namespace UnityEngine.Perception.GroundTruth
{
public partial class SimulationState
public class SimulationState
public enum ExecutionStateType
{
NotStarted ,
Running ,
ShuttingDown ,
Complete
}
internal bool IsCurrentlyRunning ( )
{
return ExecutionState = = ExecutionStateType . Running | | ExecutionState = = ExecutionStateType . ShuttingDown ;
}
internal bool IsNotRunning ( )
{
return ExecutionState = = ExecutionStateType . NotStarted | | ExecutionState = = ExecutionStateType . Complete ;
}
internal ExecutionStateType ExecutionState { get ; private set ; } = ExecutionStateType . NotStarted ;
// ConsumerEndpoint _Consumer;
internal ConsumerEndpoint consumerEndpoint { get ; set ; }
int m_TotalFrames = 0 ;
int m_Step = - 1 ;
bool m_HasStarted ;
int m_CaptureFileIndex ;
List < AdditionalInfoTypeData > m_AdditionalInfoTypeData = new List < AdditionalInfoTypeData > ( ) ;
Dictionary < PendingFrameId , int > m_PendingIdToFrameMap = new Dictionary < PendingFrameId , int > ( ) ;
public bool IsValid ( Guid guid ) = > true ; // TODO obvs we need to do this for realz
public bool IsRunning { get ; private set ; }
// public bool IsRunning { get; private set; }
public SimulationState ( )
public SimulationState ( Type endpointType )
IsRunning = true ;
ExecutionState = ExecutionStateType . NotStarted ;
if ( ! endpointType . IsSubclassOf ( typeof ( ConsumerEndpoint ) ) )
throw new InvalidOperationException ( $"Cannot add non-endpoint type {endpointType.Name} to consumer endpoint list" ) ;
consumerEndpoint = ( ConsumerEndpoint ) Activator . CreateInstance ( endpointType ) ;
public bool ReadyToShutdown = > ! m_PendingFrames . Any ( ) ;
bool ReadyToShutdown = > ! m_PendingFrames . Any ( ) ;
public interface IPendingId
{
get
{
//TODO: Can this be replaced with Time.time - sequenceTimeStart?
if ( ! m_HasStarted )
if ( ExecutionState ! = ExecutionStateType . Running )
return 0 ;
EnsureSequenceTimingsUpdated ( ) ;
get
{
//TODO: Can this be replaced with Time.time - sequenceTimeStart?
if ( ! m_HasStarted )
if ( ExecutionState ! = ExecutionStateType . Running )
return 0 ;
EnsureSequenceTimingsUpdated ( ) ;
void EnsureSequenceTimingsUpdated ( )
{
if ( ! m_HasStarted )
if ( ExecutionState ! = ExecutionStateType . Running )
{
ResetTimings ( ) ;
}
}
SimulationMetadata m_SimulationMetadata ;
#if false
internal void TryToClearOut ( )
{
if ( ReadyToShutdown ) return ;
WritePendingCaptures ( true , true ) ;
}
#endif
if ( ! m_HasStarted )
if ( ExecutionState = = ExecutionStateType . NotStarted )
m_SimulationMetadata = new SimulationMetadata ( )
{
unityVersion = Application . unityVersion ,
perceptionVersion = DatasetCapture . PerceptionVersion ,
} ;
UpdateNotStarted ( ) ;
}
consumerEndpoint . OnSimulationStarted ( m_SimulationMetadata ) ;
if ( ExecutionState = = ExecutionStateType . Running )
{
UpdateRunning ( ) ;
}
if ( ExecutionState = = ExecutionStateType . ShuttingDown )
{
UpdateShuttdingDown ( ) ;
}
//simulation starts now
m_FrameCountLastUpdatedSequenceTime = Time . frameCount ;
m_LastTimeScale = Time . timeScale ;
m_HasStarted = true ;
if ( ExecutionState = = ExecutionStateType . Complete )
{
UpdateComplete ( ) ;
}
void UpdateNotStarted ( )
{
m_SimulationMetadata = new SimulationMetadata ( )
{
unityVersion = Application . unityVersion ,
perceptionVersion = DatasetCapture . PerceptionVersion ,
} ;
consumerEndpoint . OnSimulationStarted ( m_SimulationMetadata ) ;
//simulation starts now
m_FrameCountLastUpdatedSequenceTime = Time . frameCount ;
m_LastTimeScale = Time . timeScale ;
ExecutionState = ExecutionStateType . Running ;
}
void UpdateRunning ( )
{
EnsureSequenceTimingsUpdated ( ) ;
