void Start()
{
// HACK(KARAN): Force initialization of Car properties
GameObject carGO = GameObject.FindGameObjectWithTag("SelfDrivingCar");
car = carGO.GetComponent <Car>();
car.Start();
sharedMemory = new Memory();
sharedMemory.AddSection("unityFlag", 1);
sharedMemory.AddSection("pythonFlag", 1);
sharedMemory.AddSection("carData", sizeof(float) * car.carControlsData.Length);
sharedMemory.AddSection("pythonData", sizeof(float) * car.pythonData.Length);
//NOTE(KARAN) : Reserve memory for images captured from all cameras
GameObject[] customCameras = GameObject.FindGameObjectsWithTag("CustomCamera");
cameraModules = new CameraModule[customCameras.Length];
for (int i = 0; i < cameraModules.Length; i++)
{
cameraModules[i] = customCameras[i].GetComponent <CameraModule>();
// HACK(KARAN): Force initialization of each camera
cameraModules[i].Start();
int imageWidth = cameraModules[i].settings.imageWidth;
int imageHeight = cameraModules[i].settings.imageHeight;
int bytesPerPixel = cameraModules[i].settings.bytesPerPixel;
int imageSize = imageHeight * imageWidth * bytesPerPixel;
string cameraName = cameraModules[i].name;
sharedMemory.AddSection(cameraName + "ImageWidth", sizeof(int));
sharedMemory.AddSection(cameraName + "ImageHeight", sizeof(int));
sharedMemory.AddSection(cameraName + "BytesPerPixel", sizeof(int));
sharedMemory.AddSection(cameraName, imageSize);
}
//NOTE(KARAN) : Save the memory layout as a csv so that python can use it.
string layoutCSV = sharedMemory.GenerateCSV();
File.WriteAllText(Application.dataPath + "\\sharedMemoryLayout.csv", layoutCSV);
sharedMemory.file = MemoryMappedFile.CreateOrOpen(memoryName, sharedMemory.locationCounter, MemoryMappedFileAccess.ReadWrite, MemoryMappedFileOptions.None, HandleInheritability.Inheritable);
sharedMemory.cursor = sharedMemory.file.CreateViewAccessor();
sharedMemory.cursor.Write(sharedMemory.GetLocation("unityFlag"), (byte)0);
}
