// Update is called once per frame
private void Update()
{
if (!_areStreamsInitialized)
{
InitializeStreams();
}
totalFrameTime.Stop();
totalFrameTime.Start();
if (_areStreamsInitialized)
{
CheckForNewFrames();
}
astraUpdateTime.Start();
astraUpdateTime.Stop();
if (TimeText != null)
{
BackgroundUpdaterTimings backgroundTimings = AstraUnityContext.Instance.BackgroundTimings;
float totalFrameMs = totalFrameTime.AverageMilliseconds;
float astraUpdateMs = backgroundTimings.updateAvgMillis;
float lockWaitMs = backgroundTimings.lockWaitAvgMillis;
float updateUntilMs = backgroundTimings.updateUntilAvgMillis;
float updateFrameMs = updateFramesTime.AverageMilliseconds;
TimeText.text = "Tot: " + totalFrameMs.ToString("0.0") + " ms\n" +
"AU: " + astraUpdateMs.ToString("0.0") + " ms\n" +
"LockWait: " + lockWaitMs.ToString("0.0") + " ms\n" +
"UpdateUntil: " + updateUntilMs.ToString("0.0") + " ms\n" +
"UpdateFr: " + updateFrameMs.ToString("0.0") + " ms\n";
}
}
private void CheckForNewFrames()
{
if (AstraUnityContext.Instance.WaitForUpdate(5) && AstraUnityContext.Instance.IsUpdateAsyncComplete)
{
// Inside this block until UpdateAsync() call below, we can use the Astra API safely
updateFramesTime.Start();
CheckDepthReader();
CheckColorReader();
CheckBodyReader();
CheckMaskedColorReader();
CheckColorizedBodyReader();
CheckPointReader();
_frameCount++;
updateFramesTime.Stop();
}
if (!AstraUnityContext.Instance.IsUpdateRequested)
{
UpdateStreamStartStop();
// After calling UpdateAsync() the Astra API will be called from a background thread
AstraUnityContext.Instance.UpdateAsync(UpdateUntilDelegate);
}
}
// Update is called once per frame
private void Update()
{
if (!_areStreamsInitialized)
{
#if ASTRA_UNITY_ANDROID_NATIVE
return;
#else
InitializeStreams();
#endif
}
totalFrameTime.Stop();
totalFrameTime.Start();
if (_areStreamsInitialized)
{
CheckForNewFrames();
}
astraUpdateTime.Start();
astraUpdateTime.Stop();
if (ToggleDebugText != null)
{
bool newDebugTextEnabled = ToggleDebugText.isOn;
if (debugTextEnabled && !newDebugTextEnabled)
{
// Clear TimeText once if ToggleDebugText was just turned off
TimeText.text = "";
}
debugTextEnabled = newDebugTextEnabled;
}
if (TimeText != null && debugTextEnabled)
{
BackgroundUpdaterTimings backgroundTimings = AstraUnityContext.Instance.BackgroundTimings;
float totalFrameMs = totalFrameTime.AverageMilliseconds;
float astraUpdateMs = backgroundTimings.updateAvgMillis;
float lockWaitMs = backgroundTimings.lockWaitAvgMillis;
float updateUntilMs = backgroundTimings.updateUntilAvgMillis;
float updateFrameMs = updateFramesTime.AverageMilliseconds;
TimeText.text = "Tot: " + totalFrameMs.ToString("0.0") + " ms\n" +
"AU: " + astraUpdateMs.ToString("0.0") + " ms\n" +
"LockWait: " + lockWaitMs.ToString("0.0") + " ms\n" +
"UpdateUntil: " + updateUntilMs.ToString("0.0") + " ms\n" +
"UpdateFr: " + updateFrameMs.ToString("0.0") + " ms\n";
}
}
public void UpdateAsync(Func <bool> updateUntilCondition)
{
_lockWaitTime.Start();
// _updateUntilMutex guarantees only one UpdateAsync can be in progress at a time
_updateUntilMutex.WaitOne();
_lockWaitTime.Stop();
_updateUntilCondition = updateUntilCondition;
_updateUntilConditionSatisfied = false;
_updateRequested = true;
UpdateTimings();
_updateUntilMutex.ReleaseMutex();
_updateRequestedEvent.Set();
}
private void ThreadFunc()
{
while (_isStarted)
{
// Wait for notification that an update was requested
if (_updateRequestedEvent.WaitOne(100) && _isStarted)
{
_updateUntilMutex.WaitOne();
_updateUntilTime.Start();
// Inner update loop will repeat until _updateUntilCondition is true
// (or if _updateUntilCondition is null, it will update just once)
while (_isStarted)
{
_updateTime.Start();
Context.Update();
_updateTime.Stop();
// If the caller did not specify an _updateUntilCondition,
// or that condition is now true
if (_updateUntilCondition == null || _updateUntilCondition())
{
// break the loop
break;
}
}
_updateUntilTime.Stop();
UpdateTimings();
// Allow the main thread to request another update
_updateUntilConditionSatisfied = true;
_updateRequested = false;
_updateUntilMutex.ReleaseMutex();
// Notify the main thread that the _updateUntilCondition has been satisfied.
