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using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Text;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using Unity.Simulation;
using UnityEngine.Perception.Sensors;
// ReSharper disable NotAccessedField.Local
// ReSharper disable CoVariantArrayConversion
namespace UnityEngine.Perception
{
partial class SimulationState
{
const Formatting k_Formatting = Formatting.Indented;
/// <summary>
/// Writes sensors.json, egos.json, metric_definitions.json, and annotation_definitions.json
/// </summary>
public void WriteReferences()
{
var egoReference = new JObject();
egoReference["version"] = SimulationManager.SchemaVersion;
egoReference["egos"] = new JArray(m_Egos.Select(e =>
{
var egoObj = new JObject();
egoObj["id"] = e.Id.ToString();
if (e.Description != null)
egoObj["description"] = e.Description;
return egoObj;
}).ToArray());
WriteJObjectToFile(egoReference, "egos.json");
var sensorReferenceDoc = new JObject();
sensorReferenceDoc["version"] = SimulationManager.SchemaVersion;
sensorReferenceDoc["sensors"] = new JArray(m_Sensors.Select(kvp =>
{
var sensorReference = new JObject();
sensorReference["id"] = kvp.Key.Id.ToString();
sensorReference["ego_id"] = kvp.Value.ego.Id.ToString();
sensorReference["modality"] = kvp.Value.modality;
if (kvp.Value.description != null)
sensorReference["description"] = kvp.Value.description;
return sensorReference;
}).ToArray());
WriteJObjectToFile(sensorReferenceDoc, "sensors.json");
if (m_AdditionalInfoTypeData.Count > 0)
{
var annotationDefinitionsJArray = new JArray();
var metricDefinitionsJArray = new JArray();
foreach (var typeInfo in m_AdditionalInfoTypeData)
{
var typeJObject = new JObject();
typeJObject.Add("id", new JValue(typeInfo.id.ToString()));
typeJObject.Add("name", new JValue(typeInfo.name));
if (typeInfo.description != null)
typeJObject.Add("description", new JValue(typeInfo.description));
if (typeInfo.format != null)
typeJObject.Add("format", new JValue(typeInfo.format));
if (typeInfo.specValues != null)
{
var specValues = new JArray();
foreach (var value in typeInfo.specValues)
{
specValues.Add(DatasetJsonUtility.ToJToken(value));
}
typeJObject.Add("spec", specValues);
}
switch (typeInfo.additionalInfoKind)
{
case AdditionalInfoKind.Annotation:
annotationDefinitionsJArray.Add(typeJObject);
break;
case AdditionalInfoKind.Metric:
metricDefinitionsJArray.Add(typeJObject);
break;
default:
throw new NotSupportedException("Unsupported info kind");
}
}
if (annotationDefinitionsJArray.Count > 0)
{
var annotationDefinitionsJObject = new JObject();
annotationDefinitionsJObject.Add("version", SimulationManager.SchemaVersion);
annotationDefinitionsJObject.Add("annotation_definitions", annotationDefinitionsJArray);
WriteJObjectToFile(annotationDefinitionsJObject, "annotation_definitions.json");
}
if (metricDefinitionsJArray.Count > 0)
{
var metricDefinitionsJObject = new JObject();
metricDefinitionsJObject.Add("version", SimulationManager.SchemaVersion);
metricDefinitionsJObject.Add("metric_definitions", metricDefinitionsJArray);
WriteJObjectToFile(metricDefinitionsJObject, "metric_definitions.json");
}
}
}
void WriteJObjectToFile(JObject jObject, string filename)
{
m_JsonToStringSampler.Begin();
var stringWriter = new StringWriter(new StringBuilder(256), CultureInfo.InvariantCulture);
using (var jsonTextWriter = new JsonTextWriter(stringWriter))
{
jsonTextWriter.Formatting = k_Formatting;
jObject.WriteTo(jsonTextWriter);
}
var contents = stringWriter.ToString();
m_JsonToStringSampler.End();
