├── ProjectSettings ├── ProjectVersion.txt ├── ClusterInputManager.asset ├── NetworkManager.asset ├── TimeManager.asset ├── EditorBuildSettings.asset ├── AudioManager.asset ├── TagManager.asset ├── EditorSettings.asset ├── PresetManager.asset ├── UnityConnectSettings.asset ├── DynamicsManager.asset ├── Physics2DSettings.asset ├── NavMeshAreas.asset ├── GraphicsSettings.asset ├── QualitySettings.asset ├── InputManager.asset └── ProjectSettings.asset ├── Assets ├── grid.png ├── Flower │ ├── f1.png │ ├── f2.png │ ├── f3.png │ ├── f4.png │ ├── f5.png │ ├── flower1.mat.meta │ ├── flower2.mat.meta │ ├── flower3.mat.meta │ ├── flower4.mat.meta │ ├── flower5.mat.meta │ ├── flower1.prefab.meta │ ├── flower2.prefab.meta │ ├── flower3.prefab.meta │ ├── flower4.prefab.meta │ ├── flower5.prefab.meta │ ├── flower1.mat │ ├── flower2.mat │ ├── flower3.mat │ ├── flower4.mat │ ├── flower5.mat │ ├── f1.png.meta │ ├── f2.png.meta │ ├── f3.png.meta │ ├── f4.png.meta │ ├── f5.png.meta │ ├── flower1.prefab │ ├── flower2.prefab │ ├── flower3.prefab │ ├── flower4.prefab │ └── flower5.prefab ├── Editors.meta ├── Flower.meta ├── Scenes.meta ├── Scenes │ ├── SampleScene.unity.meta │ └── SampleScene.unity ├── URG.meta ├── Resources.meta ├── Grid.mat.meta ├── URG │ ├── urg.mat.meta │ ├── URGSensor.cs.meta │ ├── SCIP_library.cs.meta │ ├── URGSensorView.cs.meta │ ├── urg.mat │ ├── SCIP_library.cs │ ├── URGSensorView.cs │ └── URGSensor.cs ├── Resources │ ├── DOTweenSettings.asset.meta │ └── DOTweenSettings.asset ├── grid.png.meta └── Grid.mat ├── README.md ├── .gitignore └── Packages └── manifest.json /ProjectSettings/ProjectVersion.txt: -------------------------------------------------------------------------------- 1 | m_EditorVersion: 2018.2.20f1 2 | -------------------------------------------------------------------------------- /Assets/grid.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/toshinoritakata/URG/HEAD/Assets/grid.png -------------------------------------------------------------------------------- /Assets/Flower/f1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/toshinoritakata/URG/HEAD/Assets/Flower/f1.png -------------------------------------------------------------------------------- /Assets/Flower/f2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/toshinoritakata/URG/HEAD/Assets/Flower/f2.png -------------------------------------------------------------------------------- /Assets/Flower/f3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/toshinoritakata/URG/HEAD/Assets/Flower/f3.png -------------------------------------------------------------------------------- /Assets/Flower/f4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/toshinoritakata/URG/HEAD/Assets/Flower/f4.png -------------------------------------------------------------------------------- /Assets/Flower/f5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/toshinoritakata/URG/HEAD/Assets/Flower/f5.png -------------------------------------------------------------------------------- /ProjectSettings/ClusterInputManager.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!236 &1 4 | ClusterInputManager: 5 | m_ObjectHideFlags: 0 6 | m_Inputs: [] 7 | -------------------------------------------------------------------------------- /Assets/Editors.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 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externalObjects: {} 5 | mainObjectFileID: 100100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Flower/flower5.