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a/Assets/Plugins/Android/AndroidManifest.xml +++ b/Assets/Plugins/Android/AndroidManifest.xml @@ -16,8 +16,9 @@ - - + + + diff --git a/Assets/Plugins/Android/robotassistant_lib-i18n-release.aar b/Assets/Plugins/Android/robotassistant_lib-i18n-release.aar new file mode 100644 index 00000000..4ec93346 Binary files /dev/null and b/Assets/Plugins/Android/robotassistant_lib-i18n-release.aar differ diff --git a/Assets/Plugins/Android/robotassistant_lib.aar.meta b/Assets/Plugins/Android/robotassistant_lib-i18n-release.aar.meta similarity index 93% rename from Assets/Plugins/Android/robotassistant_lib.aar.meta rename to Assets/Plugins/Android/robotassistant_lib-i18n-release.aar.meta index 3ca737a2..74209bc6 100644 --- a/Assets/Plugins/Android/robotassistant_lib.aar.meta +++ b/Assets/Plugins/Android/robotassistant_lib-i18n-release.aar.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: e11c2f070f5d84554bcc336518e588e0 +guid: 38e58e3bf7202944b9e54e5883abacb3 PluginImporter: externalObjects: {} 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8e08befb1867d8945b4f1ddac43e65c5, type: 3} m_Name: PXR_SDKSettingAsset m_EditorClassIdentifier: - ignoreSDKSetting: 0 + ignoreSDKSetting: 1 doNotShowBuildWarning: 0 appIDChecked: 0 diff --git a/Assets/Resources/PicoSdkPCConfig.json b/Assets/Resources/PicoSdkPCConfig.json new file mode 100644 index 00000000..795a84b1 --- /dev/null +++ b/Assets/Resources/PicoSdkPCConfig.json @@ -0,0 +1 @@ +{"general":{"region":"cn"},"account":{"access_token":""},"package":{"package_name":"com.xrobotoolkit.client","package_version_code":1,"package_version_name":"1.1.0"}} \ No newline at end of file diff --git a/Assets/Resources/PicoSdkPCConfig.json.meta b/Assets/Resources/PicoSdkPCConfig.json.meta new file mode 100644 index 00000000..2c279eac --- /dev/null +++ b/Assets/Resources/PicoSdkPCConfig.json.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: f5737538ace5c9843b66165322923e95 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Camera/CameraHandleUDP.cs b/Assets/Scripts/Camera/CameraHandleUDP.cs new file mode 100644 index 00000000..b05a4954 --- /dev/null +++ b/Assets/Scripts/Camera/CameraHandleUDP.cs @@ -0,0 +1,178 @@ +using System; +using UnityEngine; +using System.Threading.Tasks; + +namespace Robot +{ + public class CameraHandleUDP : AndroidJavaProxy + { + private static int _width = 1280; + private static int _height = 480; + private static int _fps = 30; + private static int _bitrate = 10 * 1024 * 1024; + private static int _enableMvHevc = 0; + private static int _captureRenderMode = 0; + private static PXRCaptureState CaptureState; + + private Action OnCameraOpened; + + // private Action OnConfigured; + private event Action OnStateChanged; + private Action OnReset; + + private static CameraHandleUDP _callbackProxy = new CameraHandleUDP(); + + public CameraHandleUDP() : base("com.pxr.capturelib.PXRCameraCallBack") + { + } + + public void captureOnStateChanged(int state) + { + Debug.Log($"[PXRCapture] State Changed: {state}"); + UnityMainThreadDispatcher.Instance().Enqueue(() => { captureOnStateChangedInternal(state); }); + } + + private async void captureOnStateChangedInternal(int state) + { + await Task.Delay(10); + CaptureState = (PXRCaptureState)state; + Debug.Log($"captureOnStateChanged: {state}"); + switch (CaptureState) + { + case PXRCaptureState.CAPTURE_STATE_IDLE: + if (OnReset != null) + { + OnReset(); + } + + break; + case PXRCaptureState.CAPTURE_STATE_CAMERA_OPENED: + + Debug.Log($"[PXRCapture] Camera Opened "); + GetJavaObject().Call("SetConfig", _enableMvHevc, _fps); + break; + + case PXRCaptureState.CAPTURE_STATE_CONFIGURED: + + Debug.Log($"[PXRCapture] OnConfigured "); + GetJavaObject().Call("StartPreview", _width, _height, _captureRenderMode); + + break; + case PXRCaptureState.CAPTURE_STATE_VIDEO_PREVIEWING: + + Debug.Log($"[PXRCapture] OnPreviewing "); + if (OnCameraOpened != null) + { + OnCameraOpened(); + } + + break; + } + + if (OnStateChanged != null) + { + OnStateChanged.Invoke(state); + } + } + + public void captureOnError(int errorCode) + { + Debug.LogError($"[PXRCapture] Error: {errorCode}"); + } + + public void captureOnEnviromentInfoChanged(int info1, int info2) + { + Debug.Log($"[PXRCapture] Environment Info Changed: {info1}, {info2}"); + } + + public void captureOnTakePictureComplete(float p1, float p2, float p3, float p4, float p5) + { + Debug.Log($"[PXRCapture] Picture Taken: {p1}, {p2}, {p3}, {p4}, {p5}"); + } + + public void captureOnTakePictureTimeOut() + { + Debug.LogWarning("[PXRCapture] Picture Capture Timed Out"); + } + + private static AndroidJavaObject _javaObj = null; + + private static AndroidJavaObject GetJavaObject() + { + if (_javaObj == null) + { + _javaObj = new AndroidJavaObject("com.picovr.robotassistantlib.CameraHandleUDP"); + } + + return _javaObj; + } + + public static int GetCaptureState() + { + return GetJavaObject().Call("GetCaptureState"); + } + + public static int StartCameraPreview(int width, int height, int fps, int bitrate, int enableMvHevc, + int renderMode, Action onCameraOpened) + { + _callbackProxy.OnCameraOpened = onCameraOpened; + _width = width; + _height = height; + _fps = fps; + _bitrate = bitrate; + _enableMvHevc = enableMvHevc; + _captureRenderMode = renderMode; + return GetJavaObject().Call("OpenCamera", _callbackProxy); + } + + public static int OpenCamera() + { + return GetJavaObject().Call("OpenCamera", _callbackProxy); + } + + public static int StartRecord(string savePath) + { + return GetJavaObject().Call("StartRecord", savePath); + } + + public static int StartPreview(int width, int height, int renderMode, Action onPreviewing) + { + return GetJavaObject().Call("StartPreview", width, height, renderMode); + } + + public static void AddStateListener(Action onStateChanged) + { + _callbackProxy.OnStateChanged += onStateChanged; + } + + public static void RemoveStateListener(Action onStateChanged) + { + _callbackProxy.OnStateChanged -= onStateChanged; + } + + public static int StartSendImage(string ip, int port) + { + return GetJavaObject().Call("StartSendImage", ip, port); + } + + public static int StopPreview() + { + return GetJavaObject().Call("StopPreview"); + } + + public static string GetCameraExtrinsics() + { + return GetJavaObject().Call("getCameraExtrinsics"); + } + + public static string GetCameraIntrinsics(int width, int height) + { + return GetJavaObject().Call("getCameraIntrinsics", width, height); + } + + public static int CloseCamera() + { + return GetJavaObject().Call("CloseCamera"); + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/Camera/CameraHandleUDP.cs.meta b/Assets/Scripts/Camera/CameraHandleUDP.cs.meta new file mode 100644 index 00000000..9f9839e2 --- /dev/null +++ b/Assets/Scripts/Camera/CameraHandleUDP.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 81009143264d46cfb6cd4ff06fa32467 +timeCreated: 1752709828 \ No newline at end of file diff --git a/Assets/Scripts/Camera/RemoteCameraWindow.cs b/Assets/Scripts/Camera/RemoteCameraWindow.cs index cfe090ba..52f600a1 100644 --- a/Assets/Scripts/Camera/RemoteCameraWindow.cs +++ b/Assets/Scripts/Camera/RemoteCameraWindow.cs @@ -4,6 +4,7 @@ using System.Threading; using System.Threading.Tasks; using LitJson; +using Network; using Robot; using UnityEngine.UI; @@ -25,10 +26,12 @@ public class RemoteCameraWindow : MonoBehaviour private Task _imageReceiveTask; private int _resolutionWidth = 2160; - private int _resolutionHeight = 2160 / 2*4/3; + private int _resolutionHeight = 2160 / 2 * 4 / 3; private int _videoFps = 60; private int _bitrate = 40 * 1024 * 1024; + public CustomButton listenBtn; + private void Awake() { transform.position = Camera.main.transform.position; @@ -54,6 +57,10 @@ private void OnDisable() public void OnCloseBtn() { + // Reset listen button + listenBtn.SetOn(false); + // send close event to server + NetworkCommander.Instance.CloseCamera(); gameObject.SetActive(false); } @@ -66,7 +73,7 @@ public IEnumerator OnStartListen(int port) yield return null; MediaDecoder.initialize((int)_texture.GetNativeTexturePtr(), _resolutionWidth, _resolutionHeight); - MediaDecoder.startTCPServer(port, true); + MediaDecoder.startServer(port, false); yield return null; JsonData cameraParam = new JsonData(); diff --git a/Assets/Scripts/Conf.meta b/Assets/Scripts/Conf.meta new file mode 100644 index 00000000..77132637 --- /dev/null +++ b/Assets/Scripts/Conf.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 0b85edd5fcbc4cd1ab27c77fc42ff25f +timeCreated: 1752255185 \ No newline at end of file diff --git a/Assets/Scripts/Conf/CameraParameters.cs b/Assets/Scripts/Conf/CameraParameters.cs new file mode 100644 index 00000000..2a421b7c --- /dev/null +++ b/Assets/Scripts/Conf/CameraParameters.cs @@ -0,0 +1,69 @@ +using System; + +[Serializable] +public class CameraParameters +{ + public int width; + public int height; + public int fps; + public int bitrate; + + public CameraParameters() + { + width = 1920; + height = 1080; + fps = 30; + bitrate = 5000000; // 5 Mbps default + } + + public CameraParameters(int width, int height, int fps, int bitrate) + { + this.width = width; + this.height = height; + this.fps = fps; + this.bitrate = bitrate; + } + + /// + /// Create CameraParameters from a VideoSource + /// + /// VideoSource containing camera properties + /// CameraParameters object + public static CameraParameters FromVideoSource(VideoSource videoSource) + { + if (videoSource == null) + return new CameraParameters(); + + return new CameraParameters( + videoSource.GetPropertyValue("CamWidth"), + videoSource.GetPropertyValue("CamHeight"), + videoSource.GetPropertyValue("CamFPS"), + videoSource.GetPropertyValue("CamBitrate") + ); + } + + /// + /// Get aspect ratio of the camera + /// + public float AspectRatio => height > 0 ? (float)width / height : 16f / 9f; + + /// + /// Get bitrate in Mbps + /// + public float BitrateInMbps => bitrate / 1000000f; + + /// + /// Get total pixels + /// + public int TotalPixels => width * height; + + /// + /// Check if the parameters are valid + /// + public bool IsValid => width > 0 && height > 0 && fps > 0 && bitrate > 0; + + public override string ToString() + { + return $"Camera: {width}x{height}@{fps}fps, {BitrateInMbps:F1}Mbps"; + } +} diff --git a/Assets/Scripts/Conf/CameraParameters.cs.meta b/Assets/Scripts/Conf/CameraParameters.cs.meta new file mode 100644 index 00000000..5f2b644f --- /dev/null +++ b/Assets/Scripts/Conf/CameraParameters.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4caa8c6f9de5e6147bcabc01a1c7c2bc +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Conf/README.md b/Assets/Scripts/Conf/README.md new file mode 100644 index 00000000..644d61fa --- /dev/null +++ b/Assets/Scripts/Conf/README.md @@ -0,0 +1,237 @@ +# Video Source YAML Parser + +This is a comprehensive YAML parser for the video_source.yml configuration file in Unity. It provides easy access to video source configurations using dot notation (e.g., `PICO4U.visibleRatio`). + +## Features + +- **Full YAML Parsing**: Parses the video_source.yml file into structured VideoSource objects +- **Type-Safe Property Access**: Automatic type conversion for float, int, string, and boolean values +- **Dot Notation Access**: Access properties using convenient syntax like `PICO4U.visibleRatio` +- **Error Handling**: Graceful handling of missing files, invalid syntax, and type conversion errors +- **Singleton Manager**: Easy-to-use singleton configuration manager +- **Unity Integration**: Designed specifically for Unity with proper logging and MonoBehaviour integration + +## File Structure + +- `VideoSourceProperty.cs` - Represents a single property with type-safe value access +- `VideoSource.cs` - Represents a video source with multiple properties +- `VideoSourceYamlParser.cs` - Static parser utility for YAML files +- `VideoSourceConfigManager.cs` - Singleton manager for easy configuration access +- `VideoSourceConfigExample.cs` - Example usage and testing script +- `CameraParameters.cs` - Camera configuration data structure +- `VideoSourceManager.cs` - Unity component for managing video source updates + +## Setup + +1. **Add the VideoSourceConfigManager to your scene**: + - Create an empty GameObject in your scene + - Add the `VideoSourceConfigManager` component to it + - The manager will automatically find and parse the video_source.yml file + +2. **YAML File Location**: + The parser will look for `video_source.yml` in these locations (in order): + - `StreamingAssets/Conf/video_source.yml` + - `Assets/Scripts/Conf/video_source.yml` + +## Usage Examples + +### Basic Property Access (Dot Notation) + +```csharp +// Get the singleton instance +var configManager = VideoSourceConfigManager.Instance; + +// Access properties using dot notation +float visibleRatio = configManager.GetFloatProperty("PICO4U.visibleRatio"); +float contentRatio = configManager.GetFloatProperty("PICO4U.contentRatio"); +string rectSize = configManager.GetStringProperty("PICO4U.RawImageRectSize"); + +Debug.Log($"PICO4U visible ratio: {visibleRatio}"); // Output: 0.555 +Debug.Log($"PICO4U content ratio: {contentRatio}"); // Output: 1.8 +Debug.Log($"PICO4U rect size: {rectSize}"); // Output: "585.6x282.6" +``` + +### Video Source Object Access + +```csharp +// Get a complete video source object +VideoSource pico4u = configManager.GetVideoSource("PICO4U"); + +if (pico4u != null) +{ + Debug.Log($"Name: {pico4u.name}"); + Debug.Log($"Type: {pico4u.type}"); + Debug.Log($"Description: {pico4u.description}"); + + // Access properties through the object + float visibleRatio = pico4u.GetFloatProperty("visibleRatio"); + + // Check if a property exists + bool hasProperty = pico4u.HasProperty("visibleRatio"); + + // Get all property names + List propertyNames = pico4u.GetPropertyNames(); +} +``` + +### Type-Safe Property Access + +```csharp +// Generic type access +float floatValue = configManager.GetProperty("PICO4U.visibleRatio"); +string stringValue = configManager.GetProperty("PICO4U.RawImageRectSize"); +int intValue = configManager.GetProperty("PICO4U.someIntProperty"); + +// Convenience methods +float floatValue2 = configManager.GetFloatProperty("PICO4U.visibleRatio"); +string stringValue2 = configManager.GetStringProperty("PICO4U.RawImageRectSize"); +int intValue2 = configManager.GetIntProperty("PICO4U.someIntProperty"); +``` + +### Camera Parameters Access + +```csharp +// Get camera parameters from current video source +var cameraParams = configManager.CameraParameters; +Debug.Log($"Resolution: {cameraParams.width}x{cameraParams.height}"); +Debug.Log($"Frame Rate: {cameraParams.fps} FPS"); +Debug.Log($"Bitrate: {cameraParams.BitrateInMbps:F1} Mbps"); +Debug.Log($"Aspect Ratio: {cameraParams.AspectRatio:F2}"); + +// Get individual camera properties +int width = configManager.CamWidth; +int height = configManager.CamHeight; +int fps = configManager.CamFPS; +int bitrate = configManager.CamBitrate; + +// Access camera parameters from a specific video source +VideoSource pico4u = configManager.GetVideoSource("PICO4U"); +var pico4uCamParams = pico4u.GetCameraParameters(); +``` + +### Video Source Management + +```csharp +// Set current video source +configManager.SetVideoSource("PICO4U"); +// or +configManager.SetVideoSource(pico4uVideoSource); + +// Access properties from current video source +float visibleRatio = configManager.VisibleRatio; +float contentRatio = configManager.ContentRatio; +var cameraParams = configManager.CameraParameters; +``` + +### Direct YAML Parsing (Advanced) + +```csharp +// Parse YAML file directly without the manager +string yamlPath = "path/to/video_source.yml"; +List videoSources = VideoSourceYamlParser.ParseYamlFile(yamlPath); + +// Parse YAML content from string +string yamlContent = "..."; // YAML content as string +List videoSources2 = VideoSourceYamlParser.ParseYamlContent(yamlContent); +``` + +### Property Existence Checking + +```csharp +// Check if a property exists before using it +if (configManager.HasProperty("PICO4U.visibleRatio")) +{ + float ratio = configManager.GetFloatProperty("PICO4U.visibleRatio"); + // Use the ratio... +} + +// Get all video source names +List videoSourceNames = configManager.GetVideoSourceNames(); + +// Get all property names for a specific video source +List propertyNames = configManager.GetPropertyNames("PICO4U"); +``` + +## Error Handling + +The parser includes comprehensive error handling: + +- **Missing Files**: Returns empty collections with warning logs +- **Invalid YAML Syntax**: Logs errors and continues parsing what it can +- **Type Conversion Errors**: Falls back to string values with warnings +- **Missing Properties**: Returns default values (0 for numbers, empty string for strings) +- **Invalid Property Paths**: Logs warnings and returns default values + +## Supported YAML Format + +The parser expects YAML in this format: + +```yaml +# Video Stream Source Configuration +- name: "PICO4U" + type: "VR" + description: "PICO4U Video Stream Source" + properties: + - name: "visibleRatio" + type: "float" + description: "Visible ratio for the shader" + value: 0.555 + - name: "contentRatio" + type: "float" + description: "Content ratio for the shader" + value: 1.8 + - name: "CamWidth" + type: "int" + description: "Camera width for the video stream" + value: 1920 + - name: "CamHeight" + type: "int" + description: "Camera height for the video stream" + value: 960 + - name: "CamFPS" + type: "int" + description: "Frame rate of the video stream in FPS" + value: 60 + - name: "CamBitrate" + type: "int" + description: "Bitrate of the video stream in Kbps" + value: 20971520 + # ... more properties + +- name: "ZEDMINI" + type: "ZED" + # ... more video sources +``` + +## Supported Property Types + +- `float` - Floating point numbers +- `double` - Double precision numbers +- `int` / `integer` - Integer numbers +- `bool` / `boolean` - Boolean values +- `string` - Text values (default if no type specified) + +## Testing + +Use the `VideoSourceConfigExample` script to test the configuration: + +1. Add the example script to any GameObject +2. Check "Test On Start" in the inspector, or +3. Use the context menu "Test Video Source Configuration" to run tests manually + +The example script will: +- Test dot notation property access +- Test video source object access +- Test error handling for invalid properties +- Demonstrate real-world usage scenarios + +## Performance Notes + +- The YAML file is parsed once during initialization +- All video sources are stored in a dictionary for O(1) lookup +- Property access within a video source is O(n) where n is the number of properties +- Consider caching frequently accessed values if performance is critical + +## Thread Safety + +The VideoSourceConfigManager is designed to be used from the main Unity thread. The parsed data is read-only after initialization, making it safe for multiple readers. diff --git a/Assets/Scripts/Conf/README.md.meta b/Assets/Scripts/Conf/README.md.meta new file mode 100644 index 00000000..dbaa8e0f --- /dev/null +++ b/Assets/Scripts/Conf/README.md.