m_WriteToDiskSampler.Begin();
var path = Path.Combine(OutputDirectory, filename);
File.WriteAllText(path, contents);
Manager.Instance.ConsumerFileProduced(path);
m_WriteToDiskSampler.End();
}
void WritePendingCaptures(bool flush = false, bool writeCapturesFromThisFrame = false)
{
if (!flush && m_PendingCaptures.Count < k_MinPendingCapturesBeforeWrite)
return;
m_SerializeCapturesSampler.Begin();
var pendingCapturesToWrite = new List<PendingCapture>(m_PendingCaptures.Count);
var frameCountNow = Time.frameCount;
for (var i = 0; i < m_PendingCaptures.Count; i++)
{
var pendingCapture = m_PendingCaptures[i];
if ((writeCapturesFromThisFrame || pendingCapture.FrameCount < frameCountNow) &&
pendingCapture.Annotations.All(a => a.Item2.IsAssigned))
{
pendingCapturesToWrite.Add(pendingCapture);
m_PendingCaptures.RemoveAt(i);
i--; //decrement i because we removed an element
}
}
if (pendingCapturesToWrite.Count == 0)
{
m_SerializeCapturesSampler.End();
return;
}
void Write(List<PendingCapture> pendingCaptures, SimulationState simulationState, int captureFileIndex)
{
simulationState.m_SerializeCapturesAsyncSampler.Begin();
//lazily allocate for fast zero-write frames
var capturesJArray = new JArray();
foreach (var pendingCapture in pendingCaptures)
capturesJArray.Add(JObjectFromPendingCapture(pendingCapture));
var capturesJObject = new JObject();
capturesJObject.Add("version", SimulationManager.SchemaVersion);
capturesJObject.Add("captures", capturesJArray);
simulationState.WriteJObjectToFile(capturesJObject,
$"captures_{captureFileIndex:000}.json");
simulationState.m_SerializeCapturesAsyncSampler.End();
}
if (flush)
{
Write(pendingCapturesToWrite, this, m_CaptureFileIndex);
}
else
{
var req = Manager.Instance.CreateRequest<AsyncRequest<WritePendingCaptureRequestData>>();
req.data = new WritePendingCaptureRequestData()
{
CaptureFileIndex = m_CaptureFileIndex,
PendingCaptures = pendingCapturesToWrite,
SimulationState = this
};
req.Start(r =>
{
Write(r.data.PendingCaptures, r.data.SimulationState, r.data.CaptureFileIndex);
return AsyncRequest.Result.Completed;
});
}
m_SerializeCapturesSampler.End();
m_CaptureFileIndex++;
}
struct WritePendingMetricRequestData
{
public List<PendingMetric> PendingMetrics;
public int MetricFileIndex;
}
void WritePendingMetrics(bool flush = false)
{
if (!flush && m_PendingMetrics.Count < k_MinPendingMetricsBeforeWrite)
return;
var pendingMetricsToWrite = new List<PendingMetric>(m_PendingMetrics.Count);
m_SerializeMetricsSampler.Begin();
for (var i = 0; i < m_PendingMetrics.Count; i++)
{
var metric = m_PendingMetrics[i];
if (metric.IsAssigned)
{
pendingMetricsToWrite.Add(metric);
m_PendingMetrics.RemoveAt(i);
i--; //decrement i because we removed an element
}
}
if (pendingMetricsToWrite.Count == 0)
{
m_SerializeMetricsSampler.End();
return;
}
void Write(List<PendingMetric> pendingMetrics, int metricsFileIndex)
{
m_SerializeMetricsAsyncSampler.Begin();
var jArray = new JArray();
foreach (var pendingMetric in pendingMetrics)
jArray.Add(JObjectFromPendingMetric(pendingMetric));
var metricsJObject = new JObject();
metricsJObject.Add("version", SimulationManager.SchemaVersion);
metricsJObject.Add("metrics", jArray);
WriteJObjectToFile(metricsJObject, $"metrics_{metricsFileIndex:000}.json");
m_SerializeMetricsAsyncSampler.End();
}
if (flush)
{
Write(pendingMetricsToWrite, m_MetricsFileIndex);
}
else
{
var req = Manager.Instance.CreateRequest<AsyncRequest<WritePendingMetricRequestData>>();
req.data = new WritePendingMetricRequestData()
{
MetricFileIndex = m_MetricsFileIndex,
PendingMetrics = pendingMetricsToWrite