//update the active sensors sequenceTimeNextCapture and lastCaptureFrameCount
WritePendingCaptures ( ) ;
// WritePendingMetrics();
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 ;
}
#if false
public IEnumerator End ( )
void UpdateShuttdingDown ( )
yield break ;
while ( m_PendingFrames . Count > 0 )
WritePendingCaptures ( true , true ) ;
yield return null ;
ExecutionState = ExecutionStateType . Complete ;
return ;
if ( m_PendingFrames . Count > 0 )
Debug . LogError ( $"Simulation ended with pending annotations: {string.Join(" , ", m_PendingFrames.Select(c => $" id : { c . Key } "))}" ) ;
WritePendingCaptures ( true , true ) ;
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 } "))}" ) ;
#endif
if ( m_AdditionalInfoTypeData . Any ( ) )
{
List < IdLabelConfig . LabelEntrySpec > labels = new List < IdLabelConfig . LabelEntrySpec > ( ) ;
}
// WriteReferences();
#endif
IsRunning = false ;
var metadata = new CompletionMetadata ( )
{
unityVersion = m_SimulationMetadata . unityVersion ,
perceptionVersion = m_SimulationMetadata . perceptionVersion ,
renderPipeline = m_SimulationMetadata . renderPipeline ,
totalFrames = m_TotalFrames
} ;
consumerEndpoint . OnSimulationCompleted ( metadata ) ;
}
#else
internal bool CapturesLeft ( )
{
return m_PendingFrames . Count > 0 ;
OnComplete ( ) ;
internal void TryToClearOut ( )
void OnComplete ( )
if ( ReadyToShutdown ) return ;
WritePendingCaptures ( true , true ) ;
if ( _Ids . Count = = 0 )
{
return ;
}
if ( ReadyToShutdown )
{
} ;
consumerEndpoint . OnSimulationCompleted ( metadata ) ;
ExecutionState = ExecutionStateType . Complete ;
VerifyNoMorePendingFrames ( ) ;
public void End ( )
void UpdateComplete ( )
{
VerifyNoMorePendingFrames ( ) ;
}
void VerifyNoMorePendingFrames ( )
{
if ( m_PendingFrames . Count > 0 )
Debug . LogError ( $"Simulation ended with pending annotations: {string.Join(" , ", m_PendingFrames.Select(c => $" id : { c . Key } "))}" ) ;
}
public void SetNextCaptureTimeToNowForSensor ( SensorHandle sensorHandle )
if ( _Ids . Count = = 0 )
if ( ! m_Sensors . ContainsKey ( sensorHandle ) )
var data = m_Sensors [ sensorHandle ] ;
data . sequenceTimeOfNextCapture = UnscaledSequenceTime ;
m_Sensors [ sensorHandle ] = data ;
}
// while (m_PendingFrames.Count > 0)
// {
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 ;
}
#if false
public IEnumerator End ( )
{
if ( _Ids . Count = = 0 )
yield break ;
while ( m_PendingFrames . Count > 0 )
{
// }
yield return null ;
}
Debug . LogError ( $"Simulation ended with {m_PendingFrames.Count} pending annotations, final one is: ({m_PendingFrames.Last().Key.Sequence},{m_PendingFrames.Last().Key.Step})" ) ;
Debug . LogError ( $"Simulation ended with pending annotations: {string.Join(" , ", m_PendingFrames.Select(c => $" id : { c . Key } "))}" ) ;
#if false
WritePendingMetrics ( true ) ;
Time . captureDeltaTime = 0 ;
IsRunning = false ;
var metadata = new CompletionMetadata ( )
{
unityVersion = m_SimulationMetadata . unityVersion ,
perceptionVersion = m_SimulationMetadata . perceptionVersion ,
renderPipeline = m_SimulationMetadata . renderPipeline ,
totalFrames = m_TotalFrames
} ;
consumerEndpoint . OnSimulationCompleted ( metadata ) ;
}
#else
internal bool CapturesLeft ( )
{
return m_PendingFrames . Count > 0 ;
}
public void End ( )
{
ExecutionState = ExecutionStateType . ShuttingDown ;
}
#endif
public void RegisterAnnotationDefinition ( AnnotationDefinition definition )
return m_PendingFrames [ id ] ;
}
bool ReportAsyncResultGeneric < T > ( IAsyncFuture < T > asyncFuture , object result ) where T : IPendingId
{
if ( ! asyncFuture . IsPending ( ) ) return false ;
