├── .gitignore ├── Assembly-CSharp.csproj ├── Assets ├── Advanced INI Parser.meta ├── Advanced INI Parser │ ├── Example code, how to save and load game data.pdf │ ├── Example code, how to save and load game data.pdf.meta │ ├── How to use.pdf │ ├── How to use.pdf.meta │ ├── INIParser.cs │ └── INIParser.cs.meta ├── Materials.meta ├── Materials │ ├── MyCanvasMat.mat │ └── MyCanvasMat.mat.meta ├── Scripts.meta ├── Scripts │ ├── ControlPanelAssignment.cs │ ├── ControlPanelAssignment.cs.meta │ ├── Destroy.cs │ ├── Destroy.cs.meta │ ├── ISerialCommunication.cs │ ├── ISerialCommunication.cs.meta │ ├── Loom.cs │ ├── Loom.cs.meta │ ├── RunSerial.cs │ ├── RunSerial.cs.meta │ ├── SerialCommunication.cs │ ├── SerialCommunication.cs.meta │ ├── SerialCommunicationFacade.cs │ ├── SerialCommunicationFacade.cs.meta │ ├── TestFor.cs │ ├── TestFor.cs.meta │ ├── UdpServer.cs │ └── UdpServer.cs.meta ├── myXML.meta ├── myXML │ ├── settings.xml │ └── settings.xml.meta ├── test.unity └── test.unity.meta ├── LidarDataVisualization.sln ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── NetworkManager.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset └── UnityConnectSettings.asset ├── README.md ├── obj └── Debug │ ├── Assembly-CSharp.csproj.CopyComplete │ └── Assembly-CSharp.csproj.FileListAbsolute.txt └── testYDLidar.sln /.gitignore: -------------------------------------------------------------------------------- 1 | .vs 2 | Library/ 3 | Temp/ -------------------------------------------------------------------------------- /Assembly-CSharp.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 4 5 | 6 | 7 | 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DEBUG;TRACE;UNITY_5_3_OR_NEWER;UNITY_5_4_OR_NEWER;UNITY_5_5_OR_NEWER;UNITY_5_6_OR_NEWER;UNITY_2017_1_OR_NEWER;UNITY_2017_2_OR_NEWER;UNITY_2017_3_OR_NEWER;UNITY_2017_4_OR_NEWER;UNITY_2018_1_OR_NEWER;UNITY_2018_2_OR_NEWER;UNITY_2018_2_11;UNITY_2018_2;UNITY_2018;PLATFORM_ARCH_64;UNITY_64;ENABLE_AUDIO;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_DUCK_TYPING;ENABLE_MICROPHONE;ENABLE_MULTIPLE_DISPLAYS;ENABLE_PHYSICS;ENABLE_SPRITES;ENABLE_GRID;ENABLE_TILEMAP;ENABLE_TERRAIN;ENABLE_TEXTURE_STREAMING;ENABLE_DIRECTOR;ENABLE_UNET;ENABLE_LZMA;ENABLE_UNITYEVENTS;ENABLE_WEBCAM;ENABLE_WWW;ENABLE_CLOUD_SERVICES_COLLAB;ENABLE_CLOUD_SERVICES_COLLAB_SOFTLOCKS;ENABLE_CLOUD_SERVICES_ADS;ENABLE_CLOUD_HUB;ENABLE_CLOUD_PROJECT_ID;ENABLE_CLOUD_SERVICES_USE_WEBREQUEST;ENABLE_CLOUD_SERVICES_UNET;ENABLE_CLOUD_SERVICES_BUILD;ENABLE_CLOUD_LICENSE;ENABLE_EDITOR_HUB;ENABLE_EDITOR_HUB_LICENSE;ENABLE_WEBSOCKET_CLIENT;ENABLE_DIRECTOR_AUDIO;ENABLE_DIRECTOR_TEXTURE;ENABLE_TIMELINE;ENABLE_EDITOR_METRICS;ENABLE_EDITOR_METRICS_CACHING;ENABLE_MANAGED_JOBS;ENABLE_MANAGED_TRANSFORM_JOBS;ENABLE_MANAGED_ANIMATION_JOBS;INCLUDE_DYNAMIC_GI;INCLUDE_GI;ENABLE_MONO_BDWGC;PLATFORM_SUPPORTS_MONO;RENDER_SOFTWARE_CURSOR;INCLUDE_PUBNUB;ENABLE_VIDEO;ENABLE_PACKMAN;ENABLE_CUSTOM_RENDER_TEXTURE;ENABLE_LOCALIZATION;PLATFORM_STANDALONE_WIN;PLATFORM_STANDALONE;UNITY_STANDALONE_WIN;UNITY_STANDALONE;ENABLE_SUBSTANCE;ENABLE_RUNTIME_GI;ENABLE_MOVIES;ENABLE_NETWORK;ENABLE_CRUNCH_TEXTURE_COMPRESSION;ENABLE_UNITYWEBREQUEST;ENABLE_CLOUD_SERVICES;ENABLE_CLOUD_SERVICES_ANALYTICS;ENABLE_CLOUD_SERVICES_PURCHASING;ENABLE_CLOUD_SERVICES_CRASH_REPORTING;ENABLE_OUT_OF_PROCESS_CRASH_HANDLER;ENABLE_EVENT_QUEUE;ENABLE_CLUSTER_SYNC;ENABLE_CLUSTERINPUT;ENABLE_VR;ENABLE_AR;ENABLE_WEBSOCKET_HOST;ENABLE_MONO;NET_2_0;ENABLE_PROFILER;UNITY_ASSERTIONS;UNITY_EDITOR;UNITY_EDITOR_64;UNITY_EDITOR_WIN;ENABLE_UNITY_COLLECTIONS_CHECKS;ENABLE_BURST_AOT;UNITY_TEAM_LICENSE;ENABLE_VSTU 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7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Advanced INI Parser/How to use.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/glegoo/unity-lidar-tuio/d179555772503ebb07168d0ebd98b4a24e3569cc/Assets/Advanced INI Parser/How to use.pdf -------------------------------------------------------------------------------- /Assets/Advanced INI Parser/How to use.pdf.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9697693e4b60dff458dc8e90d74fdca2 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Advanced INI Parser/INIParser.cs: -------------------------------------------------------------------------------- 1 | /******************************* 2 | Version: 1.0 3 | Project Boon 4 | *******************************/ 5 | 6 | using System; 7 | using System.Collections.Generic; 8 | using System.Globalization; 9 | using System.IO; 10 | using System.Text; 11 | using UnityEngine; 12 | 13 | public class INIParser 14 | { 15 | #region "Declarations" 16 | 17 | // *** Error: In case there're errors, this will changed to some value other than 1 *** 18 | // Error codes: 19 | // 1: Null TextAsset 20 | public int error = 0; 21 | 22 | // *** Lock for thread-safe access to file and local cache *** 23 | private object m_Lock = new object(); 24 | 25 | // *** File name *** 26 | private string m_FileName = null; 27 | public string FileName 28 | { 29 | get 30 | { 31 | return m_FileName; 32 | } 33 | } 34 | 35 | // ** String represent Ini 36 | private string m_iniString = null; 37 | public string iniString 38 | { 39 | get 40 | { 41 | return m_iniString; 42 | } 43 | } 44 | 45 | // *** Automatic flushing flag *** 46 | private bool m_AutoFlush = false; 47 | 48 | // *** Local cache *** 49 | private Dictionary> m_Sections = new Dictionary>(); 50 | private Dictionary> m_Modified = new Dictionary>(); 51 | 52 | // *** Local cache modified flag *** 53 | private bool m_CacheModified = false; 54 | 55 | #endregion 56 | 57 | #region "Methods" 58 | 59 | // *** Open ini file by path *** 60 | public void Open(string path) 61 | { 62 | m_FileName = path; 63 | 64 | if (File.Exists(m_FileName)) 65 | { 66 | m_iniString = File.ReadAllText(m_FileName); 67 | } 68 | else 69 | { 70 | //If file does not exist, create one 71 | var temp = File.Create(m_FileName); 72 | temp.Close(); 73 | m_iniString = ""; 74 | } 75 | 76 | Initialize(m_iniString, false); 77 | } 78 | 79 | // *** Open ini file by TextAsset: All changes is saved to local storage *** 80 | public void Open(TextAsset name) 81 | { 82 | if (name == null) 83 | { 84 | // In case null asset, treat as opened an empty file 85 | error = 1; 86 | m_iniString = ""; 87 | m_FileName = null; 88 | Initialize(m_iniString, false); 89 | } 90 | else 91 | { 92 | m_FileName = Application.persistentDataPath + name.name; 93 | 94 | //*** Find the TextAsset in the local storage first *** 95 | if (File.Exists(m_FileName)) 96 | { 97 | m_iniString = File.ReadAllText(m_FileName); 98 | } 99 | else m_iniString = name.text; 100 | Initialize(m_iniString, false); 101 | } 102 | } 103 | 104 | // *** Open ini file from string *** 105 | public void OpenFromString(string str) 106 | { 107 | m_FileName = null; 108 | Initialize(str, false); 109 | } 110 | 111 | // *** Get the string content of ini file *** 112 | public override string ToString() 113 | { 114 | return m_iniString; 115 | } 116 | 117 | private void Initialize(string iniString, bool AutoFlush) 118 | { 119 | m_iniString = iniString; 120 | m_AutoFlush = AutoFlush; 121 | Refresh(); 122 | } 123 | 124 | // *** Close, save all changes to ini file *** 125 | public void Close() 126 | { 127 | lock (m_Lock) 128 | { 129 | PerformFlush(); 130 | 131 | //Clean up memory 132 | m_FileName = null; 133 | m_iniString = null; 134 | } 135 | } 136 | 137 | // *** Parse section name *** 138 | private string ParseSectionName(string Line) 139 | { 140 | if (!Line.StartsWith("[")) return null; 141 | if (!Line.EndsWith("]")) return null; 142 | if (Line.Length < 3) return null; 143 | return Line.Substring(1, Line.Length - 2); 144 | } 145 | 146 | // *** Parse key+value pair *** 147 | private bool ParseKeyValuePair(string Line, ref string Key, ref string Value) 148 | { 149 | // *** Check for key+value pair *** 150 | int i; 151 | if ((i = Line.IndexOf('=')) <= 0) return false; 152 | 153 | int j = Line.Length - i - 1; 154 | Key = Line.Substring(0, i).Trim(); 155 | if (Key.Length <= 0) return false; 156 | 157 | Value = (j > 0) ? (Line.Substring(i + 1, j).Trim()) : (""); 158 | return true; 159 | } 160 | 161 | // *** If a line is neither SectionName nor key+value pair, it's a comment *** 162 | private bool isComment(string Line) 163 | { 164 | string tmpKey = null, tmpValue = null; 165 | if (ParseSectionName(Line) != null) return false; 166 | if (ParseKeyValuePair(Line, ref tmpKey, ref tmpValue)) return false; 167 | return true; 168 | } 169 | 170 | // *** Read file contents into local cache *** 171 | private void Refresh() 172 | { 173 | lock (m_Lock) 174 | { 175 | StringReader sr = null; 176 | try 177 | { 178 | // *** Clear local cache *** 179 | m_Sections.Clear(); 180 | m_Modified.Clear(); 181 | 182 | // *** String Reader *** 183 | sr = new StringReader(m_iniString); 184 | 185 | 186 | // *** Read up the file content *** 187 | Dictionary CurrentSection = null; 188 | string s; 189 | string SectionName; 190 | string Key = null; 191 | string Value = null; 192 | while ((s = sr.ReadLine()) != null) 193 | { 194 | s = s.Trim(); 195 | 196 | // *** Check for section names *** 197 | SectionName = ParseSectionName(s); 198 | if (SectionName != null) 199 | { 200 | // *** Only first occurrence of a section is loaded *** 201 | if (m_Sections.ContainsKey(SectionName)) 202 | { 203 | CurrentSection = null; 204 | } 205 | else 206 | { 207 | CurrentSection = new Dictionary(); 208 | m_Sections.Add(SectionName, CurrentSection); 209 | } 210 | } 211 | else if (CurrentSection != null) 212 | { 213 | // *** Check for key+value pair *** 214 | if (ParseKeyValuePair(s, ref Key, ref Value)) 215 | { 216 | // *** Only first occurrence of a key is loaded *** 217 | if (!CurrentSection.ContainsKey(Key)) 218 | { 219 | CurrentSection.Add(Key, Value); 220 | } 221 | } 222 | } 223 | } 224 | } 225 | finally 226 | { 227 | // *** Cleanup: close file *** 228 | if (sr != null) sr.Close(); 229 | sr = null; 230 | } 231 | } 232 | } 233 | 234 | private void PerformFlush() 235 | { 236 | // *** If local cache was not modified, exit *** 237 | if (!m_CacheModified) return; 238 | m_CacheModified = false; 239 | 240 | // *** Copy content of original iniString to temporary string, replace modified values *** 241 | StringWriter sw = new StringWriter(); 242 | 243 | try 244 | { 245 | Dictionary CurrentSection = null; 246 | Dictionary CurrentSection2 = null; 247 | StringReader sr = null; 248 | try 249 | { 250 | // *** Open the original file *** 251 | sr = new StringReader(m_iniString); 252 | 253 | // *** Read the file original content, replace changes with local cache values *** 254 | string s; 255 | string SectionName; 256 | string Key = null; 257 | string Value = null; 258 | bool Unmodified; 259 | bool Reading = true; 260 | 261 | bool Deleted = false; 262 | string Key2 = null; 263 | string Value2 = null; 264 | 265 | StringBuilder sb_temp; 266 | 267 | while (Reading) 268 | { 269 | s = sr.ReadLine(); 270 | Reading = (s != null); 271 | 272 | // *** Check for end of iniString *** 273 | if (Reading) 274 | { 275 | Unmodified = true; 276 | s = s.Trim(); 277 | SectionName = ParseSectionName(s); 278 | } 279 | else 280 | { 281 | Unmodified = false; 282 | SectionName = null; 283 | } 284 | 285 | // *** Check for section names *** 286 | if ((SectionName != null) || (!Reading)) 287 | { 288 | if (CurrentSection != null) 289 | { 290 | // *** Write all remaining modified values before leaving a section **** 291 | if (CurrentSection.Count > 0) 292 | { 293 | // *** Optional: All blank lines before new values and sections are removed **** 294 | sb_temp = sw.GetStringBuilder(); 295 | while ((sb_temp[sb_temp.Length - 1] == '\n') || (sb_temp[sb_temp.Length - 1] == '\r')) 296 | { 297 | sb_temp.Length = sb_temp.Length - 1; 298 | } 299 | sw.WriteLine(); 300 | 301 | foreach (string fkey in CurrentSection.Keys) 302 | { 303 | if (CurrentSection.TryGetValue(fkey, out Value)) 304 | { 305 | sw.Write(fkey); 306 | sw.Write('='); 307 | sw.WriteLine(Value); 308 | } 309 | } 310 | sw.WriteLine(); 311 | CurrentSection.Clear(); 312 | } 313 | } 314 | 315 | if (Reading) 316 | { 317 | // *** Check if current section is in local modified cache *** 318 | if (!m_Modified.TryGetValue(SectionName, out CurrentSection)) 319 | { 320 | CurrentSection = null; 321 | } 322 | } 323 | } 324 | else if (CurrentSection != null) 325 | { 326 | // *** Check for key+value pair *** 327 | if (ParseKeyValuePair(s, ref Key, ref Value)) 328 | { 329 | if (CurrentSection.TryGetValue(Key, out Value)) 330 | { 331 | // *** Write modified value to temporary file *** 332 | Unmodified = false; 333 | CurrentSection.Remove(Key); 334 | 335 | sw.Write(Key); 336 | sw.Write('='); 337 | sw.WriteLine(Value); 338 | } 339 | } 340 | } 341 | 342 | // ** Check if the section/key in current line has been deleted *** 343 | if (Unmodified) 344 | { 345 | if (SectionName != null) 346 | { 347 | if (!m_Sections.ContainsKey(SectionName)) 348 | { 349 | Deleted = true; 350 | CurrentSection2 = null; 351 | } 352 | else 353 | { 354 | Deleted = false; 355 | m_Sections.TryGetValue(SectionName, out CurrentSection2); 356 | } 357 | 358 | } 359 | else if (CurrentSection2 != null) 360 | { 361 | if (ParseKeyValuePair(s, ref Key2, ref Value2)) 362 | { 363 | if (!CurrentSection2.ContainsKey(Key2)) Deleted = true; 364 | else Deleted = false; 365 | } 366 | } 367 | } 368 | 369 | 370 | // *** Write unmodified lines from the original iniString *** 371 | if (Unmodified) 372 | { 373 | if (isComment(s)) sw.WriteLine(s); 374 | else if (!Deleted) sw.WriteLine(s); 375 | } 376 | } 377 | 378 | // *** Close string reader *** 379 | sr.Close(); 380 | sr = null; 381 | } 382 | finally 383 | { 384 | // *** Cleanup: close string reader *** 385 | if (sr != null) sr.Close(); 386 | sr = null; 387 | } 388 | 389 | // *** Cycle on all remaining modified values *** 390 | foreach (KeyValuePair> SectionPair in m_Modified) 391 | { 392 | CurrentSection = SectionPair.Value; 393 | if (CurrentSection.Count > 0) 394 | { 395 | sw.WriteLine(); 396 | 397 | // *** Write the section name *** 398 | sw.Write('['); 399 | sw.Write(SectionPair.Key); 400 | sw.WriteLine(']'); 401 | 402 | // *** Cycle on all key+value pairs in the section *** 403 | foreach (KeyValuePair ValuePair in CurrentSection) 404 | { 405 | // *** Write the key+value pair *** 406 | sw.Write(ValuePair.Key); 407 | sw.Write('='); 408 | sw.WriteLine(ValuePair.Value); 409 | } 410 | CurrentSection.Clear(); 411 | } 412 | } 413 | m_Modified.Clear(); 414 | 415 | // *** Get result to iniString *** 416 | m_iniString = sw.ToString(); 417 | sw.Close(); 418 | sw = null; 419 | 420 | // ** Write iniString to file *** 421 | if (m_FileName != null) 422 | { 423 | File.WriteAllText(m_FileName, m_iniString); 424 | } 425 | } 426 | finally 427 | { 428 | // *** Cleanup: close string writer *** 429 | if (sw != null) sw.Close(); 430 | sw = null; 431 | } 432 | } 433 | 434 | // *** Check if the section exists *** 435 | public bool IsSectionExists(string SectionName) 436 | { 437 | return m_Sections.ContainsKey(SectionName); 438 | } 439 | 440 | // *** Check if the key exists *** 441 | public bool IsKeyExists(string SectionName, string Key) 442 | { 443 | Dictionary Section; 444 | 445 | // *** Check if the section exists *** 446 | if (m_Sections.ContainsKey(SectionName)) 447 | { 448 | m_Sections.TryGetValue(SectionName, out Section); 449 | 450 | // If the key exists 451 | return Section.ContainsKey(Key); 452 | } 453 | else return false; 454 | } 455 | 456 | // *** Delete a section in local cache *** 457 | public void SectionDelete(string SectionName) 458 | { 459 | // *** Delete section if exists *** 460 | if (IsSectionExists(SectionName)) 461 | { 462 | lock (m_Lock) 463 | { 464 | m_CacheModified = true; 465 | m_Sections.Remove(SectionName); 466 | 467 | //Also delete in modified cache if exist 468 | m_Modified.Remove(SectionName); 469 | 470 | // *** Automatic flushing : immediately write any modification to the file *** 471 | if (m_AutoFlush) PerformFlush(); 472 | } 473 | } 474 | } 475 | 476 | // *** Delete a key in local cache *** 477 | public void KeyDelete(string SectionName, string Key) 478 | { 479 | Dictionary Section; 480 | 481 | //Delete key if exists 482 | if (IsKeyExists(SectionName, Key)) 483 | { 484 | lock (m_Lock) 485 | { 486 | m_CacheModified = true; 487 | m_Sections.TryGetValue(SectionName, out Section); 488 | Section.Remove(Key); 489 | 490 | //Also delete in modified cache if exist 491 | if (m_Modified.TryGetValue(SectionName, out Section)) Section.Remove(SectionName); 492 | 493 | // *** Automatic flushing : immediately write any modification to the file *** 494 | if (m_AutoFlush) PerformFlush(); 495 | } 496 | } 497 | 498 | } 499 | 500 | // *** Read a value from local cache *** 501 | public string ReadValue(string SectionName, string Key, string DefaultValue) 502 | { 503 | lock (m_Lock) 504 | { 505 | // *** Check if the section exists *** 506 | Dictionary Section; 507 | if (!m_Sections.TryGetValue(SectionName, out Section)) return DefaultValue; 508 | 509 | // *** Check if the key exists *** 510 | string Value; 511 | if (!Section.TryGetValue(Key, out Value)) return DefaultValue; 512 | 513 | // *** Return the found value *** 514 | return Value; 515 | } 516 | } 517 | 518 | // *** Insert or modify a value in local cache *** 519 | public void WriteValue(string SectionName, string Key, string Value) 520 | { 521 | lock (m_Lock) 522 | { 523 | // *** Flag local cache modification *** 524 | m_CacheModified = true; 525 | 526 | // *** Check if the section exists *** 527 | Dictionary Section; 528 | if (!m_Sections.TryGetValue(SectionName, out Section)) 529 | { 530 | // *** If it doesn't, add it *** 531 | Section = new Dictionary(); 532 | m_Sections.Add(SectionName, Section); 533 | } 534 | 535 | // *** Modify the value *** 536 | if (Section.ContainsKey(Key)) Section.Remove(Key); 537 | Section.Add(Key, Value); 538 | 539 | // *** Add the modified value to local modified