Compatability with Robopipe v2.0.0

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

@@ -9,16 +9,22 @@ 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>
             {
-                { "encoder", 0.0f },
-                { "navX", 0.0f },
+                { "Left Pos Inches", 0.0f },
+                { "Yaw Angle Deg", 0.0f },
+                { "Right Pos Inches", 0.0f },
+                { "Elevator Pos Ticks", 0.0f },
             };
 
-    public string input;
+    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);
@@ -29,24 +35,36 @@ public class robotCommunication : MonoBehaviour
     // Start is called before the first frame update
     void Start()
     {
-        Console.WriteLine("Connecting...");
         clientSocket.Connect(serverAddress);
-        Console.WriteLine("Connected");
+        foreach (var valuePair in robotValues)
+        {
+            request += valuePair.Key;
+            keys.Add(valuePair.Key);
+            request += ",";
+        }
+        request = request.Substring(0,request.Length-1);
+        byte[] byteRequest = Encoding.UTF8.GetBytes(request);
+        clientSocket.Send(byteRequest);
     }
 
     // Update is called once per frame
     void Update()
     {
         bytesAvailable = clientSocket.Available;
-        if (bytesAvailable == 12)
+        if (bytesAvailable > 10)
         {
             byte[] byteInput = new byte[100];
             clientSocket.Receive(byteInput);
             input = Encoding.UTF8.GetString(byteInput);
             string[] values = input.Split('|');
-            robotValues["encoder"] = float.Parse(values[0], CultureInfo.InvariantCulture.NumberFormat);
-            robotValues["navX"] = float.Parse(values[1], CultureInfo.InvariantCulture.NumberFormat);
+            int i = 0;
+            foreach (string key in keys)
+            {
+                robotValues[keys[i]] = float.Parse(values[i], CultureInfo.InvariantCulture.NumberFormat);
+                i++;
+            }
             clientSocket.Send(new byte[] { 100 });
+            isData = true;
         }
     }
 }