pendingSensor . Metrics [ pendingId ] = metric ;
return pendingId ;
}
Dictionary < int , int > m_SequenceMap = new Dictionary < int , int > ( ) ;
Sensor ToSensor ( PendingFrame pendingFrame , SimulationState simulationState , int captureFileIndex )
{
var sensor = new RgbSensor
{
Id = "camera" ,
sensorType = "camera" ,
description = "this is the description of the sensor" ,
position = Vector3 . zero ,
rotation = Vector3 . zero ,
velocity = Vector3 . zero ,
acceleration = Vector3 . zero ,
imageFormat = "png" ,
dimension = Vector2 . zero ,
buffer = null
} ;
return sensor ;
}
// TODO rename this to 'WritePendingFrames'
void WritePendingCaptures ( bool flush = false , bool writeCapturesFromThisFrame = false )
{
m_SerializeCapturesSampler . Begin ( ) ;
var pendingFramesToWrite = new List < KeyValuePair < PendingFrameId , PendingFrame > > ( m_PendingFrames . Count ) ;
var currentFrame = Time . frameCount ;
foreach ( var frame in m_PendingFrames )
{
var recordedFrame = m_PendingIdToFrameMap [ frame . Value . PendingId ] ;
if ( ( writeCapturesFromThisFrame | | recordedFrame < currentFrame ) & &
frame . Value . IsReadyToReport ( ) )
{
pendingFramesToWrite . Add ( frame ) ;
}
}
foreach ( var pf in pendingFramesToWrite )
{
m_PendingFrames . Remove ( pf . Key ) ;
}
IEnumerable < Sensor > ConvertToSensors ( PendingFrame frame , SimulationState simulationState )
{
return frame . sensors . Values . Where ( s = > s . IsReadyToReport ( ) ) . Select ( s = > s . ToSensor ( ) ) ;
}
Frame ConvertToFrameData ( PendingFrame pendingFrame , SimulationState simState )
{
var frameId = m_PendingIdToFrameMap [ pendingFrame . PendingId ] ;
var frame = new Frame ( frameId , pendingFrame . PendingId . Sequence , pendingFrame . PendingId . Step ) ;
frame . sensors = ConvertToSensors ( pendingFrame , simState ) ;
#if false
foreach ( var annotation in pendingFrame . annotations . Values )
{
frame . annotations . Add ( annotation ) ;
}
foreach ( var metric in pendingFrame . metrics . Values )
{
frame . metrics . Add ( metric ) ;
}
#endif
return frame ;
}
void Write ( List < KeyValuePair < PendingFrameId , PendingFrame > > frames , SimulationState simulationState )
{
#if true
// TODO this needs to be done properly, we need to wait on all of the frames to come back so we
// can report them, right now we are just going to jam up this thread waiting for them, also could
// result in an endless loop if the frame never comes back
while ( frames . Any ( ) )
{
var frame = frames . First ( ) ;
if ( frame . Value . IsReadyToReport ( ) )
{
frames . Remove ( frame ) ;
var converted = ConvertToFrameData ( frame . Value , simulationState ) ;
m_TotalFrames + + ;
consumerEndpoint . OnFrameGenerated ( converted ) ;
}
}
#else
foreach ( var pendingFrame in frames )
{
var frame = ConvertToFrameData ( pendingFrame . Value , simulationState ) ;
GetActiveConsumer ( ) ? . OnFrameGenerated ( frame ) ;
}
#endif
}
if ( flush )
{
Write ( pendingFramesToWrite , this ) ;
}
else
{
var req = Manager . Instance . CreateRequest < AsyncRequest < WritePendingCaptureRequestData > > ( ) ;
req . data = new WritePendingCaptureRequestData ( )
{
PendingFrames = pendingFramesToWrite ,
SimulationState = this
} ;
req . Enqueue ( r = >
{
Write ( r . data . PendingFrames , r . data . SimulationState ) ;
return AsyncRequest . Result . Completed ;
} ) ;
req . Execute ( AsyncRequest . ExecutionContext . JobSystem ) ;
}
m_SerializeCapturesSampler . End ( ) ;
}
struct WritePendingCaptureRequestData
{
public List < KeyValuePair < PendingFrameId , PendingFrame > > PendingFrames ;
public SimulationState SimulationState ;
}
}
}
Steve Borkman
3 年前