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 287ab95152151134d9028c419fbc312a +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Conf/VideoSource.cs b/Assets/Scripts/Conf/VideoSource.cs new file mode 100644 index 00000000..d33ddafa --- /dev/null +++ b/Assets/Scripts/Conf/VideoSource.cs @@ -0,0 +1,113 @@ +using System; +using System.Collections.Generic; +using System.Linq; + +[Serializable] +public class VideoSource +{ + public string name; + public string camera; + public string description; + public List properties; + + public VideoSource() + { + properties = new List(); + } + + public VideoSource(string name, string camera, string description) + { + this.name = name; + this.camera = camera; + this.description = description; + this.properties = new List(); + } + + /// + /// Add a property to this video source + /// + public void AddProperty(VideoSourceProperty property) + { + properties.Add(property); + } + + /// + /// Get a property by name + /// + /// Name of the property + /// The property or null if not found + public VideoSourceProperty GetProperty(string propertyName) + { + return properties.FirstOrDefault(p => p.name.Equals(propertyName, StringComparison.OrdinalIgnoreCase)); + } + + /// + /// Get a property value by name with type conversion + /// + /// The type to convert to + /// Name of the property + /// The typed value or default if not found + public T GetPropertyValue(string propertyName) + { + var property = GetProperty(propertyName); + return property != null ? property.GetValue() : default(T); + } + + /// + /// Get a property value as float (common use case) + /// + /// Name of the property + /// The float value or 0 if not found + public float GetFloatProperty(string propertyName) + { + return GetPropertyValue(propertyName); + } + + /// + /// Get a property value as string + /// + /// Name of the property + /// The string value or empty string if not found + public string GetStringProperty(string propertyName) + { + return GetPropertyValue(propertyName) ?? string.Empty; + } + + /// + /// Check if a property exists + /// + /// Name of the property + /// True if the property exists + public bool HasProperty(string propertyName) + { + return GetProperty(propertyName) != null; + } + + /// + /// Get all property names + /// + /// List of property names + public List GetPropertyNames() + { + return properties.Select(p => p.name).ToList(); + } + + /// + /// Get camera parameters from this video source + /// + /// CameraParameters object with camera settings + public CameraParameters GetCameraParameters() + { + return CameraParameters.FromVideoSource(this); + } + + /// + /// Get a property value as int (common use case) + /// + /// Name of the property + /// The int value or 0 if not found + public int GetIntProperty(string propertyName) + { + return GetPropertyValue(propertyName); + } +} diff --git a/Assets/Scripts/Conf/VideoSource.cs.meta b/Assets/Scripts/Conf/VideoSource.cs.meta new file mode 100644 index 00000000..35f31b19 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSource.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1f5fc45b49e04f64bbbac39926fb3942 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Conf/VideoSourceConfigExample.cs b/Assets/Scripts/Conf/VideoSourceConfigExample.cs new file mode 100644 index 00000000..c512ee68 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceConfigExample.cs @@ -0,0 +1,229 @@ +using UnityEngine; + +/// +/// Example script demonstrating how to use the VideoSource YAML parser +/// +public class VideoSourceConfigExample : MonoBehaviour +{ + [Header("Test Configuration")] + [SerializeField] private bool testOnStart = true; + + private void Start() + { + if (testOnStart) + { + TestVideoSourceConfiguration(); + } + } + + /// + /// Test the video source configuration system + /// + [ContextMenu("Test Video Source Configuration")] + public void TestVideoSourceConfiguration() + { + Debug.Log("=== Testing Video Source Configuration ==="); + + // Wait for the config manager to initialize if it exists + var configManager = VideoSourceConfigManager.Instance; + if (configManager == null) + { + Debug.LogWarning("VideoSourceConfigManager not found. Make sure it's in the scene."); + return; + } + + // Test direct property access using dot notation + TestDotNotationAccess(); + + // Test video source object access + TestVideoSourceAccess(); + + // Test camera parameters + TestCameraParameters(); + + // Test error handling + TestErrorHandling(); + } + + private void TestDotNotationAccess() + { + Debug.Log("--- Testing Dot Notation Access ---"); + + var configManager = VideoSourceConfigManager.Instance; + + // Test PICO4U properties + float pico4uVisibleRatio = configManager.GetFloatProperty("PICO4U.visibleRatio"); + float pico4uContentRatio = configManager.GetFloatProperty("PICO4U.contentRatio"); + float pico4uHeightCompression = configManager.GetFloatProperty("PICO4U.heightCompressionFactor"); + string pico4uRectSize = configManager.GetStringProperty("PICO4U.RawImageRectSize"); + int pico4uCamWidth = configManager.GetIntProperty("PICO4U.CamWidth"); + int pico4uCamHeight = configManager.GetIntProperty("PICO4U.CamHeight"); + int pico4uCamFPS = configManager.GetIntProperty("PICO4U.CamFPS"); + int pico4uCamBitrate = configManager.GetIntProperty("PICO4U.CamBitrate"); + + Debug.Log($"PICO4U.visibleRatio: {pico4uVisibleRatio}"); + Debug.Log($"PICO4U.contentRatio: {pico4uContentRatio}"); + Debug.Log($"PICO4U.heightCompressionFactor: {pico4uHeightCompression}"); + Debug.Log($"PICO4U.RawImageRectSize: {pico4uRectSize}"); + Debug.Log($"PICO4U.CamWidth: {pico4uCamWidth}"); + Debug.Log($"PICO4U.CamHeight: {pico4uCamHeight}"); + Debug.Log($"PICO4U.CamFPS: {pico4uCamFPS}"); + Debug.Log($"PICO4U.CamBitrate: {pico4uCamBitrate}"); + + // Test ZEDMINI properties + float zedminiVisibleRatio = configManager.GetFloatProperty("ZEDMINI.visibleRatio"); + float zedminiContentRatio = configManager.GetFloatProperty("ZEDMINI.contentRatio"); + string zedminiRectSize = configManager.GetStringProperty("ZEDMINI.RawImageRectSize"); + int zedminiCamWidth = configManager.GetIntProperty("ZEDMINI.CamWidth"); + int zedminiCamHeight = configManager.GetIntProperty("ZEDMINI.CamHeight"); + + Debug.Log($"ZEDMINI.visibleRatio: {zedminiVisibleRatio}"); + Debug.Log($"ZEDMINI.contentRatio: {zedminiContentRatio}"); + Debug.Log($"ZEDMINI.RawImageRectSize: {zedminiRectSize}"); + Debug.Log($"ZEDMINI.CamWidth: {zedminiCamWidth}"); + Debug.Log($"ZEDMINI.CamHeight: {zedminiCamHeight}"); + } + + private void TestVideoSourceAccess() + { + Debug.Log("--- Testing VideoSource Object Access ---"); + + var configManager = VideoSourceConfigManager.Instance; + + // Get PICO4U video source + VideoSource pico4u = configManager.GetVideoSource("PICO4U"); + if (pico4u != null) + { + Debug.Log($"VideoSource: {pico4u.name}, Type: {pico4u.camera}, Description: {pico4u.description}"); + Debug.Log($"Properties count: {pico4u.properties.Count}"); + + foreach (var property in pico4u.properties) + { + Debug.Log($" Property: {property.name} ({property.type}) = {property.value}"); + } + } + + // Get ZEDMINI video source + VideoSource zedmini = configManager.GetVideoSource("ZEDMINI"); + if (zedmini != null) + { + Debug.Log($"VideoSource: {zedmini.name}, Type: {zedmini.camera}, Description: {zedmini.description}"); + + // Test property search + var visibleRatioProperty = zedmini.GetProperty("visibleRatio"); + if (visibleRatioProperty != null) + { + Debug.Log($"Found property: {visibleRatioProperty.name} = {visibleRatioProperty.AsFloat()}"); + } + } + } + + private void TestCameraParameters() + { + Debug.Log("--- Testing Camera Parameters ---"); + + var configManager = VideoSourceConfigManager.Instance; + + // Test PICO4U camera parameters + configManager.SetVideoSource("PICO4U"); + var pico4uCamParams = configManager.CameraParameters; + Debug.Log($"PICO4U Camera Parameters: {pico4uCamParams}"); + Debug.Log($"PICO4U Aspect Ratio: {pico4uCamParams.AspectRatio:F2}"); + Debug.Log($"PICO4U Total Pixels: {pico4uCamParams.TotalPixels:N0}"); + Debug.Log($"PICO4U Is Valid: {pico4uCamParams.IsValid}"); + + // Test ZEDMINI camera parameters + configManager.SetVideoSource("ZEDMINI"); + var zedminiCamParams = configManager.CameraParameters; + Debug.Log($"ZEDMINI Camera Parameters: {zedminiCamParams}"); + Debug.Log($"ZEDMINI Aspect Ratio: {zedminiCamParams.AspectRatio:F2}"); + Debug.Log($"ZEDMINI Total Pixels: {zedminiCamParams.TotalPixels:N0}"); + Debug.Log($"ZEDMINI Is Valid: {zedminiCamParams.IsValid}"); + + // Test individual camera properties through config manager + Debug.Log($"Current CamWidth: {configManager.CamWidth}"); + Debug.Log($"Current CamHeight: {configManager.CamHeight}"); + Debug.Log($"Current CamFPS: {configManager.CamFPS}"); + Debug.Log($"Current CamBitrate: {configManager.CamBitrate}"); + } + + private void TestErrorHandling() + { + Debug.Log("--- Testing Error Handling ---"); + + var configManager = VideoSourceConfigManager.Instance; + + // Test non-existent video source + float nonExistentValue = configManager.GetFloatProperty("NONEXISTENT.visibleRatio"); + Debug.Log($"Non-existent video source property: {nonExistentValue} (should be 0)"); + + // Test non-existent property + float nonExistentProperty = configManager.GetFloatProperty("PICO4U.nonExistentProperty"); + Debug.Log($"Non-existent property: {nonExistentProperty} (should be 0)"); + + // Test invalid property path format + float invalidPath = configManager.GetFloatProperty("INVALID_PATH"); + Debug.Log($"Invalid property path: {invalidPath} (should be 0)"); + + // Test property existence checks + bool existsValid = configManager.HasProperty("PICO4U.visibleRatio"); + bool existsInvalid = configManager.HasProperty("PICO4U.nonExistent"); + Debug.Log($"PICO4U.visibleRatio exists: {existsValid} (should be true)"); + Debug.Log($"PICO4U.nonExistent exists: {existsInvalid} (should be false)"); + } + + /// + /// Example of how to use the configuration in a real scenario + /// + public void ConfigureVideoStreamForDevice(string deviceName) + { + var configManager = VideoSourceConfigManager.Instance; + if (configManager == null) + { + Debug.LogError("VideoSourceConfigManager not available"); + return; + } + + // Get configuration for the specified device + VideoSource deviceConfig = configManager.GetVideoSource(deviceName); + if (deviceConfig == null) + { + Debug.LogError($"No configuration found for device: {deviceName}"); + return; + } + + // Set as current video source + configManager.SetVideoSource(deviceConfig); + + // Get shader configuration + float visibleRatio = deviceConfig.GetFloatProperty("visibleRatio"); + float contentRatio = deviceConfig.GetFloatProperty("contentRatio"); + float heightCompression = deviceConfig.GetFloatProperty("heightCompressionFactor"); + string rectSize = deviceConfig.GetStringProperty("RawImageRectSize"); + + // Get camera configuration + var cameraParams = deviceConfig.GetCameraParameters(); + + Debug.Log($"Configuring video stream for {deviceName}:"); + Debug.Log($" Shader Settings:"); + Debug.Log($" Visible Ratio: {visibleRatio}"); + Debug.Log($" Content Ratio: {contentRatio}"); + Debug.Log($" Height Compression: {heightCompression}"); + Debug.Log($" Rect Size: {rectSize}"); + Debug.Log($" Camera Settings:"); + Debug.Log($" Resolution: {cameraParams.width}x{cameraParams.height}"); + Debug.Log($" Frame Rate: {cameraParams.fps} FPS"); + Debug.Log($" Bitrate: {cameraParams.BitrateInMbps:F1} Mbps"); + Debug.Log($" Aspect Ratio: {cameraParams.AspectRatio:F2}"); + + // Here you would apply these values to your video streaming components + // For example: + // shaderMaterial.SetFloat("_VisibleRatio", visibleRatio); + // shaderMaterial.SetFloat("_ContentRatio", contentRatio); + // cameraComponent.width = cameraParams.width; + // cameraComponent.height = cameraParams.height; + // cameraComponent.frameRate = cameraParams.fps; + // cameraComponent.bitrate = cameraParams.bitrate; + // etc. + } +} diff --git a/Assets/Scripts/Conf/VideoSourceConfigExample.cs.meta b/Assets/Scripts/Conf/VideoSourceConfigExample.cs.meta new file mode 100644 index 00000000..fff448d3 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceConfigExample.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ae216246c46c0ce47b9a325e49f0904a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Conf/VideoSourceConfigManager.cs b/Assets/Scripts/Conf/VideoSourceConfigManager.cs new file mode 100644 index 00000000..57d5af68 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceConfigManager.cs @@ -0,0 +1,427 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using System.IO; +using System.Linq; +using UnityEngine; +using UnityEngine.Networking; + +public class VideoSourceConfigManager : MonoBehaviour +{ + [Header("Configuration")] [SerializeField] + private string yamlFileName = "video_source.yml"; + + private Dictionary videoSources; + private bool isInitialized = false; + + // Event + public event Action OnInitialized; + + /// + /// Singleton instance + /// + public static VideoSourceConfigManager Instance { get; private set; } + + private void Awake() + { + if (Instance == null) + { + Instance = this; + DontDestroyOnLoad(gameObject); + } + else + { + Destroy(gameObject); + } + } + + private void LoadConfiguration(string path) + { + LogWindow.Info($"Loading video sources from {path}"); + videoSources = new Dictionary(); + // Parse the YAML file + var parsedVideoSources = VideoSourceYamlParser.ParseYamlFile(path); + + // Convert to dictionary for fast lookup + foreach (var videoSource in parsedVideoSources) + { + if (!string.IsNullOrEmpty(videoSource.name)) + { + videoSources[videoSource.name.ToUpper()] = videoSource; + } + } + + isInitialized = true; + Debug.Log($"VideoSourceConfigManager initialized successfully. Loaded {videoSources.Count} video sources."); + LogWindow.Info($"Loaded {videoSources.Count} video sources."); + + // Log loaded video sources + foreach (var kvp in videoSources) + { + Debug.Log($"Loaded video source: {kvp.Key} with {kvp.Value.properties.Count} properties"); + } + + OnInitialized?.Invoke(); + } + + /// + /// Initialize the configuration manager by loading and parsing the YAML file + /// + public void Initialize() + { + try + { + string yamlPath; + +#if UNITY_EDITOR + // In editor, use the file directly from Resources folder + yamlPath = Path.Combine(Application.dataPath, "StreamingAssets", yamlFileName); + + if (File.Exists(yamlPath)) + { + LoadConfiguration(yamlPath); + } + else + { + Debug.Log($"Please ensure video_source.yml exists in Assets/StreamingAssets/"); + } +#else + // In build, check persistentDataPath first, then copy from Resources if needed + yamlPath = Path.Combine(Application.persistentDataPath, yamlFileName); + + if (File.Exists(yamlPath)) + { + LoadConfiguration(yamlPath); + Debug.Log($"Load video_source.yml from {yamlPath}"); + } else { + // Copy from StreamingAssets + CopyYamlFromStreamingAssets(yamlPath); + } +#endif + } + catch (Exception e) + { + Debug.Log($"Failed to initialize VideoSourceConfigManager: {e.Message}"); + isInitialized = false; + } + } + + /// + /// Copy the YAML file from StreamingAssets to persistentDataPath + /// + /// The target path where the file should be copied + private void CopyYamlFromStreamingAssets(string targetPath) + { + try + { +#if UNITY_ANDROID && !UNITY_EDITOR + // Load from StreamingAssets + string streamingAssetsPath = Path.Combine(Application.streamingAssetsPath, yamlFileName); + // On Android, StreamingAssets are in a JAR file, use UnityWebRequest + StartCoroutine(LoadFromStreamingAssetsCoroutine(streamingAssetsPath, targetPath)); +#endif + } + catch (Exception e) + { + Debug.Log($"Failed to copy video_source.yml file: {e.Message}"); + throw; + } + } + + /// + /// Coroutine to load YAML file from StreamingAssets on Android + /// + private System.Collections.IEnumerator LoadFromStreamingAssetsCoroutine(string streamingAssetsPath, + string targetPath) + { + using (UnityWebRequest www = UnityWebRequest.Get(streamingAssetsPath)) + { + yield return www.SendWebRequest(); + + if (www.result == UnityWebRequest.Result.Success) + { + try + { + // Ensure the directory exists + string directory = Path.GetDirectoryName(targetPath); + if (!Directory.Exists(directory)) + { + Directory.CreateDirectory(directory); + } + + // Write the content to the target path + File.WriteAllText(targetPath, www.downloadHandler.text); + Debug.Log($"Successfully copied video_source.yml from StreamingAssets to {targetPath}"); + + // Load it + LoadConfiguration(targetPath); + } + catch (Exception e) + { + Debug.LogError($"Failed to write YAML file from StreamingAssets: {e.Message}"); + } + } + else + { + Debug.Log($"Failed to load video_source.yml from StreamingAssets: {www.error}"); + } + } + } + + /// + /// Get a video source by name + /// + /// Name of the video source (case-insensitive) + /// VideoSource object or null if not found + public VideoSource GetVideoSource(string name) + { + if (!isInitialized || string.IsNullOrEmpty(name)) + return null; + + string upperName = name.ToUpper(); + return videoSources.ContainsKey(upperName) ? videoSources[upperName] : null; + } + + /// + /// Get a property value using dot notation (e.g., "PICO4U.visibleRatio") + /// + /// The type to convert to + /// Property path in format "VideoSourceName.PropertyName" + /// The typed value or default if not found + public T GetProperty(string propertyPath) + { + if (!isInitialized || string.IsNullOrEmpty(propertyPath)) + return default(T); + + string[] parts = propertyPath.Split('.'); + if (parts.Length != 2) + { + Debug.LogWarning( + $"Invalid property path format: {propertyPath}. Expected format: 'VideoSourceName.PropertyName'"); + return default(T); + } + + string videoSourceName = parts[0]; + string propertyName = parts[1]; + + var videoSource = GetVideoSource(videoSourceName); + if (videoSource == null) + { + Debug.LogWarning($"Video source not found: {videoSourceName}"); + return default(T); + } + + return videoSource.GetPropertyValue(propertyName); + } + + /// + /// Get a float property using dot notation + /// + /// Property path in format "VideoSourceName.PropertyName" + /// The float value or 0 if not found + public float GetFloatProperty(string propertyPath) + { + return GetProperty(propertyPath); + } + + /// + /// Get a string property using dot notation + /// + /// Property path in format "VideoSourceName.PropertyName" + /// The string value or empty string if not found + public string GetStringProperty(string propertyPath) + { + return GetProperty(propertyPath) ?? string.Empty; + } + + /// + /// Get an int property using dot notation + /// + /// Property path in format "VideoSourceName.PropertyName" + /// The int value or 0 if not found + public int GetIntProperty(string propertyPath) + { + return GetProperty(propertyPath); + } + + /// + /// Check if a property exists using dot notation + /// + /// Property path in format "VideoSourceName.PropertyName" + /// True if the property exists + public bool HasProperty(string propertyPath) + { + if (!isInitialized || string.IsNullOrEmpty(propertyPath)) + return false; + + string[] parts = propertyPath.Split('.'); + if (parts.Length != 2) + return false; + + string videoSourceName = parts[0]; + string propertyName = parts[1]; + + var videoSource = GetVideoSource(videoSourceName); + return videoSource?.HasProperty(propertyName) ?? false; + } + + /// + /// Get all video source names + /// + /// List of video source names + public List GetVideoSourceNames() + { + return isInitialized ? videoSources.Keys.ToList() : new List(); + } + + /// + /// Get all property names for a video source + /// + /// Name of the video source + /// List of property names + public List GetPropertyNames(string videoSourceName) + { + var videoSource = GetVideoSource(videoSourceName); + return videoSource?.GetPropertyNames() ?? new List(); + } + + // Example usage methods for testing + [ContextMenu("Test Configuration")] + private void TestConfiguration() + { + if (!isInitialized) + { + Debug.LogWarning("Configuration not initialized"); + return; + } + + // Test accessing PICO4U properties + Debug.Log($"PICO4U.visibleRatio: {GetFloatProperty("PICO4U.visibleRatio")}"); + Debug.Log($"PICO4U.contentRatio: {GetFloatProperty("PICO4U.contentRatio")}"); + Debug.Log($"PICO4U.heightCompressionFactor: {GetFloatProperty("PICO4U.heightCompressionFactor")}"); + Debug.Log($"PICO4U.RawImageRectSize: {GetStringProperty("PICO4U.RawImageRectSize")}"); + Debug.Log($"PICO4U.CamWidth: {GetIntProperty("PICO4U.CamWidth")}"); + Debug.Log($"PICO4U.CamHeight: {GetIntProperty("PICO4U.CamHeight")}"); + Debug.Log($"PICO4U.CamFPS: {GetIntProperty("PICO4U.CamFPS")}"); + Debug.Log($"PICO4U.CamBitrate: {GetIntProperty("PICO4U.CamBitrate")}"); + + // Test accessing ZEDMINI properties + Debug.Log($"ZEDMINI.visibleRatio: {GetFloatProperty("ZEDMINI.visibleRatio")}"); + Debug.Log($"ZEDMINI.contentRatio: {GetFloatProperty("ZEDMINI.contentRatio")}"); + Debug.Log($"ZEDMINI.heightCompressionFactor: {GetFloatProperty("ZEDMINI.heightCompressionFactor")}"); + Debug.Log($"ZEDMINI.RawImageRectSize: {GetStringProperty("ZEDMINI.RawImageRectSize")}"); + Debug.Log($"ZEDMINI.CamWidth: {GetIntProperty("ZEDMINI.CamWidth")}"); + Debug.Log($"ZEDMINI.CamHeight: {GetIntProperty("ZEDMINI.CamHeight")}"); + Debug.Log($"ZEDMINI.CamFPS: {GetIntProperty("ZEDMINI.CamFPS")}"); + Debug.Log($"ZEDMINI.CamBitrate: {GetIntProperty("ZEDMINI.CamBitrate")}"); + + // Test camera parameters + SetVideoSource("PICO4U"); + var pico4uCamParams = CameraParameters; + Debug.Log($"PICO4U Camera Parameters: {pico4uCamParams}"); + + SetVideoSource("ZEDMINI"); + var zedminiCamParams = CameraParameters; + Debug.Log($"ZEDMINI Camera Parameters: {zedminiCamParams}"); + + // Test checking if properties exist + Debug.Log($"Has PICO4U.visibleRatio: {HasProperty("PICO4U.visibleRatio")}"); + Debug.Log($"Has PICO4U.nonExistentProperty: {HasProperty("PICO4U.nonExistentProperty")}"); + } + + public VideoSource PICO4U + { + get => GetVideoSource("PICO4U"); + } + + public VideoSource ZEDMINI + { + get => GetVideoSource("ZEDMINI"); + } + + private VideoSource _currentVideoSource; + + public VideoSource CurrentVideoSource + { + get + { + // If no current video source is set, default to PICO4U + if (_currentVideoSource == null && isInitialized) + { + _currentVideoSource = GetVideoSource("PICO4U"); + } + + return _currentVideoSource; + } + } + + public void SetVideoSource(VideoSource videoSource) + { + _currentVideoSource = videoSource; + } + + public void SetVideoSource(string videoSourceName) + { + _currentVideoSource = GetVideoSource(videoSourceName); + } + + public float VisibleRatio => CurrentVideoSource?.GetFloatProperty("visibleRatio") ?? 0f; + public float ContentRatio => CurrentVideoSource?.GetFloatProperty("contentRatio") ?? 0f; + public float HeightCompressionFactor => CurrentVideoSource?.GetFloatProperty("heightCompressionFactor") ?? 0f; + public string RawImageRectSize => CurrentVideoSource?.GetStringProperty("RawImageRectSize") ?? string.Empty; + + /// + /// Get camera parameters from the current video source + /// + public CameraParameters CameraParameters => CurrentVideoSource?.GetCameraParameters() ?? new CameraParameters(); + + /// + /// Get camera width from the current video source + /// + public int CamWidth => CurrentVideoSource?.GetIntProperty("CamWidth") ?? 1920; + + /// + /// Get camera height from the current video source + /// + public int CamHeight => CurrentVideoSource?.GetIntProperty("CamHeight") ?? 1080; + + /// + /// Get camera FPS from the current video source + /// + public int CamFPS => CurrentVideoSource?.GetIntProperty("CamFPS") ?? 30; + + /// + /// Get camera bitrate from the current video source + /// + public int CamBitrate => CurrentVideoSource?.GetIntProperty("CamBitrate") ?? 5000000; + + public float RectWidth + { + get + { + if (string.IsNullOrEmpty(RawImageRectSize)) + return 0f; + + string[] parts = RawImageRectSize.Split('x'); + if (parts.Length < 2 || !float.TryParse(parts[0], out float width)) + return 0f; + + return width; + } + } + + public float RectHeight + { + get + { + if (string.IsNullOrEmpty(RawImageRectSize)) + return 0f; + + string[] parts = RawImageRectSize.Split('x'); + if (parts.Length < 2 || !float.TryParse(parts[1], out float height)) + return 0f; + + return height; + } + } +} diff --git a/Assets/Scripts/Conf/VideoSourceConfigManager.cs.meta b/Assets/Scripts/Conf/VideoSourceConfigManager.cs.meta new file mode 100644 index 00000000..d407c7c3 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceConfigManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: fa97833daa9f443458d469250d214754 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Conf/VideoSourceManager.cs b/Assets/Scripts/Conf/VideoSourceManager.cs new file mode 100644 index 00000000..d30aa966 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceManager.cs @@ -0,0 +1,94 @@ +using System; +using UnityEngine; +using UnityEngine.UI; + +namespace Robot.Conf +{ + public class VideoSourceManager : MonoBehaviour + { + public RectTransform rawImageRect; + + public SetLERE setLere; + + public VideoSourceConfigManager videoSourceConfigManager; + + public void UpdateVideoSource(string videoSourceName) + { + var videoSource = videoSourceConfigManager.GetVideoSource(videoSourceName); + if (videoSource == null) return; + + UpdateVideoSource(videoSource); + } + + public void UpdateVideoSource(VideoSource videoSource) + { + if (videoSourceConfigManager == null) + { + Debug.LogError("VideoSourceConfigManager is not set."); + LogWindow.Error("VideoSourceConfigManager is not set."); + return; + } + + if (rawImageRect == null) + { + Debug.LogError("RawImage RectTransform is not set."); + LogWindow.Error("RawImage RectTransform is not set."); + return; + } + + // Update video source + videoSourceConfigManager.SetVideoSource(videoSource); + + // Get camera parameters + var cameraParams = videoSourceConfigManager.CameraParameters; + Debug.Log($"Updating video source to: {videoSource.name}"); + LogWindow.Info($"Updating video source to: {videoSource.name}"); + Debug.Log($"Camera Parameters: {cameraParams}"); + LogWindow.Info($"Camera Parameters: {cameraParams}"); + Debug.Log($"type: {videoSource.camera}"); + LogWindow.Info($"type: {videoSource.camera}"); + + // update rect transform size + rawImageRect.sizeDelta = + new Vector2(videoSourceConfigManager.RectWidth, videoSourceConfigManager.RectHeight); + + // log rect transform size for debugging + Debug.Log($"RawImage RectTransform Size: {rawImageRect.sizeDelta}"); + LogWindow.Info($"RectTransform Size: {rawImageRect.sizeDelta}"); + + // Update SetLERE component + setLere.UpdateParameters(videoSourceConfigManager.VisibleRatio, + videoSourceConfigManager.ContentRatio, videoSourceConfigManager.HeightCompressionFactor); + + // log shader properties for debugging + Debug.Log($"Shader Properties - Visible Ratio: {videoSourceConfigManager.VisibleRatio}, " + + $"Content Ratio: {videoSourceConfigManager.ContentRatio}, " + + $"Height Compression Factor: {videoSourceConfigManager.HeightCompressionFactor}"); + LogWindow.Info($"Shader Properties - Visible Ratio: {videoSourceConfigManager.VisibleRatio}, " + + $"Content Ratio: {videoSourceConfigManager.ContentRatio}, " + + $"Height Compression Factor: {videoSourceConfigManager.HeightCompressionFactor}"); + + // Log camera settings for debugging + Debug.Log( + $"Camera Settings - Width: {cameraParams.width}, Height: {cameraParams.height}, FPS: {cameraParams.fps}, Bitrate: {cameraParams.BitrateInMbps:F1}Mbps"); + LogWindow.Info( + $"Camera Settings - Width: {cameraParams.width}, Height: {cameraParams.height}, FPS: {cameraParams.fps}, Bitrate: {cameraParams.BitrateInMbps:F1}Mbps"); + } + + private void OnGUI() + { + GUILayout.BeginVertical(); + if (GUILayout.Button("PICO4U")) + { + UpdateVideoSource(videoSourceConfigManager.PICO4U); + } + + if (GUILayout.Button("ZEDMINI")) + { + UpdateVideoSource(videoSourceConfigManager.ZEDMINI); + } + + GUILayout.EndVertical(); + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/Conf/VideoSourceManager.cs.meta b/Assets/Scripts/Conf/VideoSourceManager.cs.meta new file mode 100644 index 00000000..0661a879 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceManager.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: e9a55ec5231140a2b2baf80c06e93522 +timeCreated: 1752258271 \ No newline at end of file diff --git a/Assets/Scripts/Conf/VideoSourceProperty.cs b/Assets/Scripts/Conf/VideoSourceProperty.cs new file mode 100644 index 00000000..bc5c722c --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceProperty.cs @@ -0,0 +1,79 @@ +using System; + +[Serializable] +public class VideoSourceProperty +{ + public string name; + public string type; + public string description; + public object value; + + public VideoSourceProperty(string name, string type, string description, object value) + { + this.name = name; + this.type = type; + this.description = description; + this.value = value; + } + + /// + /// Get the typed value of the property + /// + /// The type to cast to + /// The typed value + public T GetValue() + { + try + { + if (value == null) + return default(T); + + // Handle specific type conversions + if (typeof(T) == typeof(float) && value is double) + { + return (T)(object)Convert.ToSingle(value); + } + + if (typeof(T) == typeof(double) && value is float) + { + return (T)(object)Convert.ToDouble(value); + } + + if (typeof(T) == typeof(string)) + { + return (T)(object)value.ToString(); + } + + return (T)Convert.ChangeType(value, typeof(T)); + } + catch (Exception e) + { + UnityEngine.Debug.LogError($"Failed to convert property '{name}' value '{value}' to type {typeof(T)}: {e.Message}"); + return default(T); + } + } + + /// + /// Get the value as float (common use case) + /// + public float AsFloat() + { + return GetValue(); + } + + /// + /// Get the value as string + /// + public string AsString() + { + return GetValue(); + } + + /// + /// Get the value as int + /// + public int AsInt() + { + return GetValue(); + } +} diff --git a/Assets/Scripts/Conf/VideoSourceProperty.cs.meta b/Assets/Scripts/Conf/VideoSourceProperty.cs.meta new file mode 100644 index 00000000..2dc69384 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceProperty.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 201123d566feb4547a93756a7b41b89e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Conf/VideoSourceYamlParser.cs b/Assets/Scripts/Conf/VideoSourceYamlParser.cs new file mode 100644 index 00000000..010eda70 --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceYamlParser.cs @@ -0,0 +1,226 @@ +using System; +using System.Collections.Generic; +using System.IO; +using System.Text.RegularExpressions; +using UnityEngine; + +public static class VideoSourceYamlParser +{ + /// + /// Parse the video_source.yml file and return a list of VideoSource objects + /// + /// Path to the YAML file + /// List of parsed VideoSource objects + public static List ParseYamlFile(string yamlFilePath) + { + try + { + if (!File.Exists(yamlFilePath)) + { + Debug.LogError($"YAML file not found: {yamlFilePath}"); + return new List(); + } + + string yamlContent = File.ReadAllText(yamlFilePath); + return ParseYamlContent(yamlContent); + } + catch (Exception e) + { + Debug.LogError($"Failed to parse YAML file {yamlFilePath}: {e.Message}"); + return new List(); + } + } + + /// + /// Parse YAML content string and return a list of VideoSource objects + /// + /// YAML content as string + /// List of parsed VideoSource objects + public static List ParseYamlContent(string yamlContent) + { + var videoSources = new List(); + + try + { + // Split content into lines + string[] lines = yamlContent.Split(new[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries); + + VideoSource currentVideoSource = null; + VideoSourceProperty currentProperty = null; + bool inPropertiesSection = false; + + for (int i = 0; i < lines.Length; i++) + { + string line = lines[i]; + string trimmedLine = line.Trim(); + + // Skip comments and empty lines + if (string.IsNullOrEmpty(trimmedLine) || trimmedLine.StartsWith("#")) + continue; + + // Check for new video source (starts with "- name:" at the root level - no deep indentation) + if (trimmedLine.StartsWith("- name:") && !line.StartsWith(" ")) + { + // Save previous property and video source if they exist + if (currentProperty != null && currentVideoSource != null) + { + currentVideoSource.AddProperty(currentProperty); + currentProperty = null; + } + + if (currentVideoSource != null) + { + videoSources.Add(currentVideoSource); + } + + // Create new video source + currentVideoSource = new VideoSource(); + currentVideoSource.name = ExtractQuotedValue(trimmedLine); + inPropertiesSection = false; + currentProperty = null; + continue; + } + + if (currentVideoSource == null) + continue; + + // Parse video source attributes + if (trimmedLine.StartsWith("camera:")) + { + currentVideoSource.camera = ExtractQuotedValue(trimmedLine); + } + else if (trimmedLine.StartsWith("description:")) + { + currentVideoSource.description = ExtractQuotedValue(trimmedLine); + } + else if (trimmedLine.StartsWith("properties:")) + { + inPropertiesSection = true; + // Save any pending property before entering new properties section + if (currentProperty != null) + { + currentVideoSource.AddProperty(currentProperty); + currentProperty = null; + } + } + else if (inPropertiesSection) + { + // Parse properties - these should be indented with " - name:" + if (trimmedLine.StartsWith("- name:") && line.StartsWith(" ")) + { + // Save previous property if exists + if (currentProperty != null) + { + currentVideoSource.AddProperty(currentProperty); + } + + // Create