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Matlab Unity图像传输,实现Matlab与Unity之间通信
Unity端实现代码
using System;
using System.Net.Sockets;
using System.Text;
using System.Collections;
using System.Collections.Generic;
using System.Threading;
using UnityEngine;
using System.Net;
using System.IO;
using System.Globalization;
public class Server : MonoBehaviour {
//General Init
private List<ServerClient> clients;
private List<int> disconnectIndex;
public int Port;
public TcpListener server;
private bool serverStarted;
public GameObject sphere;
Camera MainCamera;
// Use this for initialization
void Start () {
clients = new List<ServerClient>();
disconnectIndex = new List<int>();
try {
server = new TcpListener(IPAddress.Any, Port);
server.Start();
Startlistening();
serverStarted = true;
Debug.Log("Server has started on port:" + Port.ToString());
}
catch (Exception e) {
Debug.Log("Socket Error " + e.Message);
}
InvokeRepeating("UpdateLoop", 0f, 0.003f);
}
public void UpdateLoop()
{
if(!serverStarted)
return;
if(clients.Count == 0)
return;
for(int c = 0; c < clients.Count; c++ ) {
//Check if clients are connected
if(!isConnected(clients[c].tcp)) {
clients[c].tcp.Close();
disconnectIndex.Add(c);
Debug.Log(clients[c].clientName + " has disconnected from the server");
continue;
}
// Check for data from client
else {
NetworkStream s = clients[c].tcp.GetStream();
if(s.DataAvailable) {
// StreamReader reader = new StreamReader(s, true);
byte[] DataLength = new byte[1];
s.Read(DataLength, 0, 1);
if (DataLength != null)
{
byte[] RecievedString = new byte[(int)DataLength[0]];
s.Read(RecievedString, 0, (int)DataLength[0]);
OnIncomingData(clients[c],RecievedString); //Handles incoming data
}
s.Flush();
}
}
}
//Clean up Disconnected Clients
for(int i = 0; i < disconnectIndex.Count; i++) {
clients.RemoveAt(disconnectIndex[i]);
}
disconnectIndex.Clear();
}
//Checks if client is connected
private bool isConnected(TcpClient c)
{
try {
if(c != null && c.Client != null && c.Client.Connected) //Makes sure the client is connected
{
if(c.Client.Poll(0, SelectMode.SelectRead)) //Polls the Client for activity
{
return !(c.Client.Receive(new byte[1], SocketFlags.Peek) == 0); //Checks for response
}
return true;
}
else
return false;
}
catch {
return false;
}
}
//Begins connection with client
private void AcceptServerClient(IAsyncResult ar)
{
TcpListener listener = (TcpListener)ar.AsyncState;
ServerClient NewClient = new ServerClient(listener.EndAcceptTcpClient(ar), null);
Debug.Log("Someone has connected");
clients.Add(NewClient);
Startlistening();
}
//Starts listening on server socket
private void Startlistening()
{
server.BeginAcceptTcpClient(AcceptServerClient, server);
}
//Try to close all the connections gracefully
public void OnApplicationQuit()
{
for (int i = 0; i < clients.Count; i++)
{
try
{
clients[i].tcp.GetStream().Close();
clients[i].tcp.Close();
server.Stop();
}
catch { }
}
Debug.Log("Connections Closed");
}
//Sends out data
public void OutgoingData(ServerClient c, byte[] data) {
NetworkStream ClientStream = c.tcp.GetStream();
try
{
ClientStream.Write(data, 0, data.Length);
}
catch (Exception e) {
Debug.LogError("Could not write to client.
Error:" + e);
}
}
//Handler for incoming data
private void OnIncomingData(ServerClient c, byte [] ReceivedData)
{
string RecivedString = Encoding.UTF8.GetString(ReceivedData,0,ReceivedData.Length);
char[] delimiterChar = { ':', ','};
string[] cleanData = RecivedString.Split(delimiterChar);
string Response;
//Switch to handle debug messages and extra info between Matlab and Unity
switch(cleanData[0])
{
case "Camera":
Debug.Log(cleanData[2]);
StartCoroutine(SendCamCapture(c, cleanData[2], cleanData[3], cleanData[1]));
Response = cleanData[3] + ".png";
break;
case "MoveCam":
CamMove(float.Parse(cleanData[1], CultureInfo.InvariantCulture), float.Parse(cleanData[2], CultureInfo.InvariantCulture));
break;
case "ActObj":
ObjAct(int.Parse(cleanData[1], CultureInfo.InvariantCulture));
break;
default:
break;
}
}
public void CamMove(float movementX, float movementY)
{
GameObject.Find("Main Camera").transform.position = new Vector3(movementX, movementY, 0);
}
public void ObjAct(int activate)
{
if (activate == 1)
{
sphere.SetActive(true);
}
if (activate == 0)
{
sphere.SetActive(false);
}
}
//Organizes and Sends Picture
IEnumerator SendCamCapture(ServerClient c, string FilePath, string FileName, string CameraSelect)
{
GameObject Cube = GameObject.Find("saveCam");
camScript CubeComp = Cube.GetComponent<camScript>();
CubeComp.CaptureImage(FilePath, FileName, CameraSelect);
while (!CubeComp.CaptureDone())
{
yield return null;
}
StartCoroutine(SerializeCapture(c, CubeComp.ReturnCaptureBytes(), CubeComp.Width, CubeComp.Height));
}
IEnumerator SerializeCapture(ServerClient c, byte[] PixelData, int Width, int Length)
{
OutgoingData(c, PixelData);
yield return null;
}
public void OpenWebSite()
{
Application.OpenURL("https://Matlab与Unity图像传输TCP资源-CSDN文库");
}
}
public class ServerClient {
public TcpClient tcp;
public string clientName;
public GameObject ClientObj;
public ServerClient(TcpClient clientSocket, string Name) {
clientName = Name;
tcp = clientSocket;
}
}
Matlab端实现代码
function image = ImageReadTCP_One(TCP_Handle,CameraSelect)
writeTCP(TCP_Handle,sprintf("Camera:%s,%s,%s",CameraSelect,'test','test'));
pause(0.054);
while(TCP_Handle.BytesAvailable == 0)
end
data = read(TCP_Handle);
% pause(0.005);
while(TCP_Handle.BytesAvailable ~= 0)
data1 = read(TCP_Handle);
data = [data,data1];
% pause(0.005);
end
fid = fopen('image.png','w');
fwrite(fid,data,'uint8');
fclose(fid);
image = imread('image.png');
% Part 1 - display Image
clc;
clear all;
name = "Matlab";
Client = TCPInit('127.0.0.1',55001,name);
test = ImageReadTCP_One(Client,'Center');
imshow(test);
disp("Program done");
%% Part 2 - display Image and move Camera
clc;
clear all;
name = "Matlab";
Client = TCPInit('127.0.0.1',55001,name);
for move = 0 : 0.2 : 2
func_move_cam(Client,move);
test = ImageReadTCP_One(Client,'Center');
imshow(test);
end
disp("Program done");
%% Part 3 - display Image, move Camera and hide Object for specific region
clc;
clear all;
name = "Matlab";
Client = TCPInit('127.0.0.1',55001,name);
for move = 0 : 0.2 : 2
func_move_cam(Client,move);
if move > 0.6 && move < 1.2
act_obj = 0;
func_activate_obj(Client,act_obj);
else
act_obj = 1;
func_activate_obj(Client,act_obj);
end
test = ImageReadTCP_One(Client,'Center');
imshow(test);
end
disp("Program done");