};
req.Start(r =>
{
Write(r.data.PendingMetrics, r.data.MetricFileIndex);
return AsyncRequest.Result.Completed;
});
}
m_MetricsFileIndex++;
m_SerializeMetricsSampler.End();
}
static JObject JObjectFromPendingMetric(PendingMetric metric)
{
var jObject = new JObject();
jObject["capture_id"] = metric.CaptureId == Guid.Empty ? new JRaw("null") : new JValue(metric.CaptureId.ToString());
jObject["annotation_id"] = metric.Annotation.IsNil ? new JRaw("null") : new JValue(metric.Annotation.Id.ToString());
jObject["sequence_id"] = metric.SequenceId.ToString();
jObject["step"] = metric.Step;
jObject["metric_definition"] = metric.MetricDefinition.Id.ToString();
jObject["values"] = metric.Values;
return jObject;
}
/// <summary>
/// Creates the json representation of the given PendingCapture. Static because this should not depend on any SimulationState members,
/// which may have changed since the capture was reported.
/// </summary>
static JToken JObjectFromPendingCapture(PendingCapture pendingCapture)
{
var sensorJObject = new JObject();//new SensorCaptureJson
sensorJObject["sensor_id"] = pendingCapture.SensorHandle.Id.ToString();
sensorJObject["ego_id"] = pendingCapture.SensorData.ego.Id.ToString();
sensorJObject["modality"] = pendingCapture.SensorData.modality;
sensorJObject["translation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.SensorPose.position);
sensorJObject["rotation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.SensorPose.rotation);
if (pendingCapture.AdditionalSensorValues != null)
{
foreach (var (name, value) in pendingCapture.AdditionalSensorValues)
sensorJObject.Add(name, DatasetJsonUtility.ToJToken(value));
}
var egoCaptureJson = new JObject();
egoCaptureJson["ego_id"] = pendingCapture.SensorData.ego.Id.ToString();
egoCaptureJson["translation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoPose.position);
egoCaptureJson["rotation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoPose.rotation);
egoCaptureJson["velocity"] = pendingCapture.SensorSpatialData.EgoVelocity.HasValue ? DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoVelocity.Value) : null;
egoCaptureJson["acceleration"] = pendingCapture.SensorSpatialData.EgoAcceleration.HasValue ? DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoAcceleration.Value) : null;
var capture = new JObject();
capture["id"] = pendingCapture.Id.ToString();
capture["sequence_id"] = pendingCapture.SequenceId.ToString();
capture["step"] = pendingCapture.Step;
capture["timestamp"] = pendingCapture.Timestamp;
capture["sensor"] = sensorJObject;
capture["ego"] = egoCaptureJson;
capture["filename"] = pendingCapture.Path;
capture["format"] = GetFormatFromFilename(pendingCapture.Path);
if (pendingCapture.Annotations.Any())
capture["annotations"] = new JArray(pendingCapture.Annotations.Select(JObjectFromAnnotation).ToArray());
return capture;
}
static JObject JObjectFromAnnotation((Annotation, AnnotationData) annotationInfo)
{
var annotationJObject = new JObject();
annotationJObject["id"] = annotationInfo.Item1.Id.ToString();
annotationJObject["annotation_definition"] = annotationInfo.Item2.AnnotationDefinition.Id.ToString();
if (annotationInfo.Item2.Path != null)
annotationJObject["filename"] = annotationInfo.Item2.Path;
if (annotationInfo.Item2.ValuesJson != null)
annotationJObject["values"] = annotationInfo.Item2.ValuesJson;
return annotationJObject;
}
struct WritePendingCaptureRequestData
{
public List<PendingCapture> PendingCaptures;
public int CaptureFileIndex;
public SimulationState SimulationState;
}
}
}