new property + currentProperty = new VideoSourceProperty("", "", "", null); + currentProperty.name = ExtractQuotedValue(trimmedLine); + } + else if (currentProperty != null) + { + if (trimmedLine.StartsWith("type:")) + { + currentProperty.type = ExtractQuotedValue(trimmedLine); + } + else if (trimmedLine.StartsWith("description:")) + { + currentProperty.description = ExtractQuotedValue(trimmedLine); + } + else if (trimmedLine.StartsWith("value:")) + { + currentProperty.value = ParseValue(trimmedLine, currentProperty.type); + } + } + } + } + + // Add the last property and video source + if (currentProperty != null && currentVideoSource != null) + { + currentVideoSource.AddProperty(currentProperty); + } + + if (currentVideoSource != null) + { + videoSources.Add(currentVideoSource); + } + } + catch (Exception e) + { + Debug.LogError($"Failed to parse YAML content: {e.Message}"); + } + + return videoSources; + } + + /// + /// Extract quoted value from a YAML line + /// + private static string ExtractQuotedValue(string line) + { + // Match quoted strings + var quotedMatch = Regex.Match(line, @"""([^""]*)"""); + if (quotedMatch.Success) + { + return quotedMatch.Groups[1].Value; + } + + // Match single quoted strings + var singleQuotedMatch = Regex.Match(line, @"'([^']*)'"); + if (singleQuotedMatch.Success) + { + return singleQuotedMatch.Groups[1].Value; + } + + // Extract value after colon (unquoted) + int colonIndex = line.IndexOf(':'); + if (colonIndex >= 0 && colonIndex < line.Length - 1) + { + return line.Substring(colonIndex + 1).Trim(); + } + + return ""; + } + + /// + /// Parse a value based on its type + /// + private static object ParseValue(string line, string type) + { + string valueStr = ExtractQuotedValue(line); + + // Remove comments (anything after #) + int commentIndex = valueStr.IndexOf('#'); + if (commentIndex >= 0) + { + valueStr = valueStr.Substring(0, commentIndex).Trim(); + } + + try + { + switch (type?.ToLower()) + { + case "float": + return float.Parse(valueStr, System.Globalization.CultureInfo.InvariantCulture); + case "double": + return double.Parse(valueStr, System.Globalization.CultureInfo.InvariantCulture); + case "int": + case "integer": + return int.Parse(valueStr); + case "bool": + case "boolean": + return bool.Parse(valueStr); + case "string": + default: + return valueStr; + } + } + catch (Exception e) + { + Debug.LogWarning($"Failed to parse value '{valueStr}' as type '{type}': {e.Message}. Using string value."); + return valueStr; + } + } +} diff --git a/Assets/Scripts/Conf/VideoSourceYamlParser.cs.meta b/Assets/Scripts/Conf/VideoSourceYamlParser.cs.meta new file mode 100644 index 00000000..c1a0e47b --- /dev/null +++ b/Assets/Scripts/Conf/VideoSourceYamlParser.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5428d7e608ac119469b65af99de65d6e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Li/MatLE.mat b/Assets/Scripts/Li/MatLE.mat index 9fe1a4a0..ab2692e2 100644 --- a/Assets/Scripts/Li/MatLE.mat +++ b/Assets/Scripts/Li/MatLE.mat @@ -68,7 +68,7 @@ Material: - _GlossMapScale: 1 - _Glossiness: 0.5 - _GlossyReflections: 1 - - _HeightCompressionFactor: 1.33 + - _HeightCompressionFactor: 1.777778 - _Metallic: 0 - _Mode: 0 - _OcclusionStrength: 1 @@ -78,6 +78,8 @@ Material: - _SrcBlend: 1 - _UVSec: 0 - _ZWrite: 1 + - _contentRatio: 1.8 + - _heightCompressionFactor: 1.333333 - _visibleRatio: 0.555 m_Colors: - _Color: {r: 1, g: 1, b: 1, a: 1} diff --git a/Assets/Scripts/Li/MatRE.mat b/Assets/Scripts/Li/MatRE.mat index 2798dd04..f71ec5c3 100644 --- a/Assets/Scripts/Li/MatRE.mat +++ b/Assets/Scripts/Li/MatRE.mat @@ -68,7 +68,7 @@ Material: - _GlossMapScale: 1 - _Glossiness: 0.5 - _GlossyReflections: 1 - - _HeightCompressionFactor: 1.33 + - _HeightCompressionFactor: 1.777778 - _Metallic: 0 - _Mode: 0 - _OcclusionStrength: 1 @@ -78,6 +78,8 @@ Material: - _SrcBlend: 1 - _UVSec: 0 - _ZWrite: 1 + - _contentRatio: 1.8 + - _heightCompressionFactor: 1.333333 - _visibleRatio: 0.555 m_Colors: - _Color: {r: 1, g: 1, b: 1, a: 1} diff --git a/Assets/Scripts/Li/SampleRT.shader b/Assets/Scripts/Li/SampleRT.shader index fafad06b..7cf843bc 100644 --- a/Assets/Scripts/Li/SampleRT.shader +++ b/Assets/Scripts/Li/SampleRT.shader @@ -86,8 +86,9 @@ Shader "Custom/SampleRT" Properties { _MainTex ("Texture", 2D) = "white" {} - _HeightCompressionFactor ("Height Compression", Range(0.8, 1.5)) = 1.25 - _visibleRatio ("Visible Ratio", Range(0.0, 1.0)) = 1.0 + _visibleRatio ("Visible Ratio", Range(0.0, 2.0)) = 1.0 + _contentRatio ("Content Ratio", Range(0.0, 2.0)) = 0.555 + _heightCompressionFactor ("Height Compression", Range(0.0, 2.0)) = 1.25 } SubShader { @@ -115,7 +116,7 @@ Shader "Custom/SampleRT" int _isLE; float _contentRatio; float _visibleRatio; - float _HeightCompressionFactor; + float _heightCompressionFactor; v2f vert (appdata v) { @@ -162,7 +163,7 @@ Shader "Custom/SampleRT" float2 new_uv = i.uv; // Apply height compression - new_uv.y = (new_uv.y - 0.5) * _HeightCompressionFactor + 0.5; + new_uv.y = (new_uv.y - 0.5) * _heightCompressionFactor + 0.5; if(_isLE == 1) // Left eye { diff --git a/Assets/Scripts/Li/SetLERE.cs b/Assets/Scripts/Li/SetLERE.cs index 71161c12..94adde49 100644 --- a/Assets/Scripts/Li/SetLERE.cs +++ b/Assets/Scripts/Li/SetLERE.cs @@ -1,3 +1,4 @@ +using System; using System.Collections; using System.Collections.Generic; using UnityEngine; @@ -17,6 +18,24 @@ public class SetLERE : MonoBehaviour //private float contentRatio = 0.88f; private float visibleRatio = 0.555f; private float contentRatio = 1.8f; + private float heightCompressionFactor = 1.333333f; // 4:3 aspect ratio + + public void UpdateParameters(float visible, float content, float heightCompression) + { + // Adjust the ratios based on the height compression factor + visibleRatio = visible; + contentRatio = content; + heightCompressionFactor = heightCompression; + + // Log the updated values + Debug.Log($"Updated Ratios - visible: {visibleRatio}, content: {contentRatio}, heightCompression: {heightCompressionFactor}"); + } + + public void ResetCanvases() + { + CanvLE.SetActive(false); + CanvRE.SetActive(false); + } void Update() { @@ -35,6 +54,8 @@ void Update() matRE.SetFloat("_visibleRatio", visibleRatio); matLE.SetFloat("_contentRatio", contentRatio); matRE.SetFloat("_contentRatio", contentRatio); + matLE.SetFloat("_heightCompressionFactor", heightCompressionFactor); + matRE.SetFloat("_heightCompressionFactor", heightCompressionFactor); } if (Input.GetKeyDown(KeyCode.Q)) diff --git a/Assets/Scripts/Li/toggle-objects-script.cs b/Assets/Scripts/Li/toggle-objects-script.cs index f4339527..40ade8a7 100644 --- a/Assets/Scripts/Li/toggle-objects-script.cs +++ b/Assets/Scripts/Li/toggle-objects-script.cs @@ -10,12 +10,17 @@ public class ToggleCameraClippingPlane : MonoBehaviour [Header("Clipping Plane Values")] [SerializeField] private float nearClipValueA = 0.1f; [SerializeField] private float nearClipValueB = 0.35f; + + [Header("RemoteCameraWindow")] public GameObject remoteCameraWindow; private bool wasButtonPressed = false; private bool useValueA = true; // Start with the first value void Update() { + // Return if the remote camera window is not active + if (!remoteCameraWindow.activeSelf) return; + // Get the right controller directly using XRNode var rightControllerDevice = InputDevices.GetDeviceAtXRNode(XRNode.RightHand); diff --git a/Assets/Scripts/MediaDecoder.cs b/Assets/Scripts/MediaDecoder.cs index 58730b43..f748d5c2 100644 --- a/Assets/Scripts/MediaDecoder.cs +++ b/Assets/Scripts/MediaDecoder.cs @@ -18,12 +18,14 @@ private static AndroidJavaObject GetJavaObject() public static void initialize(int unityTextureId, int width, int height) { + LogWindow.Info($"Initializing MediaDecoder with texture ID: {unityTextureId}, size: {width}x{height}"); GetJavaObject().Call("initialize", unityTextureId, width, height); } - public static void startTCPServer(int port, bool record) + public static void startServer(int port, bool record) { - GetJavaObject().Call("startTCPServer", port, record); + LogWindow.Info($"Starting MediaDecoder server on port {port}, recording: {record}"); + GetJavaObject().Call("startServer", port, record); } public static bool isUpdateFrame() @@ -38,6 +40,7 @@ public static void updateTexture() public static void release() { + LogWindow.Info("Releasing MediaDecoder resources"); GetJavaObject().Call("release"); } } \ No newline at end of file diff --git a/Assets/Scripts/MediaDecoderUDP.cs b/Assets/Scripts/MediaDecoderUDP.cs new file mode 100644 index 00000000..6ae5dab4 --- /dev/null +++ b/Assets/Scripts/MediaDecoderUDP.cs @@ -0,0 +1,43 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class MediaDecoderUDP +{ + private static AndroidJavaObject _javaObj = null; + + private static AndroidJavaObject GetJavaObject() + { + if (_javaObj == null) + { + _javaObj = new AndroidJavaObject("com.picovr.robotassistantlib.MediaDecoderUDP"); + } + + return _javaObj; + } + + public static void initialize(int unityTextureId, int width, int height) + { + GetJavaObject().Call("initialize", unityTextureId, width, height); + } + + public static void startServer(int port, bool record) + { + GetJavaObject().Call("startServer", port, record); + } + + public static bool isUpdateFrame() + { + return GetJavaObject().Call("isUpdateFrame"); + } + + public static void updateTexture() + { + GetJavaObject().Call("updateTexture"); + } + + public static void release() + { + GetJavaObject().Call("release"); + } +} \ No newline at end of file diff --git a/Assets/Scripts/MediaDecoderUDP.cs.meta b/Assets/Scripts/MediaDecoderUDP.cs.meta new file mode 100644 index 00000000..dd4edd7d --- /dev/null +++ b/Assets/Scripts/MediaDecoderUDP.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: ee3edc1d7d294d44830efbc06c995629 +timeCreated: 1752705054 \ No newline at end of file diff --git a/Assets/Scripts/Network/CameraRequestSerializer.cs b/Assets/Scripts/Network/CameraRequestSerializer.cs new file mode 100644 index 00000000..c1d77e3d --- /dev/null +++ b/Assets/Scripts/Network/CameraRequestSerializer.cs @@ -0,0 +1,248 @@ +using System; +using System.IO; +using System.Text; + +namespace Robot.Network +{ + /// + /// Camera request data structure for TCP communication + /// + [Serializable] + public struct CameraRequestData + { + public int width; + public int height; + public int fps; + public int bitrate; + public int enableMvHevc; + public int renderMode; + public string camera; + public string ip; + public int port; + + public CameraRequestData(int width, int height, int fps, int bitrate, int enableMvHevc, int renderMode, string camera, string ip, int port) + { + this.width = width; + this.height = height; + this.fps = fps; + this.bitrate = bitrate; + this.enableMvHevc = enableMvHevc; + this.renderMode = renderMode; + this.camera = camera ?? string.Empty; + this.ip = ip ?? string.Empty; + this.port = port; + } + + public override string ToString() + { + return $"Camera[{width}x{height}@{fps}fps, {bitrate}bps, HEVC:{enableMvHevc}, Mode:{renderMode}, Type:{camera}, {ip}:{port}]"; + } + } + + /// + /// Efficient binary serializer for camera request data over TCP + /// Optimized for minimal packet size + /// + public static class CameraRequestSerializer + { + // Protocol version for future compatibility + private const byte PROTOCOL_VERSION = 1; + + // Magic bytes to identify our packets + private static readonly byte[] MAGIC_BYTES = { 0xCA, 0xFE }; // "CAFE" in hex + + /// + /// Serialize CameraConfigData to binary format for TCP transmission + /// + /// Camera request data + /// Serialized binary data + public static byte[] Serialize(CameraRequestData data) + { + using (var stream = new MemoryStream()) + using (var writer = new BinaryWriter(stream)) + { + // Write magic bytes and version + writer.Write(MAGIC_BYTES); + writer.Write(PROTOCOL_VERSION); + + // Write integer fields (6 * 4 bytes = 24 bytes) + writer.Write(data.width); + writer.Write(data.height); + writer.Write(data.fps); + writer.Write(data.bitrate); + writer.Write(data.enableMvHevc); + writer.Write(data.renderMode); + writer.Write(data.port); + + // Write strings with length prefixes for efficient parsing + WriteCompactString(writer, data.camera); + WriteCompactString(writer, data.ip); + + return stream.ToArray(); + } + } + + /// + /// Deserialize binary data back to CameraConfigData + /// + /// Binary data received from TCP + /// Deserialized camera request + /// Thrown when data format is invalid + public static CameraRequestData Deserialize(byte[] data) + { + if (data == null || data.Length < 10) // Minimum size check + throw new InvalidDataException("Data is null or too small"); + + using (var stream = new MemoryStream(data)) + using (var reader = new BinaryReader(stream)) + { + // Verify magic bytes + var magic = reader.ReadBytes(2); + if (magic.Length != 2 || magic[0] != MAGIC_BYTES[0] || magic[1] != MAGIC_BYTES[1]) + throw new InvalidDataException("Invalid magic bytes"); + + // Check protocol version + var version = reader.ReadByte(); + if (version != PROTOCOL_VERSION) + throw new InvalidDataException($"Unsupported protocol version: {version}"); + + // Read integer fields + var width = reader.ReadInt32(); + var height = reader.ReadInt32(); + var fps = reader.ReadInt32(); + var bitrate = reader.ReadInt32(); + var enableMvHevc = reader.ReadInt32(); + var renderMode = reader.ReadInt32(); + var port = reader.ReadInt32(); + + // Read strings + var camera = ReadCompactString(reader); + var ip = ReadCompactString(reader); + + return new CameraRequestData(width, height, fps, bitrate, enableMvHevc, renderMode, camera, ip, port); + } + } + + /// + /// Get the estimated size of serialized data + /// + /// Camera request data + /// Estimated byte size + public static int GetEstimatedSize(CameraRequestData data) + { + int fixedSize = 3 + (7 * 4); // Magic(2) + Version(1) + 7 integers(28) + int stringSize = GetCompactStringSize(data.camera) + GetCompactStringSize(data.ip); + return fixedSize + stringSize; + } + + /// + /// Create CameraConfigData from CameraParameters and additional fields + /// + /// Camera parameters from config + /// HEVC encoding flag + /// Render mode + /// Camera type + /// Target IP address + /// Target port + /// Complete camera request data + public static CameraRequestData FromCameraParameters( + CameraParameters cameraParams, + int enableMvHevc, + int renderMode, + string camera, + string ip, + int port) + { + if (cameraParams == null) + cameraParams = new CameraParameters(); + + return new CameraRequestData( + cameraParams.width, + cameraParams.height, + cameraParams.fps, + cameraParams.bitrate, + enableMvHevc, + renderMode, + camera ?? string.Empty, + ip ?? string.Empty, + port + ); + } + + /// + /// Write string with compact length encoding (1 byte for strings <= 255 chars) + /// + private static void WriteCompactString(BinaryWriter writer, string str) + { + if (string.IsNullOrEmpty(str)) + { + writer.Write((byte)0); + return; + } + + var bytes = Encoding.UTF8.GetBytes(str); + if (bytes.Length > 255) + throw new ArgumentException($"String too long: {bytes.Length} bytes (max 255)"); + + writer.Write((byte)bytes.Length); + writer.Write(bytes); + } + + /// + /// Read string with compact length encoding + /// + private static string ReadCompactString(BinaryReader reader) + { + var length = reader.ReadByte(); + if (length == 0) + return string.Empty; + + var bytes = reader.ReadBytes(length); + if (bytes.Length != length) + throw new InvalidDataException($"String length mismatch: expected {length}, got {bytes.Length}"); + + return Encoding.UTF8.GetString(bytes); + } + + /// + /// Calculate the size needed for a compact string + /// + private static int GetCompactStringSize(string str) + { + if (string.IsNullOrEmpty(str)) + return 1; // Just the length byte + + return 1 + Encoding.UTF8.GetByteCount(str); // Length byte + UTF8 bytes + } + + /// + /// Validate that the data can be serialized + /// + /// Data to validate + /// True if valid, false otherwise + public static bool IsValid(CameraRequestData data) + { + try + { + // Check string lengths + if (!string.IsNullOrEmpty(data.camera) && Encoding.UTF8.GetByteCount(data.camera) > 255) + return false; + + if (!string.IsNullOrEmpty(data.ip) && Encoding.UTF8.GetByteCount(data.ip) > 255) + return false; + + // Check reasonable value ranges + if (data.width < 0 || data.width > 10000) return false; + if (data.height < 0 || data.height > 10000) return false; + if (data.fps < 0 || data.fps > 1000) return false; + if (data.port < 0 || data.port > 65535) return false; + + return true; + } + catch + { + return false; + } + } + } +} diff --git a/Assets/Scripts/Network/CameraRequestSerializer.cs.meta b/Assets/Scripts/Network/CameraRequestSerializer.cs.meta new file mode 100644 index 00000000..db1acfaa --- /dev/null +++ b/Assets/Scripts/Network/CameraRequestSerializer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: be1b7457f4ed4da4b9d1db853800f3ad +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/EventExecutor.cs b/Assets/Scripts/Network/EventExecutor.cs new file mode 100644 index 00000000..010697c0 --- /dev/null +++ b/Assets/Scripts/Network/EventExecutor.cs @@ -0,0 +1,88 @@ +// refer: https://github.com/googleads/googleads-mobile-unity/blob/main/source/plugin/Assets/GoogleMobileAds/Common/MobileAdsEventExecutor.cs + +using System; +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Events; +using UnityEngine; + +namespace Robot.V2.Network +{ + public class EventExecutor : MonoBehaviour + { + public static EventExecutor instance = null; + + private static List