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using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.IO;
using System.Linq;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using Unity.Collections;
using Unity.Simulation;
using UnityEngine;
using UnityEngine.Profiling;
// ReSharper disable NotAccessedField.Local
// ReSharper disable NonReadonlyMemberInGetHashCode
namespace UnityEngine.Perception.GroundTruth
{
partial class SimulationState
{
HashSet<SensorHandle> m_ActiveSensors = new HashSet<SensorHandle>();
Dictionary<SensorHandle, SensorData> m_Sensors = new Dictionary<SensorHandle, SensorData>();
HashSet<EgoHandle> m_Egos = new HashSet<EgoHandle>();
HashSet<Guid> m_Ids = new HashSet<Guid>();
Guid m_SequenceId = Guid.NewGuid();
//Always use the property SequenceTimeMs instead
int m_FrameCountLastUpdatedSequenceTime;
float m_SequenceTimeDoNotUse;
float m_UnscaledSequenceTimeDoNotUse;
int m_FrameCountLastStepIncremented = -1;
int m_Step = -1;
bool m_HasStarted;
int m_CaptureFileIndex;
List<AdditionalInfoTypeData> m_AdditionalInfoTypeData = new List<AdditionalInfoTypeData>();
List<PendingCapture> m_PendingCaptures = new List<PendingCapture>(k_MinPendingCapturesBeforeWrite + 10);
List<PendingMetric> m_PendingMetrics = new List<PendingMetric>(k_MinPendingMetricsBeforeWrite + 10);
int m_MetricsFileIndex;
int m_NextMetricId = 1;
CustomSampler m_SerializeCapturesSampler = CustomSampler.Create("SerializeCaptures");
CustomSampler m_SerializeCapturesAsyncSampler = CustomSampler.Create("SerializeCapturesAsync");
CustomSampler m_JsonToStringSampler = CustomSampler.Create("JsonToString");
CustomSampler m_WriteToDiskSampler = CustomSampler.Create("WriteJsonToDisk");
CustomSampler m_SerializeMetricsSampler = CustomSampler.Create("SerializeMetrics");
CustomSampler m_SerializeMetricsAsyncSampler = CustomSampler.Create("SerializeMetricsAsync");
CustomSampler m_GetOrCreatePendingCaptureForThisFrameSampler = CustomSampler.Create("GetOrCreatePendingCaptureForThisFrame");
float m_LastTimeScale;
readonly string m_OutputDirectoryName;
string m_OutputDirectoryPath;
public const string latestOutputDirectoryKey = "latestOutputDirectory";
JsonSerializer m_AnnotationSerializer;
public bool IsRunning { get; private set; }
public string OutputDirectory
{
get
{
if (m_OutputDirectoryPath == null)
m_OutputDirectoryPath = Manager.Instance.GetDirectoryFor(m_OutputDirectoryName);
return m_OutputDirectoryPath;
}
}
//A sensor will be triggered if sequenceTime is within includeThreshold seconds of the next trigger
const float k_SimulationTimingAccuracy = 0.01f;
const int k_MinPendingCapturesBeforeWrite = 150;
const int k_MinPendingMetricsBeforeWrite = 150;
const float k_MaxDeltaTime = 100f;
public SimulationState(string outputDirectory)
{
m_AnnotationSerializer = JsonSerializer.CreateDefault();
m_AnnotationSerializer.Converters.Add(new Vector3Converter());
m_AnnotationSerializer.Converters.Add(new QuaternionConverter());
m_OutputDirectoryName = outputDirectory;
PlayerPrefs.SetString(latestOutputDirectoryKey, Manager.Instance.GetDirectoryFor("",""));
IsRunning = true;
}
/// <summary>
/// A self-sufficient container for all information about a reported capture. Capture writing should not depend on any
/// state outside of this container, as other state may have changed since the capture was reported.
