初始化提交

Source/MecanumVehicle.Target.cs

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+// Copyright Epic Games, Inc. All Rights Reserved.
+
+using UnrealBuildTool;
+using System.Collections.Generic;
+
+public class MecanumVehicleTarget : TargetRules
+{
+	public MecanumVehicleTarget( TargetInfo Target) : base(Target)
+	{
+		Type = TargetType.Game;
+		DefaultBuildSettings = BuildSettingsVersion.V2;
+		IncludeOrderVersion = EngineIncludeOrderVersion.Unreal5_1;
+		ExtraModuleNames.Add("MecanumVehicle");
+	}
+}

Source/MecanumVehicle/MecanumVehicle.Build.cs

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+// Copyright Epic Games, Inc. All Rights Reserved.
+
+using UnrealBuildTool;
+
+public class MecanumVehicle : ModuleRules
+{
+	public MecanumVehicle(ReadOnlyTargetRules Target) : base(Target)
+	{
+		PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
+
+		PublicDependencyModuleNames.AddRange(
+			new string[]
+			{
+				"Core",
+				"Engine",
+				"InputCore" ,
+				"CoreUObject",
+			}
+		);
+
+		PrivateDependencyModuleNames.AddRange(
+			new string[]
+			{
+				"RHI",
+				"Sockets",
+				"Networking",
+				"RenderCore",
+			}
+		);
+	}
+}

Source/MecanumVehicle/MecanumVehicle.cpp

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+// Copyright Epic Games, Inc. All Rights Reserved.
+
+#include "MecanumVehicle.h"
+#include "Modules/ModuleManager.h"
+
+IMPLEMENT_PRIMARY_GAME_MODULE( FDefaultGameModuleImpl, MecanumVehicle, "MecanumVehicle" );

Source/MecanumVehicle/MecanumVehicle.h

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+// Copyright Epic Games, Inc. All Rights Reserved.
+
+#pragma once
+
+#include "CoreMinimal.h"
+

Source/MecanumVehicle/MecanumVehicleAdapter.cpp

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+#include "MecanumVehicleAdapter.h"
+
+#include "Sockets.h"
+#include "Networking.h"
+#include "Misc/Timespan.h"
+#include "SocketSubsystem.h"
+
+AMecanumVehicleAdapter::AMecanumVehicleAdapter(const FObjectInitializer& ObjectInitializer)
+{
+	PrimaryActorTick.bCanEverTick = true;
+}
+
+void AMecanumVehicleAdapter::BeginPlay()
+{
+	Super::BeginPlay();
+
+	SocketSubsystem = ISocketSubsystem::Get(PLATFORM_SOCKETSUBSYSTEM);
+
+	UDPSocket = SocketSubsystem->CreateSocket(NAME_DGram, TEXT("Raspberry Socket"), FNetworkProtocolTypes::IPv4);
+
+	UDPBuffer.SetNumUninitialized(1024);
+
+	PingTime = 1024.0;
+
+	for (int32 Index = 0; Index < MAX_uint8; ++Index)
+	{
+		UDPRecvTime[Index] = FDateTime(0);
+	}
+
+	UpdataSocket(TEXT("192.168.1.1"));
+}
+
+void AMecanumVehicleAdapter::UpdataCompensation(const TArray<double>& Value)
+{
+	if (Value.Num() != 8) return;
+
+	SpeedCompensationMax[0] = Value[0];
+	SpeedCompensationMax[1] = Value[1];
+	SpeedCompensationMax[2] = Value[2];
+	SpeedCompensationMax[3] = Value[3];
+
+	SpeedCompensationMin[0] = Value[4];
+	SpeedCompensationMin[1] = Value[5];
+	SpeedCompensationMin[2] = Value[6];
+	SpeedCompensationMin[3] = Value[7];
+
+}
+
+void AMecanumVehicleAdapter::UpdataSocket(const FString& IP, const int32 Port)
+{
+	int32 BytesNum = 0;
+	Addr = SocketSubsystem->CreateInternetAddr();
+
+	bool bIsValid;
+	Addr->SetIp(TEXT("192.168.1.1"), bIsValid);
+	Addr->SetIp(*IP, bIsValid);
+	Addr->SetPort(Port);
+}
+
+void AMecanumVehicleAdapter::UpdataInput(const FVector Value, const bool bIsBrake)
+{
+	++UDPSequenceIndex;
+
+	UDPSequenceIndex %= MAX_uint8;
+
+	UDPRecvTime[UDPSequenceIndex] = FDateTime::UtcNow();
+
+	double SpeedLF = 0.0f;
+	double SpeedRF = 0.0f;
+	double SpeedLR = 0.0f;
+	double SpeedRR = 0.0f;
+
+	SpeedLF += Value.X;
+	SpeedRF += Value.X;
+	SpeedLR += Value.X;
+	SpeedRR += Value.X;
+
+	SpeedLF += Value.Y;
+	SpeedRF -= Value.Y;
+	SpeedLR -= Value.Y;
+	SpeedRR += Value.Y;
+
+	SpeedLF += Value.Z;
+	SpeedRF -= Value.Z;
+	SpeedLR += Value.Z;
+	SpeedRR -= Value.Z;
+
+	UDPBuffer[0] = UDPSequenceIndex;
+	UDPBuffer[1] = (int8)(FMath::Clamp(FMath::Sign(SpeedLF) * FMath::Lerp(SpeedCompensationMin[0], SpeedCompensationMax[0], FMath::Abs(SpeedLF)) * 128.0, MIN_int8, MAX_int8));
+	UDPBuffer[2] = (int8)(FMath::Clamp(FMath::Sign(SpeedRF) * FMath::Lerp(SpeedCompensationMin[1], SpeedCompensationMax[1], FMath::Abs(SpeedRF)) * 128.0, MIN_int8, MAX_int8));
+	UDPBuffer[3] = (int8)(FMath::Clamp(FMath::Sign(SpeedLR) * FMath::Lerp(SpeedCompensationMin[2], SpeedCompensationMax[2], FMath::Abs(SpeedLR)) * 128.0, MIN_int8, MAX_int8));
+	UDPBuffer[4] = (int8)(FMath::Clamp(FMath::Sign(SpeedRR) * FMath::Lerp(SpeedCompensationMin[3], SpeedCompensationMax[3], FMath::Abs(SpeedRR)) * 128.0, MIN_int8, MAX_int8));
+	UDPBuffer[5] = bIsBrake;
+
+	int32 BytesNum = 0;
+	UDPSocket->SendTo(UDPBuffer.GetData(), 6, BytesNum, *Addr);
+}
+
+void AMecanumVehicleAdapter::Tick(float DeltaTime)
+{
+	Super::Tick(DeltaTime);
+	
+	int32 BytesNum = 0;
+	TSharedRef<FInternetAddr> Source = SocketSubsystem->CreateInternetAddr();
+
+	uint32 PendingDataSize;
+	while (UDPSocket->HasPendingData(PendingDataSize))
+	{
+		UDPSocket->RecvFrom(UDPBuffer.GetData(), UDPBuffer.Num(), BytesNum, *Source);
+
+		if (BytesNum == 1)
+		{
+			uint8 Index = UDPBuffer[0];
+			PingTime = (FDateTime::UtcNow() - UDPRecvTime[Index]).GetTotalMilliseconds();
+		}
+		else continue;
+
+		UDPLastTime = FDateTime::UtcNow();
+	}
+
+	PingTime = FMath::Max(PingTime, (FDateTime::UtcNow() - UDPLastTime).GetTotalMilliseconds());
+}
+
+void AMecanumVehicleAdapter::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+	Super::EndPlay(EndPlayReason);
+}