adEventsQueue = new List(); + + private volatile static bool adEventsQueueEmpty = true; + + public static void Initialize() + { + if (IsActive()) + { + return; + } + + // Add an invisible game object to the scene + GameObject obj = new GameObject("MainThreadExecutor"); + obj.hideFlags = HideFlags.HideAndDontSave; + DontDestroyOnLoad(obj); + instance = obj.AddComponent(); + } + + public static bool IsActive() + { + return instance != null; + } + + public void Awake() + { + DontDestroyOnLoad(gameObject); + } + + public static void ExecuteInUpdate(Action action) + { + lock (adEventsQueue) + { + adEventsQueue.Add(action); + adEventsQueueEmpty = false; + } + } + + public static void InvokeInUpdate(UnityEvent eventParam) + { + ExecuteInUpdate(() => { eventParam.Invoke(); }); + } + + public void Update() + { + if (adEventsQueueEmpty) + { + return; + } + + List stagedAdEventsQueue = new List(); + + lock (adEventsQueue) + { + stagedAdEventsQueue.AddRange(adEventsQueue); + adEventsQueue.Clear(); + adEventsQueueEmpty = true; + } + + foreach (Action stagedEvent in stagedAdEventsQueue) + { + if (stagedEvent.Target != null) + { + stagedEvent.Invoke(); + } + } + } + + public void OnDisable() + { + instance = null; + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/Network/EventExecutor.cs.meta b/Assets/Scripts/Network/EventExecutor.cs.meta new file mode 100644 index 00000000..67f2920e --- /dev/null +++ b/Assets/Scripts/Network/EventExecutor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2324bfc424ed4164d894cc6194c531ff +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/NetworkCommander.cs b/Assets/Scripts/Network/NetworkCommander.cs new file mode 100644 index 00000000..be0684e3 --- /dev/null +++ b/Assets/Scripts/Network/NetworkCommander.cs @@ -0,0 +1,124 @@ +using System; +using Robot; +using Robot.Network; +using Robot.V2.Network; +using UnityEngine; +using XRoboToolkit.Network; + +namespace Network +{ + public static class NetworkCommand + { + public const string OPEN_CAMERA = "OPEN_CAMERA"; + public const string CLOSE_CAMERA = "CLOSE_CAMERA"; + } + + public class NetworkCommander : MonoBehaviour + { + private NetworkDataProcessor processor; + private TcpManager tcpManager; + + private string logTag = "NetworkCommander"; + + public static NetworkCommander Instance { get; private set; } + + private void Awake() + { + if (Instance == null) + { + Instance = this; + DontDestroyOnLoad(gameObject); + } + else + { + Destroy(gameObject); + } + } + + public NetworkDataProcessor Processor + { + get { return processor; } + } + + private void Start() + { + InitializeNetworkProcessor(); + } + + private void InitializeNetworkProcessor() + { + processor = new NetworkDataProcessor(); + + // Register example command handlers + processor.RegisterCommandHandler(NetworkCommand.OPEN_CAMERA, new OpenCameraHandler()); + processor.RegisterCommandHandler(NetworkCommand.CLOSE_CAMERA, new CloseCameraHandler()); + + Debug.Log("Network data processor initialized with " + processor.GetRegisteredCommands().Length + + " handlers"); + } + + void OnDestroy() + { + // Clean up + processor?.ClearAllHandlers(); + } + + #region Send Data + + public void SendCommand(string command, byte[] data = null) + { + var protocol = new NetworkDataProtocol(command, data); + var serializedData = NetworkDataProtocolSerializer.Serialize(protocol); + // Send the packet using TcpManager + TcpManager.Instance.ClientSend(serializedData); + } + + public void OpenCamera(byte[] data) + { + LogWindow.Warn("Sending OPEN_CAMERA command."); + SendCommand(NetworkCommand.OPEN_CAMERA, data); + } + + public void CloseCamera() + { + LogWindow.Warn("Sending CLOSE_CAMERA command."); + SendCommand(NetworkCommand.CLOSE_CAMERA, new byte[0]); + } + + #endregion + + private class OpenCameraHandler : ICommandHandler + { + public void HandleCommand(byte[] data) + { + Debug.Log("Handling OPEN_CAMERA command with data: " + BitConverter.ToString(data)); + // Add logic to open camera + + var cameraConfig = CameraRequestSerializer.Deserialize(data); + Utils.WriteLog("OpenCameraHandler", $"Received camera config: {cameraConfig}"); + LogWindow.Warn($"Handling OPEN_CAMERA: {cameraConfig.ToString()}"); + + // The stream only works for the VR headset + if (cameraConfig.camera.Equals("VR")) + { + CameraHandle.StartCameraPreview(cameraConfig.width, cameraConfig.height, cameraConfig.fps, + cameraConfig.bitrate, cameraConfig.enableMvHevc, + cameraConfig.renderMode, + () => { CameraHandle.StartSendImage(cameraConfig.ip, cameraConfig.port); }); + // CameraSendToBtn.SetOn(true); + } + } + } + + private class CloseCameraHandler : ICommandHandler + { + public void HandleCommand(byte[] data) + { + Debug.Log("Handling CLOSE_CAMERA command with data: " + BitConverter.ToString(data)); + LogWindow.Warn("Handling CLOSE_CAMERA command"); + // Stop the camera preview + CameraHandle.StopPreview(); + } + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/Network/NetworkCommander.cs.meta b/Assets/Scripts/Network/NetworkCommander.cs.meta new file mode 100644 index 00000000..f9c6bd58 --- /dev/null +++ b/Assets/Scripts/Network/NetworkCommander.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 8c71c8cc205d4fd8bc0531104a32115c +timeCreated: 1752523203 \ No newline at end of file diff --git a/Assets/Scripts/Network/NetworkDataProcessor.cs b/Assets/Scripts/Network/NetworkDataProcessor.cs new file mode 100644 index 00000000..098ae490 --- /dev/null +++ b/Assets/Scripts/Network/NetworkDataProcessor.cs @@ -0,0 +1,122 @@ +using System; +using System.Collections.Generic; + +namespace XRoboToolkit.Network +{ + /// + /// Command handler interface for processing network data based on command type + /// + public interface ICommandHandler + { + /// + /// Handles the command with the provided data + /// + /// The data payload + void HandleCommand(byte[] data); + } + + /// + /// Network data processor that routes commands to appropriate handlers + /// + public class NetworkDataProcessor + { + private readonly Dictionary commandHandlers; + + public NetworkDataProcessor() + { + commandHandlers = new Dictionary(); + } + + /// + /// Registers a command handler for a specific command type + /// + /// The command string + /// The handler implementation + public void RegisterCommandHandler(string command, ICommandHandler handler) + { + if (string.IsNullOrEmpty(command)) + throw new ArgumentException("Command cannot be null or empty", nameof(command)); + + if (handler == null) + throw new ArgumentNullException(nameof(handler)); + + commandHandlers[command] = handler; + } + + /// + /// Unregisters a command handler + /// + /// The command string + /// True if handler was removed, false if not found + public bool UnregisterCommandHandler(string command) + { + if (string.IsNullOrEmpty(command)) + return false; + + return commandHandlers.Remove(command); + } + + /// + /// Processes a network data protocol message + /// + /// The protocol message to process + /// True if command was handled, false if no handler found + public bool ProcessCommand(NetworkDataProtocol protocol) + { + if (protocol == null) + throw new ArgumentNullException(nameof(protocol)); + + if (commandHandlers.TryGetValue(protocol.command, out ICommandHandler handler)) + { + handler.HandleCommand(protocol.data); + return true; + } + + return false; + } + + /// + /// Processes a serialized network data protocol message + /// + /// The serialized protocol message + /// True if command was handled, false if no handler found or deserialization failed + public bool ProcessSerializedCommand(byte[] serializedData) + { + if (NetworkDataProtocolSerializer.TryDeserialize(serializedData, out NetworkDataProtocol protocol)) + { + return ProcessCommand(protocol); + } + + return false; + } + + /// + /// Gets all registered command types + /// + /// Array of registered command strings + public string[] GetRegisteredCommands() + { + var commands = new string[commandHandlers.Count]; + commandHandlers.Keys.CopyTo(commands, 0); + return commands; + } + + /// + /// Checks if a command handler is registered for the given command + /// + /// The command to check + /// True if handler exists, false otherwise + public bool HasCommandHandler(string command) + { + return !string.IsNullOrEmpty(command) && commandHandlers.ContainsKey(command); + } + + /// + /// Clears all registered command handlers + /// + public void ClearAllHandlers() + { + commandHandlers.Clear(); + } + } +} diff --git a/Assets/Scripts/Network/NetworkDataProcessor.cs.meta b/Assets/Scripts/Network/NetworkDataProcessor.cs.meta new file mode 100644 index 00000000..6c2c1e6a --- /dev/null +++ b/Assets/Scripts/Network/NetworkDataProcessor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 12cc396259dd9c34ea590c256cddf909 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/NetworkDataProtocol.cs b/Assets/Scripts/Network/NetworkDataProtocol.cs new file mode 100644 index 00000000..d73249ba --- /dev/null +++ b/Assets/Scripts/Network/NetworkDataProtocol.cs @@ -0,0 +1,38 @@ +using System; +using System.Collections.Generic; +using System.Text; + +namespace XRoboToolkit.Network +{ + /// + /// Custom network data protocol structure containing command, length, and data + /// + [Serializable] + public class NetworkDataProtocol + { + public string command; + public int length; + public byte[] data; + + public NetworkDataProtocol() + { + command = string.Empty; + length = 0; + data = new byte[0]; + } + + public NetworkDataProtocol(string command, byte[] data) + { + this.command = command ?? string.Empty; + this.data = data ?? new byte[0]; + this.length = this.data.Length; + } + + public NetworkDataProtocol(string command, int length, byte[] data) + { + this.command = command ?? string.Empty; + this.length = length; + this.data = data ?? new byte[0]; + } + } +} diff --git a/Assets/Scripts/Network/NetworkDataProtocol.cs.meta b/Assets/Scripts/Network/NetworkDataProtocol.cs.meta new file mode 100644 index 00000000..7649eb30 --- /dev/null +++ b/Assets/Scripts/Network/NetworkDataProtocol.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 76def7cfb389b2046a094d17f0e2317e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/NetworkDataProtocolSerializer.cs b/Assets/Scripts/Network/NetworkDataProtocolSerializer.cs new file mode 100644 index 00000000..4342156c --- /dev/null +++ b/Assets/Scripts/Network/NetworkDataProtocolSerializer.cs @@ -0,0 +1,239 @@ +using System; +using System.Collections.Generic; +using System.Text; + +namespace XRoboToolkit.Network +{ + /// + /// Serializer and deserializer for NetworkDataProtocol + /// + public static class NetworkDataProtocolSerializer + { + // Protocol header format: [command_length(4 bytes)][command][data_length(4 bytes)][data] + private const int INT_SIZE = sizeof(int); + + /// + /// Serializes a NetworkDataProtocol object to byte array + /// + /// The protocol object to serialize + /// Serialized byte array + public static byte[] Serialize(NetworkDataProtocol protocol) + { + if (protocol == null) + throw new ArgumentNullException(nameof(protocol)); + + // Convert command to UTF-8 bytes + byte[] commandBytes = Encoding.UTF8.GetBytes(protocol.command ?? string.Empty); + int commandLength = commandBytes.Length; + + // Ensure data is not null + byte[] data = protocol.data ?? new byte[0]; + int dataLength = data.Length; + + // Calculate total size: command_length + command + data_length + data + int totalSize = INT_SIZE + commandLength + INT_SIZE + dataLength; + byte[] result = new byte[totalSize]; + + int offset = 0; + + // Write command length + BitConverter.GetBytes(commandLength).CopyTo(result, offset); + offset += INT_SIZE; + + // Write command + if (commandBytes.Length > 0) + { + commandBytes.CopyTo(result, offset); + } + offset += commandLength; + + // Write data length + BitConverter.GetBytes(dataLength).CopyTo(result, offset); + offset += INT_SIZE; + + // Write data + if (data.Length > 0) + { + data.CopyTo(result, offset); + } + + return result; + } + + /// + /// Deserializes a byte array to NetworkDataProtocol object + /// + /// The byte array to deserialize + /// Deserialized NetworkDataProtocol object + public static NetworkDataProtocol Deserialize(byte[] buffer) + { + if (buffer == null) + throw new ArgumentNullException(nameof(buffer)); + + if (buffer.Length < INT_SIZE * 2) + throw new ArgumentException($"Buffer too small to contain valid protocol data. Buffer length: {buffer.Length}, minimum required: {INT_SIZE * 2}"); + + try + { + int offset = 0; + + // Read command length + int commandLength = BitConverter.ToInt32(buffer, offset); + offset += INT_SIZE; + + if (commandLength < 0) + throw new ArgumentException($"Invalid command length: {commandLength} (cannot be negative)"); + + if (offset + commandLength > buffer.Length) + throw new ArgumentException($"Invalid command length: {commandLength}, buffer length: {buffer.Length}, offset: {offset}"); + + // Read command + string command = string.Empty; + if (commandLength > 0) + { + command = Encoding.UTF8.GetString(buffer, offset, commandLength); + } + offset += commandLength; + + if (offset + INT_SIZE > buffer.Length) + throw new ArgumentException($"Buffer too small to contain data length. Buffer length: {buffer.Length}, offset: {offset}"); + + // Read data length + int dataLength = BitConverter.ToInt32(buffer, offset); + offset += INT_SIZE; + + if (dataLength < 0) + throw new ArgumentException($"Invalid data length: {dataLength} (cannot be negative)"); + + if (offset + dataLength > buffer.Length) + throw new ArgumentException($"Invalid data length: {dataLength}, buffer length: {buffer.Length}, offset: {offset}"); + + // Read data + byte[] data = new byte[dataLength]; + if (dataLength > 0) + { + Buffer.BlockCopy(buffer, offset, data, 0, dataLength); + } + + return new NetworkDataProtocol(command, dataLength, data); + } + catch (Exception ex) when (!(ex is ArgumentException)) + { + throw new ArgumentException($"Error deserializing buffer: {ex.Message}", ex); + } + } + + /// + /// Tries to deserialize a byte array to NetworkDataProtocol object + /// + /// The byte array to deserialize + /// The output protocol object + /// True if deserialization was successful, false otherwise + public static bool TryDeserialize(byte[] buffer, out NetworkDataProtocol protocol) + { + protocol = null; + try + { + protocol = Deserialize(buffer); + return true; + } + catch + { + return false; + } + } + + /// + /// Gets the minimum buffer size required for a protocol with given command and data sizes + /// + /// Length of the command string in bytes + /// Length of the data array + /// Minimum required buffer size + public static int GetMinimumBufferSize(int commandLength, int dataLength) + { + return INT_SIZE + commandLength + INT_SIZE + dataLength; + } + + /// + /// Validates if a buffer contains a complete protocol message + /// + /// The buffer to validate + /// True if buffer contains a complete message, false otherwise + public static bool IsCompleteMessage(byte[] buffer) + { + if (buffer == null || buffer.Length < INT_SIZE * 2) + return false; + + try + { + int commandLength = BitConverter.ToInt32(buffer, 0); + if (commandLength < 0 || INT_SIZE + commandLength + INT_SIZE > buffer.Length) + return false; + + int dataLength = BitConverter.ToInt32(buffer, INT_SIZE + commandLength); + if (dataLength < 0) + return false; + + int requiredSize = GetMinimumBufferSize(commandLength, dataLength); + return buffer.Length >= requiredSize; + } + catch + { + return false; + } + } + + /// + /// Debug helper method to analyze buffer contents + /// + /// The buffer to analyze + /// String containing debug information about the buffer + public static string DebugBufferContents(byte[] buffer) + { + if (buffer == null) + return "Buffer is null"; + + StringBuilder sb = new StringBuilder(); + sb.AppendLine($"Buffer length: {buffer.Length}"); + + if (buffer.Length == 0) + return sb.ToString(); + + // Show first 32 bytes in hex + int displayBytes = Math.Min(buffer.Length, 32); + sb.AppendLine($"First {displayBytes} bytes (hex): {BitConverter.ToString(buffer, 0, displayBytes)}"); + + if (buffer.Length >= INT_SIZE) + { + int cmdLen = BitConverter.ToInt32(buffer, 0); + sb.AppendLine($"Command length (first 4 bytes): {cmdLen}"); + + if (cmdLen >= 0 && cmdLen < 1000 && buffer.Length >= INT_SIZE + cmdLen) + { + try + { + string cmd = Encoding.UTF8.GetString(buffer, INT_SIZE, cmdLen); + sb.AppendLine($"Command string: '{cmd}'"); + + if (buffer.Length >= INT_SIZE + cmdLen + INT_SIZE) + { + int dataLen = BitConverter.ToInt32(buffer, INT_SIZE + cmdLen); + sb.AppendLine($"Data length: {dataLen}"); + sb.AppendLine($"Expected total size: {INT_SIZE + cmdLen + INT_SIZE + dataLen}"); + } + } + catch (Exception ex) + { + sb.AppendLine($"Error reading command: {ex.Message}"); + } + } + else + { + sb.AppendLine($"Invalid command length: {cmdLen}"); + } + } + + return sb.ToString(); + } + } +} diff --git a/Assets/Scripts/Network/NetworkDataProtocolSerializer.cs.meta b/Assets/Scripts/Network/NetworkDataProtocolSerializer.cs.meta new file mode 100644 index 00000000..715bb890 --- /dev/null +++ b/Assets/Scripts/Network/NetworkDataProtocolSerializer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0173b68eafcbdf24881b7ca39bca6240 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/TcpClient.cs b/Assets/Scripts/Network/TcpClient.cs new file mode 100644 index 00000000..e13b3e5a --- /dev/null +++ b/Assets/Scripts/Network/TcpClient.cs @@ -0,0 +1,93 @@ +using UnityEngine; +using System; + +namespace Robot.V2.Network +{ + public enum ClientStatus + { + None, + Connected, + Disconnected, + } + public class TcpClient : AndroidJavaProxy + { + private static TcpClient _callbackProxy = new TcpClient(); + + public static TcpClient CallbackProxy => _callbackProxy; + + public event Action OnConnected; + public event Action OnDisconnected; + public event Action OnDataReceived; + public event Action OnError; + + private string logTag = "TcpClient(C#)"; + + public static ClientStatus Status { get; private set; } = ClientStatus.None; + + public TcpClient() : base("com.picovr.robotassistantlib.TcpClient$ClientCallback") + { + + } + + private static AndroidJavaObject _javaObj = null; + + private static AndroidJavaObject GetJavaObject() + { + if (_javaObj == null) + { + _javaObj = new AndroidJavaObject("com.picovr.robotassistantlib.TcpClient"); + } + + return _javaObj; + } + + public static void ConnectToServer(string ip, int port, Action onConnected) + { + LogWindow.Info($"Attempting to connect to server at {ip}:{port}"); + _callbackProxy.OnConnected = onConnected; + GetJavaObject().Call("connectToServer", ip, port, _callbackProxy); + Status = ClientStatus.Connected; + } + + public static void Send(byte[] data) + { + GetJavaObject().Call("send", data); + } + + public static void Disconnect() + { + LogWindow.Info("Disconnecting from TCP server"); + GetJavaObject().Call("disconnect"); + Status = ClientStatus.Disconnected; + } + + public void onConnected() + { + Utils.WriteLog(logTag, "Java TcpClient: Connected"); + LogWindow.Info("TCP Client successfully connected to server"); + Status = ClientStatus.Connected; + OnConnected?.Invoke(); + } + + public void onDisconnected() + { + Utils.WriteLog(logTag, "Java TcpClient: Disconnected"); + LogWindow.Warn("TCP Client disconnected from server"); + Status = ClientStatus.Disconnected; + OnDisconnected?.Invoke(); + } + + public void onDataReceived(byte[] data, int length) + { + Utils.WriteLog(logTag, $"Java TcpClient: Received data of length {length}"); + OnDataReceived?.Invoke(data, length); + } + + public void onError(string errorMessage, AndroidJavaObject exception) + { + Utils.WriteLog(logTag, $"Java TcpClient: Error - {errorMessage} - {exception}"); + LogWindow.Error($"TCP Client error: {errorMessage}"); + OnError?.Invoke(errorMessage, new Exception($"{errorMessage} - {exception}")); + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/Network/TcpClient.cs.meta b/Assets/Scripts/Network/TcpClient.cs.meta new file mode 100644 index 00000000..e967a641 --- /dev/null +++ b/Assets/Scripts/Network/TcpClient.