Added some things

FRC 2019 Virtual Camera/Assets/Scripts/robotCommunication.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Globalization;
 using System.Net;
 using System.Net.Sockets;
@@ -9,33 +10,34 @@ using UnityEngine;
 
 public class robotCommunication : MonoBehaviour
 {
-    public bool isData = false;
-    public static int portNumber = 4388;
-    public int bytesAvailable;
-    List<string> keys = new List<string>();
     public SortedList<string, float> robotValues =
             new SortedList<string, float>
             {
-                { "Left Pos Inches", 0.0f },
-                { "Yaw Angle Deg", 0.0f },
-                { "Right Pos Inches", 0.0f },
-                { "Elevator Pos Ticks", 0.0f },
+                { "Pitch", 0.0f },
+                { "Roll", 0.0f },
+                { "Yaw", 0.0f },
+                { "Distance", 0.0f },
             };
-
+    public static int portNumber = 4388;
+    public int bytesAvailable;
+    List<string> keys = new List<string>();
     public float encoder, navX;
-
     public string input, request = "";
-
     IPEndPoint serverAddress = new IPEndPoint(IPAddress.Parse("127.0.0.1"), portNumber);
-    Socket clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
-
+    Socket serverSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+    Socket clientSocket;
     short currentIndex;
     float currentValue;
+    public float latency;
 
     // Start is called before the first frame update
     void Start()
     {
-        clientSocket.Connect(serverAddress);
+        startRobopipe();
+        serverSocket.Bind(serverAddress);
+        serverSocket.Listen(10);
+
+        clientSocket = serverSocket.Accept();
         foreach (var valuePair in robotValues)
         {
             request += valuePair.Key;
@@ -50,6 +52,7 @@ public class robotCommunication : MonoBehaviour
     // Update is called once per frame
     void Update()
     {
+        latency = Time.deltaTime * 1000;
         bytesAvailable = clientSocket.Available;
         if (bytesAvailable > 10)
         {
@@ -63,8 +66,20 @@ public class robotCommunication : MonoBehaviour
                 robotValues[keys[i]] = float.Parse(values[i], CultureInfo.InvariantCulture.NumberFormat);
                 i++;
             }
-            clientSocket.Send(new byte[] { 100 });
-            isData = true;
+            clientSocket.Send(Encoding.UTF8.GetBytes("CONT"));
         }
     }
+
+    private void OnApplicationQuit()
+    {
+        clientSocket.Send(Encoding.UTF8.GetBytes("EXIT"));
+    }
+
+    private void startRobopipe()
+    {
+        Process foo = new Process();
+        foo.StartInfo.FileName = "Robopipe.jar";
+        foo.StartInfo.Arguments = "" + portNumber;
+        foo.Start();
+    }
 }