// Update is called once per frame
void Update()
{
if (!bDoLog)
{
return;
}
timeSinceLastCapture += Time.deltaTime;
if (timeSinceLastCapture < 1.0f / limitFPS)
{
return;
}
timeSinceLastCapture -= (1.0f / limitFPS);
string activity = car.GetActivity();
if (lidar != null)
{
LidarPointArray pa = lidar.GetOutput();
if (pa != null)
{
string json = JsonUtility.ToJson(pa);
var filename = string.Format("/../log/lidar_{0}_{1}.txt", frameCounter.ToString(), activity);
var f = File.CreateText(Application.dataPath + filename);
f.Write(json);
f.Close();
}
}
if (optionlB_CamSensor != null)
{
SaveCamSensor(camSensor, activity, "_a");
SaveCamSensor(optionlB_CamSensor, activity, "_b");
}
else
{
SaveCamSensor(camSensor, activity, "");
}
if (maxFramesToLog != -1 && frameCounter >= maxFramesToLog)
{
Shutdown();
this.gameObject.SetActive(false);
}
frameCounter = frameCounter + 1;
}
// Update is called once per frame
void Update()
{
string activity = car.GetActivity();
if (writer != null)
{
writer.WriteLine(string.Format("{0},{1},{2},{3}", frameCounter.ToString(), activity, car.GetSteering().ToString(), car.GetThrottle().ToString()));
}
if (lidar != null)
{
LidarPointArray pa = lidar.GetOutput();
if (pa != null)
{
string json = JsonUtility.ToJson(pa);
var filename = string.Format("/../log/lidar_{0}_{1}.txt", frameCounter.ToString(), activity);
var f = File.CreateText(Application.dataPath + filename);
f.Write(json);
f.Close();
}
}
if (optionlB_CamSensor != null)
{
SaveCamSensor(camSensor, activity, "_a");
SaveCamSensor(optionlB_CamSensor, activity, "_b");
}
else
{
SaveCamSensor(camSensor, activity, "");
}
if (maxFramesToLog != -1 && frameCounter >= maxFramesToLog)
{
Shutdown();
this.gameObject.SetActive(false);
}
frameCounter = frameCounter + 1;
}
// Update is called once per frame
void Update()
{
if (!bDoLog)
{
return;
}
timeSinceLastCapture += Time.deltaTime;
if (timeSinceLastCapture < 1.0f / limitFPS)
{
return;
}
timeSinceLastCapture -= (1.0f / limitFPS);
string activity = car.GetActivity();
if (writer != null)
{
if (UdacityStyle)
{
string image_filename = GetUdacityStyleImageFilename();
float steering = car.GetSteering() / car.GetMaxSteering();
writer.WriteLine(string.Format("{0},{1},{2},{3},{4},{5},{6}", image_filename, "none", "none", steering.ToString(), car.GetThrottle().ToString(), "0", "0"));
}
else if (DonkeyStyle || SharkStyle)
{
}
else if (DonkeyStyle2)
{
DonkeyRecord mjson = new DonkeyRecord();
float steering = car.GetSteering() / car.GetMaxSteering();
float throttle = car.GetThrottle();
//training code like steering clamped between -1, 1
steering = Mathf.Clamp(steering, -1.0f, 1.0f);
mjson.Init(string.Format("{0}_cam-image_array_.jpg", frameCounter),
throttle, steering, "user");
string json = mjson.AsString();
string filename = string.Format("record_{0}.json", frameCounter);
var f = File.CreateText(Application.dataPath + "/../log/" + filename);
f.Write(json);
f.Close();
}
else
{
writer.WriteLine(string.Format("{0},{1},{2},{3}", frameCounter.ToString(), activity, car.GetSteering().ToString(), car.GetThrottle().ToString()));
}
}
if (lidar != null)
{
LidarPointArray pa = lidar.GetOutput();
if (pa != null)
{
string json = JsonUtility.ToJson(pa);
var filename = string.Format("/../log/lidar_{0}_{1}.txt", frameCounter.ToString(), activity);
var f = File.CreateText(Application.dataPath + filename);
f.Write(json);
f.Close();
}
}
if (optionlB_CamSensor != null)
{
SaveCamSensor(camSensor, activity, "_a");
SaveCamSensor(optionlB_CamSensor, activity, "_b");
}
else
{
SaveCamSensor(camSensor, activity, "");
}
if (maxFramesToLog != -1 && frameCounter >= maxFramesToLog)
{
Shutdown();
this.gameObject.SetActive(false);
}
frameCounter = frameCounter + 1;
if (logDisplay != null)
{
logDisplay.text = "Log:" + frameCounter;
}
}
// Update is called once per frame
void Update()
{
if (!bDoLog)
{
return;
}
timeSinceLastCapture += Time.deltaTime;
if (timeSinceLastCapture < 1.0f / limitFPS)
{
return;
}
timeSinceLastCapture -= (1.0f / limitFPS);
string activity = car.GetActivity();
if (writer != null)
{
if (PynqStyle)
{
string image_filename = GetPynqStyleImageFilename();
float steering = car.GetSteering() / car.GetMaxSteering();
float throttle = car.GetThrottle();
float speed = car.GetVelocity().magnitude / car.GetMaxSpeed();
//writer.WriteLine(string.Format("{0},{1},{2}", image_filename,steering.ToString(),throttle.ToString()));
writer.WriteLine(string.Format("{0},{1},{2}", image_filename, steering.ToString(), speed.ToString()));
}
}
if (lidar != null)
{
LidarPointArray pa = lidar.GetOutput();
if (pa != null)
{
string json = JsonUtility.ToJson(pa);
var filename = string.Format("lidar_{0}_{1}.txt", frameCounter.ToString(), activity);
var f = File.CreateText(GetLogPath() + filename);
f.Write(json);
f.Close();
}
}
if (optionlB_CamSensor != null)
{
SaveCamSensor(camSensor, activity, "_a");
SaveCamSensor(optionlB_CamSensor, activity, "_b");
}
else
{
SaveCamSensor(camSensor, activity, "");
}
if (maxFramesToLog != -1 && frameCounter >= maxFramesToLog)
{
Shutdown();
this.gameObject.SetActive(false);
}
if (storeNum != null)
{
storeNum.text = string.Format("Now/Total: {0}/{1}", frameCounter, maxFramesToLog);
}
frameCounter = frameCounter + 1;
if (logDisplay != null)
{
logDisplay.text = "Log:" + frameCounter;
}
}
