Embedded Files
What is Ardunity Controller?
ArdunityController is user's code for ARDUINO and Unity.
1.Ardunity Controller for ARDUINO
1-1. Create C++ Class file
The source code of header file (*.h)
#ifdef MyController_h
#define MyController_h
class MyController
{
public:
MyController();
protected:
private:
}
#endif
The source code of implementation file (*.cpp)
#include "MyController.h"
MyController :: MyController()
{
}
This header and implementation files must be existed in the name of folder 'Arduino'.
(The folder path does not matter , it is only if the name 'Arduino'.)
1-2. Inheritance from ArdunityController
The source code of header file (*.h)
#ifdef MyController_h
#define MyController_h
#include "ArdunityController.h"
class MyController : public ArdunityController
{
public:
MyController(int id);
protected:
// Implementation of virtual function
void OnSetup();
void OnStart();
void OnStop();
void OnProcess();
void OnUpdate();
void OnExecute();
void OnFlush();
private:
}
#endif
The source code of implementation file (*.cpp)
#include "MyController.h"
MyController :: MyController(int id) : ArdunityController(id)
{
}
void MyController :: OnSetup()
{
// Arduino setup
}
void MyController :: OnStart()
{
// When connected to Unity
}
void MyController :: OnStop()
{
// When disconnected to Unity
}
void MyController :: OnProcess()
{
// Arduino loop
}
void MyController :: OnUpdate()
{
// When you receive data from Unity
}
void MyController :: OnExecute()
{
// Do something after receiving data
}
void MyController :: OnFlush()
{
// When you send data to Unity
}
1-3. Declare variable to share with Unity
Supported data types to communicate are as follows:
UINT8: 8bit unsiged integer number (0 ~ 255)
INT8: 8bit signed integer number (-128 ~ 127)
UINT16: 16bit unsiged integer number (0 ~ 65,535)
INT16: 16bit signed integer number (-32,768 ~ 32,767)
UINT32: 32bit unsiged integer number (0 ~ 4,294,967,295)
INT32: 32bit signed integer number (–2,147,483,648 ~ 2,147,483,647)
FLOAT32: 32bit floating point number
STRING: String (Maximum length is 255)
The source code of header file (*.h)
#ifdef MyController_h
#define MyController_h
#include "ArdunityController.h"
class MyController : public ArdunityController
{
public:
MyController(int id);
protected:
// Implementation of virtual function
void OnSetup();
void OnStart();
void OnStop();
void OnProcess();
void OnUpdate();
void OnExecute();
void OnFlush();
private:
// The variable for sharing between Arduino and Unity
UINT8 uint8_data;
INT8 int8_data;
UINT16 uint16_data;
INT16 int16_data;
UINT32 uint32_data;
INT32 int32_data;
FLOAT32 float32_data;
STRING string_data;
char string_buffer[50]; // buffer for STRING
}
#endif
1-4. Implement Constructor
The source code of implementation file (*.cpp)
MyController::MyController(int id) : ArdunityController(id)
{
string_data = stringBuffer; // STRING should connect to buffer.
canFlush = true; // If send data to Unity, must set true.
canFlush = false; // If do not send data to Unity, must set false.
}
1-5. Implement process for initializing or destroying
The source code of implementation file (*.cpp)
void MyController::OnSetup()
{
// Arduino setup
}
void MyController::OnStart()
{
// When connected to Unity
}
void MyController::OnStop()
{
// When disconnected to Unity
}
1-6. Implement process for receiving data from Unity
The source code of implementation file (*.cpp)
#include "Ardunity.h"
void MyController::OnUpdate()
{
// When you receive data from Unity
// 'Pop' means that Arduino get data from Unity
// The order is important (It must be same with push order in Unity)
ArdunityApp.pop(&uint8_data);
ArdunityApp.pop(&int8_data);
ArdunityApp.pop(&uint16_data);
ArdunityApp.pop(&int16_data);
ArdunityApp.pop(&uint32_data);
ArdunityApp.pop(&int32_data);
ArdunityApp.pop(&float32_data);
ArdunityApp.pop(string_data, 30); // STRING need to know a size of buffer
updated = true; // It must be set true to run OnExecute
}
void MyController::OnExecute()
{
// Do something after receiving data
}
1-7. Collect data to be sent to Unity
The source code of implementation file (*.cpp)
void MyController::OnProcess()
{
// Arduino loop
if(started)
{
// When connected to Unity
}
else
{
// When disconnected to Unity
dirty = true; // It must be set true to run OnFlush
}
}
1-8. Implement process for sending data to Unity
The source code of implementation file (*.cpp)
#include "Ardunity.h"
void MyController::OnFlush()
{
// When you send data to Unity
// 'Push' means that Arduino throw data to Unity
// The order is important (It must be same with pop order in Unity)
ArdunityApp.push(uint8_data);
ArdunityApp.push(int8_data);
ArdunityApp.push(uint16_data);
ArdunityApp.push(int16_data);
ArdunityApp.push(uint32_data);
ArdunityApp.push(int32_data);
ArdunityApp.push(float32_data);
ArdunityApp.push(string_data);
}
2. Ardunity Controller for Unity
2-1. Create C# script
The source code of script file (*.cs)
using UnityEngine;
using System.Collections;
public class MyController : MonoBehaviour
{
void Start()
{
}
void Update()
{
}
}
2-2. Inheritance from ArdunityController
The source code of script file (*.cs)
using UnityEngine;
using System.Collections;
using Ardunity;
public class MyController : ArdunityController
{
void Start()
{
}
void Update()
{
}
}
2-3. Declare variable to share with ARDUINO
Supported data types to communicate are as follows:
UINT8: 8bit unsiged integer number (0 ~ 255)
INT8: 8bit signed integer number (-128 ~ 127)
UINT16: 16bit unsiged integer number (0 ~ 65,535)
INT16: 16bit signed integer number (-32,768 ~ 32,767)
UINT32: 32bit unsiged integer number (0 ~ 4,294,967,295)
INT32: 32bit signed integer number (–2,147,483,648 ~ 2,147,483,647)
FLOAT32: 32bit floating point number
STRING: String (Maximum length is 255)
(You can find C# code in 'ARDUnityBasic(Deluxe)/Scripts/Internal/ControllerDataType.cs' for the above.)