values cache *** 540 | if (!m_Modified.TryGetValue(SectionName, out Section)) 541 | { 542 | Section = new Dictionary(); 543 | m_Modified.Add(SectionName, Section); 544 | } 545 | 546 | if (Section.ContainsKey(Key)) Section.Remove(Key); 547 | Section.Add(Key, Value); 548 | 549 | // *** Automatic flushing : immediately write any modification to the file *** 550 | if (m_AutoFlush) PerformFlush(); 551 | } 552 | } 553 | 554 | // *** Encode byte array *** 555 | private string EncodeByteArray(byte[] Value) 556 | { 557 | if (Value == null) return null; 558 | 559 | StringBuilder sb = new StringBuilder(); 560 | foreach (byte b in Value) 561 | { 562 | string hex = Convert.ToString(b, 16); 563 | int l = hex.Length; 564 | if (l > 2) 565 | { 566 | sb.Append(hex.Substring(l - 2, 2)); 567 | } 568 | else 569 | { 570 | if (l < 2) sb.Append("0"); 571 | sb.Append(hex); 572 | } 573 | } 574 | return sb.ToString(); 575 | } 576 | 577 | // *** Decode byte array *** 578 | private byte[] DecodeByteArray(string Value) 579 | { 580 | if (Value == null) return null; 581 | 582 | int l = Value.Length; 583 | if (l < 2) return new byte[] { }; 584 | 585 | l /= 2; 586 | byte[] Result = new byte[l]; 587 | for (int i = 0; i < l; i++) Result[i] = Convert.ToByte(Value.Substring(i * 2, 2), 16); 588 | return Result; 589 | } 590 | 591 | // *** Getters for various types *** 592 | public bool ReadValue(string SectionName, string Key, bool DefaultValue) 593 | { 594 | string StringValue = ReadValue(SectionName, Key, DefaultValue.ToString(System.Globalization.CultureInfo.InvariantCulture)); 595 | int Value; 596 | if (int.TryParse(StringValue, out Value)) return (Value != 0); 597 | return DefaultValue; 598 | } 599 | 600 | public int ReadValue(string SectionName, string Key, int DefaultValue) 601 | { 602 | string StringValue = ReadValue(SectionName, Key, DefaultValue.ToString(CultureInfo.InvariantCulture)); 603 | int Value; 604 | if (int.TryParse(StringValue, NumberStyles.Any, CultureInfo.InvariantCulture, out Value)) return Value; 605 | return DefaultValue; 606 | } 607 | 608 | public long ReadValue(string SectionName, string Key, long DefaultValue) 609 | { 610 | string StringValue = ReadValue(SectionName, Key, DefaultValue.ToString(CultureInfo.InvariantCulture)); 611 | long Value; 612 | if (long.TryParse(StringValue, NumberStyles.Any, CultureInfo.InvariantCulture, out Value)) return Value; 613 | return DefaultValue; 614 | } 615 | 616 | public double ReadValue(string SectionName, string Key, double DefaultValue) 617 | { 618 | string StringValue = ReadValue(SectionName, Key, DefaultValue.ToString(CultureInfo.InvariantCulture)); 619 | double Value; 620 | if (double.TryParse(StringValue, NumberStyles.Any, CultureInfo.InvariantCulture, out Value)) return Value; 621 | return DefaultValue; 622 | } 623 | 624 | public byte[] ReadValue(string SectionName, string Key, byte[] DefaultValue) 625 | { 626 | string StringValue = ReadValue(SectionName, Key, EncodeByteArray(DefaultValue)); 627 | try 628 | { 629 | return DecodeByteArray(StringValue); 630 | } 631 | catch (FormatException) 632 | { 633 | return DefaultValue; 634 | } 635 | } 636 | 637 | public DateTime ReadValue(string SectionName, string Key, DateTime DefaultValue) 638 | { 639 | string StringValue = ReadValue(SectionName, Key, DefaultValue.ToString(CultureInfo.InvariantCulture)); 640 | DateTime Value; 641 | if (DateTime.TryParse(StringValue, CultureInfo.InvariantCulture, DateTimeStyles.AllowWhiteSpaces | DateTimeStyles.NoCurrentDateDefault | DateTimeStyles.AssumeLocal, out Value)) return Value; 642 | return DefaultValue; 643 | } 644 | 645 | // *** Setters for various types *** 646 | public void WriteValue(string SectionName, string Key, bool Value) 647 | { 648 | WriteValue(SectionName, Key, (Value) ? ("1") : ("0")); 649 | } 650 | 651 | public void WriteValue(string SectionName, string Key, int Value) 652 | { 653 | WriteValue(SectionName, Key, Value.ToString(CultureInfo.InvariantCulture)); 654 | } 655 | 656 | public void WriteValue(string SectionName, string Key, long Value) 657 | { 658 | WriteValue(SectionName, Key, Value.ToString(CultureInfo.InvariantCulture)); 659 | } 660 | 661 | public void WriteValue(string SectionName, string Key, double Value) 662 | { 663 | WriteValue(SectionName, Key, Value.ToString(CultureInfo.InvariantCulture)); 664 | } 665 | 666 | public void WriteValue(string SectionName, string Key, byte[] Value) 667 | { 668 | WriteValue(SectionName, Key, EncodeByteArray(Value)); 669 | } 670 | 671 | public void WriteValue(string SectionName, string Key, DateTime Value) 672 | { 673 | WriteValue(SectionName, Key, Value.ToString(CultureInfo.InvariantCulture)); 674 | } 675 | 676 | #endregion 677 | } 678 | 679 | 680 | 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-------------------------------------------------------------------------------- /Assets/Scripts/ControlPanelAssignment.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.UI; 5 | using UnityEngine.SceneManagement; 6 | namespace Assets.SerialPortUtility.Scripts 7 | { 8 | public class ControlPanelAssignment : MonoBehaviour 9 | { 10 | 11 | public SerialCommunicationFacade scf; 12 | public RunSerial rs; 13 | public GameObject inputfields; 14 | public GameObject textfields; 15 | public GameObject updatebutton; 16 | public GameObject reloadbutton; 17 | 18 | 19 | public Text particleSize; 20 | public Text zoomTimes; 21 | public Text sensorAngle; 22 | public Text sensorOffsetX; 23 | public Text sensorOffsetY; 24 | public Text ratioMM; 25 | public Text ratioPX; 26 | //public Text neededAreaWidth; 27 | //public Text neededAreaHeight; 28 | //public Text neededAreaOffsetX; 29 | //public Text neededAreaOffsetY; 30 | public Text gridSizeX; 31 | public Text gridSizeY; 32 | public Text xmlPath; 33 | public Text portName; 34 | 35 | public InputField particleSizeInput; 36 | public InputField zoomTimesInput; 37 | public InputField sensorAngleInput; 38 | public InputField sensorOffsetXInput; 39 | public InputField sensorOffsetYInput; 40 | public InputField ratioMMInput; 41 | public InputField ratioPXInput; 42 | public InputField neededAreaWidthInput; 43 | public InputField neededAreaHeightInput; 44 | public InputField neededAreaOffsetXInput; 45 | public InputField neededAreaOffsetYInput; 46 | public InputField gridSizeXInput; 47 | public InputField gridSizeYInput; 48 | public InputField xmlPathInput; 49 | public InputField portNameInput; 50 | 51 | 52 | 53 | bool isShown; 54 | 55 | 56 | 57 | 58 | void Awake() 59 | { 60 | if (PlayerPrefs.HasKey(particleSize.ToString())) particleSizeInput.text = PlayerPrefs.GetFloat(particleSize.ToString()).ToString(); 61 | if (PlayerPrefs.HasKey(zoomTimes.ToString())) zoomTimesInput.text = PlayerPrefs.GetFloat(zoomTimes.ToString()).ToString(); 62 | if (PlayerPrefs.HasKey(sensorAngle.ToString())) sensorAngleInput.text = PlayerPrefs.GetFloat(sensorAngle.ToString()).ToString(); 63 | if (PlayerPrefs.HasKey(sensorOffsetX.ToString())) sensorOffsetXInput.text = PlayerPrefs.GetFloat(sensorOffsetX.ToString()).ToString(); 64 | if (PlayerPrefs.HasKey(sensorOffsetY.ToString())) sensorOffsetYInput.text = PlayerPrefs.GetFloat(sensorOffsetY.ToString()).ToString(); 65 | if (PlayerPrefs.HasKey(ratioMM.ToString())) ratioMMInput.text = PlayerPrefs.GetFloat(ratioMM.ToString()).ToString(); 66 | if (PlayerPrefs.HasKey(ratioPX.ToString())) ratioPXInput.text = PlayerPrefs.GetFloat(ratioPX.ToString()).ToString(); 67 | //if (PlayerPrefs.HasKey(neededAreaWidth.ToString())) neededAreaWidthInput.text = PlayerPrefs.GetFloat(neededAreaWidth.ToString()).ToString(); 68 | //if (PlayerPrefs.HasKey(neededAreaHeight.ToString())) neededAreaHeightInput.text = PlayerPrefs.GetFloat(neededAreaHeight.ToString()).ToString(); 69 | //if (PlayerPrefs.HasKey(neededAreaOffsetX.ToString())) neededAreaOffsetXInput.text = PlayerPrefs.GetFloat(neededAreaOffsetX.ToString()).ToString(); 70 | //if (PlayerPrefs.HasKey(neededAreaOffsetY.ToString())) neededAreaOffsetYInput.text = PlayerPrefs.GetFloat(neededAreaOffsetY.ToString()).ToString(); 71 | if (PlayerPrefs.HasKey(gridSizeX.ToString())) gridSizeXInput.text = PlayerPrefs.GetFloat(gridSizeX.ToString()).ToString(); 72 | if (PlayerPrefs.HasKey(gridSizeY.ToString())) gridSizeYInput.text = PlayerPrefs.GetFloat(gridSizeY.ToString()).ToString(); 73 | if (PlayerPrefs.HasKey(xmlPath.ToString())) xmlPathInput.text = PlayerPrefs.GetString(xmlPath.ToString()).ToString(); 74 | if (PlayerPrefs.HasKey(portName.ToString())) portNameInput.text = PlayerPrefs.GetString(portName.ToString()).ToString(); 75 | 76 | //assignment 77 | scf.particleSize = float.Parse(particleSizeInput.text); 78 | scf.zoomTimes = float.Parse(zoomTimesInput.text); 79 | scf.sensorAngle = float.Parse(sensorAngleInput.text); 80 | scf.sensorOffsetX = float.Parse(sensorOffsetXInput.text); 81 | scf.sensorOffsetY = float.Parse(sensorOffsetYInput.text); 82 | scf.ratioMM = float.Parse(ratioMMInput.text); 83 | scf.ratioPX = float.Parse(ratioPXInput.text); 84 | //scf.neededAreaWidth = float.Parse(neededAreaWidthInput.text); 85 | //scf.neededAreaHeight = float.Parse(neededAreaHeightInput.text); 86 | //scf.neededAreaOffsetX = float.Parse(neededAreaOffsetXInput.text); 87 | //scf.neededAreaOffsetY = float.Parse(neededAreaOffsetYInput.text); 88 | scf.gridSizeX = int.Parse(gridSizeXInput.text); 89 | scf.gridSizeY = int.Parse(gridSizeYInput.text); 90 | scf.xmlPath = xmlPathInput.text.ToString(); 91 | 92 | rs.portName = portNameInput.text.ToString(); 93 | 94 | //save playerPref 95 | PlayerPrefs.SetFloat(particleSize.ToString(), float.Parse(particleSizeInput.text)); 96 | PlayerPrefs.SetFloat(zoomTimes.ToString(), float.Parse(zoomTimesInput.text)); 97 | PlayerPrefs.SetFloat(sensorAngle.ToString(), float.Parse(sensorAngleInput.text)); 98 | PlayerPrefs.SetFloat(sensorOffsetX.ToString(), float.Parse(sensorOffsetXInput.text)); 99 | PlayerPrefs.SetFloat(sensorOffsetY.ToString(), float.Parse(sensorOffsetYInput.text)); 100 | PlayerPrefs.SetFloat(ratioMM.ToString(), float.Parse(ratioMMInput.text)); 101 | PlayerPrefs.SetFloat(ratioPX.ToString(), float.Parse(ratioPXInput.text)); 102 | //PlayerPrefs.SetFloat(neededAreaWidth.ToString(), float.Parse(neededAreaWidthInput.text)); 103 | //PlayerPrefs.SetFloat(neededAreaHeight.ToString(), float.Parse(neededAreaHeightInput.text)); 104 | //PlayerPrefs.SetFloat(neededAreaOffsetX.ToString(), float.Parse(neededAreaOffsetXInput.text)); 105 | //PlayerPrefs.SetFloat(neededAreaOffsetY.ToString(), float.Parse(neededAreaOffsetYInput.text)); 106 | PlayerPrefs.SetFloat(gridSizeX.ToString(), int.Parse(gridSizeXInput.text)); 107 | PlayerPrefs.SetFloat(gridSizeY.ToString(), int.Parse(gridSizeYInput.text)); 108 | PlayerPrefs.SetString(xmlPath.ToString(), xmlPathInput.text.ToString()); 109 | PlayerPrefs.SetString(portName.ToString(), portNameInput.text.ToString()); 110 | 111 | isShown = false; 112 | inputfields.SetActive(isShown); 113 | textfields.SetActive(isShown); 114 | updatebutton.SetActive(isShown); 115 | reloadbutton.SetActive(isShown); 116 | } 117 | 118 | public void UpdatePlayerPref() 119 | { 120 | //assignment 121 | scf.particleSize = float.Parse(particleSizeInput.text); 122 | scf.zoomTimes = float.Parse(zoomTimesInput.text); 123 | scf.sensorAngle = float.Parse(sensorAngleInput.text); 124 | scf.sensorOffsetX = float.Parse(sensorOffsetXInput.text); 125 | scf.sensorOffsetY = float.Parse(sensorOffsetYInput.text); 126 | scf.ratioMM = float.Parse(ratioMMInput.text); 127 | scf.ratioPX = float.Parse(ratioPXInput.text); 128 | //scf.neededAreaWidth = float.Parse(neededAreaWidthInput.text); 129 | //scf.neededAreaHeight = float.Parse(neededAreaHeightInput.text); 130 | //scf.neededAreaOffsetX = float.Parse(neededAreaOffsetXInput.text); 131 | //scf.neededAreaOffsetY = float.Parse(neededAreaOffsetYInput.text); 132 | scf.gridSizeX = int.Parse(gridSizeXInput.text); 133 | scf.gridSizeY = int.Parse(gridSizeYInput.text); 134 | scf.xmlPath = xmlPathInput.text.ToString(); 135 | scf.UpdateDataWPlayerPref(); 136 | rs.portName = portNameInput.text.ToString(); 137 | 138 | //save playerPref 139 | PlayerPrefs.SetFloat(particleSize.ToString(), float.Parse(particleSizeInput.text)); 140 | PlayerPrefs.SetFloat(zoomTimes.ToString(), float.Parse(zoomTimesInput.text)); 141 | PlayerPrefs.SetFloat(sensorAngle.ToString(), float.Parse(sensorAngleInput.text)); 142 | PlayerPrefs.SetFloat(sensorOffsetX.ToString(), float.Parse(sensorOffsetXInput.text)); 143 | PlayerPrefs.SetFloat(sensorOffsetY.ToString(), float.Parse(sensorOffsetYInput.text)); 144 | PlayerPrefs.SetFloat(ratioMM.ToString(), float.Parse(ratioMMInput.text)); 145 | PlayerPrefs.SetFloat(ratioPX.ToString(), float.Parse(ratioPXInput.text)); 146 | //PlayerPrefs.SetFloat(neededAreaWidth.ToString(), float.Parse(neededAreaWidthInput.text)); 147 | //PlayerPrefs.SetFloat(neededAreaHeight.ToString(), float.Parse(neededAreaHeightInput.text)); 148 | //PlayerPrefs.SetFloat(neededAreaOffsetX.ToString(), float.Parse(neededAreaOffsetXInput.text)); 149 | //PlayerPrefs.SetFloat(neededAreaOffsetY.ToString(), float.Parse(neededAreaOffsetYInput.text)); 150 | PlayerPrefs.SetFloat(gridSizeX.ToString(), int.Parse(gridSizeXInput.text)); 151 | PlayerPrefs.SetFloat(gridSizeY.ToString(), int.Parse(gridSizeYInput.text)); 152 | PlayerPrefs.SetString(xmlPath.ToString(), xmlPathInput.text.ToString()); 153 | PlayerPrefs.SetString(portName.ToString(), portNameInput.text.ToString()); 154 | } 155 | 156 | 157 | private void Update() 158 | { 159 | if (Input.GetKeyDown("d")) 160 | { 161 | 162 | isShown = !isShown; 163 | inputfields.SetActive(isShown); 164 | textfields.SetActive(isShown); 165 | updatebutton.SetActive(isShown); 166 | reloadbutton.SetActive(isShown); 167 | 168 | } 169 | 170 | } 171 | 172 | public void ReloadScene() 173 | { 174 | UpdatePlayerPref(); 175 | rs.DisconnectLidar(); 176 | SceneManager.LoadScene(SceneManager.GetActiveScene().name); 177 | 178 | } 179 | 180 | } 181 | } -------------------------------------------------------------------------------- /Assets/Scripts/ControlPanelAssignment.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b4d4a6901feff664988f851a690d917b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Destroy.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Destroy : MonoBehaviour { 6 | 7 | // Use this for initialization 8 | void Start () { 9 | Destroy(this); 10 | } 11 | 12 | // Update is called once per frame 13 | void Update () { 14 | Destroy(this); 15 | //if (Time.deltaTime > 0.2f) 16 | //{ 17 | // Destroy(this); 18 | //} 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /Assets/Scripts/Destroy.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7c7b1e1d5e41d4648800f29071e57427 3 | timeCreated: 1550636063 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/Scripts/ISerialCommunication.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Linq; 4 | using System.Text; 5 | 6 | namespace Assets.SerialPortUtility.Interfaces 7 | { 8 | public interface ISerialCommunication 9 | { 10 | void Connect(int baudrate, string portName); 11 | 12 | void Disconnect(); 13 | void SendMessage(byte[] byteArray); 14 | } 15 | } -------------------------------------------------------------------------------- /Assets/Scripts/ISerialCommunication.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a301fa5a8eddf4341a7dfb815bded63b 3 | timeCreated: 1550631073 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/Scripts/Loom.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System; 5 | using System.Threading; 6 | using System.Linq; 7 | 8 | /// 9 | /// 解决开启的线程不能执行其他程序的脚本 10 | /// 11 | 12 | public class Loom : MonoBehaviour 13 | { 14 | public static int maxThreads = 8; 15 | static int numThreads; 16 | 17 | private static Loom _current; 18 | private int _count; 19 | public static Loom Current 20 | { 21 | get 22 | { 23 | Initialize(); 24 | return _current; 25 | } 26 | } 27 | 28 | void Awake() 29 | { 30 | _current = this; 31 | initialized = true; 32 | } 33 | 34 | static bool initialized; 35 | 36 | static void Initialize() 37 | { 38 | if (!initialized) 39 | { 40 | 41 | if (!Application.isPlaying) 42 | return; 43 | initialized = true; 44 | var g = new GameObject("Loom"); 45 | _current = g.AddComponent(); 46 | } 47 | 48 | } 49 | 50 | private List _actions = new List(); 51 | public struct DelayedQueueItem 52 | { 53 | public float time; 54 | public Action action; 55 | } 56 | private List _delayed = new List(); 57 | 58 | List _currentDelayed = new List(); 59 | 60 | public static void QueueOnMainThread(Action action) 61 | { 62 | QueueOnMainThread(action, 0f); 63 | } 64 | public static void QueueOnMainThread(Action action, float time) 65 | { 66 | if (time != 0) 67 | { 68 | lock (Current._delayed) 69 | { 70 | Current._delayed.Add(new DelayedQueueItem { time = Time.time + time, action = action }); 71 | } 72 | } 73 | else 74 | { 75 | lock (Current._actions) 76 | { 77 | Current._actions.Add(action); 78 | } 79 | } 80 | } 81 | 82 | public static Thread RunAsync(Action a) 83 | { 84 | Initialize(); 85 | while (numThreads >= maxThreads) 86 | { 87 | Thread.Sleep(1); 88 | } 89 | Interlocked.Increment(ref numThreads); 90 | ThreadPool.QueueUserWorkItem(RunAction, a); 91 | return null; 92 | } 93 | 94 | private static void RunAction(object action) 95 | { 96 | try 97 | { 98 | ((Action)action)(); 99 | } 100 | catch 101 | { 102 | } 103 | finally 104 | { 105 | Interlocked.Decrement(ref numThreads); 106 | } 107 | 108 | } 109 | 110 | 111 | void OnDisable() 112 | { 113 | if (_current == this) 114 | { 115 | 116 | _current = null; 117 | } 118 | } 119 | 120 | 121 | 122 | // Use this for initialization 123 | void Start() 124 | { 125 | 126 | } 127 | 128 | List _currentActions = new List(); 129 | 130 | // Update is called once per frame 131 | void Update() 132 | { 133 | lock (_actions) 134 | { 135 | _currentActions.Clear(); 136 | _currentActions.AddRange(_actions); 137 | _actions.Clear(); 138 | } 139 | foreach (var a in _currentActions) 140 | { 141 | a(); 142 | } 143 | lock (_delayed) 144 | { 145 | _currentDelayed.Clear(); 146 | _currentDelayed.AddRange(_delayed.Where(d => d.time <= Time.time)); 147 | foreach (var item in _currentDelayed) 148 | _delayed.Remove(item); 149 | } 150 | foreach (var delayed in _currentDelayed) 151 | { 152 | delayed.action(); 153 | } 154 | 155 | // 在另外一个出错脚本中把下面代码复制过去 156 | //Loom.RunAsync(() => 157 | //{ 158 | // Loom.QueueOnMainThread(() => 159 | // { 160 | //把你需要执行的函数写到这里 161 | 162 | // }); 163 | //}); 164 | 165 | 166 | } 167 | } -------------------------------------------------------------------------------- /Assets/Scripts/Loom.