/// </summary>
class PendingCapture
{
public Guid Id;
public SensorHandle SensorHandle;
public SensorData SensorData;
public string Path;
public SensorSpatialData SensorSpatialData;
public int FrameCount;
public int Step;
public float Timestamp;
public Guid SequenceId;
public (string, object)[] AdditionalSensorValues;
public List<(Annotation, AnnotationData)> Annotations = new List<(Annotation, AnnotationData)>();
public bool CaptureReported;
public PendingCapture(Guid id, SensorHandle sensorHandle, SensorData sensorData, Guid sequenceId, int frameCount, int step, float timestamp)
{
SensorHandle = sensorHandle;
FrameCount = frameCount;
Step = step;
SequenceId = sequenceId;
Timestamp = timestamp;
Id = id;
SensorData = sensorData;
}
}
struct PendingMetric
{
public PendingMetric(MetricDefinition metricDefinition, int metricId, SensorHandle sensorHandle, Guid captureId, Annotation annotation, Guid sequenceId, int step, JToken values = null)
{
MetricDefinition = metricDefinition;
MetricId = metricId;
SensorHandle = sensorHandle;
Annotation = annotation;
SequenceId = sequenceId;
Step = step;
CaptureId = captureId;
Values = values;
}
public readonly MetricDefinition MetricDefinition;
public readonly int MetricId;
public readonly SensorHandle SensorHandle;
public readonly Guid CaptureId;
public readonly Annotation Annotation;
public readonly Guid SequenceId;
public readonly int Step;
public JToken Values;
public bool IsAssigned => Values != null;
}
public struct SensorData
{
public string modality;
public string description;
public float firstCaptureTime;
public CaptureTriggerMode captureTriggerMode;
public float renderingDeltaTime;
public int framesBetweenCaptures;
public bool manualSensorAffectSimulationTiming;
public float sequenceTimeOfNextCapture;
public float sequenceTimeOfNextRender;
public int lastCaptureFrameCount;
public EgoHandle egoHandle;
}
struct AnnotationData
{
public readonly AnnotationDefinition AnnotationDefinition;
public string Path;
public JArray ValuesJson;
public bool IsAssigned => Path != null || ValuesJson != null;
public AnnotationData(AnnotationDefinition annotationDefinition, string path, JArray valuesJson)
: this()
{
AnnotationDefinition = annotationDefinition;
Path = path;
ValuesJson = valuesJson;
}
}
enum AdditionalInfoKind
{
Metric,
Annotation
}
struct AdditionalInfoTypeData : IEquatable<AdditionalInfoTypeData>
{
public string name;
public string description;
public string format;
public Guid id;
public Array specValues;
public AdditionalInfoKind additionalInfoKind;
public override string ToString()
{
return $"{nameof(name)}: {name}, {nameof(description)}: {description}, {nameof(format)}: {format}, {nameof(id)}: {id}";
}
public bool Equals(AdditionalInfoTypeData other)
{
var areMembersEqual = additionalInfoKind == other.additionalInfoKind &&
string.Equals(name, other.name, StringComparison.InvariantCulture) &&
string.Equals(description, other.description, StringComparison.InvariantCulture) &&
string.Equals(format, other.format, StringComparison.InvariantCulture) &&
id.Equals(other.id);
if (!areMembersEqual)
return false;
if (specValues == other.specValues)
return true;
if (specValues == null || other.specValues == null)
return false;
if (specValues.Length != other.specValues.Length)
return false;
for (var i = 0; i < specValues.Length; i++)
{
if (!specValues.GetValue(i).Equals(other.specValues.GetValue(i)))
return false;
}
return true;
}
public override bool Equals(object obj)
{
return obj is AdditionalInfoTypeData other && Equals(other);
}
public override int GetHashCode()
{
unchecked
{
var hashCode = (name != null ? StringComparer.InvariantCulture.GetHashCode(name) : 0);
hashCode = (hashCode * 397) ^ (description != null ? StringComparer.InvariantCulture.GetHashCode(description) : 0);
hashCode = (hashCode * 397) ^ (format != null ? StringComparer.InvariantCulture.GetHashCode(format) : 0);
hashCode = (hashCode * 397) ^ id.GetHashCode();
return hashCode;
}
}
}
internal void ReportCapture(SensorHandle sensorHandle, string filename, SensorSpatialData sensorSpatialData, params(string, object)[] additionalSensorValues)
{
var sensorData = m_Sensors[sensorHandle];
var pendingCapture = GetOrCreatePendingCaptureForThisFrame(sensorHandle, out _);
if (pendingCapture.CaptureReported)
throw new InvalidOperationException($"Capture for frame {Time.frameCount} already reported for sensor {this}");
pendingCapture.CaptureReported = true;
pendingCapture.Path = filename;
pendingCapture.AdditionalSensorValues = additionalSensorValues;
pendingCapture.SensorSpatialData = sensorSpatialData;
sensorData.lastCaptureFrameCount = Time.frameCount;
m_Sensors[sensorHandle] = sensorData;
}
static string GetFormatFromFilename(string filename)
{
var ext = Path.GetExtension(filename);
if (ext == null)
return null;
if (ext.StartsWith("."))
ext = ext.Substring(1);
return ext.ToUpperInvariant();
}
/// <summary>
/// Use this to get the current step when it is desirable to ensure the step has been allocated for this frame. Steps should only be allocated in frames where a capture or metric is reported.