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 406cb66c3fcb36647a6f32709056309d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/TcpCommand.cs b/Assets/Scripts/Network/TcpCommand.cs new file mode 100644 index 00000000..55ecf4cd --- /dev/null +++ b/Assets/Scripts/Network/TcpCommand.cs @@ -0,0 +1,23 @@ +using System; + +namespace Robot.V2.Network +{ + public enum Command + { + StartRobotCameraStream, // robot side + StopRobotCameraStream, // robot side + } + + public class TcpCommand + { + public static string GetString(Command command) + { + return Enum.GetName(typeof(Command), command); + } + + public static Command GetCommand(string s) + { + return Enum.Parse(s); + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/Network/TcpCommand.cs.meta b/Assets/Scripts/Network/TcpCommand.cs.meta new file mode 100644 index 00000000..72e6e661 --- /dev/null +++ b/Assets/Scripts/Network/TcpCommand.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e75179ce9974f9548a2312d7e447b896 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/TcpHandler.cs b/Assets/Scripts/Network/TcpHandler.cs index 1fdb1269..c8d0939f 100644 --- a/Assets/Scripts/Network/TcpHandler.cs +++ b/Assets/Scripts/Network/TcpHandler.cs @@ -71,6 +71,7 @@ public static string GetTargetIP public void Connect(string address) { + LogWindow.Info($"Attempting to connect to {address}"); _address = address; _reconnectEnable = false; Connect(); @@ -107,6 +108,7 @@ private void Connect() { _state = SocketState.CONNECT_ERROR; ConnectErrorInfo = e.Message; + LogWindow.Error($"TCP connection failed: {e.Message}"); Debug.LogError(Tag + "Connection failed: " + e.Message); } } @@ -121,6 +123,7 @@ private void ConnectCallback(IAsyncResult async) _reconnectEnable = true; socket.EndConnect(async); _state = SocketState.WORKING; + LogWindow.Info("TCP socket connection established successfully"); if (_sendThread.ThreadState == ThreadState.Unstarted) { @@ -143,12 +146,14 @@ private void ConnectCallback(IAsyncResult async) { _state = SocketState.CONNECT_ERROR; ConnectErrorInfo = "connect error"; + LogWindow.Error("TCP connection failed - socket not connected"); Debug.LogError(Tag + "connect Error"); } } catch (Exception e) { ConnectErrorInfo = e.ToString(); + LogWindow.Error($"TCP connection exception: {e.Message}"); Debug.LogError(Tag + "Connect error,Exception " + e); _state = SocketState.CONNECT_ERROR; } @@ -156,6 +161,7 @@ private void ConnectCallback(IAsyncResult async) private void ConnectInit() { + LogWindow.Info($"Initializing connection with device SN: {_deviceSN}"); Debug.Log("ConnectInit deviceSN:" + _deviceSN); Send(NetCMD.PACKET_CCMD_CONNECT, _deviceSN + "|-1"); Send(NetCMD.PACKET_CCMD_SEND_VERSION, _deviceSN + "|1.0|" + _appVersion); @@ -212,12 +218,14 @@ private void OnDataReceived(IAsyncResult ar) } else { + LogWindow.Warn("TCP client disconnected - no data received"); Debug.Log("Client disconnected."); Close(); } } catch (Exception ex) { + LogWindow.Error($"TCP data receive error: {ex.Message}"); Debug.LogError($"Error: {ex.Message}"); Close(); } @@ -337,6 +345,7 @@ private void ReceivePacketHandle() public void Reconnect() { + LogWindow.Info("Attempting to reconnect to TCP server"); Connect(_address); } @@ -378,6 +387,7 @@ private void OnSendThread() if (sendData.Cmd == NetCMD.PACKET_CCMD_SEND_VERSION) { //This message has been successfully sent, indicating the establishment of communication with the PC side + LogWindow.Info("PC connection established - version packet sent successfully"); Debug.Log("pc connected !"); _connectInited = true; } @@ -390,6 +400,7 @@ private void OnSendThread() if (socketError != SocketError.Success) { + LogWindow.Error($"TCP send error: {socketError}"); Debug.LogError(Tag + "send SocketError:" + socketError); Close(); break; @@ -420,6 +431,7 @@ private void OnSendThread() if (socketError != SocketError.Success) { + LogWindow.Error($"TCP tracking data send error: {socketError}"); Debug.LogError(Tag + "SocketError:" + socketError); Close(); continue; @@ -439,6 +451,7 @@ private void OnSendThread() } catch (Exception e) { + LogWindow.Error($"TCP send thread error: {e.Message}"); Debug.LogError(Tag + "Error OnSendThread:" + e); Close(); } @@ -457,6 +470,7 @@ private void OnDestroy() public void Close() { + LogWindow.Info("Closing TCP connection"); Debug.Log(Tag + "Close:"); if (_receivePackages != null) { @@ -481,6 +495,7 @@ public void Close() } catch (Exception e) { + LogWindow.Error($"TCP socket cleanup error: {e.Message}"); Debug.LogError(Tag + "Clear Error:" + e); } } diff --git a/Assets/Scripts/Network/TcpManager.cs b/Assets/Scripts/Network/TcpManager.cs new file mode 100644 index 00000000..0288a29f --- /dev/null +++ b/Assets/Scripts/Network/TcpManager.cs @@ -0,0 +1,205 @@ +using System; +using System.Text; +using UnityEngine; + +namespace Robot.V2.Network +{ + public class TcpManager : MonoBehaviour + { + private TcpServer tcpServer; + private TcpClient tcpClient; + + public int port = 13579; + + private string serverTag = "TcpManager - TcpServer(C#)"; + private string clientTag = "TcpManager - TcpClient(C#)"; + + // public System.Action OnServerReceived; + public System.Action OnServerReceived; + public System.Action OnClientReceived; + + public static TcpManager Instance { get; private set; } + + public TcpServer TCPServer => tcpServer; + public TcpClient TCPClient => tcpClient; + + private void Awake() + { + if (Instance == null) + { + Instance = this; + DontDestroyOnLoad(gameObject); + } + else + { + Destroy(gameObject); + } + } + + void Start() + { + tcpServer = TcpServer.CallbackProxy; + + // bind event + tcpServer.OnServerStarted += OnServerStarted; + tcpServer.OnClientDisconnected += OnClientDisconnected; + tcpServer.OnDataReceived += OnDataReceived; + tcpServer.OnError += OnError; + tcpServer.OnServerStopped += OnServerStopped; + + tcpClient = TcpClient.CallbackProxy; + tcpClient.OnConnected += TcpClientOnOnConnected; + tcpClient.OnDisconnected += TcpClientOnOnDisconnected; + tcpClient.OnDataReceived += TcpClientOnOnDataReceived; + tcpClient.OnError += TcpClientOnOnError; + +#if !UNITY_EDITOR + // Start server by default + StartServer(); +#endif + } + + private void OnDestroy() + { + tcpServer.OnServerStarted -= OnServerStarted; + tcpServer.OnClientDisconnected -= OnClientDisconnected; + tcpServer.OnDataReceived -= OnDataReceived; + tcpServer.OnError -= OnError; + tcpServer.OnServerStopped -= OnServerStopped; + + tcpClient.OnConnected -= TcpClientOnOnConnected; + tcpClient.OnDisconnected -= TcpClientOnOnDisconnected; + tcpClient.OnDataReceived -= TcpClientOnOnDataReceived; + tcpClient.OnError -= TcpClientOnOnError; + } + + #region Server + + private void OnError(string msg) + { + Utils.WriteLog(serverTag, msg); + } + + // private void OnDataReceived(byte[] data, int length) + // { + // var s = Encoding.UTF8.GetString(data); + // + // // Refer: https://github.com/googleads/googleads-mobile-unity/blob/master/samples/HelloWorld/Assets/Scripts/GoogleAdMobController.cs#L63 + // // Use EventExecutor to schedule these calls on the next Update() loop. + // EventExecutor.ExecuteInUpdate(() => { OnServerReceived.Invoke(s); }); + // + // Utils.WriteLog(serverTag, $"data: {s} length: {length}"); + // } + + private void OnDataReceived(byte[] data, int length) + { + // Refer: https://github.com/googleads/googleads-mobile-unity/blob/master/samples/HelloWorld/Assets/Scripts/GoogleAdMobController.cs#L63 + // Use EventExecutor to schedule these calls on the next Update() loop. + + try + { + EventExecutor.ExecuteInUpdate(() => { OnServerReceived.Invoke(data); }); + + Utils.WriteLog(serverTag, $"data: {data.Length} length: {length}"); + } + catch (Exception e) + { + Utils.WriteLog(serverTag, $"exception: {e.Message} {e.StackTrace}"); + } + } + + private void OnClientDisconnected() + { + Utils.WriteLog(serverTag, "Disconnected"); + } + + private void OnServerStopped() + { + Utils.WriteLog(serverTag, "Stopped"); + } + + private void OnServerStarted(int port) + { + Utils.WriteLog(serverTag, $"Started: {port}"); + } + + public void StartServer() + { + TcpServer.StartTCPServer(port, OnServerStarted); + } + + public void StopServer() + { + Utils.WriteLog(serverTag, $"Stopping Server"); + TcpServer.StopServer(); + Utils.WriteLog(serverTag, $"Stopped Server"); + } + + #endregion + + #region Client + + private void TcpClientOnOnError(string arg1, Exception arg2) + { + Utils.WriteLog(clientTag, $"{arg1}\t{arg2}"); + } + + private void TcpClientOnOnDataReceived(byte[] data, int length) + { + // var s = Encoding.UTF8.GetString(data); + OnClientReceived?.Invoke(""); + + Utils.WriteLog(clientTag, $"data: {data} length: {length}"); + } + + private void TcpClientOnOnDisconnected() + { + Utils.WriteLog(clientTag, "Disconnected"); + } + + private void TcpClientOnOnConnected() + { + Utils.WriteLog(clientTag, "Connected"); + } + + public void StartClient(string host) + { + TcpClient.ConnectToServer(host, port, TcpClientOnOnConnected); + } + + public void StopClient() + { + Utils.WriteLog(serverTag, $"Disconnecting Client"); + TcpClient.Disconnect(); + Utils.WriteLog(serverTag, $"Disconnected Client"); + } + + public void ClientSend(string s) + { + if (TcpClient.Status == ClientStatus.Connected) + { + Utils.WriteLog(clientTag, $"Send: {s}"); + TcpClient.Send(Encoding.UTF8.GetBytes(s)); + } + else + { + LogWindow.Error("Client is not connected. Cannot send data."); + } + } + + public void ClientSend(byte[] data) + { + if (TcpClient.Status == ClientStatus.Connected) + { + Utils.WriteLog(clientTag, $"Send: {data.Length} bytes"); + TcpClient.Send(data); + } + else + { + LogWindow.Error("Client is not connected. Cannot send data."); + } + } + + #endregion + } +} \ No newline at end of file diff --git a/Assets/Scripts/Network/TcpManager.cs.meta b/Assets/Scripts/Network/TcpManager.cs.meta new file mode 100644 index 00000000..2429b0ea --- /dev/null +++ b/Assets/Scripts/Network/TcpManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 53cf03688b80ad040918270d59d1fa02 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Network/TcpServer.cs b/Assets/Scripts/Network/TcpServer.cs new file mode 100644 index 00000000..75c7488c --- /dev/null +++ b/Assets/Scripts/Network/TcpServer.cs @@ -0,0 +1,110 @@ +using System; +using System.Text; +using UnityEngine; +using System.Threading.Tasks; + +namespace Robot.V2.Network +{ + public enum ServerStatus + { + None, + Started, + Stopped, + } + public class TcpServer : AndroidJavaProxy + { + + private static TcpServer _callbackProxy = new TcpServer(); + + public static TcpServer CallbackProxy => _callbackProxy; + + public event Action OnServerStarted; + public event Action OnClientDisconnected; + public event Action OnDataReceived; + public event Action OnError; + public event Action OnServerStopped; + + private string logTag = "TcpServer(C#)"; + + public static ServerStatus Status { get; private set; } = ServerStatus.None; + + public TcpServer() : base("com.picovr.robotassistantlib.TcpServer$ServerCallback") + { + + } + + private static AndroidJavaObject _javaObj = null; + + private static AndroidJavaObject GetJavaObject() + { + if (_javaObj == null) + { + _javaObj = new AndroidJavaObject("com.picovr.robotassistantlib.TcpServer"); + } + + return _javaObj; + } + + public static void StartTCPServer(int port, Action onServerStarted) + { + LogWindow.Info($"Starting TCP server on port {port}"); + _callbackProxy.OnServerStarted = onServerStarted; + + GetJavaObject().Call("startTCPServer", port, _callbackProxy); + Status = ServerStatus.Started; + } + + public static void StopServer() + { + LogWindow.Info("Stopping TCP server"); + GetJavaObject().Call("stopServer"); + Status = ServerStatus.Stopped; + } + + // JNI callback methods + public void onServerStarted(int port) + { + Utils.WriteLog(logTag, $"Server started on port: {port}"); + LogWindow.Info($"TCP Server successfully started on port {port}"); + OnServerStarted?.Invoke(port); + } + + public void onClientConnected(AndroidJavaObject socket) + { + Utils.WriteLog(logTag, "Client connected: " + socket); + LogWindow.Info("Client connected to TCP server"); + } + + public void onClientDisconnected() + { + Utils.WriteLog(logTag, "Client disconnected"); + LogWindow.Warn("Client disconnected from TCP server"); + OnClientDisconnected?.Invoke(); + } + + public void onDataReceived(byte[] data, int length) + { + Utils.WriteLog(logTag, "Received data of length: " + length); + // decode + var s = Encoding.UTF8.GetString(data); + Utils.WriteLog(logTag, "Received data: " + s); + OnDataReceived?.Invoke(data, length); + Utils.WriteLog(logTag, "onDataReceived invoked"); + } + + public void onError(string errorMessage, AndroidJavaObject exception) + { + Utils.WriteLog(logTag, "Server error: " + errorMessage); + LogWindow.Error($"TCP Server error: {errorMessage}"); + OnError?.Invoke($"{errorMessage} - {exception}"); + } + + public void onServerStopped() + { + Utils.WriteLog(logTag, "Server stopped"); + LogWindow.Info("TCP Server stopped"); + OnServerStopped?.Invoke(); + } + + } +} \ No newline at end of file diff --git a/Assets/Scripts/Network/TcpServer.cs.meta b/Assets/Scripts/Network/TcpServer.cs.meta new file mode 100644 index 00000000..c4eec7fc --- /dev/null +++ b/Assets/Scripts/Network/TcpServer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 9ed2dabb06ce19348a19a12430edf0c4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/UI/FPSDisplay.cs b/Assets/Scripts/UI/FPSDisplay.cs index 4e23b136..61cfef28 100644 --- a/Assets/Scripts/UI/FPSDisplay.cs +++ b/Assets/Scripts/UI/FPSDisplay.cs @@ -21,14 +21,31 @@ public static void UpdateTime() deltaTime += (unDeltaTime - deltaTime) * 0.1f; // Debug.Log("deltaTime:" + deltaTime); } + + public static void Reset() + { + if (deltaTime > 0) + { + deltaTime = 0f; + } + } private void Update() { - if (Time.frameCount % 10 == 0) + if (fpsText != null) { - // Calculate FPS - var fps = 1000.0f / deltaTime; - if (fpsText != null) fpsText.text = $"FPS: {fps:f1}"; + if (Time.frameCount % 10 == 0) + { + var text = $"FPS: N/A"; + // Calculate FPS + if (deltaTime > 0) + { + var fps = 1000.0f / deltaTime; + text = $"FPS: {fps:F1}"; + } + + fpsText.text = text; + } } } } \ No newline at end of file diff --git a/Assets/Scripts/UI/LogWindow.cs b/Assets/Scripts/UI/LogWindow.cs new file mode 100644 index 00000000..6f17f2d7 --- /dev/null +++ b/Assets/Scripts/UI/LogWindow.cs @@ -0,0 +1,86 @@ +using System.Collections; +using TMPro; +using UnityEngine; +using UnityEngine.UI; + +public class LogWindow : MonoBehaviour +{ + public TextMeshProUGUI text; + + public ScrollRect scrollRect; + + private static LogWindow _instance; + + public RectTransform rectTransform; + + private void Awake() + { + _instance = this; + } + + private IEnumerator AutoScrollCoroutine() + { + LayoutRebuilder.ForceRebuildLayoutImmediate(scrollRect.content as RectTransform); + yield return new WaitForEndOfFrame(); // Wait one frame for layout to update + + // Update rectTransform height based on text content + UpdateRectTransformHeight(); + + scrollRect.verticalNormalizedPosition = 0f; + } + + private void UpdateRectTransformHeight() + { + if (rectTransform != null && text != null) + { + // Force the text to update its preferred height + text.ForceMeshUpdate(); + + // Get the preferred height of the text + float preferredHeight = text.preferredHeight; + + // Update the rectTransform height + Vector2 sizeDelta = rectTransform.sizeDelta; + sizeDelta.y = preferredHeight + 10f; // Add some padding + rectTransform.sizeDelta = sizeDelta; + } + } + + public void AppendText(string message) + { + if (_instance != null) + { + // add time prefix of local timezone to the message + string timePrefix = $"[{System.DateTime.Now:HH:mm:ss}] "; + _instance.text.text += $"{timePrefix}{message}\n"; + + StartCoroutine(AutoScrollCoroutine()); + } + } + + private static void Message(string message) + { + if (_instance != null) + { + _instance.AppendText(message); + } + } + + public static void Info(string info) + { + // white color text + Message($"{info}"); + } + + public static void Warn(string info) + { + // yellow color text + Message($"{info}"); + } + + public static void Error(string info) + { + // red color text + Message($"{info}"); + } +} \ No newline at end of file diff --git a/Assets/Scripts/UI/LogWindow.cs.meta b/Assets/Scripts/UI/LogWindow.cs.meta new file mode 100644 index 00000000..459b1354 --- /dev/null +++ b/Assets/Scripts/UI/LogWindow.