The source code of script file (*.cs)
// Types of data for transferring
using INT8 = System.SByte;
using UINT8 = System.Byte;
using INT16 = System.Int16;
using UINT16 = System.UInt16;
using INT32 = System.Int32;
using UINT32 = System.UInt32;
using FLOAT32 = System.Single;
using STRING = System.String;
public class MyController : ArdunityController
{
UINT8 uint8_data;
INT8 int8_data;
UINT16 uint16_data;
INT16 int16_data;
UINT32 uint32_data;
INT32 int32_data;
FLOAT32 float32_data;
STRING string_data = "";
}
2-4. Implement process for initializing or destroying
The source code of script file (*.cs)
// If you will use Awake of MonoBehaviour, must override Awake.
protected override void Awake()
{
base.Awake();
enableUpdate = true; // If set ture then receive data automatically
enableUpdate = false; // If set false then don't receive data
}
protected override void OnConnected()
{
// When connected to Arduino
}
protected override void OnDisconnected()
{
// When disconnected to Arduino
}
protected override void OnReset()
{
// When Arduino is reset
}
2-5. Implement process for receiving data from ARDUINO
The source code of script file (*.cs)
protected override void OnPop()
{
// When you receive data from Arduino
// 'Pop' means that Unity get data from Arduino
// The order is important (It must be same with push order in Arduino)
Pop(ref uint8_data);
Pop(ref int8_data);
Pop(ref uint16_data);
Pop(ref int16_data);
Pop(ref uint32_data);
Pop(ref int32_data);
Pop(ref float32_data);
Pop(ref string_data);
updated = true; // It must be set true to run OnExecute
}
protected override void OnExecuted()
{
// Do something after receiving data
}
2-6. Collect data to be sent to ARDUINO
The source code of script file (*.cs)
void Update()
{
if(connected)
{
// When connected to Arduino
SetDirty(); // It must call to run OnPush
}
else
{
// When disconnected to Arduino
}
}
2-7. Implement process for sending data to ARDUINO
The source code of script file (*.cs)
protected override void OnPush()
{
// When you send data to Arduino
// 'Push' means that Unity throw data to Arduino
// The order is important (It must be same with pop order in Arduino)
Push(uint8_data);
Push(int8_data);
Push(uint16_data);
Push(int16_data);
Push(uint32_data);
Push(int32_data);
Push(float32_data);
Push(string_data);
}
2-8. Implement process for exporting ARDUINO Sketch
The source code of script file (*.cs)
public override string[] GetAdditionalFiles()
{
// To export Arduino sketch
// If some files are required, you can copy to sketch folder
// This file must exist in folder name of 'Arduino'
return null;
}
public override string[] GetCodeIncludes()
{
// To export Arduino sketch
// You can describe "#include" in Arduino sketch
return null;
}
public override string[] GetCodeDefines()
{
// To export Arduino sketch
// You can describe "#define" in Arduino sketch
return null;
}
public override string GetCodeDeclaration()
{
// To export Arduino sketch
// You can describe declaration in Arduino sketch
return string.Format("{0} {1}({2:d});", this.GetType().Name, GetCodeVariable(), id);
}
public override string GetCodeVariable()
{
// To export Arduino sketch
// You can describe name of declaration in Arduino sketch
return string.Format("myController{0:d}", id);
}
3. Test your Ardunity Controller
3-1. Add component
Inspector of MyController
Block of MyController in Wire Editor
3-2. Wiring
Example of wiring for MyController
3-3. Test with Arduino Board
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