/// </summary>
/// <returns>The current step</returns>
int AcquireStep()
{
EnsureStepIncremented();
EnsureSequenceTimingsUpdated();
return m_Step;
}
// ReSharper restore InconsistentNaming
/// <summary>
/// The simulation time that has elapsed since the beginning of the sequence.
/// </summary>
public float SequenceTime
{
get
{
//TODO: Can this be replaced with Time.time - sequenceTimeStart?
if (!m_HasStarted)
return 0;
EnsureSequenceTimingsUpdated();
return m_SequenceTimeDoNotUse;
}
}
/// <summary>
/// The unscaled simulation time that has elapsed since the beginning of the sequence. This is the time that should be used for scheduling sensors
/// </summary>
public float UnscaledSequenceTime
{
get
{
//TODO: Can this be replaced with Time.time - sequenceTimeStart?
if (!m_HasStarted)
return 0;
EnsureSequenceTimingsUpdated();
return m_UnscaledSequenceTimeDoNotUse;
}
}
public string GetOutputDirectoryNoCreate() => Path.Combine(Configuration.Instance.GetStoragePath(), m_OutputDirectoryName);
void EnsureSequenceTimingsUpdated()
{
if (!m_HasStarted)
{
ResetTimings();
}
else if (m_FrameCountLastUpdatedSequenceTime != Time.frameCount)
{
m_SequenceTimeDoNotUse += Time.deltaTime;
if (Time.timeScale > 0)
m_UnscaledSequenceTimeDoNotUse += Time.deltaTime / Time.timeScale;
CheckTimeScale();
m_FrameCountLastUpdatedSequenceTime = Time.frameCount;
}
}
void CheckTimeScale()
{
if (m_LastTimeScale != Time.timeScale)
Debug.LogError($"Time.timeScale may not change mid-sequence. This can cause sensors to get out of sync and corrupt the data. Previous: {m_LastTimeScale} Current: {Time.timeScale}");
m_LastTimeScale = Time.timeScale;
}
void EnsureStepIncremented()
{
if (m_FrameCountLastStepIncremented != Time.frameCount)
{
m_FrameCountLastStepIncremented = Time.frameCount;
m_Step++;
}
}
public void StartNewSequence()
{
ResetTimings();
m_FrameCountLastStepIncremented = -1;
m_Step = -1;
foreach (var kvp in m_Sensors.ToArray())
{
var sensorData = kvp.Value;
sensorData.sequenceTimeOfNextCapture = GetSequenceTimeOfNextCapture(sensorData);
sensorData.sequenceTimeOfNextRender = 0;
m_Sensors[kvp.Key] = sensorData;
}
m_SequenceId = Guid.NewGuid();
}
void ResetTimings()
{
m_FrameCountLastUpdatedSequenceTime = Time.frameCount;
m_SequenceTimeDoNotUse = 0;
m_UnscaledSequenceTimeDoNotUse = 0;
m_LastTimeScale = Time.timeScale;
}
public void AddSensor(EgoHandle egoHandle, string modality, string description, float firstCaptureFrame, CaptureTriggerMode captureTriggerMode, float renderingDeltaTime, int framesBetweenCaptures, bool manualSensorAffectSimulationTiming, SensorHandle sensor)
{
var sensorData = new SensorData()
{
modality = modality,
description = description,
firstCaptureTime = firstCaptureFrame * renderingDeltaTime,
captureTriggerMode = captureTriggerMode,
renderingDeltaTime = renderingDeltaTime,
framesBetweenCaptures = framesBetweenCaptures,
manualSensorAffectSimulationTiming = manualSensorAffectSimulationTiming,
egoHandle = egoHandle,
lastCaptureFrameCount = -1
};
sensorData.sequenceTimeOfNextCapture = GetSequenceTimeOfNextCapture(sensorData);
sensorData.sequenceTimeOfNextRender = 0;
m_ActiveSensors.Add(sensor);
m_Sensors.Add(sensor, sensorData);
m_Ids.Add(sensor.Id);
}
float GetSequenceTimeOfNextCapture(SensorData sensorData)
{
// If the first capture hasn't happened yet, sequenceTimeNextCapture field won't be valid
if (sensorData.firstCaptureTime >= UnscaledSequenceTime)
{
return sensorData.captureTriggerMode == CaptureTriggerMode.Scheduled? sensorData.firstCaptureTime : float.MaxValue;