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: ff5c6238a26f468fad449a3565beca8b +timeCreated: 1753398114 \ No newline at end of file diff --git a/Assets/Scripts/UI/RecordDialog.cs b/Assets/Scripts/UI/RecordDialog.cs index 65377654..8e01992a 100644 --- a/Assets/Scripts/UI/RecordDialog.cs +++ b/Assets/Scripts/UI/RecordDialog.cs @@ -19,16 +19,15 @@ public class RecordDialog : MonoBehaviour public Toggle trackingDataTog; private Action _confirm; private Action _cancel; - public int ResolutionWidth { - get { return PlayerPrefs.GetInt("RecordResolutionWidth", 1024); } + get { return PlayerPrefs.GetInt("RecordResolutionWidth", 2160); } set { PlayerPrefs.SetInt("RecordResolutionWidth", value); } } public int ResolutionHeight { - get { return PlayerPrefs.GetInt("RecordResolutionHeight", 768 / 2); } + get { return PlayerPrefs.GetInt("RecordResolutionHeight", 810); } set { PlayerPrefs.SetInt("RecordResolutionHeight", value); } } @@ -40,7 +39,7 @@ public int Fps public int Bitrate { - get { return PlayerPrefs.GetInt("RecordBitrate", 10 * 1024 * 1024); } + get { return PlayerPrefs.GetInt("RecordBitrate", 20 * 1024 * 1024); } set { PlayerPrefs.SetInt("RecordBitrate", value); } } diff --git a/Assets/Scripts/UI/UICameraCtrl.cs b/Assets/Scripts/UI/UICameraCtrl.cs index e2cbc0de..f73fc150 100644 --- a/Assets/Scripts/UI/UICameraCtrl.cs +++ b/Assets/Scripts/UI/UICameraCtrl.cs @@ -1,82 +1,218 @@ using System; +using System.Collections; using System.IO; using LitJson; +using Network; using Robot; +using Robot.Conf; +using Robot.Network; +using Robot.V2.Network; using Unity.XR.PICO.TOBSupport; using UnityEngine; using UnityEngine.UI; +using XRoboToolkit.Network; public partial class UICameraCtrl : MonoBehaviour { public GameObject RemoteCameraWindowObj; - public RecordDialog RecordDialog; + public CameraRequestDialog CameraRequestDialog; public ResolutionDialog ResolutionDialog; public CameraSendInputDialog CameraSendInputDialog; - public CustomButton RecordBtn; public CustomButton ListenCameraBtn; public CustomButton CameraSendToBtn; + public CustomButton ListenPCCameraBtn; + public Dropdown cameraDropdown; + + public SetLERE setLere; + private JsonData _recordJson; public Text CameraStatusText; + public CustomButton listenBtn; + public VideoSourceManager videoSourceManager; + + public TcpManager tcpManager; + private string logTag => "UICameraCtrl"; + + private int streamingPort = 12345; + + [Space(30)] [Header("Record")] public RecordDialog RecordDialog; + public CustomButton RecordBtn; + + public Toggle trackingToggle; + public Toggle visionToggle; + private void Awake() { RecordBtn.OnChange += OnRecordBtn; - CameraSendToBtn.OnChange += OnCameraSendToBtn; - ListenCameraBtn.OnChange += OnListenCameraBtnBtn; TcpHandler.ReceiveFunctionEvent += OnNetReceive; CameraHandle.AddStateListener(OnCameraStateChanged); + + // Refactoring + listenBtn.OnChange += OnListenCameraBtn; + + // Bind event + tcpManager.OnServerReceived += OnServerReceived; + tcpManager.OnClientReceived += OnClientReceived; } - private void OnCameraStateChanged(int state) + private void OnServerReceived(byte[] data) { - CameraStatusText.text = state.ToString(); - } + // apply protocol + Utils.WriteLog(logTag, $"OnServerReceived: {data.Length} bytes"); + + // Log first few bytes for debugging + if (data.Length > 0) + { + string hexDump = BitConverter.ToString(data, 0, Math.Min(data.Length, 32)); + Utils.WriteLog(logTag, $"First bytes (hex): {hexDump}"); + } + EventExecutor.ExecuteInUpdate(() => + { + try + { + Utils.WriteLog(logTag, $"Processing data..."); - private void OnDestroy() + // Check if it's a complete message first + if (!NetworkDataProtocolSerializer.IsCompleteMessage(data)) + { + Utils.WriteLog(logTag, $"Incomplete message received"); + return; + } + + var protocol = NetworkDataProtocolSerializer.Deserialize(data); + Utils.WriteLog(logTag, + $"Successfully deserialized: command='{protocol.command}', data length={protocol.data.Length}"); + + // Process the command + if (NetworkCommander.Instance == null) + { + Utils.WriteLog(logTag, $"NetworkCommander.Instance is null"); + return; + } + + if (NetworkCommander.Instance.Processor == null) + { + Utils.WriteLog(logTag, $"NetworkCommander.Instance.Processor is null"); + return; + } + + bool handled = NetworkCommander.Instance.Processor.ProcessCommand(protocol); + Utils.WriteLog(logTag, $"Command processed: {handled}"); + } + catch (Exception e) + { + Utils.WriteLog(logTag, $"Error processing command: {e.Message}"); + Utils.WriteLog(logTag, $"Stack trace: {e.StackTrace}"); + + // Log detailed buffer analysis + string bufferDebug = NetworkDataProtocolSerializer.DebugBufferContents(data); + Utils.WriteLog(logTag, $"Buffer analysis:\n{bufferDebug}"); + } + }); + } + + private void OnClientReceived(string msg) { - TcpHandler.ReceiveFunctionEvent -= OnNetReceive; - CameraHandle.RemoveStateListener(OnCameraStateChanged); + Utils.WriteLog(logTag, $"OnClientReceived: {msg}"); } - private void OnCameraSendToBtn(bool on) + public void OnListenCameraBtn(bool on) { if (on) { - CameraSendInputDialog.Show(SendVRCameraToVR); + // check if the dropdown is updated + if (cameraDropdown.options == null || cameraDropdown.options.Count == 0) return; + + // get the camera source from the dropdown + var cameraSource = cameraDropdown.options[cameraDropdown.value].text; + + // Update camera source, including shaders, etc. + videoSourceManager.UpdateVideoSource(cameraSource); + + // send video stream request to the server + CameraSendInputDialog.Show(RequestCameraStream); } else { - StopSendImage(); + RemoteCameraWindowObj.SetActive(false); } + + // Update button + listenBtn.SetOn(on); } - public void SendVRCameraToVR(string ip) + public void RequestCameraStream(string ip) { - CameraHandle.StartCameraPreview(1920, 1920/2, 60, 20 * 1024 * 1024, 0, - (int)PXRCaptureRenderMode.PXRCapture_RenderMode_3D, - () => { CameraHandle.StartSendImage(ip, 12345); }); - CameraSendToBtn.SetOn(true); + StartCoroutine(RequestCameraStreamCoroutine(ip)); } - private void OnListenCameraBtnBtn(bool on) + IEnumerator RequestCameraStreamCoroutine(string ip) { - if (on) + if (TcpServer.Status == ServerStatus.Started) { - ListenVRCamera(); + // Close TcpServer first + TcpManager.Instance.StopServer(); } - else + + yield return new WaitForSeconds(0.1f); + + // Get camera parameters + var camPara = VideoSourceConfigManager.Instance.CameraParameters; + + // Start listening to the camera + RemoteCameraWindowObj.SetActive(true); + RemoteCameraWindowObj.GetComponent().StartListen(camPara.width, camPara.height, camPara.fps, + camPara.bitrate, streamingPort); + + yield return new WaitForSeconds(0.2f); + + // Reset LERE + setLere.ResetCanvases(); + + yield return new WaitForSeconds(0.1f); + + if (TcpClient.Status != ClientStatus.Connected) { - RemoteCameraWindowObj.SetActive(false); + // initialize TcpClient, server IP is the video source IP + TcpManager.Instance.StartClient(ip); } + + yield return new WaitForSeconds(0.5f); + + var localIP = Utils.GetLocalIPv4(); + + // Send request to the server + var customConfig = CameraRequestSerializer.FromCameraParameters( + camPara, + 0, + 2, // (int)PXRCaptureRenderMode.PXRCapture_RenderMode_3D + VideoSourceConfigManager.Instance.CurrentVideoSource.camera, + localIP, // local ip + streamingPort); + + LogWindow.Info("Requesting camera stream with config: " + customConfig.ToString()); + + // Utils.WriteLog(logTag, $"send camera config: {customConfig}"); + var data = CameraRequestSerializer.Serialize(customConfig); + + // Use network commander + NetworkCommander.Instance.OpenCamera(data); } - public void ListenVRCamera() + private void OnCameraStateChanged(int state) { - RemoteCameraWindowObj.SetActive(true); - RemoteCameraWindowObj.GetComponent().StartListen(1920, 1920 / 2, 60, 20 * 1024 * 1024, 12345); + CameraStatusText.text = state.ToString(); + } + + + private void OnDestroy() + { + TcpHandler.ReceiveFunctionEvent -= OnNetReceive; + CameraHandle.RemoveStateListener(OnCameraStateChanged); } private void OnRecordBtn(bool on) @@ -93,16 +229,50 @@ private void OnRecordBtn(bool on) private void OpenRecord() { - RecordDialog.Show(() => + if (!visionToggle.isOn && !trackingToggle.isOn) { - StartRecord(RecordDialog.ResolutionWidth, RecordDialog.ResolutionHeight, - RecordDialog.Fps, RecordDialog.Bitrate, RecordDialog.RecordTrackingData); - }, null); + LogWindow.Error("Please select at least one option: Tracking or Vision."); + return; + } + + // Vision data + if (visionToggle.isOn) + { + if (trackingToggle.isOn) + { + // Start together + RecordDialog.Show(() => + { + StartRecord(RecordDialog.ResolutionWidth, RecordDialog.ResolutionHeight, + RecordDialog.Fps, RecordDialog.Bitrate, true); + }, null); + } + else + { + // Vision data only + RecordDialog.Show(() => + { + StartRecord(RecordDialog.ResolutionWidth, RecordDialog.ResolutionHeight, + RecordDialog.Fps, RecordDialog.Bitrate, false); + }, null); + } + } + else + { + if (trackingToggle.isOn) + { + // Only tracking data, use fixed resolution + _recordTrackingData = true; + OnStartRecordTracking(2160, 810); + RecordBtn.SetOn(true); + } + } } private void StartRecord(int width, int height, int fps, int bitrate, bool onTrackingData) { + LogWindow.Info($"Start record {width}x{height}@{fps} fps {bitrate} bps Tracking: {onTrackingData}"); //The VR camera image acquisition is only effective on the B-end device of Pico4U. if (!Utils.IsPico4U()) { @@ -119,6 +289,7 @@ private void StartRecord(int width, int height, int fps, int bitrate, string timeStamp = DateTime.Now.ToString("yyyyMMdd_HHmmss"); string trackingFileName = $"CameraRecord_{timeStamp}.mp4"; string filePath = Path.Combine("/sdcard/Download/", trackingFileName); + LogWindow.Warn("Vision file path: " + filePath); CameraHandle.StartRecord(filePath); _recordTrackingData = onTrackingData; if (_recordTrackingData) @@ -158,6 +329,7 @@ private void WriteLocalText(string fileName, string content) private void StopRecord() { Debug.Log(this + "StopRecord"); + LogWindow.Info("Stop record"); if (_writer != null) { _writer.Close(); @@ -190,11 +362,13 @@ public void OnRemoteCameraBtn() private void OnStartRecordTracking(int width, int height) { + LogWindow.Info($"Start record tracking data: {width}x{height}"); Debug.Log("OnStartRecordTracking"); string timeStamp = DateTime.Now.ToString("yyyyMMdd_HHmmss"); string trackingFileName = $"trackingData_{timeStamp}.txt"; string filePath = Path.Combine("/sdcard/Download/", trackingFileName); Debug.Log("trackingFilePath:" + filePath); + LogWindow.Warn("Tracking file path:" + filePath); _writer = new StreamWriter(filePath, true); _writer.AutoFlush = true; // Enable automatic refresh to prevent data loss diff --git a/Assets/Scripts/UI/UIOperate.cs b/Assets/Scripts/UI/UIOperate.cs index 089f55f9..33ad5b76 100644 --- a/Assets/Scripts/UI/UIOperate.cs +++ b/Assets/Scripts/UI/UIOperate.cs @@ -1,6 +1,7 @@ using System.Collections.Generic; using System.Net; using Robot; +using Robot.Conf; using Unity.XR.PICO.TOBSupport; using Unity.XR.PXR; using UnityEngine; @@ -34,6 +35,11 @@ public class UIOperate : MonoBehaviour public GameObject ExtDevPanel; public InputActionProperty SendDataAction; + [Space(30)] [Header("Refactoring")] public VideoSourceManager videoSource; + public VideoSourceConfigManager sourceConfig => videoSource.videoSourceConfigManager; + + public Dropdown videoSourceDropdown; + // Start is called before the first frame update private void Awake() { @@ -43,7 +49,7 @@ private void Awake() Simulator.SetActive(true); } #endif - ReconnectBtn.gameObject.SetActive(false); + // ReconnectBtn.gameObject.SetActive(false); bodyModeDrop.onValueChanged.AddListener(OnBodyModeDrop); HeadTog.onValueChanged.AddListener(OnHeadTog); @@ -58,19 +64,33 @@ private void Awake() ReconnectBtn.onClick.AddListener(OnReconnectBtn); //The shared network function is only available on B-end devices. NetshareTog.gameObject.SetActive(false); + // Bypass getting sn via enterprise service to enable data transport + SetDeviceSN("TestDevice"); bool intEnterprise = PXR_Enterprise.InitEnterpriseService(); Debug.Log("---InitEnterpriseService :" + intEnterprise); PXR_Enterprise.BindEnterpriseService(OnBindEnterpriseService); - if (CameraObj != null) - { - CameraObj.SetActive(false); - } + // if (CameraObj != null) + // { + // CameraObj.SetActive(false); + // } AndroidProxy.CallBack += OnAndroidCallBack; #if UNITY_EDITOR SetDeviceSN("TestDevice"); #endif + // Refactoring + sourceConfig.OnInitialized += OnSourceConfigOnOnInitialized; + // Initialize video source configuration + sourceConfig.Initialize(); + } + + private void OnSourceConfigOnOnInitialized() + { + // Update videoSourceDropdown options + print("OnSourceConfigOnOnInitialized"); + videoSourceDropdown.ClearOptions(); + videoSourceDropdown.AddOptions(sourceConfig.GetVideoSourceNames()); } private void OnAndroidCallBack(string key, string value) @@ -98,7 +118,7 @@ private void OnReconnectBtn() public void TcpConnect(string ip) { - TargetIP.text = "To:" + ip; + TargetIP.text = "PC Service: " + ip; ReconnectBtn.gameObject.SetActive(true); TcpHandler.Connect(ip); ConnectSuccess(); @@ -106,7 +126,7 @@ public void TcpConnect(string ip) public void ConnectSuccess() { - TargetIP.text = "To:" + TcpHandler.GetTargetIP; + TargetIP.text = "PC Service: " + TcpHandler.GetTargetIP; } private void OnBindEnterpriseService(bool bind) @@ -127,8 +147,8 @@ private void OnBindEnterpriseService(bool bind) private void SetDeviceSN(string sn) { TcpHandler.SetDeviceSn(sn); - Debug.Log("SN:" + sn); - SN.text = "SN:" + sn; + Debug.Log("SN: " + sn); + SN.text = "SN: " + sn; } private void OnNetShareTog(bool ison) @@ -192,8 +212,13 @@ private void OnBodyModeDrop(int index) BodyInfo.color = Color.red; bodyModeDrop.SetValueWithoutNotify(0); + // Update UI + HighAccuracy.gameObject.SetActive(false); return; } + + // Update UI + HighAccuracy.gameObject.SetActive(index > 0); BodyInfo.color = Color.white; BodyInfo.text = "Tracker detection is normal!"; @@ -287,6 +312,11 @@ private void OnHandTrackingTog(bool on) private void OnSendTog(bool on) { TcpHandler.SendTrackingData = on; + // Reset FPS + if (!on) + { + FPSDisplay.Reset(); + } } private void OnHighAccuracy(bool on) @@ -312,7 +342,7 @@ private void UpdateBodyTracking() MotionTrackerConnectState state = new MotionTrackerConnectState(); PXR_MotionTracking.GetMotionTrackerConnectStateWithSN(ref state); // PXR_MotionTracking.GetMotionTrackerConnectStateWithSN(ref state); - TrackNum.text = "TrackerNum:" + state.trackerSum; + TrackNum.text = "Num: " + state.trackerSum; if (tType == TrackingData.TrackingType.Body) { @@ -355,6 +385,7 @@ void Update() if (SendDataAction.action != null && SendDataAction.action.WasReleasedThisFrame()) { SendTog.isOn = !SendTog.isOn; + LogWindow.Info("Sending data: " + SendTog.isOn); } } } diff --git a/Assets/Scripts/Utils.cs b/Assets/Scripts/Utils.cs index 62b85184..6025d1a6 100644 --- a/Assets/Scripts/Utils.cs +++ b/Assets/Scripts/Utils.cs @@ -3,6 +3,7 @@ using System.Net.Sockets; using Unity.XR.PICO.TOBSupport; using Unity.XR.PXR; +using UnityEngine; namespace Robot { @@ -119,5 +120,15 @@ public static bool IsPico4U() #endif return PXR_Input.GetControllerDeviceType() == PXR_Input.ControllerDevice.PICO_4U; } + + public static void WriteLog(string tag, string msg) + { +#if UNITY_EDITOR + Debug.Log($"[XRoboToolkit]{tag}\t{msg}"); +#else + // Output to logcat + Debug.Log($"[XRoboToolkit]\t{tag}\t{msg}"); +#endif + } } } \ No newline at end of file diff --git a/Assets/StreamingAssets.meta b/Assets/StreamingAssets.meta new file mode 100644 index 00000000..383cf148 --- /dev/null +++ b/Assets/StreamingAssets.