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f98c174ce20cfca43b92b635f7e7090b 3 | timeCreated: 1550652369 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/Scripts/RunSerial.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | 6 | namespace Assets.SerialPortUtility.Scripts 7 | { 8 | public class RunSerial : MonoBehaviour 9 | { 10 | 11 | SerialCommunicationFacade facade; 12 | public string portName = "COM3"; 13 | private int baudRate = 230400; 14 | byte[] sendMsg; 15 | int index = 0; 16 | 17 | //UI 用於顯示 18 | public GameObject img; 19 | public GameObject canvas; 20 | 21 | List imgs = new List(); 22 | int MaxLength = 5000; 23 | 24 | List angless; 25 | 26 | 27 | 28 | private void Awake() 29 | { 30 | 31 | 32 | } 33 | void Start() 34 | { 35 | facade = this.GetComponent(); 36 | facade.Connect(baudRate, portName); 37 | sendMsg = strToToHexByte("A560"); 38 | facade.SendMessage(sendMsg); 39 | } 40 | 41 | Vector2 GetPos(float angle, float distance) 42 | { 43 | Vector2 pos; 44 | pos = new Vector2(distance * Mathf.Sin(angle), distance * Mathf.Cos(angle)); 45 | return pos; 46 | } 47 | 48 | void Update() 49 | { 50 | //Loom.RunAsync(() => 51 | //{ 52 | // Loom.QueueOnMainThread(() => 53 | // { 54 | // if (SerialCommunicationFacade.isSaveAll) 55 | // { 56 | // print("ken test"); 57 | // SerialCommunicationFacade.isSaveAll = false; 58 | // //Unity在Dictionary中刪除修改元素時出現InvalidOperationException: out of sync 出現這個錯誤 59 | // foreach (var item in SerialCommunicationFacade.angleAndDistances) 60 | // { 61 | // imgs[index].transform.localPosition = GetPos(item.Key, item.Value); 62 | // print(item.Key +" ~~~~~~~~~~~~~~~~~~~~~~~~~~ " + item.Value); 63 | // index++; 64 | // } 65 | // index = 0; 66 | // //angless = new List(SerialCommunicationFacade.angleAndDistances.Keys); 67 | // //for (int i = 0; i < angless.Count; i++) 68 | // //{ 69 | // //float distance = SerialCommunicationFacade.angleAndDistances[angless[i]]; 70 | // //BuildObj(angless[i], distance); 71 | // //} 72 | // SerialCommunicationFacade.angleAndDistances.Clear(); 73 | // //angless.Clear(); 74 | 75 | // //SerialCommunicationFacade.angles.Clear(); 76 | // //SerialCommunicationFacade.distances.Clear(); 77 | // } 78 | // }); 79 | //}); 80 | 81 | } 82 | 83 | 84 | 85 | 86 | private void OnApplicationQuit() 87 | { 88 | 89 | sendMsg = strToToHexByte("A565"); 90 | facade.SendMessage(sendMsg); 91 | facade.Disconnect(); 92 | } 93 | 94 | public void DisconnectLidar() 95 | { 96 | sendMsg = strToToHexByte("A565"); 97 | facade.SendMessage(sendMsg); 98 | facade.Disconnect(); 99 | 100 | } 101 | /// 102 | /// 字符串轉16進制字節數組 103 | /// 104 | /// 105 | /// 106 | public static byte[] strToToHexByte(string hexString) 107 | { 108 | hexString = hexString.Replace(" ", ""); 109 | if ((hexString.Length % 2) != 0) 110 | hexString += " "; 111 | byte[] returnBytes = new byte[hexString.Length / 2]; 112 | for (int i = 0; i < returnBytes.Length; i++) 113 | returnBytes[i] = Convert.ToByte(hexString.Substring(i * 2, 2), 16); 114 | return returnBytes; 115 | } 116 | 117 | 118 | /// 119 | /// 字節數組轉16進制字符串 120 | /// 121 | /// 122 | /// 123 | public static string byteToHexStr(byte[] bytes) 124 | { 125 | string returnStr = ""; 126 | if (bytes != null) 127 | { 128 | for (int i = 0; i < bytes.Length; i++) 129 | { 130 | returnStr += bytes[i].ToString("X2"); 131 | } 132 | } 133 | return returnStr; 134 | } 135 | } 136 | 137 | } -------------------------------------------------------------------------------- /Assets/Scripts/RunSerial.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7d9afa5921611a845a1a5df75c7fe683 3 | timeCreated: 1550631175 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/Scripts/SerialCommunication.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Text; 3 | using System.Collections; 4 | using System.Collections.Generic; 5 | using System.IO; 6 | using System.Threading; 7 | using UnityEngine; 8 | using Assets.SerialPortUtility.Scripts; 9 | using System.IO.Ports; 10 | 11 | public delegate void SerialPortMessageEventHandler(byte[] sendData); 12 | public delegate void SerialPortSendMessageReportHandler(byte[] sendData); 13 | public class SerialCommunication 14 | { 15 | // 從串口發出消息事件 16 | public event SerialPortMessageEventHandler SerialPortMessageEvent; 17 | // 給串口發消息事件 18 | public event SerialPortSendMessageReportHandler SerialPortSendMessageReportEvent; 19 | private SerialPort serialPort; 20 | private Thread threadReceive; 21 | // 儲存接收到的消息 22 | private List buffer = new List(4096); 23 | [NonSerialized] 24 | private List listReceive = new List(); 25 | 26 | 27 | private int lsnIndex = 3; 28 | public SerialCommunication(SerialPort serialPort) 29 | { 30 | this.serialPort = serialPort; 31 | } 32 | public SerialCommunication(string portName, int boudrate) 33 | { 34 | serialPort = new SerialPort(portName, boudrate); 35 | } 36 | 37 | public void OpenSerialPort() 38 | { 39 | 40 | //Debug.Log("讀取端口" + ConvertXml._instance.COM); 41 | serialPort.Open(); 42 | serialPort.ReadTimeout = 1; 43 | threadReceive = new Thread(ListenSerialPort); 44 | threadReceive.IsBackground = true; 45 | threadReceive.Start(); 46 | 47 | } 48 | public bool IsSerialPortIsOpen() 49 | { 50 | return serialPort.IsOpen; 51 | } 52 | public void CloseSerialPort() 53 | { 54 | if (threadReceive != null) 55 | { 56 | threadReceive.Abort();//關閉線程 57 | threadReceive = null; 58 | serialPort.Close();//關閉串口 59 | serialPort.Dispose();//將串口從內存中釋放掉，注意如果這裏不釋放則在同一次運行狀態下打不開此關閉的串口 60 | 61 | } 62 | Debug.Log("close thread"); 63 | } 64 | 65 | 66 | /// 67 | /// 監聽串口,讀取串口消息 68 | /// 69 | private void ListenSerialPort() 70 | { 71 | //string recvData = ""; 72 | //int flag = 0; 73 | while (serialPort != null && serialPort.IsOpen) 74 | { 75 | try 76 | { 77 | #region 原寫法 78 | //int bufferSize = serialPort.ReadBufferSize; 79 | //// 80 | //byte[] buf = new byte[bufferSize]; 81 | //int count = serialPort.Read(buf, 0, bufferSize); 82 | //if (count > 9) 83 | //{ 84 | // if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0) // If somebody is listening 85 | // { 86 | // SerialPortMessageEvent.Invoke(buf);// Invoke方法防止主線程擁堵衝突 87 | // } 88 | 89 | //} 90 | #endregion 91 | 92 | #region 使用ReadByte()的寫法 加判斷包頭和包尾 93 | 94 | byte buf = Convert.ToByte(serialPort.ReadByte()); 95 | buffer.Add(buf); 96 | while (buffer.Count >= 2) 97 | { 98 | if (buffer[0] == 0xAA && buffer[1] == 0x55) 99 | { 100 | //Debug.Log("內層收到未處理消息"); 101 | 102 | if (buffer.Count < 4) 103 | { 104 | break; 105 | } 106 | 107 | int numLen = buffer[3]; 108 | 109 | if (buffer.Count < numLen * 2 + 10) 110 | { 111 | break; 112 | } 113 | //Debug.Log("numLen: " + numLen); 114 | Data_Process(numLen, buffer); 115 | //一條完整數據 存儲 進行處理 移除前面一條完整數據 116 | 117 | buffer.RemoveRange(0, numLen * 2 + 10); 118 | 119 | } 120 | else 121 | { 122 | buffer.RemoveAt(0); 123 | } 124 | } 125 | //Debug.Log("buffer.Count: " + buffer.Count + " " + RunSerial.byteToHexStr(buffer.ToArray())); 126 | #endregion 127 | 128 | } 129 | catch (System.Exception e) 130 | { 131 | //Debug.LogWarning(e.Message); 132 | } 133 | } 134 | } 135 | 136 | 137 | void Data_Process(int numLen, List bufferSrc) 138 | { 139 | byte[] readBuffer = null; 140 | readBuffer = new byte[numLen * 2 + 10]; 141 | bufferSrc.CopyTo(0, readBuffer, 0, numLen * 2 + 10); 142 | SerialPortMessageEvent(readBuffer);// Invoke方法防止主線程擁堵衝突 143 | } 144 | 145 | #region 146 | /// 147 | /// ASCII碼轉字符： 148 | /// 149 | /// 150 | /// 151 | public static string Chr(int asciiCode) 152 | { 153 | if (asciiCode >= 0 && asciiCode <= 255) 154 | { 155 | System.Text.ASCIIEncoding asciiEncoding = new System.Text.ASCIIEncoding(); 156 | byte[] byteArray = new byte[] { (byte)asciiCode }; 157 | string strCharacter = asciiEncoding.GetString(byteArray); 158 | return (strCharacter); 159 | } 160 | else 161 | { 162 | throw new Exception("ASCII Code is not valid."); 163 | } 164 | } 165 | 166 | 167 | /// 168 | /// 使用事件觸發方式來實現串口數據的讀取 169 | /// 170 | /// 171 | /// 172 | void sp_DataReceived(object sender, SerialDataReceivedEventArgs e) 173 | { 174 | byte[] Resoursedata = new byte[serialPort.BytesToRead]; 175 | int count = serialPort.Read(Resoursedata, 0, Resoursedata.Length);//在此就可以讀取到當前緩衝區內的數據 176 | //執行數據操作 177 | serialPort.DiscardInBuffer();//丟棄傳輸緩衝區數據 178 | serialPort.DiscardOutBuffer();//每次丟棄接收緩衝區的數據 179 | if (count > 0) 180 | { 181 | if (SerialPortMessageEvent != null && SerialPortMessageEvent.GetInvocationList().Length > 0) // If somebody is listening 182 | { 183 | SerialPortMessageEvent.Invoke(Resoursedata);// Invoke方法防止主線程擁堵衝突 184 | } 185 | } 186 | } 187 | #endregion 188 | 189 | 190 | /// 191 | /// 給串口發消息 192 | /// 193 | /// 194 | /// 195 | public bool SendMessageFromSerialPort(byte[] byteArray) 196 | { 197 | if (serialPort != null && serialPort.IsOpen == true) 198 | { 199 | 200 | serialPort.Write(byteArray, 0, byteArray.Length); 201 | 202 | if (SerialPortSendMessageReportEvent != null && SerialPortSendMessageReportEvent.GetInvocationList().Length > 0) // If somebody is listening 203 | { 204 | SerialPortSendMessageReportEvent(byteArray); 205 | } 206 | return true; 207 | } 208 | else 209 | { 210 | return false; 211 | } 212 | } 213 | 214 | 215 | } -------------------------------------------------------------------------------- /Assets/Scripts/SerialCommunication.