您最多选择25个主题
主题必须以中文或者字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
853 行
34 KiB
853 行
34 KiB
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;
|
|
|
|
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 userBaseDirectoryKey = "userBaseDirectory";
|
|
public const string latestOutputDirectoryKey = "latestOutputDirectory";
|
|
public const string defaultOutputBaseDirectory = "defaultOutputBaseDirectory";
|
|
|
|
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;
|
|
|
|
public SimulationState(string outputDirectory)
|
|
{
|
|
PlayerPrefs.SetString(defaultOutputBaseDirectory, Configuration.Instance.GetStorageBasePath());
|
|
m_OutputDirectoryName = outputDirectory;
|
|
var basePath = PlayerPrefs.GetString(userBaseDirectoryKey, string.Empty);
|
|
|
|
if (basePath != string.Empty)
|
|
{
|
|
if (Directory.Exists(basePath))
|
|
{
|
|
Configuration.localPersistentDataPath = basePath;
|
|
}
|
|
else
|
|
{
|
|
Debug.LogWarning($"Passed in directory to store simulation artifacts: {basePath}, does not exist. Using default directory {Configuration.localPersistentDataPath} instead.");
|
|
basePath = Configuration.localPersistentDataPath;
|
|
}
|
|
}
|
|
|
|
PlayerPrefs.SetString(latestOutputDirectoryKey, Manager.Instance.GetDirectoryFor("", basePath));
|
|
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;
|
|
}
|
|
|
|
// ReSharper disable NotAccessedField.Local
|
|
public readonly SensorHandle SensorHandle;
|
|
public readonly MetricDefinition MetricDefinition;
|
|
public readonly int MetricId;
|
|
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
|
|
{
|
|
// ReSharper disable NonReadonlyMemberInGetHashCode
|
|
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 = UnscaledSequenceTime + firstCaptureFrame * renderingDeltaTime,
|
|
captureTriggerMode = captureTriggerMode,
|
|
renderingDeltaTime = renderingDeltaTime,
|
|
framesBetweenCaptures = framesBetweenCaptures,
|
|
manualSensorAffectSimulationTiming = manualSensorAffectSimulationTiming,
|
|
egoHandle = egoHandle,
|
|
lastCaptureFrameCount = -1
|
|
};
|
|
sensorData.sequenceTimeOfNextCapture = GetSequenceTimeOfNextCapture(sensorData);
|
|
sensorData.sequenceTimeOfNextRender = UnscaledSequenceTime;
|
|
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);
|
|
}
|
|
|
|
static 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 UNITY_EDITOR
|
|
if (UnityEditor.EditorApplication.isPaused)
|
|
{
|
|
//When the user clicks the 'step' button in the editor, frames will always progress at .02 seconds per step.
|
|
//In this case, just run all sensors each frame to allow for debugging
|
|
Debug.Log($"Frame step forced all sensors to synchronize, changing frame timings.");
|
|
|
|
sensorData.sequenceTimeOfNextRender = UnscaledSequenceTime;
|
|
sensorData.sequenceTimeOfNextCapture = UnscaledSequenceTime;
|
|
}
|
|
#endif
|
|
|
|
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}");
|
|
while (sensorData.sequenceTimeOfNextCapture <= UnscaledSequenceTime)
|
|
sensorData.sequenceTimeOfNextCapture += sensorData.renderingDeltaTime * (sensorData.framesBetweenCaptures + 1);
|
|
}
|
|
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
|
|
var nextFrameDt = float.PositiveInfinity;
|
|
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 (float.IsPositiveInfinity(nextFrameDt))
|
|
{
|
|
//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, 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(asyncAnnotation, filename, jArray);
|
|
}
|
|
|
|
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(asyncAnnotation, filename, jArray);
|
|
}
|
|
|
|
void ReportAsyncAnnotationResult(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;
|
|
var 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));
|
|
}
|
|
}
|
|
}
|