}
return sensorData.sequenceTimeOfNextCapture;
}
public bool Contains(Guid id) => m_Ids.Contains(id);
public void AddEgo(EgoHandle egoHandle)
{
CheckDatasetAllowed();
m_Egos.Add(egoHandle);
m_Ids.Add(egoHandle.Id);
}
public bool IsEnabled(SensorHandle sensorHandle) => m_ActiveSensors.Contains(sensorHandle);
public void SetEnabled(SensorHandle sensorHandle, bool value)
{
if (!value)
m_ActiveSensors.Remove(sensorHandle);
else
m_ActiveSensors.Add(sensorHandle);
}
void CheckDatasetAllowed()
{
if (!Application.isPlaying)
{
throw new InvalidOperationException("Dataset generation is only supported in play mode.");
}
}
public void Update()
{
if (m_ActiveSensors.Count == 0)
return;
if (!m_HasStarted)
{
//simulation starts now
m_FrameCountLastUpdatedSequenceTime = Time.frameCount;
m_LastTimeScale = Time.timeScale;
m_HasStarted = true;
}
EnsureSequenceTimingsUpdated();
//update the active sensors sequenceTimeNextCapture and lastCaptureFrameCount
foreach (var activeSensor in m_ActiveSensors)
{
var sensorData = m_Sensors[activeSensor];
if (Mathf.Abs(sensorData.sequenceTimeOfNextRender - UnscaledSequenceTime) < k_SimulationTimingAccuracy)
{
//means this frame fulfills this sensor's simulation time requirements, we can move target to next frame.
sensorData.sequenceTimeOfNextRender += sensorData.renderingDeltaTime;
}
if (activeSensor.ShouldCaptureThisFrame)
{
if (sensorData.captureTriggerMode.Equals(CaptureTriggerMode.Scheduled))
{
sensorData.sequenceTimeOfNextCapture += sensorData.renderingDeltaTime * (sensorData.framesBetweenCaptures + 1);
Debug.Assert(sensorData.sequenceTimeOfNextCapture > UnscaledSequenceTime,
$"Next scheduled capture should be after {UnscaledSequenceTime} but is {sensorData.sequenceTimeOfNextCapture}");
}
else if (sensorData.captureTriggerMode.Equals(CaptureTriggerMode.Manual))
{
sensorData.sequenceTimeOfNextCapture = float.MaxValue;
}
sensorData.lastCaptureFrameCount = Time.frameCount;
}
m_Sensors[activeSensor] = sensorData;
}
//find the deltatime required to land on the next active sensor that needs simulation
float nextFrameDt = k_MaxDeltaTime;
foreach (var activeSensor in m_ActiveSensors)
{
float thisSensorNextFrameDt = -1;
var sensorData = m_Sensors[activeSensor];
if (sensorData.captureTriggerMode.Equals(CaptureTriggerMode.Scheduled))
{
thisSensorNextFrameDt = sensorData.sequenceTimeOfNextRender - UnscaledSequenceTime;
Debug.Assert(thisSensorNextFrameDt > 0f, "Sensor was scheduled to capture in the past but got skipped over.");
}
else if (sensorData.captureTriggerMode.Equals(CaptureTriggerMode.Manual) && sensorData.manualSensorAffectSimulationTiming)
{
thisSensorNextFrameDt = sensorData.sequenceTimeOfNextRender - UnscaledSequenceTime;
}
if (thisSensorNextFrameDt > 0f && thisSensorNextFrameDt < nextFrameDt)
nextFrameDt = thisSensorNextFrameDt;
}
if (Math.Abs(nextFrameDt - k_MaxDeltaTime) < 0.0001)
{
//means no sensor is controlling simulation timing, so we set Time.captureDeltaTime to 0 (default) which means the setting does not do anything
nextFrameDt = 0;
}
WritePendingCaptures();
WritePendingMetrics();
Time.captureDeltaTime = nextFrameDt;
}
public void SetNextCaptureTimeToNowForSensor(SensorHandle sensorHandle)
{
if (!m_Sensors.ContainsKey(sensorHandle))
return;
var data = m_Sensors[sensorHandle];
data.sequenceTimeOfNextCapture = UnscaledSequenceTime;
m_Sensors[sensorHandle] = data;
}
public bool ShouldCaptureThisFrame(SensorHandle sensorHandle)
{
if (!m_Sensors.ContainsKey(sensorHandle))
return false;
var data = m_Sensors[sensorHandle];