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2570653518f3e1a46afef9a42a6a2de7 3 | timeCreated: 1550631108 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/Scripts/SerialCommunicationFacade.cs: -------------------------------------------------------------------------------- 1 | using Assets.SerialPortUtility.Interfaces; 2 | using System; 3 | using System.Collections.Generic; 4 | using System.Linq; 5 | using System.Text; 6 | using UnityEngine; 7 | using UnityEngine.UI; 8 | 9 | using System.Xml.Linq; 10 | 11 | namespace Assets.SerialPortUtility.Scripts 12 | { 13 | public class SerialCommunicationFacade : MonoBehaviour, ISerialCommunication 14 | { 15 | List ids = new List(); 16 | 17 | SerialCommunication serialCom; 18 | private string reciveStr; 19 | private string oldStr; 20 | 21 | float fsaAngle; 22 | float lsaAngle; 23 | float angle;//中間角 24 | 25 | public float time = 0; 26 | 27 | //UI 用於顯示 28 | public GameObject img; 29 | public GameObject canvas; 30 | List imgs = new List(); 31 | public GameObject camera; 32 | public UdpServer udp; 33 | 34 | //particle system 35 | public float particleSize = 3f; 36 | int skipParticles = 2; 37 | public ParticleSystem pointCloudParticles; 38 | private ParticleSystem.Particle[] particles = new ParticleSystem.Particle[0]; 39 | 40 | public float zoomTimes = 0.3f; 41 | public float sensorAngle = 0; // cable upwards - 0 degree, clockwise 42 | 43 | 44 | public float sensorOffsetX = 0; // sensor's distance in x axis to the canvas 45 | public float sensorOffsetY = 0; 46 | float myCanvasWidth = 1920; 47 | float myCanvasHeight = 1080; 48 | public float ratioMM = 100; 49 | public float ratioPX = 400; 50 | float sensorOffsetinPixelX; 51 | float sensorOffsetinPixelY; 52 | 53 | //public float neededAreaWidth = 1920; 54 | //public float neededAreaHeight = 1080; 55 | //public float neededAreaOffsetX = 0; 56 | //public float neededAreaOffsetY = 0; 57 | public int gridSizeX = 20; 58 | public int gridSizeY = 20; 59 | public string xmlPath = "Assets/myXML/settings.xml"; 60 | 61 | //trigger area 62 | public GameObject[] triggerAreas; 63 | Rect[] triggerRects; 64 | RawImage[] triggerRawImage; 65 | Color32[] colors; 66 | bool[] IsInsideArea; 67 | bool[] IsInsideArea_last; 68 | 69 | 70 | public Material myCanvasMat; 71 | int canvasGridX, canvasGridY; 72 | 73 | List objs = new List(); 74 | 75 | //GameObject neededArea; 76 | 77 | void Start() 78 | { 79 | 80 | myCanvasHeight = Screen.currentResolution.height; 81 | myCanvasWidth = Screen.currentResolution.width; 82 | //initialize the needed area 83 | //neededArea = new GameObject(); 84 | //neededArea.AddComponent(); 85 | //neededArea.transform.SetParent(GameObject.Find("Panel").transform); 86 | 87 | //neededArea.AddComponent(); 88 | //neededArea.GetComponent().color = new Color32(0, 86, 147, 45); 89 | 90 | //neededArea.GetComponent().localScale = Vector3.one; 91 | 92 | //initialize the trriger area rects colors and bools 93 | triggerRects = new Rect[triggerAreas.Length]; 94 | triggerRawImage = new RawImage[triggerAreas.Length]; 95 | colors = new Color32[triggerAreas.Length]; 96 | IsInsideArea = new bool[triggerAreas.Length]; 97 | IsInsideArea_last = new bool[triggerAreas.Length]; 98 | 99 | UpdateDataWPlayerPref(); 100 | 101 | 102 | //print("x: " + myXY[0] + " y: " + myXY[1]); 103 | 104 | 105 | 106 | //print(triggerRects[0].width +" " + triggerRects[0].height +" "+ triggerRects[0].x +" "+ triggerRects[0].y); 107 | 108 | //repeatly calling update in 0.02f time interval 109 | InvokeRepeating("UpdateParticlesAndAreas", 1.0f, 0.02f); 110 | } 111 | 112 | public void UpdateDataWPlayerPref() 113 | { 114 | //initialize the particle system 115 | canvasGridX = Mathf.FloorToInt(myCanvasWidth) / gridSizeX; 116 | canvasGridY = Mathf.FloorToInt(myCanvasHeight) / gridSizeY; 117 | 118 | int num = canvasGridX * canvasGridY; 119 | particles = new ParticleSystem.Particle[num]; 120 | for (int hor = 0; hor < canvasGridX; hor++) 121 | { 122 | for (int ver = 0; ver < canvasGridY; ver++) 123 | { 124 | int id = hor + canvasGridX * ver; 125 | //particles[id].position = new Vector2((hor - canvasGridX / 2) * 3, (ver - canvasGridY / 2) * 3); 126 | particles[id].position = new Vector2(0, 0); 127 | particles[id].startSize = particleSize; 128 | particles[id].startColor = Color.black; 129 | } 130 | } 131 | 132 | //set the particles initially 133 | pointCloudParticles.SetParticles(particles, particles.Length); 134 | 135 | //calculate the sensor offset in pixel 136 | sensorOffsetinPixelX = sensorOffsetX * ratioPX / ratioMM; 137 | sensorOffsetinPixelY = sensorOffsetY * ratioPX / ratioMM; 138 | 139 | //needed area 140 | //neededArea.GetComponent().localPosition = new Vector2(sensorOffsetinPixelX, sensorOffsetinPixelY); 141 | //neededArea.GetComponent().sizeDelta = new Vector2(neededAreaWidth, neededAreaHeight); 142 | 143 | //reading xml n assigning to the trigger area 144 | XDocument allXMLData = XDocument.Load(xmlPath); 145 | for (int m = 0; m < triggerAreas.Length; m++) 146 | { 147 | string[] center = allXMLData.Element("settings").Element("videoContainer" + m).Element("center").Value.Trim().Split(','); 148 | string width = allXMLData.Element("settings").Element("videoContainer" + m).Element("width").Value.Trim(); 149 | string height = allXMLData.Element("settings").Element("videoContainer" + m).Element("height").Value.Trim(); 150 | triggerAreas[m].GetComponent().localPosition = new Vector3((myCanvasWidth / 2 - (float.Parse(center[0]) + float.Parse(width) / 2)) * (-1), 151 | (myCanvasHeight / 2 - (float.Parse(center[1]) + float.Parse(height) / 2)), 152 | 0); 153 | triggerAreas[m].GetComponent().sizeDelta = new Vector3(float.Parse(width), float.Parse(height), 1); 154 | } 155 | 156 | //initialize rect 157 | for (int i = 0; i < triggerAreas.Length; i++) 158 | { 159 | triggerRects[i] = new Rect(triggerAreas[i].GetComponent().localPosition.x - triggerAreas[i].GetComponent().sizeDelta.x * 0.5f, 160 | triggerAreas[i].GetComponent().localPosition.y - triggerAreas[i].GetComponent().sizeDelta.y * 0.5f, 161 | triggerAreas[i].GetComponent().sizeDelta.x, 162 | triggerAreas[i].GetComponent().sizeDelta.y); 163 | triggerRawImage[i] = triggerAreas[i].GetComponent(); 164 | triggerRawImage[i].color = new Color32(2, 130, 27, 55); 165 | IsInsideArea[i] = false; 166 | IsInsideArea_last[i] = false; 167 | } 168 | 169 | 170 | 171 | } 172 | 173 | #region things that dont need to care 174 | 175 | public void Connect(int baudrate, string portName) 176 | { 177 | serialCom = new SerialCommunication(portName, baudrate); 178 | serialCom.OpenSerialPort();// 打開串口 179 | // 綁定方法觸發,監聽讀取串口 180 | serialCom.SerialPortMessageEvent += SerialCom_SerialPortMessageEvent; 181 | // 綁定方法觸發,給串口發消息 182 | serialCom.SerialPortSendMessageReportEvent += SerialCom_SerialPortSendMessageReportEvent; 183 | } 184 | public void Disconnect() 185 | { 186 | serialCom.CloseSerialPort(); 187 | Debug.Log("Serial Disconnected"); 188 | } 189 | public void SendMessage(byte[] byteArray) 190 | { 191 | try 192 | { 193 | if (serialCom.IsSerialPortIsOpen() == true) 194 | { 195 | 196 | serialCom.SendMessageFromSerialPort(byteArray); 197 | //Debug.Log("Message Sended"); 198 | } 199 | else 200 | { 201 | Debug.Log("Message Send Failed!"); 202 | } 203 | } 204 | catch (Exception) 205 | { 206 | 207 | 208 | } 209 | 210 | } 211 | 212 | /// 213 | /// 監聽給串口發的消息 214 | /// 215 | /// 216 | private void SerialCom_SerialPortSendMessageReportEvent(byte[] sendData) 217 | { 218 | string text = RunSerial.byteToHexStr(sendData); 219 | Debug.Log("Message Send From Serial.. Message => " + text.ToString()); 220 | } 221 | 222 | /// 223 | /// 串口發過來的消息 224 | /// 225 | /// 226 | private void SerialCom_SerialPortMessageEvent(byte[] sendData) 227 | { 228 | //Debug.Log("____________shoudaole _____________"); 229 | 230 | reciveStr = RunSerial.byteToHexStr(sendData); 231 | //Debug.Log("Message Coming From Serial.. Message => " + reciveStr.ToString());//打印一條數據信息 232 | 233 | Data_ResponseContentProcess(sendData); 234 | 235 | 236 | 237 | 238 | 239 | //if (!reciveStr.Contains("D") || !reciveStr.Contains("m")) 240 | //{ 241 | // return; 242 | //} 243 | ////Debug.Log("收到的數據:" + reciveStr.ToString()); 244 | //if (reciveStr == oldStr) 245 | //{ 246 | // return; 247 | //} 248 | ////AllUiManger._Instance.DealReceiveString(reciveStr.ToString()); 249 | //oldStr = reciveStr; 250 | 251 | } 252 | 253 | List angles = new List();//一級解析角度 254 | List distances = new List();//所有的距離 255 | List angleCorrects = new List();//角度偏差 256 | List correctedAngles = new List();//二級解析角度 257 | 258 | List ids_positions = new List(); 259 | 260 | public static bool isSaveAll = false;//距離和角度都存進去了 261 | 262 | public static Dictionary angleAndDistances = new Dictionary(); 263 | 264 | 265 | /// 266 | /// 應答數據處理S 267 | /// 268 | ///數據處理 269 | ///responseData[0] AA responseData[1] 55 數據包頭 270 | ///responseData[2] 包類型 271 | ///responseData[3] 採樣數量 272 | ///responseData[4] responseData[5] 起始角 273 | ///responseData[6] responseData[7] 結束角 274 | ///responseData[8] responseData[9]校驗碼 275 | ///responseData[................] 