155 lines
4.3 KiB
C#
155 lines
4.3 KiB
C#
using System;
|
|
using System.Collections;
|
|
using System.Collections.Generic;
|
|
using System.Diagnostics;
|
|
using System.Threading.Tasks;
|
|
using UnityEngine;
|
|
using System.IO;
|
|
using System.Linq;
|
|
|
|
public class UnityCallPython : MonoBehaviour
|
|
{
|
|
public static UnityCallPython instance;
|
|
|
|
Process process;
|
|
|
|
/// <summary>
|
|
/// 主体机器人
|
|
/// </summary>
|
|
Robot robot;
|
|
|
|
private void Awake()
|
|
{
|
|
instance=this;
|
|
string[] lines = new string[8];
|
|
lines[0] = "home = " + Application.streamingAssetsPath + @"\cxx\Python37";
|
|
lines[1] = "implementation = CPython";
|
|
lines[2] = "version_info = 3.7.8.final.0";
|
|
lines[3] = "virtualenv = 20.24.5";
|
|
lines[4] = "include-system-site-packages = false";
|
|
lines[5] = "base-prefix = " + Application.streamingAssetsPath + @"\cxx\Python37";
|
|
lines[6] = "base-exec-prefix = " + Application.streamingAssetsPath + @"\cxx\Python37";
|
|
lines[7] = "base-executable = "+ Application.streamingAssetsPath + @"\cxx\Python37\python.exe";
|
|
File.WriteAllLines(Application.streamingAssetsPath + @"\cxx\venv\pyvenv.cfg", lines);
|
|
}
|
|
|
|
private void OnDestroy()
|
|
{
|
|
if (process != null && !process.HasExited)
|
|
{
|
|
process.Kill();
|
|
process = null;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 启动颜色识别
|
|
/// </summary>
|
|
[ContextMenu("启动颜色识别")]
|
|
public void StartColorRead(Robot robot)
|
|
{
|
|
this.robot = robot;
|
|
CallPythonBase();
|
|
}
|
|
|
|
/// <summary>
|
|
/// 停止颜色识别
|
|
/// </summary>
|
|
[ContextMenu("停止颜色识别")]
|
|
public void StopColorRead()
|
|
{
|
|
OnDestroy();
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Unity 调用 Python
|
|
/// </summary>
|
|
/// <param name="pyScriptPath">python 脚本路径</param>
|
|
/// <param name="argvs">python 函数参数</param>
|
|
private void CallPythonBase()
|
|
{
|
|
if (process == null || process.HasExited)
|
|
{
|
|
process = new Process();
|
|
process.StartInfo.FileName = "\"" + Application.streamingAssetsPath + @"\cxx\venv\Scripts\python.exe" + "\"";
|
|
process.StartInfo.UseShellExecute = false;
|
|
process.StartInfo.WorkingDirectory = Application.streamingAssetsPath + @"\cxx\venv\Scripts\cxx";
|
|
process.StartInfo.Arguments = "-u ColorDetect.py"; // 路径+参数
|
|
process.StartInfo.RedirectStandardError = true;
|
|
process.StartInfo.RedirectStandardOutput = true;
|
|
process.StartInfo.CreateNoWindow = true; // 不显示执行窗口
|
|
|
|
process.OutputDataReceived += new DataReceivedEventHandler(GetData);
|
|
process.ErrorDataReceived += new DataReceivedEventHandler(GetError);
|
|
process.Exited += GetExit;
|
|
|
|
// 开始执行，获取执行输出，添加结果输出委托
|
|
process.Start();
|
|
Task.Run(() => { ReadPythonData(); });
|
|
process.BeginErrorReadLine();
|
|
UnityEngine.Debug.Log("开始");
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 读取python输出值
|
|
/// </summary>
|
|
void ReadPythonData()
|
|
{
|
|
//异步
|
|
var task=process.StandardOutput.ReadLineAsync();
|
|
task.Wait();
|
|
if(!string.IsNullOrEmpty(task.Result))
|
|
{
|
|
UnityEngine.Debug.Log(task.Result);
|
|
if(robot!=null)
|
|
{
|
|
robot.PlayColorAction(task.Result);
|
|
}
|
|
}
|
|
ReadPythonData();
|
|
|
|
//同步
|
|
//while(true)
|
|
//{
|
|
// string str = process.StandardOutput.ReadLine();
|
|
// if (!string.IsNullOrEmpty(str))
|
|
// {
|
|
// UnityEngine.Debug.Log(str);
|
|
// }
|
|
|
|
//}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 输出结果委托
|
|
/// </summary>
|
|
/// <param name="sender"></param>
|
|
/// <param name="e"></param>
|
|
void GetData(object sender, DataReceivedEventArgs e)
|
|
{
|
|
UnityEngine.Debug.Log("GetData");
|
|
|
|
// 结果不为空才打印（后期可以自己添加类型不同的处理委托）
|
|
if (!string.IsNullOrEmpty(e.Data))
|
|
{
|
|
UnityEngine.Debug.Log(e.Data);
|
|
}
|
|
}
|
|
|
|
void GetError(object sender, DataReceivedEventArgs e)
|
|
{
|
|
UnityEngine.Debug.Log("GetError");
|
|
if (!string.IsNullOrEmpty(e.Data))
|
|
{
|
|
UnityEngine.Debug.LogError(e.Data);
|
|
}
|
|
}
|
|
|
|
void GetExit(object sender, EventArgs e)
|
|
{
|
|
UnityEngine.Debug.Log("finished.");
|
|
}
|
|
}
|