// This will unblock the main thread if it is waiting.
_updateUntilConditionEvent.Set();
}
}
}
// Update is called once per frame
private void Update()
{
if (!_areStreamsInitialized)
{
InitializeStreams();
}
UpdateStreamStartStop();
totalFrameTime.Stop();
totalFrameTime.Start();
astraUpdateTime.Start();
AstraUnityContext.Instance.Update();
if (_frameReadyDirty)
{
astraUpdateTime.Stop();
_frameReadyDirty = false;
}
else
{
astraUpdateTime.Pause();
}
if (TimeText != null)
{
float frameReadyMs = frameReadyTime.AverageMilliseconds;
float astraUpdateMs = astraUpdateTime.AverageMilliseconds;
float totalFrameMs = totalFrameTime.AverageMilliseconds;
float astraUpdateInternalMs = astraUpdateMs - frameReadyMs;
TimeText.text = "Tot: " + totalFrameMs.ToString("0.0") + " ms\n" +
"AU: " + astraUpdateMs.ToString("0.0") + " ms\n" +
"FR: " + frameReadyMs.ToString("0.0") + " ms\n" +
"AUI: " + astraUpdateInternalMs.ToString("0.0") + " ms\n";
}
}
private void FrameReady(object sender, FrameReadyEventArgs e)
{
frameReadyTime.Start();
//Debug.Log("FrameReady " + _frameCount);
DepthFrame depthFrame = e.Frame.GetFrame <DepthFrame>();
if (depthFrame != null)
{
if (_lastDepthFrameIndex != depthFrame.FrameIndex)
{
_lastDepthFrameIndex = depthFrame.FrameIndex;
NewDepthFrameEvent.Invoke(depthFrame);
}
}
ColorFrame colorFrame = e.Frame.GetFrame <ColorFrame>();
if (colorFrame != null)
{
if (_lastColorFrameIndex != colorFrame.FrameIndex)
{
_lastColorFrameIndex = colorFrame.FrameIndex;
NewColorFrameEvent.Invoke(colorFrame);
}
}
BodyFrame bodyFrame = e.Frame.GetFrame <BodyFrame>();
if (bodyFrame != null)
{
if (_lastBodyFrameIndex != bodyFrame.FrameIndex)
{
_lastBodyFrameIndex = bodyFrame.FrameIndex;
NewBodyFrameEvent.Invoke(_bodyStream, bodyFrame);
NewBodyMaskEvent.Invoke(bodyFrame.BodyMask);
}
}
MaskedColorFrame maskedColorFrame = e.Frame.GetFrame <MaskedColorFrame>();
if (maskedColorFrame != null)
{
if (_lastMaskedColorFrameIndex != maskedColorFrame.FrameIndex)
{
_lastMaskedColorFrameIndex = maskedColorFrame.FrameIndex;
NewMaskedColorFrameEvent.Invoke(maskedColorFrame);
}
}
ColorizedBodyFrame colorizedBodyFrame = e.Frame.GetFrame <ColorizedBodyFrame>();
if (colorizedBodyFrame != null)
{
if (_lastColorizedBodyFrameIndex != colorizedBodyFrame.FrameIndex)
{
_lastColorizedBodyFrameIndex = colorizedBodyFrame.FrameIndex;
NewColorizedBodyFrameEvent.Invoke(colorizedBodyFrame);
}
}
_frameCount++;
_frameReadyDirty = true;
frameReadyTime.Stop();
}