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_Redstone_c_
2021-08-09 17:12:24 +08:00
commit 7b6eec1d2a
19 changed files with 683 additions and 0 deletions
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14
Source/RaspberryVehicle.Target.cs Normal file
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// Copyright Epic Games, Inc. All Rights Reserved.
using UnrealBuildTool;
using System.Collections.Generic;
public class RaspberryVehicleTarget : TargetRules
{
public RaspberryVehicleTarget( TargetInfo Target) : base(Target)
{
Type = TargetType.Game;
DefaultBuildSettings = BuildSettingsVersion.V2;
ExtraModuleNames.AddRange( new string[] { "RaspberryVehicle" } );
}
}

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

6
Source/RaspberryVehicle/RaspberryVehicle.cpp Normal file
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// Copyright Epic Games, Inc. All Rights Reserved.
#include "RaspberryVehicle.h"
#include "Modules/ModuleManager.h"
IMPLEMENT_PRIMARY_GAME_MODULE( FDefaultGameModuleImpl, RaspberryVehicle, "RaspberryVehicle" );

6
Source/RaspberryVehicle/RaspberryVehicle.h Normal file
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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
#include "CoreMinimal.h"

139
Source/RaspberryVehicle/RaspberryVehicleGameMode.cpp Normal file
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#include "RaspberryVehicleGameMode.h"
#include "Sockets.h"
#include "Networking.h"
#include "Misc/Timespan.h"
#include "SocketSubsystem.h"
#include "Engine/Texture2DDynamic.h"
ARaspberryVehicleGameMode::ARaspberryVehicleGameMode(const FObjectInitializer& ObjectInitializer)
{
PrimaryActorTick.bCanEverTick = true;
}
void ARaspberryVehicleGameMode::BeginPlay()
{
Super::BeginPlay();
SocketSubsystem = ISocketSubsystem::Get(PLATFORM_SOCKETSUBSYSTEM);
UDPSocket = SocketSubsystem->CreateSocket(NAME_DGram, TEXT("Raspberry Socket"), FNetworkProtocolTypes::IPv4);
UDPBuffer.SetNumUninitialized(1024);
CameraBuffer.Init(255, 256 * 256 * 4);
UDPLastTime = FDateTime(0);
UDPSendTime = FDateTime(0);
CameraTexture = UTexture2D::CreateTransient(256, 256);
void* Pixels = CameraTexture->PlatformData->Mips[0].BulkData.Lock(LOCK_READ_WRITE);
FMemory::Memcpy(Pixels, CameraBuffer.GetData(), 256 * 256 * 4);
CameraTexture->PlatformData->Mips[0].BulkData.Unlock();
CameraTexture->UpdateResource();
}
void ARaspberryVehicleGameMode::Tick(float DeltaSeconds)
{
Super::Tick(DeltaSeconds);
int32 BytesNum = 0;
TSharedRef<FInternetAddr> Addr = SocketSubsystem->CreateInternetAddr();
bool bIsValid;
Addr->SetIp(TEXT("192.168.1.1"), bIsValid);
Addr->SetIp(*IP, bIsValid);
Addr->SetPort(6000);
if ((FDateTime::Now() - UDPSendTime) > FTimespan::FromSeconds(0.1))
{
uint8* MotorModeBuffer = (uint8*)&MotorMode;
UDPBuffer[0] = MotorModeBuffer[3];
UDPBuffer[1] = MotorModeBuffer[2];
UDPBuffer[2] = MotorModeBuffer[1];
UDPBuffer[3] = MotorModeBuffer[0];
uint8* MotorSpeedBuffer = (uint8*)&MotorSpeed;
UDPBuffer[4] = MotorSpeedBuffer[3];
UDPBuffer[5] = MotorSpeedBuffer[2];
UDPBuffer[6] = MotorSpeedBuffer[1];
UDPBuffer[7] = MotorSpeedBuffer[0];
UDPSocket->SendTo(UDPBuffer.GetData(), 8, BytesNum, *Addr);
UDPSendTime = FDateTime::Now();
}
uint32 PendingDataSize;
while(UDPSocket->HasPendingData(PendingDataSize))
{
UDPSocket->RecvFrom(UDPBuffer.GetData(), UDPBuffer.Num(), BytesNum, *Addr);
if (BytesNum == 13)
{
UDPLastTime = FDateTime::Now();
bCLP = (bool)UDPBuffer[0];
bNear = (bool)UDPBuffer[1];
bIS1 = (bool)UDPBuffer[2];
bIS2 = (bool)UDPBuffer[3];
bIS3 = (bool)UDPBuffer[4];
bIS4 = (bool)UDPBuffer[5];
bIS5 = (bool)UDPBuffer[6];
SpeedL = UDPBuffer[7] * 0.5;
SpeedR = UDPBuffer[8] * 0.5;
uint8 DistanceBuffer[4];
DistanceBuffer[3] = UDPBuffer[9];
DistanceBuffer[2] = UDPBuffer[10];
DistanceBuffer[1] = UDPBuffer[11];
DistanceBuffer[0] = UDPBuffer[12];
FMemory::Memcpy(&Distance, DistanceBuffer, sizeof Distance);
}
else if (BytesNum == 770)
{
int32 ChunkIndex;
uint8* ChunkIndexBuffer = (uint8*)&ChunkIndex;
ChunkIndexBuffer[0] = UDPBuffer[1];
ChunkIndexBuffer[1] = UDPBuffer[0];
ChunkIndexBuffer[2] = 0;
ChunkIndexBuffer[3] = 0;
uint8* Src = &UDPBuffer[2];
for (int32 PixelIndex = 0; PixelIndex < 256; ++PixelIndex)
{
CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 0] = Src[PixelIndex * 3 + 0];
CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 1] = Src[PixelIndex * 3 + 1];
CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 2] = Src[PixelIndex * 3 + 2];
CameraBuffer[(ChunkIndex * 256 + PixelIndex) * 4 + 3] = 255;
}
}
}
void* Buffer = CameraBuffer.GetData();
FRHITexture2D* RHICameraTexture = CameraTexture->Resource->GetTexture2DRHI();
ENQUEUE_RENDER_COMMAND(RaspberryCameraUpdate)(
[RHICameraTexture, Buffer](FRHICommandListImmediate& RHICmdList)
{
uint32 Stride = 0;
void* Pixels = RHILockTexture2D(RHICameraTexture, 0, RLM_WriteOnly, Stride, false);
FMemory::Memcpy(Pixels, Buffer, 256 * 256 * 4);
RHIUnlockTexture2D(RHICameraTexture, 0, false);
}
);
}
void ARaspberryVehicleGameMode::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
SocketSubsystem->DestroySocket(UDPSocket);
Super::EndPlay(EndPlayReason);
}