採樣數據 兩位爲一個數據 276 | /// 277 | #endregion 278 | /// 279 | void Data_ResponseContentProcess(byte[] responseData) 280 | { 281 | //零位解析 該數據包中 LSN = 1，即 Si 的數量爲 1，S1 = 零位距離數據 ； 282 | //FSA = LSA = 零位角度數據； 其距離和角度的具體值解析參見距離和角度的解析 283 | if (responseData[2] == 0x01 && responseData[3] == 1) 284 | { 285 | 286 | //AA55 01 01 DFA0 DFA0 AB54 0000 287 | //零位距離 288 | //print("-------------------------------------------0x01 " + ids.Count); 289 | //isIdsAllSet = true; 290 | for (int restid = ids.Count; restid < particles.Length; restid++) 291 | { 292 | if (restid != canvasGridX / 2 + canvasGridY / 2 * canvasGridX) 293 | { 294 | particles[restid].position = Vector2.zero; 295 | particles[restid].startSize = 0; 296 | } 297 | 298 | } 299 | 300 | for (int aid = 0; aid < triggerAreas.Length; aid++) 301 | { 302 | 303 | colors[aid] = new Color32(2, 130, 27, 75); 304 | IsInsideArea[aid] = false; 305 | for (int pid = 0; pid < ids.Count; pid++) 306 | { 307 | 308 | if (triggerRects[aid].Contains(ids_positions[pid])) 309 | { 310 | 311 | colors[aid] = new Color32(171, 37, 1, 75); 312 | IsInsideArea[aid] = true; 313 | break; 314 | } 315 | //isContained = false; 316 | 317 | } 318 | //if (isContained) 319 | //{ 320 | // //print(aid + " " + 1); 321 | // colors[aid] = new Color32(171, 37, 1, 255); 322 | // IsInsideArea[aid] = true; 323 | //} 324 | 325 | //else 326 | //{ 327 | // //print(aid + " " + 0); 328 | // colors[aid] = new Color32(2, 130, 27, 255); 329 | // IsInsideArea[aid] = false; 330 | //} 331 | } 332 | 333 | ids.Clear(); 334 | ids_positions.Clear(); 335 | 336 | #region things dont need to care abt 337 | //print(ids.Count + " " + ids_positions.Count); 338 | string disStr = BinaryConversion(responseData[11], responseData[10]); 339 | int dis = Convert.ToInt32(disStr, 16); 340 | float Distancezero = dis / 4; 341 | 342 | //AA55 01 01 7958 7958 AB54 0000 343 | //起始角度 結束角度 344 | 345 | string fsaStr = BinaryConversion(responseData[5], responseData[4]); 346 | string lsaStr = BinaryConversion(responseData[7], responseData[6]); 347 | 348 | // Debug.Log(fsaStr); 349 | 350 | int fsa = Convert.ToInt32(fsaStr, 16); 351 | //Debug.Log(fsa); 352 | float fsaAnglezero = (fsa / 2) / 64;//起始角計算公式 右移一位除以 64 353 | 354 | 355 | string debugMsg = string.Format("零位解析 距離 = {0}, FSA = {1}, LAS = {2} ", Distancezero, fsaAnglezero, fsaAnglezero); 356 | //Debug.Log(debugMsg); 357 | 358 | } 359 | 360 | // AA55 000F FD27 F129 1252 361 | //00 000000000000000000000000000000000000000000000000000000B406 362 | //點雲數據包 363 | if (responseData[2] == 0x00) 364 | { 365 | 366 | ///print("0x00"); 367 | 368 | //Debug.Log("dianyunshuju ---------------"); 369 | //Debug.Log(responseData[3]); 370 | byte[] dataDis = new byte[responseData[3] * 2]; 371 | 372 | 373 | Array.Copy(responseData, 10, dataDis, 0, responseData[3] * 2); 374 | 375 | 376 | //距離解析 兩位爲一個距離數據 距離開始不對，注意距離數據是去除掉前十位之後的數據 377 | for (int i = 10; i < responseData[3] * 2 + 10; i++) 378 | { 379 | string distanceStr = BinaryConversion(responseData[i + 1], responseData[i]); 380 | int dis = Convert.ToInt32(distanceStr, 16); 381 | float Distance = dis / 4; 382 | distances.Add(Distance); 383 | //Debug.Log("距離解析： 距離 Distance = " + Distance); 384 | i++; 385 | } 386 | 387 | 388 | //角度解析 389 | //一級解析 注意小端模式 390 | string fsaStr = BinaryConversion(responseData[5], responseData[4]); 391 | string lsaStr = BinaryConversion(responseData[7], responseData[6]); 392 | 393 | 394 | int fsa = Convert.ToInt32(fsaStr, 16); 395 | fsaAngle = (fsa / 2) / 64;//起始角計算公式 右移一位除以 64 396 | angles.Add(fsaAngle); 397 | //Debug.Log("角度一級解析： FSA = " + fsaAngle); 398 | 399 | int lsa = Convert.ToInt32(lsaStr, 16); 400 | lsaAngle = (lsa / 2) / 64;//起始角計算公式 右移一位除以 64 401 | 402 | if (fsaAngle > lsaAngle) lsaAngle += 360; 403 | 404 | angles.Add(lsaAngle); 405 | //Debug.Log("角度一級解析： LSA = " + lsaAngle); 406 | 407 | //中間角 408 | float diffAngle = lsaAngle - fsaAngle; 409 | for (int i = 2; i < responseData[3]; i++) 410 | { 411 | 412 | angle = diffAngle / (responseData[3] - 1) * (i - 1) + fsaAngle; 413 | angles.Insert(i - 1, angle); 414 | //Debug.Log("角度一級解析： Angle 中間角 = " + angle); 415 | } 416 | 417 | //print("1"); 418 | 419 | 420 | double angleCorrect; 421 | //二級解析 偏差角 422 | foreach (var item in distances) 423 | { 424 | if (item == 0) 425 | { 426 | angleCorrect = 0; 427 | 428 | } 429 | else 430 | { 431 | float mid = 21.8f * (155.3f - item) / (155.3f * item);// 432 | angleCorrect = Mathf.Atan((float)mid);//反正切函數參數範圍（-無窮，+ 無窮） Mathf.Atan 和 Math.Atan 返回的都是弧度。此處需要得到角度 433 | angleCorrect = (180 / Math.PI) * angleCorrect;//弧度轉角度 得到偏差角度 434 | } 435 | angleCorrects.Add(angleCorrect); 436 | } 437 | 438 | //print("2"); 439 | #endregion 440 | // =========================================================================================================================== 441 | for (int i = 0; i < angleCorrects.Count; i++) 442 | { 443 | float correctedAngle = angles[i] + (float)angleCorrects[i]; 444 | //Debug.Log("角度二級解析： 所有角度 = " + correctedAngle); 445 | correctedAngles.Add(correctedAngle); 446 | 447 | //print(correctedAngle + " " + distances[i]); 448 | 449 | float angle = correctedAngle + 180 + sensorAngle; // cable upwards 450 | float distance = distances[i]; 451 | Vector2 pos; 452 | //convert to radians 453 | float angle_in_rand = angle * Mathf.Deg2Rad; 454 | 455 | pos = new Vector2(distance * Mathf.Sin(angle_in_rand), distance * Mathf.Cos(angle_in_rand)); 456 | pos.x *= -1f * ratioPX / ratioMM * zoomTimes; 457 | pos.y *= -1f * ratioPX / ratioMM * zoomTimes; 458 | 459 | int xCount = Mathf.RoundToInt(pos.x / 3); 460 | int yCount = Mathf.RoundToInt(pos.y / 3); 461 | 462 | Vector2 snapped_pos = new Vector2((float)xCount, (float)yCount); 463 | 464 | if (pos.x != 0 && pos.y != 0 465 | //&& pos.x < neededAreaWidth * 0.5f + neededAreaOffsetX && pos.x > neededAreaWidth * -0.5f + neededAreaOffsetX 466 | //&& pos.y > neededAreaHeight * -0.5f + neededAreaOffsetY && pos.y < neededAreaHeight * 0.5f + neededAreaOffsetY 467 | ) 468 | { 469 | xCount = xCount + canvasGridX / 2; 470 | yCount = yCount + canvasGridY / 2; 471 | int pid = xCount + canvasGridX * yCount; 472 | if (!ids.Contains(pid)) 473 | { 474 | pos.x += sensorOffsetinPixelX; 475 | pos.y += sensorOffsetinPixelY; 476 | ids_positions.Add(new Vector2(pos.x, pos.y)); 477 | ids.Add(pid); 478 | } 479 | } 480 | } 481 | 482 | 483 | angleCorrects.Clear();//注意 LIST 要進行清空 否則數據出錯 484 | #region things that dont need to care abt 485 | //print("3"); 486 | 487 | //Debug.Log("angleCorrects.Count,distances.Count: " + angleCorrects.Count + " " + distances.Count); 488 | //for (int i = 0; i < responseData[3]; i++) 489 | //{ 490 | // angleAndDistances.Add(correctedAngles[i], distances[i]);//距離計算出的是毫米，Unity 中單位默認是米 491 | //} 492 | 493 | // print("4"); 494 | isSaveAll = true; 495 | angles.Clear(); 496 | distances.Clear(); 497 | //angleCorrects.Clear();//注意 LIST 要進行清空 否則數據出錯 498 | correctedAngles.Clear(); 499 | 500 | } 501 | 502 | } 503 | 504 | #endregion 505 | //this function runs in 0.02f interval 506 | //remember to update the data in 0x01 (when the lidar turns a round 507 | public void UpdateParticlesAndAreas() 508 | { 509 | //update needed area 510 | //neededArea.GetComponent().localPosition = new Vector2(neededAreaOffsetX + sensorOffsetX, neededAreaOffsetY + sensorOffsetY); 511 | //neededArea.GetComponent().sizeDelta = new Vector2(neededAreaWidth, neededAreaHeight); 512 | 513 | //print(ids.Count + " " + ids_positions.Count); 514 | for (int id = 0; id < ids.Count; id++) 515 | { 516 | particles[id].position = ids_positions[id]; 517 | particles[id].startSize = 5; 518 | } 519 | //print(ids.Count); 520 | 521 | for (int tid = 0; tid < triggerAreas.Length; tid++) 522 | { 523 | triggerRawImage[tid].color = colors[tid]; 524 | 525 | if (IsInsideArea_last[tid] != IsInsideArea[tid]) 526 | { 527 | udp.SocketSend(tid + "," + Convert.ToInt32(IsInsideArea[tid]) + "/e/"); 528 | IsInsideArea_last[tid] = IsInsideArea[tid]; 529 | } 530 | 531 | 532 | 533 | 534 | // udp.SocketSend(tid + "," + isin +"/e/"); 535 | } 536 | 537 | int centerid = canvasGridX / 2 + canvasGridY / 2 * canvasGridX; 538 | particles[centerid].startColor = Color.red; 539 | particles[centerid].startSize = 15; 540 | particles[centerid].position = new Vector2(sensorOffsetinPixelX, sensorOffsetinPixelY); 541 | pointCloudParticles.SetParticles(particles, particles.Length); 542 | 543 | 544 | 545 | 546 | 547 | //if (isFarPerspective) 548 | //{ 549 | // camera.transform.position = new Vector3(myCanvasWidth * 0.5f, myCanvasHeight * 0.5f, -1600f); 550 | //} 551 | //else 552 | //{ 553 | // camera.transform.position = new Vector3(myCanvasWidth * 0.5f, myCanvasHeight * 0.5f, -1000f); 554 | //} 555 | 556 | } 557 | void FixedUpdate() 558 | { 559 | 560 | 561 | //print("----------------------------------------------------fixedupdate"); 562 | 563 | //Loom.RunAsync(() => 564 | //{ 565 | // Loom.QueueOnMainThread(() => 566 | // { 567 | // time += Time.deltaTime; 568 | // if (SerialCommunicationFacade.isSaveAll) 569 | // { 570 | // isSaveAll = false; 571 | // time = 0; 572 | // var angless = new List(angleAndDistances.Keys); 573 | // for (int i = 0; i < angless.Count; i++) 574 | // { 575 | // float distance = angleAndDistances[angless[i]]; 576 | // GetPos(angless[i], distance); 577 | // } 578 | // angleAndDistances.Clear(); 579 | // angless.Clear(); 580 | // isSaveAll = true; 581 | // } 582 | // }); 583 | //}); 584 | // print(1 / Time.deltaTime); 585 | } 586 | 587 | //not using this function 588 | /* 589 | void GetPos(float angle, float distance) 590 | { 591 | //print(angle +"now get pos"+ distance ); 592 | 593 | Vector2 pos; 594 | //convert to radians 595 | float angle_in_rand = angle * Mathf.Deg2Rad; 596 | 597 | pos = new Vector2(distance * Mathf.Sin(angle_in_rand), distance * Mathf.Cos(angle_in_rand)); 598 | pos.x *= -0.3f; 599 | pos.y *= -0.3f; 600 | //print(pos); 601 | 602 | 603 | int xCount = Mathf.RoundToInt(pos.x / 3); 604 | int yCount = Mathf.RoundToInt(pos.y / 3); 605 | 606 | 607 | Vector2 snapped_pos = new Vector2((float)xCount, (float)yCount); 608 | 609 | if (pos.x != 0 && pos.y != 0 && pos.x < 960 && pos.x > -960 && pos.y > -540 && pos.y < 540) 610 | { 611 | 612 | xCount = xCount + canvasGridX / 2; 613 | yCount = yCount + canvasGridY / 2; 614 | int pid = xCount + canvasGridX * yCount; 615 | ids.Add(pid); 616 | //print(pid); 617 | //print("pid" + pid); 618 | // print(snapped_pos + new Vector2(canvasGridX / 2, canvasGridY / 2) + " " + angle + " " + distance); 619 | particles[pid].position = new Vector3(snapped_pos.x, snapped_pos.y, 0); 620 | particles[pid].startColor = new Color32(0, 0, 0, 255); 621 | particles[pid].startSize = 1f; 622 | 623 | } 624 | 625 | 626 | 627 | } 628 | */ 629 | /// 630 | /// 進制轉換以及字符串重組 631 | /// 632 | string BinaryConversion(byte one, byte two) 633 | { 634 | string returnStr; 635 | string oneStr; 636 | string twoStr; 637 | 638 | if (one < 16) 639 | { 640 | oneStr = "0" + Convert.ToString(one, 16);//十進制轉十六進制 byte 出來的直接是十進制 641 | } 642 | else 643 | { 644 | oneStr = Convert.ToString(one, 16); 645 | } 646 | if (two < 16) 647 | { 648 | twoStr = "0" + Convert.ToString(two, 16); 649 | } 650 | else 651 | { 652 | twoStr = Convert.ToString(two, 16); 653 | } 654 | 655 | returnStr = oneStr + twoStr; 656 | return returnStr; 657 | 658 | } 659 | 660 | 661 | } 662 | } -------------------------------------------------------------------------------- /Assets/Scripts/SerialCommunicationFacade.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 07ec2b3bac337c148af7ee5ec7663d13 3 | timeCreated: 1550631154 4 | licenseType: Free 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/Scripts/TestFor.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class TestFor : MonoBehaviour { 6 | 7 | // Use this for initialization 8 | void Start () { 9 | for (int i = 0; i < 10; i++) 10 | { 11 | for (int j = 0; j < 10; j++) 12 | { 13 | if (j > 5) 14 | { 15 | print("j" + j); 16 | break; 17 | } 18 | 19 | } 20 | } 21 | } 22 | 23 | // Update is called once per frame 24 | void Update () { 25 | 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /Assets/Scripts/TestFor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bbce684b2d1905c43a85ed674f1bfc9a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/UdpServer.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using System.Collections; 3 | //引入库 4 | using System.Net; 5 | using System.Net.Sockets; 6 | using System.Text; 7 | using System.Threading; 8 | 9 | public class UdpServer : MonoBehaviour 10 | { 11 | string editString = "hello wolrd"; //编辑框文字 12 | 13 | //以下默认都是私有的成员 14 | Socket socket; //目标socket 15 | EndPoint serverEnd; //服务端 16 | IPEndPoint ipEnd; //服务端端口 17 | string recvStr; //接收的字符串 18 | string sendStr; //发送的字符串 19 | byte[] recvData = new byte[1024]; //接收的数据，必须为字节 20 | byte[] sendData = new byte[1024]; //发送的数据，必须为字节 21 | int recvLen; //接收的数据长度 22 | Thread connectThread; //连接线程 23 | 24 | //初始化 25 | void InitSocket() 26 | { 27 | //定义连接的服务器ip和端口，可以是本机ip，局域网，互联网 28 | ipEnd = new IPEndPoint(IPAddress.Parse("127.0.0.1"), 9000); 29 | //定义套接字类型,在主线程中定义 30 | socket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp); 31 | //定义服务端 32 | IPEndPoint sender = new IPEndPoint(IPAddress.Any, 0); 33 | serverEnd = (EndPoint)sender; 34 | print("waiting for sending UDP dgram"); 35 | 36 | //建立初始连接，这句非常重要，第一次连接初始化了serverEnd后面才能收到消息 37 | SocketSend("hello"); 38 | 39 | //开启一个线程连接，必须的，否则主线程卡死 40 | connectThread = new Thread(new ThreadStart(SocketReceive)); 41 | connectThread.Start(); 42 | } 43 | 44 | public void SocketSend(string sendStr) 45 | { 46 | //清空发送缓存 47 | sendData = new byte[1024]; 48 | //数据类型转换 49 | sendData = Encoding.ASCII.GetBytes(sendStr); 50 | //发送给指定服务端 51 | socket.SendTo(sendData, sendData.Length, SocketFlags.None, ipEnd); 52 | print(sendStr); 53 | } 54 | 55 | //服务器接收 56 | void SocketReceive() 57 | { 58 | //进入接收循环 59 | while (true) 60 | { 61 | //对data清零 62 | recvData = new byte[1024]; 63 | //获取客户端，获取服务端端数据，用引用给服务端赋值，实际上服务端已经定义好并不需要赋值 64 | recvLen = socket.ReceiveFrom(recvData, ref serverEnd); 65 | print("message from: " + serverEnd.ToString()); //打印服务端信息 66 | //输出接收到的数据 67 | recvStr = Encoding.ASCII.GetString(recvData, 0, recvLen); 68 | print(recvStr); 69 | } 70 | } 71 | 72 | //连接关闭 73 | void SocketQuit() 74 | { 75 | //关闭线程 76 | if (connectThread != null) 77 | { 78 | connectThread.Interrupt(); 79 | connectThread.Abort(); 80 | } 81 | //最后关闭socket 82 | if (socket != null) 83 | socket.Close(); 84 | } 85 | 86 | // Use this for initialization 87 | void Start() 88 | { 89 | InitSocket(); //在这里初始化 90 | } 91 | 92 | //void OnGUI() 93 | //{ 94 | // editString = GUI.TextField(new Rect(10, 10, 100, 20), editString); 95 | // if (GUI.Button(new Rect(10, 30, 60, 20), "send")) 96 | // SocketSend(editString); 97 | //} 98 | 99 | // Update is called once per frame 100 | void Update() 101 | { 102 | 103 | } 104 | 105 | void OnApplicationQuit() 106 | { 107 | SocketQuit(); 108 | } 109 | } -------------------------------------------------------------------------------- /Assets/Scripts/UdpServer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4cdc9dc67dec36749a6ef89cc2d00048 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/myXML.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f1cabfdd140992d4a8a17e732132cf98 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/myXML/settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 1 4 | 5 | wall 6 |
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21 | 274.286 22 | 115.714 23 | 3070 24 | 25 | 26 | -------------------------------------------------------------------------------- /Assets/myXML/settings.xml.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 77632d2432dead7488dc48fe16986548 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/test.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e1b7e3579082d2e45b2b7b06172a5249 3 | timeCreated: 1550638102 4 | licenseType: Free 5 | DefaultImporter: 6 | externalObjects: {} 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | -------------------------------------------------------------------------------- /LidarDataVisualization.sln: 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # LidarDataViz 2 | Lidar sensor data visualization in Unity 3 | -------------------------------------------------------------------------------- /obj/Debug/Assembly-CSharp.csproj.CopyComplete: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/glegoo/unity-lidar-tuio/d179555772503ebb07168d0ebd98b4a24e3569cc/obj/Debug/Assembly-CSharp.csproj.CopyComplete -------------------------------------------------------------------------------- /obj/Debug/Assembly-CSharp.csproj.FileListAbsolute.txt: -------------------------------------------------------------------------------- 1 | D:\yoki\lele\lidar\testYDLidar\Temp\bin\Debug\Assembly-CSharp.dll 2 | D:\yoki\lele\lidar\testYDLidar\Temp\bin\Debug\Assembly-CSharp.pdb 3 | 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