if (data.lastCaptureFrameCount == Time.frameCount)
return true;
return data.sequenceTimeOfNextCapture - UnscaledSequenceTime < k_SimulationTimingAccuracy;
}
public void End()
{
if (m_Ids.Count == 0)
return;
WritePendingCaptures(true, writeCapturesFromThisFrame: true);
if (m_PendingCaptures.Count > 0)
Debug.LogError($"Simulation ended with pending annotations: {string.Join(", ", m_PendingCaptures.Select(c => $"id:{c.SensorHandle.Id} frame:{c.FrameCount}"))}");
WritePendingMetrics(true);
if (m_PendingMetrics.Count > 0)
Debug.LogError($"Simulation ended with pending metrics: {string.Join(", ", m_PendingMetrics.Select(c => $"id:{c.MetricId} step:{c.Step}"))}");
WriteReferences();
Time.captureDeltaTime = 0;
IsRunning = false;
}
public AnnotationDefinition RegisterAnnotationDefinition<TSpec>(string name, TSpec[] specValues, string description, string format, Guid id)
{
if (id == Guid.Empty)
id = Guid.NewGuid();
RegisterAdditionalInfoType(name, specValues, description, format, id, AdditionalInfoKind.Annotation);
return new AnnotationDefinition(id);
}
public MetricDefinition RegisterMetricDefinition<TSpec>(string name, TSpec[] specValues, string description, Guid id)
{
if (id == Guid.Empty)
id = Guid.NewGuid();
RegisterAdditionalInfoType(name, specValues, description, null, id, AdditionalInfoKind.Metric);
return new MetricDefinition(id);
}
void RegisterAdditionalInfoType<TSpec>(string name, TSpec[] specValues, string description, string format, Guid id, AdditionalInfoKind additionalInfoKind)
{
CheckDatasetAllowed();
var annotationDefinitionInfo = new AdditionalInfoTypeData()
{
additionalInfoKind = additionalInfoKind,
name = name,
description = description,
format = format,
id = id,
specValues = specValues
};
if (!m_Ids.Add(id))
{
foreach (var existingAnnotationDefinition in m_AdditionalInfoTypeData)
{
if (existingAnnotationDefinition.id == id)
{
if (existingAnnotationDefinition.Equals(annotationDefinitionInfo))
{
return;
}
throw new ArgumentException($"{id} has already been registered to an AnnotationDefinition or MetricDefinition with different information.\nExisting: {existingAnnotationDefinition}");
}
}
throw new ArgumentException($"Id {id} is already in use. Ids must be unique.");
}
m_AdditionalInfoTypeData.Add(annotationDefinitionInfo);
}
public Annotation ReportAnnotationFile(AnnotationDefinition annotationDefinition, SensorHandle sensorHandle, string filename)
{
var annotation = new Annotation(sensorHandle, AcquireStep());
var pendingCapture = GetOrCreatePendingCaptureForThisFrame(sensorHandle);
pendingCapture.Annotations.Add((annotation, new AnnotationData(annotationDefinition, filename, null)));
return annotation;
}
public Annotation ReportAnnotationValues<T>(AnnotationDefinition annotationDefinition, SensorHandle sensorHandle, T[] values)
{
var annotation = new Annotation(sensorHandle, AcquireStep());
var pendingCapture = GetOrCreatePendingCaptureForThisFrame(sensorHandle);
var valuesJson = new JArray();
foreach (var value in values)
{
valuesJson.Add(DatasetJsonUtility.ToJToken(value));
}
pendingCapture.Annotations.Add((annotation, new AnnotationData(annotationDefinition, null, valuesJson)));
return annotation;
}
PendingCapture GetOrCreatePendingCaptureForThisFrame(SensorHandle sensorHandle)
{
return GetOrCreatePendingCaptureForThisFrame(sensorHandle, out var _);
}
PendingCapture GetOrCreatePendingCaptureForThisFrame(SensorHandle sensorHandle, out bool created)
{
created = false;
m_GetOrCreatePendingCaptureForThisFrameSampler.Begin();
EnsureStepIncremented();