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1bdb1d43670d9f340a65034b2d17aab7 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 100100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Resources/DOTweenSettings.asset.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aeb1b4a0ebbd9de48806c23ee955b344 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 11400000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /ProjectSettings/TimeManager.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!5 &1 4 | TimeManager: 5 | m_ObjectHideFlags: 0 6 | Fixed Timestep: 0.02 7 | Maximum Allowed Timestep: 0.1 8 | m_TimeScale: 1 9 | Maximum Particle Timestep: 0.03 10 | -------------------------------------------------------------------------------- /Assets/URG/URGSensor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5f968db7566ab9f4b905bab98e26c21b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/URG/SCIP_library.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 77e5e7743d7f95143bf4330c4c3b2711 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/URG/URGSensorView.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a5881b69105841a46ad365ad0aa400ac 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /ProjectSettings/EditorBuildSettings.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!1045 &1 4 | EditorBuildSettings: 5 | m_ObjectHideFlags: 0 6 | serializedVersion: 2 7 | m_Scenes: 8 | - enabled: 1 9 | path: Assets/Scenes/SampleScene.unity 10 | guid: 99c9720ab356a0642a771bea13969a05 11 | m_configObjects: {} 12 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # URG 2 | 3 | CGWORLD連載用 北陽電機の測域センサーを利用したコンテンツのサンプル 4 | 5 | ![screenshot 15](https://user-images.githubusercontent.com/529150/56093859-76432600-5f08-11e9-9384-08f29c204559.jpg) 6 | 7 | - URGSensor.cs 8 | - USTデータの取得と物体検出を行うスクリプト 9 | 10 | - URGSensorView.cs 11 | - USTデータの可視化サンプル 12 | 13 | サンプルにはDOTweenアセットを利用しています。 14 | 以下からダウンロードしてインストールしてください。 15 | http://dotween.demigiant.com/ 16 | 17 | 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1829715160765314} 93 | m_Material: {fileID: 0} 94 | m_IsTrigger: 0 95 | m_Enabled: 1 96 | serializedVersion: 3 97 | m_Convex: 0 98 | m_CookingOptions: 14 99 | m_SkinWidth: 0.01 100 | m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0} 101 | -------------------------------------------------------------------------------- /Assets/URG/SCIP_library.cs: -------------------------------------------------------------------------------- 1 | /*! 2 | * \file 3 | * \brief SCIP command interface 4 | * \author Jun Fujimoto 5 | * $Id: SCIP_library.cs 403 2013-07-11 05:24:12Z fujimoto $ 6 | */ 7 | 8 | using System; 9 | using System.Collections.Generic; 10 | using System.Text; 11 | 12 | namespace SCIP_library 13 | { 14 | public class SCIP_Writer 15 | { 16 | /// 17 | /// Create MD command 18 | /// 19 | /// measurement start step 20 | /// measurement end step 21 | /// grouping step number 22 | /// skip scan number 23 | /// get scan numbar 24 | /// created command 25 | public static string MD(int start, int end, int grouping = 1, int skips = 0, int scans = 0) 26 | { 27 | return "MD" + start.ToString("D4") + end.ToString("D4") + grouping.ToString("D2") + skips.ToString("D1") + scans.ToString("D2") + "\n"; 28 | } 29 | 30 | public static string VV() 31 | { 32 | return "VV\n"; 33 | } 34 | 35 | public