Source/MecanumVehicle/MecanumVehicleAdapter.h

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+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "MecanumVehicleAdapter.generated.h"
+
+class FSocket;
+class ISocketSubsystem;
+
+UCLASS()
+class MECANUMVEHICLE_API AMecanumVehicleAdapter : public AActor
+{
+	GENERATED_BODY()
+
+public:
+
+	AMecanumVehicleAdapter(const FObjectInitializer& ObjectInitializer);
+
+	UPROPERTY(BlueprintReadOnly)
+	double PingTime;
+
+	UFUNCTION(BlueprintCallable)
+	void UpdataCompensation(const TArray<double>& Value);
+
+	UFUNCTION(BlueprintCallable)
+	void UpdataSocket(const FString& IP, const int32 Port = 6000);
+
+	UFUNCTION(BlueprintCallable)
+	void UpdataInput(const FVector Value, const bool bIsBrake);
+
+	UFUNCTION(BlueprintCallable)
+
+	//~ Begin AActor Interface.
+	virtual void BeginPlay() override;
+	virtual void Tick(float DeltaSeconds) override;
+	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+	//~ End AActor Interface.
+
+private:
+
+	ISocketSubsystem* SocketSubsystem;
+
+	FSocket* UDPSocket;
+
+	TSharedPtr<FInternetAddr> Addr;
+
+	TArray<uint8> UDPBuffer;
+
+	int32 UDPSequenceIndex = 0;
+
+	FDateTime UDPLastTime;
+
+	FDateTime UDPRecvTime[(int32)MAX_uint8 + 1];
+
+	double SpeedCompensationMax[4] = { 1.0, 1.0, 1.0, 1.0 };
+
+	double SpeedCompensationMin[4] = { 0.0, 0.0, 0.0, 0.0 };
+
+};

Source/MecanumVehicleEditor.Target.cs

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+// Copyright Epic Games, Inc. All Rights Reserved.
+
+using UnrealBuildTool;
+using System.Collections.Generic;
+
+public class MecanumVehicleEditorTarget : TargetRules
+{
+	public MecanumVehicleEditorTarget( TargetInfo Target) : base(Target)
+	{
+		Type = TargetType.Editor;
+		DefaultBuildSettings = BuildSettingsVersion.V2;
+		IncludeOrderVersion = EngineIncludeOrderVersion.Unreal5_1;
+		ExtraModuleNames.Add("MecanumVehicle");
+	}
+}