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OvercodedStackOvercodedStack
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TPC Communications upgrade
Added TPC Capability to send out to a client.
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4 files changed

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‎Box_wall_test.unity‎

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‎Utillity Scripts/TCPTestServer.cs‎

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//Code Adopt from https://gist.github.com/danielbierwirth/0636650b005834204cb19ef5ae6ccedb
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Net;
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using System.Net.Sockets;
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using System.Text;
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using System.Threading;
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using UnityEngine;
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public class TCPTestServer : MonoBehaviour
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{
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#region private members
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/// <summary>
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/// TCPListener to listen for incomming TCP connection
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/// requests.
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/// </summary>
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private TcpListener tcpListener;
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/// <summary>
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/// Background thread for TcpServer workload.
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/// </summary>
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private Thread tcpListenerThread;
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/// <summary>
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/// Create handle to connected tcp client.
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/// </summary>
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private TcpClient connectedTcpClient;
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#endregion
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public string IPC_comms_message = "null_msg";
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public string IPC_output = "null";
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// Use this for initialization
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void Start()
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{
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// Start TcpServer background thread
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tcpListenerThread = new Thread(new ThreadStart(ListenForIncommingRequests));
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tcpListenerThread.IsBackground = true;
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tcpListenerThread.Start();
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}
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// Update is called once per frame
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void Update()
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{
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//if (Input.GetKeyDown(KeyCode.Space))
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//{
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SendMessage(IPC_comms_message);
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//}
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}
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/// <summary>
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/// Runs in background TcpServerThread; Handles incomming TcpClient requests
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/// </summary>
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private void ListenForIncommingRequests()
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{
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try
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{
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// Create listener on localhost port 8052.
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tcpListener = new TcpListener(IPAddress.Parse("127.0.0.1"), 27015);
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tcpListener.Start();
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Debug.Log("Server is listening");
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Byte[] bytes = new Byte[1024];
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while (true)
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{
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connectedTcpClient = tcpListener.AcceptTcpClient();
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{
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// Get a stream object for reading
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using (NetworkStream stream = connectedTcpClient.GetStream())
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{
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int length;
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// Read incomming stream into byte arrary.
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while ((length = stream.Read(bytes, 0, bytes.Length)) != 0)
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{
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var incommingData = new byte[length];
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Array.Copy(bytes, 0, incommingData, 0, length);
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// Convert byte array to string message.
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string clientMessage = Encoding.ASCII.GetString(incommingData);
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Debug.Log("client message received as: " + clientMessage);
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IPC_output = clientMessage;
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}
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}
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}
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}
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}
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catch (SocketException socketException)
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{
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Debug.Log("SocketException " + socketException.ToString());
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}
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}
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/// <summary>
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/// Send message to client using socket connection.
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/// </summary>
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private void SendMessage(string serverMessage)
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{
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if (connectedTcpClient == null)
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{
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return;
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}
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try
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{
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// Get a stream object for writing.
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NetworkStream stream = connectedTcpClient.GetStream();
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if (stream.CanWrite)
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{
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//Debug.Log("Hi, I'm a robot!");
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//string serverMessage = "This is a message from your server.";
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// Convert string message to byte array.
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byte[] serverMessageAsByteArray = Encoding.ASCII.GetBytes(serverMessage);
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// Write byte array to socketConnection stream.
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stream.Write(serverMessageAsByteArray, 0, serverMessageAsByteArray.Length);
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Debug.Log("Server sent his message - should be received by client");
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}
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///Debug.Log("Hi, I'm a job!");
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}
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catch (SocketException socketException)
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{
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Debug.Log("Socket exception: " + socketException);
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}
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}
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}

‎Utillity Scripts/TCPTestServer.cs.meta‎

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‎Utillity Scripts/UR5_transmission_serivce.cs‎

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using System.Collections;
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///////////////////////////////////////////////////////////////////////////////
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//
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// Original System: UR5_transmission_service.cs
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// Subsystem: Human-Robot Interaction
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// Workfile: Standalone
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// Revision: 1.0 - 6/28/2018
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// Author: Esteban Segarra
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//
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// Description
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// ===========
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// Server and client for Unity Project will be utilized for the following:
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// -Transmitting data for manus and Vive Position
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// -Checking manus is active
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// -Transmitting the positional data of the UR5 robot
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//
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///////////////////////////////////////////////////////////////////////////////
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Net;
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using System.Net.Sockets;
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namespace Web_Socket_for_Manus
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{
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public class UR5_transmission_serivce : MonoBehaviour
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{
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const string DEFAULT_SERVER = "localhost";
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const int DEFAULT_PORT = 27015;
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//Server socket stuff
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System.Net.Sockets.Socket serverSocket;
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System.Net.Sockets.SocketInformation serverSocketInfo;
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//Client socket stuff
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System.Net.Sockets.Socket clientSocket;
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System.Net.Sockets.SocketInformation clientSocketInfo;
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public string Startup()
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{
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// The chat server always starts up on the localhost, using the default port
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IPHostEntry hostInfo = Dns.GetHostByName(DEFAULT_SERVER);
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IPAddress serverAddr = hostInfo.AddressList[0];
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var serverEndPoint = new IPEndPoint(serverAddr, DEFAULT_PORT);
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// Create a listener socket and bind it to the endpoint
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serverSocket = new System.Net.Sockets.Socket(System.Net.Sockets.AddressFamily.InterNetwork, System.Net.Sockets.SocketType.Stream, System.Net.Sockets.ProtocolType.Tcp);
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serverSocket.Bind(serverEndPoint);
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return serverSocket.LocalEndPoint.ToString();
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}
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public string Listen()
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{
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int backlog = 0;
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try
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{
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serverSocket.Listen(backlog);
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return "Server listening";
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}
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catch (Exception ex)
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{
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return "Failed to listen" + ex.ToString();
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}
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}
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public bool SendData(string textdata)
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{
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if (string.IsNullOrEmpty(textdata))
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{
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return false;
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}
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if (textdata.Trim().ToLower() == "exit")
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{
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return true;
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}
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// The chat client always starts up on the localhost, using the default port
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IPHostEntry hostInfo = Dns.GetHostByName(DEFAULT_SERVER);
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IPAddress serverAddr = hostInfo.AddressList[0];
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var clientEndPoint = new IPEndPoint(serverAddr, DEFAULT_PORT);
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// Create a client socket and connect it to the endpoint
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clientSocket = new System.Net.Sockets.Socket(System.Net.Sockets.AddressFamily.InterNetwork, System.Net.Sockets.SocketType.Stream, System.Net.Sockets.ProtocolType.Tcp);
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clientSocket.Connect(clientEndPoint);
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byte[] byData = System.Text.Encoding.ASCII.GetBytes(textdata);
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clientSocket.Send(byData);
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clientSocket.Close();
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return false;
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}
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public string ReceiveData()
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{
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System.Net.Sockets.Socket receiveSocket;
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byte[] buffer = new byte[256];
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receiveSocket = serverSocket.Accept();
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var bytesrecd = receiveSocket.Receive(buffer);
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receiveSocket.Close();
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System.Text.Encoding encoding = System.Text.Encoding.UTF8;
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return encoding.GetString(buffer);
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}
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Program prog;
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void Start() {
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prog = new Program();
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prog.start_up();
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}
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void Update()
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{
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prog.Main();
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}
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}
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class Program
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{
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string serverInfo;
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public void start_up()
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{
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serverInfo = server.Startup();
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Console.WriteLine("Server started at:" + serverInfo);
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Debug.Log("Server started at:" + serverInfo);
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}
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public void listen_me()
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{
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serverInfo = server.Listen();
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Console.WriteLine(serverInfo);
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}
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static UR5_transmission_serivce server = new UR5_transmission_serivce();
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public void Main()
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{
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//string remoteServerName = server.ParseArgs(args);
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listen_me();
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//string datatosend = Console.ReadLine();
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string datatosend = "I am spam \n";
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server.SendData(datatosend);
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serverInfo = server.ReceiveData();
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Console.WriteLine(serverInfo);
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Debug.Log(serverInfo);
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Console.ReadLine();
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//exit
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}
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}
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public class UR5_transmission_serivce : MonoBehaviour {
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// Use this for initialization
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void Start () {
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}
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// Update is called once per frame
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void Update () {
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}
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}
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}

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