static string II() 36 | { 37 | return "II\n"; 38 | } 39 | 40 | public static string PP() 41 | { 42 | return "PP\n"; 43 | } 44 | 45 | public static string SCIP2() 46 | { 47 | return "SCIP2.0" + "\n"; 48 | } 49 | 50 | public static string QT() 51 | { 52 | return "QT\n"; 53 | } 54 | } 55 | 56 | public class SCIP_Reader 57 | { 58 | /// 59 | /// read MD command 60 | /// 61 | /// received command 62 | /// timestamp data 63 | /// distance data 64 | /// is successful 65 | public static bool MD(string get_command, ref long time_stamp, ref List distances) 66 | { 67 | distances.Clear(); 68 | string[] split_command = get_command.Split(new char[] { '\n' }, StringSplitOptions.RemoveEmptyEntries); 69 | 70 | if (!split_command[0].StartsWith("MD")) { 71 | return false; 72 | } 73 | 74 | if (split_command[1].StartsWith("00")) { 75 | return true; 76 | } else if (split_command[1].StartsWith("99")) { 77 | time_stamp = SCIP_Reader.decode(split_command[2], 4); 78 | distance_data(split_command, 3, ref distances); 79 | return true; 80 | } else { 81 | return false; 82 | } 83 | } 84 | 85 | /// 86 | /// read distance data 87 | /// 88 | /// 89 | /// 90 | /// 91 | public static bool distance_data(string[] lines, int start_line, ref List distances) 92 | { 93 | StringBuilder sb = new StringBuilder(); 94 | for (int i = start_line; i < lines.Length; ++i) { 95 | sb.Append(lines[i].Substring(0, lines[i].Length - 1)); 96 | } 97 | return SCIP_Reader.decode_array(sb.ToString(), 3, ref distances); 98 | } 99 | 100 | /// 101 | /// decode part of string 102 | /// 103 | /// encoded string 104 | /// encode size 105 | /// decode start position 106 | /// decode result 107 | public static long decode(string data, int size, int offset = 0) 108 | { 109 | long value = 0; 110 | 111 | for (int i = 0; i < size; ++i) { 112 | value <<= 6; 113 | value |= (long)data[offset + i] - 0x30; 114 | } 115 | 116 | return value; 117 | } 118 | 119 | /// 120 | /// decode multiple data 121 | /// 122 | /// encoded string 123 | /// encode size 124 | /// decode result 125 | public static bool decode_array(string data, int size, ref List decoded_data) 126 | { 127 | for (int pos = 0; pos <= data.Length - size; pos += size) { 128 | decoded_data.Add(decode(data, size, pos)); 129 | } 130 | return true; 131 | } 132 | } 133 | } 134 | -------------------------------------------------------------------------------- /Assets/URG/URGSensorView.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | using System.Text; 6 | using System.Net.Sockets; 7 | using SCIP_library; 8 | using DG.Tweening; 9 | 10 | public class URGSensorView : MonoBehaviour 11 | { 12 | [SerializeField] private int _distanceGap = 100; 13 | [SerializeField] private int _minSize = 20; 14 | [SerializeField] private int _maxSize = 100; 15 | [SerializeField] private Vector2 _offsetXY_mm = Vector2.zero; 16 | [SerializeField] private float _offsetRot_deg = 0f; 17 | 18 | private URGSensor _urg; // URG sensor 19 | 20 | public GameObject[] _flowers; 21 | private GameObject[] _spawn; 22 | 23 | private bool _calibrated; 24 | 25 | private Mesh _mesh; 26 | private List _vertices; 27 | private List _triangles; 28 | [SerializeField] private Material _mat; 29 | 30 | void Start() 31 | { 32 | _urg = new URGSensor(); 33 | _urg.OpenStream("192.168.0.10", 0, 2160); 34 | _spawn = new GameObject[100]; 35 | _calibrated = false; 36 | 37 | var meshFilter = gameObject.AddComponent(); 38 | var meshRenderer = gameObject.AddComponent(); 39 | _mesh = meshFilter.mesh; 40 | _mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32; 41 | meshRenderer.sharedMaterial = _mat; 42 | 43 | _mesh.Clear(); 44 | 45 | var step = _urg.Steps; 46 | _vertices = new List(); 47 | for (int i = 0; i < step; i++) 48 | { 49 | _vertices.Add(Vector3.zero); 50 | } 51 | _vertices.Add(Vector3.zero); 52 | _mesh.SetVertices(_vertices); 53 | 54 | _triangles = new List(); 55 | for (int i = 0; i < step - 1; i++) 56 | { 57 | _triangles.Add(_vertices.Count - 1); 58 | _triangles.Add(i + 1); 59 | _triangles.Add(i); 60 | } 61 | _mesh.SetTriangles(_triangles, 0); 62 | } 63 | 64 | void Update() 65 | { 66 | if (Input.GetKeyUp(KeyCode.Space)) 67 | { 68 | _urg.StoreCalibrationData(); 69 | _calibrated = true; 70 | _mesh.Clear(); 71 | } 72 | 73 | transform.localPosition = new Vector3(_offsetXY_mm.x, _offsetXY_mm.y, 0f) / 1000f; 74 | transform.localEulerAngles = new Vector3(0f, 0f, _offsetRot_deg); 75 | 76 | // set object detection param 77 | _urg.SetDetectParam(_distanceGap, _minSize, _maxSize); 78 | 79 | // get urg pose matrix 80 | _urg.Pose = transform.localToWorldMatrix; 81 | 82 | if (_calibrated == false) 83 | { 84 | var distance = _urg.Distances; 85 | for (int i = 0; i < distance.Length; i++) 86 | { 87 | _vertices[i] = _urg.CalcRawPos(i); 88 | } 89 | _mesh.SetVertices(_vertices); 90 | _mesh.RecalculateBounds(); 91 | _mesh.RecalculateNormals(); 92 | } 93 | 94 | var objs = _urg.Objs; 95 | if (objs == null) return; 96 | for (int i = 0; i < objs.Length; i++) 97 | { 98 | var p = objs[i]; 99 | var pp = new Vector3(p.x, p.y, p.z); 100 | 101 | int freeId = -1; 102 | bool canBloom = true; 103 | for (int n = 0; n < _spawn.Length; n++) 104 | { 105 | if (_spawn[n] == null) 106 | { 107 | freeId = n; 108 | continue; 109 | } 110 | 111 | if ((_spawn[n].transform.localPosition - pp).magnitude < 0.2f) 112 | { 113 | canBloom = false; 114 | } 115 | } 116 | 117 | if (canBloom) 118 | { 119 | Bloom(freeId, pp); 120 | } 121 | } 122 | } 123 | 124 | void Bloom(int n, Vector3 p) 125 | { 126 | _spawn[n] = 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sensitivity: 1000 259 | snap: 0 260 | invert: 0 261 | type: 0 262 | axis: 0 263 | joyNum: 0 264 | - serializedVersion: 3 265 | m_Name: Submit 266 | descriptiveName: 267 | descriptiveNegativeName: 268 | negativeButton: 269 | positiveButton: enter 270 | altNegativeButton: 271 | altPositiveButton: space 272 | gravity: 1000 273 | dead: 0.001 274 | sensitivity: 1000 275 | snap: 0 276 | invert: 0 277 | type: 0 278 | axis: 0 279 | joyNum: 0 280 | - serializedVersion: 3 281 | m_Name: Cancel 282 | descriptiveName: 283 | descriptiveNegativeName: 284 | negativeButton: 285 | positiveButton: escape 286 | altNegativeButton: 287 | altPositiveButton: joystick button 1 288 | gravity: 1000 289 | dead: 0.001 290 | sensitivity: 1000 291 | snap: 0 292 | invert: 0 293 | type: 0 294 | axis: 0 295 | joyNum: 0 296 | -------------------------------------------------------------------------------- /Assets/URG/URGSensor.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System.Text; 5 | using System.Net.Sockets; 6 | using SCIP_library; 7 | using System.Threading; 8 | using UnityEngine; 9 | 10 | public class URGSensor 11 | { 12 | private TcpClient _urg; 13 | private NetworkStream _stream; 14 | private int _start_step = 0; 15 | private int _end_step = 2160; 16 | 17 | private List _read_data; 18 | private Thread _thread; 19 | private long[] _distance; 20 | private long[] _calib_distance; 21 | private long[] _filtered_distance; 22 | private bool _isRun; 23 | private object _lockobj; 24 | private int _ares; 25 | private int _amax; 26 | private int _distanceGap = 100; 27 | private int _minSize = 20; 28 | private int _maxSize = 150; 29 | private Matrix4x4 _pose; 30 | public Matrix4x4 Pose { set { _pose = value; } } 31 | 32 | private List _objs; 33 | public Vector4[] Objs 34 | { 35 | get 36 | { 37 | lock (_lockobj) 38 | { 39 | if (_objs.Count == 0) return null; 40 | var arry = new Vector4[_objs.Count]; 41 | _objs.CopyTo(arry); 42 | return arry; 43 | } 44 | } 45 | } 46 | 47 | public int Steps 48 | { 49 | get { return _amax + 1; } 50 | } 51 | 52 | public long[] Distances 53 | { 54 | get { return _distance; } 55 | } 56 | 57 | private void readSpec(string spec) 58 | { 59 | foreach (var sp in spec.Split('\n')) 60 | { 61 | var tokens = sp.Split(new char[] { ':', ';' }); 62 | if (tokens[0] == "ARES") { _ares = int.Parse(tokens[1]); } 63 | if (tokens[0] == "AMAX") { _amax = int.Parse(tokens[1]); } 64 | } 65 | } 66 | 67 | /// 68 | /// 69 | /// 70 | /// 71 | /// 72 | /// 73 | public void SetDetectParam(int gap, int minSize, int maxSize) 74 | { 75 | if (gap > 0) _distanceGap = gap; 76 | if (minSize > 0) _minSize = minSize; 77 | if (maxSize > _minSize) _maxSize = maxSize; 78 | } 79 | 80 | public void OpenStream(string ip_address, int start_step, int end_step) 81 | { 82 | const int port_number = 10940; 83 | 84 | _start_step = start_step; 85 | _end_step = end_step; 86 | 87 | _urg = new TcpClient(); 88 | _urg.SendBufferSize = 0; 89 | _urg.ReceiveBufferSize = 0; 90 | _urg.Connect(ip_address, port_number); 91 | _stream = _urg.GetStream(); 92 | 93 | write(_stream, SCIP_Writer.PP()); 94 | readSpec(read_line(_stream)); 95 | 96 | write(_stream, SCIP_Writer.SCIP2()); 97 | read_line(_stream); // ignore echo back 98 | write(_stream, SCIP_Writer.MD(_start_step, _end_step)); 99 | read_line(_stream); // ignore echo back 100 | 101 | _lockobj = new object(); 102 | _read_data = new List(); 103 | _distance = new long[_amax+1]; 104 | _calib_distance = new long[_amax+1]; // store calibration data 105 | _filtered_distance = new long[_amax+1]; 106 | 107 | _objs = new List(); 108 | 109 | _isRun = true; 110 | _thread = new Thread(new ThreadStart(getDataWork)); 111 | _thread.Start(); 112 | } 113 | 114 | public void StoreCalibrationData() 115 | { 116 | _distance.CopyTo(_calib_distance, 0); 117 | } 118 | 119 | private Vector3 distToPos(int step, long dist) 120 | { 121 | var th = (Mathf.PI * 2f / _ares) * step - (Mathf.PI * 0.25f); 122 | var x = Mathf.Cos(th) * dist; 123 | var y = Mathf.Sin(th) * dist; 124 | return new Vector3(x, y, 0) * 0.001f; // mm -> m 125 | } 126 | 127 | /// 128 | /// get raw position 129 | /// 130 | /// 131 | /// 132 | public Vector3 CalcRawPos(int step) 133 | { 134 | return distToPos(step, _distance[step]); 135 | } 136 | 137 | public Vector3 CalcCalibPos(int step) 138 | { 139 | return distToPos(step, Math.Abs(_distance[step] - _calib_distance[step])); 140 | } 141 | 142 | 143 | /// 144 | /// get position with pose 145 | /// 146 | /// 147 | /// 148 | public Vector3 CalcPos(int step) 149 | { 150 | return _pose.MultiplyPoint(CalcRawPos(step)); 151 | } 152 | 153 | public void GetObjs() 154 | { 155 | // median filer 156 | int filterSize = 3; 157 | var tmp = new long[filterSize]; 158 | int mid = filterSize / 2; 159 | for (int i = 0; i < this.Steps; i++) 160 | { 161 | for (int n = 0; n < filterSize; n++) 162 | { 163 | var m = Math.Min(Math.Max(0, i + n - mid), this.Steps - 1); 164 | tmp[n] = Math.Abs(_distance[m] - _calib_distance[m]); 165 | } 166 | Array.Sort(tmp); 167 | _filtered_distance[i] = tmp[mid]; 168 | } 169 | 170 | /* 171 | int filterSize = 3; 172 | long tmp = 0; 173 | int mid = filterSize/2; 174 | for (int i = 0; i < this.Steps; i++) 175 | { 176 | // box filter 177 | for (int n = 0; n < filterSize; n++) 178 | { 179 | var m = Math.Min(Math.Max(0, i + n - mid), this.Steps - 1); 180 | tmp += Math.Abs(_distance[m] - _calib_distance[m]); 181 | } 182 | _filtered_distance[i] = tmp / filterSize; 183 | 184 | // no filter 185 | //tmp = Math.Abs(_distance[i] - _calib_distance[i]); 186 | //_filtered_distance[i] = tmp; 187 | } 188 | 189 | // no filter 190 | for (int i = 0; i < this.Steps; i++) 191 | { 192 | _filtered_distance[i] = Math.Abs(_distance[i] - _calib_distance[i]); 193 | } 194 | */ 195 | 196 | int count = 0; 197 | Vector3 sp = Vector3.zero; 198 | Vector3 cp = Vector3.zero; 199 | 200 | _objs.Clear(); 201 | for (int i = 0; i < this.Steps - 1; i++) 202 | { 203 | var dd0 = _filtered_distance[i]; 204 | var dd1 = _filtered_distance[i + 1]; 205 | var dd = dd1 - dd0; 206 | if (dd > _distanceGap) 207 | { 208 | if (count == 0) 209 | { 210 | cp = CalcPos(i); 211 | sp = cp; 212 | ++count; 213 | } 214 | } 215 | else if (dd < -_distanceGap) 216 | { 217 | if (count > _minSize && count < _maxSize) 218 | { 219 | Vector4 rp = cp / (float)count; // center of object 220 | rp.w = (CalcPos(i) - sp).magnitude; // size estimate 221 | _objs.Add(rp); 222 | } 223 | count = 0; 224 | } 225 | else 226 | { 227 | if (count > 0) 228 | { 229 | cp += CalcPos(i); 230 | ++count; 231 | } 232 | } 233 | } 234 | } 235 | 236 | private void getDataWork() 237 | { 238 | var time_stamp = 0L; 239 | while (_isRun) 240 | { 241 | var receive_data = read_line(_stream); 242 | SCIP_Reader.MD(receive_data, ref time_stamp, ref _read_data); 243 | if (_read_data.Count == 0) continue; 244 | 245 | lock (_lockobj) 246 | { 247 | _read_data.CopyTo(_distance); 248 | GetObjs(); 249 | } 250 | } 251 | } 252 | 253 | public void CloseStream() 254 | { 255 | _isRun = false; 256 | _thread.Join(); 257 | 258 | write(_stream, SCIP_Writer.QT()); // stop measurement mode 259 | read_line(_stream); // ignore echo back 260 | _stream.Close(); 261 | _urg.Close(); 262 | } 263 | 264 | /// 265 | /// Read to "\n\n" from NetworkStream 266 | /// 267 | /// receive data 268 | private static string read_line(NetworkStream stream) 269 | { 270 | if (stream.CanRead) 271 | { 272 | StringBuilder sb = new StringBuilder(); 273 | bool is_NL2 = false; 274 | bool is_NL = false; 275 | do 276 | { 277 | char buf = (char)stream.ReadByte(); 278 | if (buf == '\n') 279 | { 280 | if (is_NL) 281 | { 282 | is_NL2 = true; 283 | } 284 | else 285 | { 286 | is_NL = true; 287 | } 288 | } 289 | else 290 | { 291 | is_NL = false; 292 | } 293 | sb.Append(buf); 294 | } while (!is_NL2); 295 | 296 | return sb.ToString(); 297 | } 298 | else 299 | { 300 | return null; 301 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cloudProjectId: 654 | projectName: 655 | organizationId: 656 | cloudEnabled: 0 657 | enableNativePlatformBackendsForNewInputSystem: 0 658 | disableOldInputManagerSupport: 0 659 | --------------------------------------------------------------------------------