 deletions
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2
Assets/Modules/GameDev.UDP

@ -1 +1 @@
Subproject commit 421750f1209e8c91aa594c1126a306e127c5a7a2
Subproject commit 533ddb404ffa5582e5ac9c395861806e2042e981

21
Assets/Scenes/UI.unity
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@ -584,6 +584,7 @@ GameObject:
m_Component:
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- component: {fileID: 744781435}
- component: {fileID: 744781437}
m_Layer: 5
m_Name: UDPManager
m_TagString: Untagged
@ -603,8 +604,10 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 0053eace8ae9ca34680b4223e559ebc6, type: 3}
m_Name:
m_EditorClassIdentifier:
_port: 8888
listen: 1
_port: 1234
_ipAddress: 239.1.2.3
_watchdog: 0
<Data>k__BackingField:
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m_Script: {fileID: 11500000, guid: 65ec321cdebe52d449c641ae006932b9, type: 3}
m_Name:
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<ReceivedData>k__BackingField:
--- !u!1 &752811092
GameObject:
m_ObjectHideFlags: 0

97
Assets/Scripts/ReceiveData.cs Normal file
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@ -0,0 +1,97 @@
using System;
using GameDev.UDP;
using UnityEngine;
[RequireComponent(typeof(UDPManager))]
public class ReceiveData : MonoBehaviour
{
[Header("Connections")]
[SerializeField] private UDPManager _udpManager;
[Header("State")]
[SerializeField] private float _updateRate;
[SerializeField] private ulong _packages;
[field: SerializeField] public byte[] ReceivedData { get; set; }
[field: Header("ReceivedData")]
[field: SerializeField] private byte Watchdog { get; set; }
[field: SerializeField] private byte States { get; set; }
[field: SerializeField] private int M1SpeedCmd { get; set; }
[field: SerializeField] private int M2SpeedCmd { get; set; }
[field: SerializeField] private float AccelerometerPitch { get; set; }
[field: SerializeField] private float FilteredPitch { get; set; }
[field: SerializeField] private float PitchRate { get; set; }
[field: SerializeField] private float RemSpeedRef { get; set; }
[field: SerializeField] private float RemTurnSpeedRef { get; set; }
[field: SerializeField] private float ScContOut { get; set; }
[field: SerializeField] private float TcContOut { get; set; }
[field: SerializeField] private float OlContOut { get; set; }
[field: SerializeField] private float RefIL { get; set; }
[field: SerializeField] private float ActIL { get; set; }
[field: SerializeField] private float ErrorIL { get; set; }
[field: SerializeField] private float ILContOut { get; set; }
[field: SerializeField] private float IErrorIL { get; set; }
[field: SerializeField] private float ILAntiWindup { get; set; }
[field: SerializeField] private float SpeedCmd1 { get; set; }
[field: SerializeField] private float SpeedCmd2 { get; set; }
private int _newPackages;
private float _sampleTime;
private void OnEnable()
{
_sampleTime = 1;
_udpManager.ReceivedNewUdpData += ProcessData;
}
private void OnDisable()
{
_udpManager.ReceivedNewUdpData -= ProcessData;
}
private void ProcessData()
{
_packages++;
_newPackages++;
ReceivedData = _udpManager.Data;
var i = 0;
Watchdog = ReceivedData[i];
States = ReceivedData[i += 1];
M1SpeedCmd = BitConverter.ToInt16(ReceivedData, i += 1);
M2SpeedCmd = BitConverter.ToInt16(ReceivedData, i += 2);
AccelerometerPitch = BitConverter.ToSingle(ReceivedData, i += 2);
FilteredPitch = BitConverter.ToSingle(ReceivedData, i += 4);
PitchRate = BitConverter.ToSingle(ReceivedData, i += 4);
RemSpeedRef = BitConverter.ToSingle(ReceivedData, i += 4);
RemTurnSpeedRef = BitConverter.ToSingle(ReceivedData, i += 4);
ScContOut = BitConverter.ToSingle(ReceivedData, i += 4);
TcContOut = BitConverter.ToSingle(ReceivedData, i += 4);
OlContOut = BitConverter.ToSingle(ReceivedData, i += 4);
RefIL = BitConverter.ToSingle(ReceivedData, i += 4);
ActIL = BitConverter.ToSingle(ReceivedData, i += 4);
ErrorIL = BitConverter.ToSingle(ReceivedData, i += 4);
ILContOut = BitConverter.ToSingle(ReceivedData, i += 4);
IErrorIL = BitConverter.ToSingle(ReceivedData, i += 4);
ILAntiWindup = BitConverter.ToSingle(ReceivedData, i += 4);
SpeedCmd1 = BitConverter.ToSingle(ReceivedData, i += 4);
SpeedCmd2 = BitConverter.ToSingle(ReceivedData, i += 4);
}
private void FixedUpdate()
{
CalculateReceiveRate();
}
private void CalculateReceiveRate()
{
if (_sampleTime < 0)
{
_updateRate = _newPackages;
_newPackages = 0;
_sampleTime = 1;
}
else
{
_sampleTime -= Time.fixedDeltaTime;
}
}
}

11
Assets/Scripts/ReceiveData.cs.meta Normal file
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@ -0,0 +1,11 @@
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