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: a5b3da15fecd423680f99a88c6e079af +timeCreated: 1752791183 \ No newline at end of file diff --git a/Assets/StreamingAssets/video_source.yml b/Assets/StreamingAssets/video_source.yml new file mode 100644 index 00000000..f6c6267a --- /dev/null +++ b/Assets/StreamingAssets/video_source.yml @@ -0,0 +1,74 @@ +# Video Stream Source Configuration +- name: "PICO4U" + camera: "VR" + description: "PICO4U Video Stream Source" + properties: + - name: "visibleRatio" + type: "float" + description: "Visible ratio for the shader" + value: 0.555 + - name: "contentRatio" + type: "float" + description: "Content ratio for the shader" + value: 1.8 + - name: "heightCompressionFactor" + type: "float" + description: "Height compression factor for the shader" + value: 1.333333 # 4/3 + - name: "RawImageRectSize" + type: "string" + description: "Size of the RawImage rectangle for the stereo view" + value: "600x225" + - name: "CamWidth" + type: "int" + description: "Camera width for the video stream" + value: 2160 + - name: "CamHeight" + type: "int" + description: "Camera height for the video stream" + value: 810 + - name: "CamFPS" + type: "int" + description: "Frame rate of the video stream in FPS" + value: 60 + - name: "CamBitrate" + type: "int" + description: "Bitrate of the video stream in bps" + value: 20971520 # 20 x 1024 x 1024 + +- name: "ZEDMINI" + camera: "ZED" + description: "ZED MINI Video Stream Source" + properties: + - name: "visibleRatio" + type: "float" + description: "Visible ratio for the shader" + value: 0.439464 + - name: "contentRatio" + type: "float" + description: "Content ratio for the shader" + value: 1.704850 + - name: "heightCompressionFactor" + type: "float" + description: "Height compression factor for the shader" + value: 1.777778 # 16/9 + - name: "RawImageRectSize" + type: "string" + description: "Size of the RawImage rectangle for the stereo view" + value: "600x168.75" + - name: "CamWidth" + type: "int" + description: "Camera width for the video stream" + value: 2560 + - name: "CamHeight" + type: "int" + description: "Camera height for the video stream" + value: 720 + - name: "CamFPS" + type: "int" + description: "Frame rate of the video stream in FPS" + value: 60 + - name: "CamBitrate" + type: "int" + description: "Bitrate of the video stream in bps" + value: 4000000 diff --git a/Assets/StreamingAssets/video_source.yml.meta b/Assets/StreamingAssets/video_source.yml.meta new file mode 100644 index 00000000..6b929a2b --- /dev/null +++ b/Assets/StreamingAssets/video_source.yml.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 14fab915e7a84db7990353cda99d8618 +timeCreated: 1752790636 \ No newline at end of file diff --git a/Docs/open_camera_access.jpg b/Docs/open_camera_access.jpg new file mode 100644 index 00000000..b895de28 Binary files /dev/null and b/Docs/open_camera_access.jpg differ diff --git a/Docs/pc_service_connected.png b/Docs/pc_service_connected.png new file mode 100644 index 00000000..db71d5c9 Binary files /dev/null and b/Docs/pc_service_connected.png differ diff --git a/Docs/pc_service_connection.png b/Docs/pc_service_connection.png new file mode 100644 index 00000000..bb4f29a7 Binary files /dev/null and b/Docs/pc_service_connection.png differ diff --git a/Docs/ui.png b/Docs/ui.png new file mode 100644 index 00000000..f09cc2ac Binary files /dev/null and b/Docs/ui.png differ diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset index b19cd8b9..b40c52eb 100644 --- a/ProjectSettings/ProjectSettings.asset +++ b/ProjectSettings/ProjectSettings.asset @@ -136,9 +136,12 @@ PlayerSettings: vulkanEnableLateAcquireNextImage: 0 vulkanEnableCommandBufferRecycling: 1 loadStoreDebugModeEnabled: 0 - bundleVersion: 1.0.0 + bundleVersion: 1.1.1 preloadedAssets: - {fileID: 11400000, guid: f2ef844c0e47a5d4297d66125bf1d191, type: 2} + - {fileID: -8221979108565540337, guid: da34a6e7d51410049b366296e6664eda, type: 2} + - {fileID: 11400000, guid: baaededcd5eca33479b1d58ea0d96039, type: 2} + - {fileID: -4845704345076574626, guid: 62beb5920dbc8f148a62ea2d6a9e63e1, type: 2} metroInputSource: 0 wsaTransparentSwapchain: 0 m_HolographicPauseOnTrackingLoss: 1 @@ -260,7 +263,7 @@ PlayerSettings: AndroidTargetDevices: 0 AndroidSplashScreenScale: 0 androidSplashScreen: {fileID: 0} - AndroidKeystoreName: '{inproject}: user.keystore' + AndroidKeystoreName: C:/Users/Admin/Documents/lyu20/user.keystore AndroidKeyaliasName: key1 AndroidEnableArmv9SecurityFeatures: 0 AndroidBuildApkPerCpuArchitecture: 0 @@ -284,6 +287,37 @@ PlayerSettings: m_BuildTargetPlatformIcons: - m_BuildTarget: Android m_Icons: + - m_Textures: + - {fileID: 2800000, guid: 496303211cf589d468ed0b47314121fe, type: 3} + m_Width: 192 + m_Height: 192 + m_Kind: 1 + m_SubKind: + - m_Textures: [] + m_Width: 144 + m_Height: 144 + m_Kind: 1 + m_SubKind: + - m_Textures: [] + m_Width: 96 + m_Height: 96 + m_Kind: 1 + m_SubKind: + - m_Textures: [] + m_Width: 72 + m_Height: 72 + m_Kind: 1 + m_SubKind: + - m_Textures: [] + m_Width: 48 + m_Height: 48 + m_Kind: 1 + m_SubKind: + - m_Textures: [] + m_Width: 36 + m_Height: 36 + m_Kind: 1 + m_SubKind: - m_Textures: - {fileID: 2800000, guid: 496303211cf589d468ed0b47314121fe, type: 3} m_Width: 192 @@ -345,42 +379,6 @@ PlayerSettings: m_Height: 81 m_Kind: 2 m_SubKind: - - m_Textures: - - {fileID: 2800000, guid: 496303211cf589d468ed0b47314121fe, type: 3} - m_Width: 192 - m_Height: 192 - m_Kind: 1 - m_SubKind: - - m_Textures: - - {fileID: 0} - m_Width: 144 - m_Height: 144 - m_Kind: 1 - m_SubKind: - - m_Textures: - - {fileID: 0} - m_Width: 96 - m_Height: 96 - m_Kind: 1 - m_SubKind: - - m_Textures: - - {fileID: 0} - m_Width: 72 - m_Height: 72 - m_Kind: 1 - m_SubKind: - - m_Textures: - - {fileID: 0} - m_Width: 48 - m_Height: 48 - m_Kind: 1 - m_SubKind: - - m_Textures: - - {fileID: 0} - m_Width: 36 - m_Height: 36 - m_Kind: 1 - m_SubKind: m_BuildTargetBatching: - m_BuildTarget: Android m_StaticBatching: 1 diff --git a/ProjectSettings/QualitySettings.asset b/ProjectSettings/QualitySettings.asset index ce521e46..dee5a2a1 100644 --- a/ProjectSettings/QualitySettings.asset +++ b/ProjectSettings/QualitySettings.asset @@ -4,7 +4,7 @@ QualitySettings: m_ObjectHideFlags: 0 serializedVersion: 5 - m_CurrentQuality: 5 + m_CurrentQuality: 0 m_QualitySettings: - serializedVersion: 3 name: Very Low @@ -301,7 +301,4 @@ QualitySettings: terrainMaxTrees: 50 excludedTargetPlatforms: [] m_TextureMipmapLimitGroupNames: [] - m_PerPlatformDefaultQuality: - Android: 0 - Server: 0 - Standalone: 0 + m_PerPlatformDefaultQuality: {} diff --git a/README.md b/README.md index 166c07b3..9ada34ef 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,101 @@ # XRoboToolkit-Unity-Client Project Documentation ## Project Overview -`XRoboToolkit-Unity-Client` is a Unity-based software developed for PICO devices to facilitate robot training and remote control. It works in conjunction with PC-side software to achieve robot training and control functionalities. +`XRoboToolkit-Unity-Client` is a Unity-based software developed for PICO devices to facilitate robot training and remote teleoperation. It works in conjunction with PC-side software to achieve robot training and teleoperation functionalities. + +## Unity UI Main Panel Reference + +![ui.png](Docs/ui.png) + +| Item | Description | +|------------------------------------------------|-------------------------------------------------------------------------------------------------| +| Network - SN | Display Serial number of the XR device, only functional with Pico 4 Ultra enterprise version | +| Network - IP | IP address of the XR device | +| Network - FPS | Data syncing frames per second | +| Network - Status | Connection status between robot and XR device | +| Network - PC Service | IP address of the PC running PC service | +| Network - Enter | Manually input the PC service's IP | +| Tracking - Head | Toggle On/Off to send out head 6 DoF pose | +| Tracking - Controller | Toggle On/Off to parse VR controller's 6 DoF pose and button status in data stream | +| Tracking - Hand | Toggle On/Off to parse hand tracking data in data stream | +| Tracking - PICO Motion Tracker - Mode | Dropdown menu to select None, full body tracking (require Pico tracker) to parse in data stream | +| Tracking - PICO Motion Tracker - TrackerNum | Number of the trackers | +| Tracking - Data & Control - Send | Toggle On/Off to sync above selected poses between XR device and robot PC | +| Tracking - Data & Control - Switch w/ A Button | Toggle On/Off to rapid pause or resume sync with the right-hand controller button A | +| Tracking - Status | Panel to show tracking related information | +| Remote Vision - State | Show the state of camera | +| Remote Vision - Dropdown (Video Source) | Select a supported video source | +| Remote Vision - Listen | Open a connection to receive the video stream to the selected video source | +| Data Collection - Tracking | Whether to record pose tracking data | +| Data Collection - Vision | Whether to record vision data | +| Data Collection - Record | Start/Stop recording | +| Log | Show logs | + +## Feature list +- **Pose sync between XR device and robot PC** + Transmits pose data from the XR headset to the robot-side PC for robot teleoperation. +- **Local pose and stereo vision data collection** + Synchronously records stereo vision and pose data collected from the XR headset, stored in the device's `/Download` directory. +- **Remote stereo vision sync between two XR headsets** + Transmits stereo vision from the robot-side headset to operator-side for 3D display. +- **Remote stereo vision sync between PC camera and XR headset** + Transmits stereo vision from the robot-side PC camera to operator-side headset for 3D display. +## Feature instructions + +### Pose sync between XR device and robot PC +1. Connect robot PC and Pico 4 Ultra under the same network +2. On robot PC, run service: + - **Windows**: Run `\Program Files (x86)\roboticsservice\runService.bat` + - **Linux (Ubuntu/Debian x86)**: Run `/opt/apps/roboticsservice/runService.sh` +3. Open app XRoboToolkit on Pico 4 Ultra + +If the PC service is running successfully, when you open the app on Pico headset, you will receive a prompt window for server connection. Point to the IP address and click it with the trigger button on the controller. + +
+ pc_service_connection +
+ +The main panel will display "WORKING" if connection is established. + +
+ pc_service_connected +
+ +On the main panel, select preferred pose information to be synced, such as head tracking, controller tracking, or body tracking. If your headset and PC have established connection, then the pose data will be synced to PC when "Send" is toggled On. When "Switch w/ A Button" option toggles On, you may also use "A" button on the right controller to toggle "Send" On or Off during data syncing. + +### Local pose and stereo vision data collection + +**Note:** At this moment, camera data collection still requires special approval through Pico's enterprise service. + +On the main panel, select preferred pose data to be collected, click Record. You will see a brief blur effect on the screen, record button will turn red, and camera status will turn to 6. When you finish recording, press recording button again to end the collection session. The video files and pose files will be saved on your local headset. You may also click "Save Camera Parameters" to save camera intrinsic and extrinsic parameters for the local headset. + +### Remote stereo vision sync between two XR headsets + +1. Connect both XR headsets to the same network. +2. Make sure that the camera to be used as the camera source has VST camera permission (requires special approval). +3. Open **XRRoboToolkit** on both headsets. +> **Note:** The headset serving as robot eyes (H1) should have the camera permission enabled, while the other headset (H2) is for the human operator side. +4. H1: Remember the IP of the VR headset and **DON'T DO ANYTHING**. +5. H2: On the Camera panel, Select **PICO4U** as the video source, Click Listen, input H1's IP, and click Confirm. +6. H2: You should now be able to see the live camera. Press B button on the right-hand controller to switch between side-by-side views and stereo-3D views. +7. H2: If you close the live camera window, you can simply repeat Step 5. +8. If you want to stop the camera streaming, quit **XRRoboToolkit** on H1 and H2. + +### Remote stereo vision sync between ZED camera (Orin) and XR headset + +1. Clone [XRoboToolkit-Orin-Video-Sender](https://github.com/XR-Robotics/XRoboToolkit-Orin-Video-Sender.git) on Orin. +2. Build +3. Run the following command on Orin: + ```bash + ./OrinVideoSender --listen :13579 + ``` +4. Open **XRRoboToolkit** on the XR headset. +5. On the Camera panel, select "ZEDMINI" as the video source. +6. Click "Listen", input the IP of Orin, and click Confirm. +7. You should now be able to see the live camera. Press B button on the right-hand controller to switch between side-by-side views and stereo-3D views. +8. If you close the live camera window, you can simply repeat Step 6. +9. If you want to stop the camera streaming, quit **XRRoboToolkit** on the XR headset and stop the OrinVideoSender on Orin. -## Features -- **Training Data Recording** - Synchronously records VST images and pose data into MP4 files stored in the device's `/Download` directory. -- **Robot Remote Control** - Transmits device pose data to the PC-side robot for remote control operations. -- **Image Encoding/Decoding** - Encodes VST images from the device for transmission and decodes PC-side images for display. ## Directory Structure @@ -18,7 +104,7 @@ Core resource folder containing all project assets: - **InteractionTools** XR interaction scripts and 3D models. - **Plugins** - Android interface implementations including `robotassistant_lib.aar` and Android platform configurations. + Android interface implementations including `robotassistant_lib-i18n-release.aar` and Android platform configurations. - **Resources** Project-specific assets. - **Scripts** @@ -32,7 +118,7 @@ Core resource folder containing all project assets: - **UI** User interface components. -### robotassistant_lib.aar +### robotassistant_lib-i18n-release.aar Android library containing PICO device interfaces and image processing logic. ### Key Classes @@ -64,7 +150,7 @@ Official SDK for PICO device integration: - Android Studio 4.2.2+ - Android SDK 29 - Android NDK 21.4.7075529 -- PICO Unity SDK 1.1.0 (Recommended) +- PICO Integration SDK (com.unity.xr.picoxr) 3.1.2 ⚠️ **Important Notes**: 1. Use exact Unity version 2022.3.16f1 to avoid compatibility issues @@ -188,9 +274,9 @@ ProjectRoot/ - **Key Performance Metrics**: | Metric | Value | |----------------------------|------------------------------| - | End-to-End Latency | <150ms (720P@30FPS) | + | End-to-End Latency | ~100ms (720P *2 @60FPS) | | Pose Data Packet Size | 56 bytes/frame | - | Video Encoding Bitrate | 2-8 Mbps (dynamic adjustment)| + | Video Encoding Bitrate | 5 Mbps | | Network Fault Tolerance | 3 retries + FEC | --- @@ -209,6 +295,50 @@ A: Please refer to this [link](https://developer-cn.picoxr.com/en/document/unity A: Connect the headset to public internet and run it. +- Q: Failed to connect on Linux. + +A: Ensure the PC and headset are in the same WiFi network. Run the 3D application first and then run the Headset App. + +- Q: How to update the video source? [V1.1.0+] + +A: Do the following steps: +```bash +# pull the file first +adb pull /sdcard/Android/data/com.xrobotoolkit.client/files/video_source.yml +# edit the video_source.yml +# push the file back +adb push video_source.yml /sdcard/Android/data/com.xrobotoolkit.client/files/video_source.yml +``` + +- Q: How to revert the video source to default? [V1.1.0+] + +A: Run `adb shell rm /sdcard/Android/data/com.xrobotoolkit.client/files/video_source.yml`. + +- Q: The number of tracker on PC-service is 0, why is that? + +A: The PC-service will only show the number of trackers when Unity app use object tracking mode. If you choose full body mode, the output will be 24 joints of human body. please refer to this code [link](https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind/blob/main/examples/example_body_tracking.py ) + +- Q: I cannot get vision captured by the Pico 4U, how to solve it? + +A: Please contact Pico enterprise team to get camera access. After that enable the camera access in XRobotoolkit app in the headset. + +![open_camera_access.jpg](Docs/open_camera_access.jpg) + + + --- -For technical support or documentation updates, contact the development team. \ No newline at end of file +For technical support or documentation updates, contact the development team. + +## Citation + +If you find this project useful, please consider citing it as follows. + +``` +@article{zhao2025xrobotoolkit, + title={XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation}, + author={Zhigen Zhao and Liuchuan Yu and Ke Jing and Ning Yang}, + journal={arXiv preprint arXiv:2508.00097}, + year={2025} +} +``` diff --git a/README_cn.md b/README_cn.md index 281f3b4a..35f12bf9 100644 --- a/README_cn.md +++ b/README_cn.md @@ -122,4 +122,8 @@ PICO Unity官方SDK，官方下载地址：https://developer.picoxr.com/zh/resou - 端到端延迟：<150ms (720P@30FPS) - 位姿数据包大小：56字节/帧 - 视频编码比特率：动态调整（2-8Mbps） -- 网络容错：3次重传+前向纠错 \ No newline at end of file +- 网络容错：3次重传+前向纠错 + +### TIP +### 必要软件 +- PICO企业设置（如遇USB网络分享问题，请联系我们） diff --git a/UserSettings/EditorUserSettings.asset b/UserSettings/EditorUserSettings.asset index 4ab3543d..c67cbab9 100644 --- a/UserSettings/EditorUserSettings.asset +++ b/UserSettings/EditorUserSettings.asset @@ -9,6 +9,15 @@ EditorUserSettings: value: 5a06065152510b5e5d5f5b7444265b44464e402c757a72617a281937b6b2326c flags: 0 RecentlyUsedSceneGuid-1: + value: 0554045756535c0e5f5d597a45725c444416497a2a7b72357f7b1e36e6b0316a + flags: 0 + RecentlyUsedSceneGuid-2: + value: 5753045751030c0b5e5d082646700b44414e1c7f2f2c23697d2d1c31e4b56569 + flags: 0 + RecentlyUsedSceneGuid-3: + value: 0504065101025c0c54590a7246265c444e161e7e7f2a7164752f4830b1b63161 + flags: 0 + RecentlyUsedSceneGuid-4: value: 5a0205535d505f5e0c5b5b7a14725e44424f4e2f797b703479284a31e6b96d61 flags: 0 vcSharedLogLevel: