140 lines
3.8 KiB
C++
140 lines
3.8 KiB
C++
#include "RaspberryVehicleGameMode.h"
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#include "Sockets.h"
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#include "Networking.h"
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#include "Misc/Timespan.h"
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#include "SocketSubsystem.h"
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#include "Engine/Texture2DDynamic.h"
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ARaspberryVehicleGameMode::ARaspberryVehicleGameMode(const FObjectInitializer& ObjectInitializer)
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{
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PrimaryActorTick.bCanEverTick = true;
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}
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void ARaspberryVehicleGameMode::BeginPlay()
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{
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Super::BeginPlay();
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SocketSubsystem = ISocketSubsystem::Get(PLATFORM_SOCKETSUBSYSTEM);
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UDPSocket = SocketSubsystem->CreateSocket(NAME_DGram, TEXT("Raspberry Socket"), FNetworkProtocolTypes::IPv4);
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UDPBuffer.SetNumUninitialized(1024);
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CameraBuffer.Init(255, 256 * 256 * 4);
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UDPLastTime = FDateTime(0);
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UDPSendTime = FDateTime(0);
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CameraTexture = UTexture2D::CreateTransient(256, 256);
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void* Pixels = CameraTexture->PlatformData->Mips[0].BulkData.Lock(LOCK_READ_WRITE);
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FMemory::Memcpy(Pixels, CameraBuffer.GetData(), 256 * 256 * 4);
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CameraTexture->PlatformData->Mips[0].BulkData.Unlock();
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CameraTexture->UpdateResource();
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}
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void ARaspberryVehicleGameMode::Tick(float DeltaSeconds)
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{
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Super::Tick(DeltaSeconds);
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int32 BytesNum = 0;
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TSharedRef<FInternetAddr> Addr = SocketSubsystem->CreateInternetAddr();
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bool bIsValid;
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Addr->SetIp(TEXT("192.168.1.1"), bIsValid);
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Addr->SetIp(*IP, bIsValid);
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Addr->SetPort(6000);
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if ((FDateTime::Now() - UDPSendTime) > FTimespan::FromSeconds(0.1))
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{
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uint8* MotorModeBuffer = (uint8*)&MotorMode;
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UDPBuffer[0] = MotorModeBuffer[3];
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UDPBuffer[1] = MotorModeBuffer[2];
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UDPBuffer[2] = MotorModeBuffer[1];
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UDPBuffer[3] = MotorModeBuffer[0];
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uint8* MotorSpeedBuffer = (uint8*)&MotorSpeed;
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UDPBuffer[4] = MotorSpeedBuffer[3];
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UDPBuffer[5] = MotorSpeedBuffer[2];
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UDPBuffer[6] = MotorSpeedBuffer[1];
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UDPBuffer[7] = MotorSpeedBuffer[0];
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UDPSocket->SendTo(UDPBuffer.GetData(), 8, BytesNum, *Addr);
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UDPSendTime = FDateTime::Now();
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}
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uint32 PendingDataSize;
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while(UDPSocket->HasPendingData(PendingDataSize))
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{
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UDPSocket->RecvFrom(UDPBuffer.GetData(), UDPBuffer.Num(), BytesNum, *Addr);
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if (BytesNum == 13)
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{
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UDPLastTime = FDateTime::Now();
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bCLP = (bool)UDPBuffer[0];
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bNear = (bool)UDPBuffer[1];
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bIS1 = (bool)UDPBuffer[2];
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bIS2 = (bool)UDPBuffer[3];
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bIS3 = (bool)UDPBuffer[4];
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bIS4 = (bool)UDPBuffer[5];
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bIS5 = (bool)UDPBuffer[6];
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SpeedL = UDPBuffer[7] * 0.5;
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SpeedR = UDPBuffer[8] * 0.5;
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uint8 DistanceBuffer[4];
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DistanceBuffer[3] = UDPBuffer[9];
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DistanceBuffer[2] = UDPBuffer[10];
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DistanceBuffer[1] = UDPBuffer[11];
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DistanceBuffer[0] = UDPBuffer[12];
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FMemory::Memcpy(&Distance, DistanceBuffer, sizeof Distance);
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}
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else if (BytesNum == 770)
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{
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int32 ChunkIndex;
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uint8* ChunkIndexBuffer = (uint8*)&ChunkIndex;
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ChunkIndexBuffer[0] = UDPBuffer[1];
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ChunkIndexBuffer[1] = UDPBuffer[0];
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ChunkIndexBuffer[2] = 0;
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ChunkIndexBuffer[3] = 0;
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uint8* Src = &UDPBuffer[2];
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for (int32 PixelIndex = 0; PixelIndex < 256; ++PixelIndex)
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{
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CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 0] = Src[PixelIndex * 3 + 0];
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CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 1] = Src[PixelIndex * 3 + 1];
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CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 2] = Src[PixelIndex * 3 + 2];
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CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 3] = 255;
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}
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}
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}
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void* Buffer = CameraBuffer.GetData();
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FRHITexture2D* RHICameraTexture = CameraTexture->Resource->GetTexture2DRHI();
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ENQUEUE_RENDER_COMMAND(RaspberryCameraUpdate)(
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[RHICameraTexture, Buffer](FRHICommandListImmediate& RHICmdList)
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{
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uint32 Stride = 0;
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void* Pixels = RHILockTexture2D(RHICameraTexture, 0, RLM_WriteOnly, Stride, false);
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FMemory::Memcpy(Pixels, Buffer, 256 * 256 * 4);
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RHIUnlockTexture2D(RHICameraTexture, 0, false);
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}
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);
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}
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void ARaspberryVehicleGameMode::EndPlay(const EEndPlayReason::Type EndPlayReason)
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{
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SocketSubsystem->DestroySocket(UDPSocket);
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Super::EndPlay(EndPlayReason);
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}
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