【Matlab/Unity】UDP通信在Matlab/Unity中的应用

在进行Matlab和unity联合仿真工作时候，我们需要在二者之间进行数据交互。这里我们介绍如何使用Matlab通过UDP协议向unity发送数据。

Matlab发送端代码

 u1=udp('10.1.1.198','RemotePort',8849,'LocalPort',55000);% 设置要把数据发送
 到的IP地址和端口
 fopen(u1); % 打开端口
        
 a=1234.56; % 一次发送6个数据示例
 b=9654.78;
 c=6677.32;
 d=7831.21;
 e=2564.89;
 f=4638.54;
        
 string =num2str([a,b,c,d,e,f]);% 把数据格式更改为字符串
 fwrite(u1, string);% 把数据写入端口
 disp("string="+string);% 命令窗口显示发送数据格式
      
 fclose(u1);% 关闭端口
 delete(u1);% 删除端口
 clear u1;% 清理缓存

Unity接收端代码

这段代码是从网上找可以直接通用的，我增加了字符串数据分割提取和格式转换部分，用的时候主要根据需要设置下数据接收的IP端口，以及根据接收数据内容进行提取赋值等。

using System.Collections.Generic;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using UnityEngine;
using System;
using System.Text.RegularExpressions;
using UnityEngine.UI;

public class UDPClient: MonoBehaviour
{
    /// 

    /// 获取当前毫秒
    /// 
    /// 
    public static double CurrentMilliseconds
    {
        get
        {
            DateTime dt = DateTime.Parse("01/01/1970");
            TimeSpan ts = DateTime.Now - dt;
            return ts.TotalMilliseconds;
        }
    }


    //以下默认都是私有的成员
    //Socket socketSend; //发送socket
    UdpClient socketSend;
    IPEndPoint ipSend; //客户端端口

    Socket socketReceive; //接收socket
    IPEndPoint ipReceive; //服务端端口
    List clientEnds; //客户端

    string recvStr; //接收的字符串
    string sendStr; //发送的字符串
    byte[] recvData = new byte[1024]; //接收的数据，必须为字节
    byte[] sendData = new byte[1024]; //发送的数据，必须为字节
    int recvLen; //接收的数据长度
    Thread connectThread; //连接线程 
    //输入框
    public InputField thisField;

 
    private Rect m_fps, m_dtime;
    private GUIStyle m_style = new GUIStyle();//GUI界面

    //初始化
    void InitSocket()
    {
        //定义连接的服务器ip和端口，可以是本机ip，局域网，互联网
        ipSend = new IPEndPoint(IPAddress.Parse("127.0.0.1"),8848);
        //ipSend = new IPEndPoint(IPAddress.Parse("192.168.1.200"),50000);
        //定义套接字类型,在主线程中定义
        socketSend = new UdpClient();
        //定义服务端
        //定义侦听端口,侦听任何IP
        ipReceive = new IPEndPoint(IPAddress.Any, 8849);
        //定义套接字类型,在主线程中定义
        socketReceive = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
        //服务端需要绑定ip
        socketReceive.Bind(ipReceive);
        //定义客户端
        IPEndPoint senderReceive = new IPEndPoint(IPAddress.Any, 8849);
        clientEnds = new List();
        //开启一个线程连接，必须的，否则主线程卡死
        connectThread = new Thread(new ThreadStart(SocketReceive));
        connectThread.Start();
    }

    /// 

    /// UDP发送数据基本方法
    /// 
    /// 
     void SocketSend(string sendStr)
    {
        //清空发送缓存
        sendData = new byte[1024];
        //数据类型转换
        sendData = Encoding.UTF8.GetBytes(sendStr);
        //发送给所有服务端
        socketSend.Send(sendData, sendData.Length, ipSend);
    }

    /// 

    /// 发送数据
    /// 
    public void ToSendString()
    {
        if (thisField.text != "")
        {
            SocketSend(thisField.text);
        }
    }

    //服务器接收
    void SocketReceive()
    {
        //进入接收循环
        while (true)
        {
            //对data清零
            recvData = new byte[1024];
            //获取客户端，获取客户端数据，用引用给客户端赋值
            EndPoint clientEnd = new IPEndPoint(IPAddress.Any, 8849);
            recvLen = socketReceive.ReceiveFrom(recvData, ref clientEnd);
            clientEnds.Add(clientEnd);
            //print("message from: " + clientEnd.ToString()); //打印客户端信息
            //输出接收到的数据
            recvStr = Encoding.ASCII.GetString(recvData, 0, recvLen);
            
            string[] recvStrArray = Regex.Split(recvStr, "\s+", RegexOptions.IgnoreCase);

            string str_x = recvStrArray[0];
            string str_y = recvStrArray[1];
            string str_z = recvStrArray[2];
            string str_yaw = recvStrArray[3];
            string str_rotateX = recvStrArray[4];
            string str_rotateZ = recvStrArray[5];

            float _x = float.Parse(str_x);
            float _y = float.Parse(str_y);
            float _z = float.Parse(str_z);
            float _yaw = float.Parse(str_yaw);
            float _rotateX = float.Parse(str_rotateX);
            float _rotateZ = float.Parse(str_rotateZ);

            Vector3 _tempPosition = new Vector3(_x, _y, _z);   //此处将接收到的位置信息赋予_tempPosition
            VehicleTransInfo.currentTime = CurrentMilliseconds;
            VehicleTransInfo.currentTargetPosition = _tempPosition;
            VehicleTransInfo.rotation_x = _yaw / Mathf.PI * 180f;
            VehicleTransInfo.rotation_y = _rotateX / Mathf.PI * 180f;
            VehicleTransInfo.rotation_z = _rotateZ / Mathf.PI * 180f;
        }
    }

    //连接关闭
    void SocketQuit()
    {
        //关闭线程
        if (connectThread != null)
        {
            connectThread.Interrupt();
            connectThread.Abort();
        }
        //最后关闭socket
        if (socketReceive != null)
            socketReceive.Close();
        if (socketSend != null)
            socketSend.Close();
    }

    // Use this for initialization
    void Start()
    {
        InitSocket(); //在这里初始化
    
        m_dtime = new Rect(0, 100, 100, 100);
        m_style.fontSize = 30;
        m_style.normal.textColor = Color.white;
    }

    void OnApplicationQuit()
    {
        SocketQuit();
    }
	void Update()
	{
	if (Input.GetKey(KeyCode.W))
	{
	    connectThread.Start();
	}

	}
    void OnGUI()
    {
        GUI.Label(m_dtime, "位置: " + recvStr, m_style);//帧数显示函数
    }

     public static string MidStrEx_New(string sourse, string startstr, string endstr)
    {
        Regex rg = new Regex("(?<=(" + startstr + "))[.\s\S]*?(?=(" + endstr + "))", RegexOptions.Multiline | RegexOptions.Singleline);
        return rg.Match(sourse).Value;
    }   
}