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2025-05-13 03:26:56 +03:00
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+using UnityEngine;
+using System.Collections;
+using System.IO.Ports;
+using System;
+
+public class QuadcoperClient : MonoBehaviour {
+    private SerialPort port;
+    public string portName = "COM5";
+    private bool _stream = false;
+
+    private int[] motor_speeds = new int[4];
+
+    // Use this for initialization
+    void Start() {
+        Connect();
+    }
+
+    // Update is called once per frame
+    void Update() {
+        if (port != null && port.IsOpen)
+        {
+           // UpdateOrientation();
+        }
+    }
+
+    void Connect() {
+        port = new SerialPort(portName);
+        port.BaudRate = 1500000;
+        port.Open();
+        port.ReadTimeout = SerialPort.InfiniteTimeout;
+    }
+
+    void Disconnect() {
+        port.Close();
+    }
+
+    static Quaternion AccelerationToOrientation(Vector3 acceleration)
+    {
+        acceleration.x = -acceleration.x;
+        acceleration.z = -acceleration.z;
+        if (Vector3.Dot(acceleration.normalized, Vector3.up) > 0.9999f){
+            return Quaternion.identity;
+        }
+        return Quaternion.FromToRotation(Vector3.up, acceleration);
+    }
+
+    public void SetMotorSpeed(byte motor, byte speed) {
+        port.ExecuteCommand(UartCommand.Create(uart_commands.motor_write).Write<byte>(motor).Write<byte>(speed));
+    }
+
+    public Vector3 ReadAccelerometer() {
+        var response = port.ExecuteCommand(UartCommand.Create(uart_commands.acc_read));
+        var result = response.CreateReader().Read<Vector3>();
+        return new Vector3(result.x, result.z, result.y);
+    }
+
+    void SyncTransform()
+    {
+        transform.localRotation = AccelerationToOrientation(ReadAccelerometer());
+    }
+
+    void OnGUI() {
+
+        for (int i = 0; i < 4; ++i)
+        {
+            var new_speed = (int)GUI.HorizontalSlider(new Rect(10, 10 + 30 * i, 300, 30), motor_speeds[i], 0, 100);
+            if (new_speed != motor_speeds[i]) {
+                motor_speeds[i] = new_speed;
+                SetMotorSpeed((byte)i, (byte)new_speed);
+            }
+        }
+
+        if (GUILayout.Button("Play sound"))
+        {
+            port.ExecuteCommand(UartCommand.Create(uart_commands.play_sound));
+        }
+
+        if (GUI.Button(new Rect(400, 10, 150, 30), "Read accelerometer"))
+        {
+            Debug.Log(ReadAccelerometer());
+            SyncTransform();
+        }
+
+        if (_stream)
+        {
+            if (GUI.Button(new Rect(10, 130, 150, 30), "Stop stream"))
+            {
+                _stream = false;
+            }
+        } else {
+            if (GUI.Button(new Rect(10, 130, 150, 30), "Start stream")) {
+                _stream = true;
+            }
+        }
+
+        if (_stream)
+        {
+            SyncTransform();
+        }
+
+    }
+
+    void OnDestroy() {
+        Disconnect();
+    }
+}
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+
+using System.Collections;
+using System.Runtime.InteropServices;
+using System;
+using System.IO.Ports;
+
+[StructLayout(LayoutKind.Sequential, Pack = 1)]
+public struct UartCommandHeader {
+    public uint id;
+    public byte payloadSize;
+}
+
+[StructLayout(LayoutKind.Sequential, Pack = 1)]
+public struct UartCommand {
+    public UartCommandHeader header;
+    public const int MaxPayloadSize = 32;
+    [MarshalAs(UnmanagedType.ByValArray, SizeConst = MaxPayloadSize)]
+    public byte[] payload;
+
+    public UartCommand(uint _id, byte[] payloadBytes = null) {
+        byte _payloadSize = 0;
+        if (payloadBytes != null) {
+            if (payloadBytes.Length > MaxPayloadSize) {
+                throw new Exception("Too big payload!");
+            }
