public IEnumerator Sample()
{
Debug.Log("Sample");
// Start the Coroutine to Capture Data Every Second.
// Persist that Information to a CSV and Perist the Camera Frame
yield return(new WaitForSeconds(0.0666666666666667f));
if (m_saveLocation != "")
{
CarSample sample = new CarSample();
sample.timeStamp = System.DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff");
sample.steeringAngle = m_SteerAngle / m_MaximumSteerAngle;
sample.throttle = AccelInput;
sample.brake = BrakeInput;
sample.speed = CurrentSpeed;
sample.position = transform.position;
sample.rotation = transform.rotation;
carSamples.Enqueue(sample);
sample = null;
//may or may not be needed
}
// Only reschedule if the button hasn't toggled
if (IsRecording)
{
StartCoroutine(Sample());
}
}
private IEnumerator Sample()
{
if (m_SaveLocation != "")
{
CarSample sample = new CarSample();
sample.TimeStamp = DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff");
sample.Mode = m_Control.CurrentMode == CarUserControl.Mode.Autonomous ? 'A' : 'M';
sample.Accel = m_Pid.Accel;
sample.Steering = m_Pid.Steering;
sample.Speed = m_Car.Speed;
sample.Position = transform.position;
sample.Rotation = transform.rotation;
m_CarSamples.Enqueue(sample);
sample = null;
}
yield return(new WaitForSeconds(m_FrameDelay));
// Only reschedule if the button hasn't been toggled
if (IsRecording)
{
StartCoroutine(Sample());
}
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
Debug.Log("WriteSamplesToDisk");
yield return(new WaitForSeconds(0.000f)); //retrieve as fast as we can but still allow communication of main thread to screen and UISystem
if (carSamples.Count > 0)
{
//pull off a sample from the que
CarSample sample = carSamples.Dequeue();
//pysically moving the car to get the right camera position
transform.position = sample.position;
transform.rotation = sample.rotation;
// Capture and Persist Image
//string centerPath = WriteImage (CenterCamera, "center", sample.timeStamp);
//string leftPath = WriteImage (LeftCamera, "left", sample.timeStamp);
//string rightPath = WriteImage (RightCamera, "right", sample.timeStamp);
// capture lidar image
string lidarPath = WriteLidarData(lidar, "lidar", sample.timeStamp);
if (lidarPath != null)
{
string row = string.Format("{0},{1},{2},{3},{4}\n", lidarPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed);
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
}
}
if (carSamples.Count > 0)
{
//request if there are more samples to pull
StartCoroutine(WriteSamplesToDisk());
}
else
{
//all samples have been pulled
StopCoroutine(WriteSamplesToDisk());
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
m_Rigidbody.velocity = new Vector3(0f, -10f, 0f);
Move(0f, 0f, 0f, 0f);
}
}
private IEnumerator WriteSamplesToDisk()
{
//retrieve as fast as we can but still allow communication of main thread to screen and UISystem
yield return(null);
if (m_CarSamples.Count > 0)
{
//pull off a sample from the queue
CarSample sample = m_CarSamples.Dequeue();
//pysically moving the car to get the right camera position
transform.position = sample.Position;
transform.rotation = sample.Rotation;
// Capture and Persist Image
string paths = "";
foreach (MyCamera cam in m_Cameras)
{
paths += WriteImage(cam, sample.TimeStamp) + ",";
}
string row = string.Format("{0}{1},{2},{3},{4}\n",
paths, sample.Accel, sample.Steering, sample.Speed, sample.Mode);
File.AppendAllText(Path.Combine(m_SaveLocation, m_CSVFileName), row);
}
if (m_CarSamples.Count > 0)
{
//request if there are more samples to pull
StartCoroutine(WriteSamplesToDisk());
}
else
{
//all samples have been pulled
IsSaving = false;
//need to reset the car back to its position before ending recording
transform.position = m_SavedPosition;
transform.rotation = m_SavedRotation;
m_Rigidbody.velocity = m_SavedVelocity;
}
}