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Source/RaspberryVehicle/RaspberryVehicleGameMode.h Normal file
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#pragma once
#include "CoreMinimal.h"
#include "Misc/DateTime.h"
#include "GameFramework/GameModeBase.h"
#include "RaspberryVehicleGameMode.generated.h"
class FSocket;
class UTexture2D;
class ISocketSubsystem;
UCLASS(Blueprintable)
class ARaspberryVehicleGameMode : public AGameModeBase
{
GENERATED_BODY()
public:
ARaspberryVehicleGameMode(const FObjectInitializer& ObjectInitializer);
UPROPERTY(BlueprintReadWrite)
FString IP;
UPROPERTY(BlueprintReadOnly)
FDateTime UDPLastTime;
UPROPERTY(BlueprintReadOnly)
bool bCLP;
UPROPERTY(BlueprintReadOnly)
bool bNear;
UPROPERTY(BlueprintReadOnly)
bool bIS1;
UPROPERTY(BlueprintReadOnly)
bool bIS2;
UPROPERTY(BlueprintReadOnly)
bool bIS3;
UPROPERTY(BlueprintReadOnly)
bool bIS4;
UPROPERTY(BlueprintReadOnly)
bool bIS5;
UPROPERTY(BlueprintReadOnly)
float SpeedL = 0.0f;
UPROPERTY(BlueprintReadOnly)
float SpeedR = 0.0f;
UPROPERTY(BlueprintReadOnly)
float Distance = 0.0f;
UPROPERTY(BlueprintReadWrite)
int32 MotorMode = -1;
UPROPERTY(BlueprintReadWrite)
int32 MotorSpeed = 100;
UPROPERTY(BlueprintReadWrite)
UTexture2D* CameraTexture;
ISocketSubsystem* SocketSubsystem;
FSocket* UDPSocket;
TArray<uint8> UDPBuffer;
TArray<uint8> CameraBuffer;
FDateTime UDPSendTime;
//~ Begin AActor Interface.
virtual void BeginPlay() override;
virtual void Tick(float DeltaSeconds) override;
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
//~ End AActor Interface.
};

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Source/RaspberryVehicleEditor.Target.cs Normal file
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// Copyright Epic Games, Inc. All Rights Reserved.
using UnrealBuildTool;
using System.Collections.Generic;
public class RaspberryVehicleEditorTarget : TargetRules
{
public RaspberryVehicleEditorTarget( TargetInfo Target) : base(Target)
{
Type = TargetType.Editor;
DefaultBuildSettings = BuildSettingsVersion.V2;
ExtraModuleNames.AddRange( new string[] { "RaspberryVehicle" } );
}
}