//Following is this converted to code: m_PendingCaptures.FirstOrDefault(c => c.SensorHandle == sensorHandle && c.FrameCount == Time.frameCount);
//We also start at the end, since the pending capture list can get long as we await writing to disk
PendingCapture pendingCapture = null;
for (var i = m_PendingCaptures.Count - 1; i >= 0; i--)
{
var c = m_PendingCaptures[i];
if (c.SensorHandle == sensorHandle && c.FrameCount == Time.frameCount)
{
pendingCapture = c;
break;
}
}
if (pendingCapture == null)
{
created = true;
pendingCapture = new PendingCapture(Guid.NewGuid(), sensorHandle, m_Sensors[sensorHandle], m_SequenceId, Time.frameCount, AcquireStep(), SequenceTime);
m_PendingCaptures.Add(pendingCapture);
}
m_GetOrCreatePendingCaptureForThisFrameSampler.End();
return pendingCapture;
}
public AsyncAnnotation ReportAnnotationAsync(AnnotationDefinition annotationDefinition, SensorHandle sensorHandle)
{
return new AsyncAnnotation(ReportAnnotationFile(annotationDefinition, sensorHandle, null), this);
}
public void ReportAsyncAnnotationResult<T>(AsyncAnnotation asyncAnnotation, string filename = null, NativeSlice<T> values = default) where T : struct
{
var jArray = new JArray();
foreach (var value in values)
jArray.Add(new JRaw(DatasetJsonUtility.ToJToken(value)));
ReportAsyncAnnotationResult<T>(asyncAnnotation, filename, jArray);
}
[SuppressMessage("ReSharper", "PossibleInvalidOperationException")]
public class QuaternionConverter : JsonConverter<Quaternion>
{
public override void WriteJson(JsonWriter writer, Quaternion quaternion, JsonSerializer serializer)
{
writer.WriteStartArray();
writer.WriteValue(quaternion.x);
writer.WriteValue(quaternion.y);
writer.WriteValue(quaternion.z);
writer.WriteValue(quaternion.w);
writer.WriteEndArray();
}
public override Quaternion ReadJson(JsonReader reader, Type objectType, Quaternion existingValue, bool hasExistingValue, JsonSerializer serializer)
{
var q = Quaternion.identity;
reader.Read(); // open [ token
q.x = (float)reader.ReadAsDecimal();
q.y = (float)reader.ReadAsDecimal();
q.z = (float)reader.ReadAsDecimal();
q.w = (float)reader.ReadAsDecimal();
reader.Read(); // close ] token
return q;
}
}
[SuppressMessage("ReSharper", "PossibleInvalidOperationException")]
public class Vector3Converter : JsonConverter<Vector3>
{
public override void WriteJson(JsonWriter writer, Vector3 value, JsonSerializer serializer)
{
writer.WriteStartArray();
writer.WriteValue(value.x);
writer.WriteValue(value.y);
writer.WriteValue(value.z);
writer.WriteEndArray();
}
public override Vector3 ReadJson(JsonReader reader, Type objectType, Vector3 existingValue, bool hasExistingValue, JsonSerializer serializer)
{
var outVector = new Vector3();
reader.Read(); // open array token
outVector.x = (float)reader.ReadAsDecimal();
outVector.y = (float)reader.ReadAsDecimal();
outVector.z = (float)reader.ReadAsDecimal();
reader.Read(); // close array token
return outVector;
}
}
public void ReportAsyncAnnotationResult<T>(AsyncAnnotation asyncAnnotation, string filename = null, IEnumerable<T> values = null)
{
JArray jArray = null;
if (values != null)
{
jArray = new JArray();
foreach (var value in values)
{
if (value != null)
jArray.Add(new JRaw(DatasetJsonUtility.ToJToken(value)));
}
}
ReportAsyncAnnotationResult<T>(asyncAnnotation, filename, jArray);
}
void ReportAsyncAnnotationResult<T>(AsyncAnnotation asyncAnnotation, string filename, JArray jArray)
{
if (!asyncAnnotation.IsPending)
throw new InvalidOperationException("AsyncAnnotation has already been reported and cannot be reported again.");