+            _payloadSize = (byte)payloadBytes.Length;
+        }
+        header = new UartCommandHeader() { id = _id, payloadSize = _payloadSize };
+        payload = new byte[MaxPayloadSize];
+
+        if (_payloadSize > 0) {
+            Array.Copy(payloadBytes, payload, payloadBytes.Length);
+        }
+    }
+
+    public UartCommand Write<T>(T val) where T : struct {
+        var bytes = Utils.StructToBytes(val);
+        for (int i = 0; i < bytes.Length; ++i) {
+            payload[header.payloadSize++] = bytes[i];
+        }
+        return this;
+    }
+
+    public static UartCommand Create() {
+        var result = new UartCommand();
+        result.payload = new byte[MaxPayloadSize];
+        return result;
+    }
+
+    public static UartCommand Create(uint id) {
+        var result = Create();
+        result.header.id = id;
+        return result;
+    }
+
+    public UartCommand SetID(uint _id) {
+        header.id = _id;
+        return this;
+    }
+
+    public static int Size {
+        get { return Marshal.SizeOf(typeof(UartCommandHeader)) + MaxPayloadSize; }
+    }
+
+    public UartCommandReader CreateReader() {
+        return new UartCommandReader(ref this);
+    }
+}
+
+public class UartCommandReader {
+    private int offset = 0;
+    private byte[] buffer;
+    public UartCommandReader(ref UartCommand cmd) {
+        buffer = cmd.payload;
+    }
+
+    public T Read<T>() where T : struct {
+        var result = Utils.StructFromBytes<T>(buffer, offset);
+        offset += Marshal.SizeOf(typeof(T));
+        return result;
+    }
+}
+
+
+public static class Utils {
+    public static T StructFromBytes<T>(byte[] buffer, int offset = 0) where T : struct {
+        var handle = GCHandle.Alloc(buffer, GCHandleType.Pinned);
+        var result = (T)Marshal.PtrToStructure(new IntPtr(handle.AddrOfPinnedObject().ToInt64() + offset), typeof(T));
+        handle.Free();
+        return result;
+    }
+
+    public static byte[] StructToBytes<T>(T val) where T : struct {
+        var result = new byte[Marshal.SizeOf(typeof(T))];
+        var handle = GCHandle.Alloc(result, GCHandleType.Pinned);
+        Marshal.StructureToPtr(val, handle.AddrOfPinnedObject(), false);
+        handle.Free();
+        return result;
+    }
+}
+
+public static class SerialPortEx {
+    public static UartCommand ExecuteCommand(this SerialPort _this, UartCommand cmd) {
+        SendCommand(_this, cmd);
+        return ReceiveCommand(_this);
+    }
+
+    private static void SendCommand(SerialPort _this, UartCommand cmd) {
+        var bytes = Utils.StructToBytes(cmd);
+        _this.Write(bytes, 0, bytes.Length);
+        _this.BaseStream.Flush();
+    }
+
+    private static UartCommand ReceiveCommand(SerialPort _this) {
+        var buffer = new byte[UartCommand.Size];
+        int done = 0;
+        while (done != buffer.Length) {
+            var len = _this.Read(buffer, done, buffer.Length - done);
+            if (len <= 0) {
+                throw new Exception("Failed to read command");
+            }
+            done += len;
+        }
+        _this.BaseStream.Flush();
+        return Utils.StructFromBytes<UartCommand>(buffer);
+    }
+}
+
+public struct uart_commands {
+    public static uint FOURCC(char a, char b, char c, char d) {
+        return ((uint)((((uint)d) << 24) | (((uint)c) << 16) | (((uint)b) << 8) | ((uint)a)));
+    }
+    public static uint led_write = FOURCC('L', 'e', 'd', 'W');
+    public static uint led_read = FOURCC('L', 'e', 'd', 'R');
+    public static uint motor_write = FOURCC('M', 't', 'r', 'W');
+    public static uint play_sound = FOURCC('P', 'S', 'n', 'd');
+    public static uint acc_read = FOURCC('A', 'c', 'c', 'R');
+    public static uint gyro_read = FOURCC('G', 'r', 'o', 'R');
+};
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