PendingCapture pendingCapture = null;
int annotationIndex = -1;
foreach (var c in m_PendingCaptures)
{
if (c.Step == asyncAnnotation.Annotation.Step && c.SensorHandle == asyncAnnotation.Annotation.SensorHandle)
{
pendingCapture = c;
annotationIndex = pendingCapture.Annotations.FindIndex(a => a.Item1.Equals(asyncAnnotation.Annotation));
if (annotationIndex != -1)
break;
}
}
Debug.Assert(pendingCapture != null && annotationIndex != -1);
var annotationTuple = pendingCapture.Annotations[annotationIndex];
var annotationData = annotationTuple.Item2;
annotationData.Path = filename;
annotationData.ValuesJson = jArray;
annotationTuple.Item2 = annotationData;
pendingCapture.Annotations[annotationIndex] = annotationTuple;
}
public bool IsPending(Annotation annotation)
{
foreach (var c in m_PendingCaptures)
{
foreach (var a in c.Annotations)
{
if (a.Item1.Equals(annotation))
return !a.Item2.IsAssigned;
}
}
return false;
}
public bool IsPending(ref AsyncMetric asyncMetric)
{
foreach (var m in m_PendingMetrics)
{
if (m.MetricId == asyncMetric.Id)
return !m.IsAssigned;
}
return false;
}
public void ReportAsyncMetricResult<T>(AsyncMetric asyncMetric, T[] values)
{
var pendingMetricValues = JArrayFromArray(values);
ReportAsyncMetricResult(asyncMetric, pendingMetricValues);
}
public void ReportAsyncMetricResult(AsyncMetric asyncMetric, string valuesJsonArray)
{
ReportAsyncMetricResult(asyncMetric, new JRaw(valuesJsonArray));
}
void ReportAsyncMetricResult(AsyncMetric asyncMetric, JToken values)
{
var metricIndex = -1;
for (var i = 0; i < m_PendingMetrics.Count; i++)
{
if (m_PendingMetrics[i].MetricId == asyncMetric.Id)
{
metricIndex = i;
break;
}
}
if (metricIndex == -1)
throw new InvalidOperationException("asyncMetric is invalid or has already been reported");
var pendingMetric = m_PendingMetrics[metricIndex];
if (pendingMetric.IsAssigned)
throw new InvalidOperationException("asyncMetric already been reported. ReportAsyncMetricResult may only be called once per AsyncMetric");
pendingMetric.Values = values;
m_PendingMetrics[metricIndex] = pendingMetric;
}
static JArray JArrayFromArray<T>(T[] values)
{
var jArray = new JArray();
foreach (var value in values)
jArray.Add(DatasetJsonUtility.ToJToken(value));
return jArray;
}
public AsyncMetric CreateAsyncMetric(MetricDefinition metricDefinition, SensorHandle sensorHandle = default, Annotation annotation = default)
{
EnsureStepIncremented();
var id = m_NextMetricId++;
var captureId = Guid.Empty;
if (sensorHandle != default)
{
var capture = GetOrCreatePendingCaptureForThisFrame(sensorHandle);
captureId = capture.Id;
}
m_PendingMetrics.Add(new PendingMetric(metricDefinition, id, sensorHandle, captureId, annotation, m_SequenceId, AcquireStep()));
return new AsyncMetric(metricDefinition, id, this);
}
public void ReportMetric<T>(MetricDefinition metricDefinition, T[] values, SensorHandle sensorHandle, Annotation annotation)
{
var jArray = JArrayFromArray(values);
ReportMetric(metricDefinition, jArray, sensorHandle, annotation);
}
public void ReportMetric(MetricDefinition metricDefinition, JToken values, SensorHandle sensorHandle, Annotation annotation)
{
if (values == null)
throw new ArgumentNullException(nameof(values));
EnsureStepIncremented();
var captureId = sensorHandle.IsNil ? Guid.Empty : GetOrCreatePendingCaptureForThisFrame(sensorHandle).Id;
m_PendingMetrics.Add(new PendingMetric(metricDefinition, m_NextMetricId++, sensorHandle, captureId, annotation, m_SequenceId, AcquireStep(), values));
}
}
}