protected override void actionFinished(bool success)
{
lastActionSuccess = success;
emitState = emitStates.Send;
actionCounter = 0;
targetTeleport = Vector3.zero;
}
// Decide whether agent has stopped actions
// And if we need to capture a new frame
private void LateUpdate()
{
if (emitState == emitStates.Send)
{
emitState = emitStates.Wait;
StartCoroutine(EmitFrame());
}
}
protected override void Start()
{
frameCounter = actionCounter = 0;
emitState = emitStates.Send;
base.Start();
// always zero out the rotation
transform.rotation = Quaternion.Euler(new Vector3(0.0f, 0.0f, 0.0f));
m_Camera.transform.localEulerAngles = new Vector3(0.0f, 0.0f, 0.0f);
//startingHandPosition = getHand ().transform.localPosition;
}
private IEnumerator EmitFrame()
{
frameCounter += 1;
// we should only read the screen buffer after rendering is complete
yield return(new WaitForEndOfFrame());
MetadataWrapper metaMessage = generateMetadataWrapper();
metaMessage.lastAction = lastAction;
metaMessage.lastActionSuccess = lastActionSuccess;
metaMessage.errorMessage = errorMessage;
metaMessage.sequenceId = this.currentSequenceId;
List <InventoryObject> ios = new List <InventoryObject>();
foreach (string objectId in inventory.Keys)
{
SimObj so = inventory [objectId];
InventoryObject io = new InventoryObject();
io.objectId = so.UniqueID;
io.objectType = Enum.GetName(typeof(SimObjType), so.Type);
ios.Add(io);
}
metaMessage.inventoryObjects = ios.ToArray();
WWWForm form = new WWWForm();
if (!serverSideScreenshot)
{
// create a texture the size of the screen, RGB24 format
int width = Screen.width;
int height = Screen.height;
Texture2D tex = new Texture2D(width, height, TextureFormat.RGB24, false);
// read screen contents into the texture
tex.ReadPixels(new Rect(0, 0, width, height), 0, 0);
tex.Apply();
// encode texture into JPG - XXX SHOULD SET QUALITY
byte[] bytes = tex.EncodeToPNG();
Destroy(tex);
form.AddBinaryData("image", bytes, "frame-" + frameCounter.ToString().PadLeft(7, '0') + ".png", "image/png");
}
// for testing purposes, also write to a file in the project folder
// File.WriteAllBytes(Application.dataPath + "/Screenshots/SavedScreen" + frameCounter.ToString() + ".png", bytes);
// Debug.Log ("Frame Bytes: " + bytes.Length.ToString());
//string img_str = System.Convert.ToBase64String (bytes);
form.AddField("metadata", JsonUtility.ToJson(metaMessage));
form.AddField("token", robosimsClientToken);
WWW w = new WWW("http://127.0.0.1:" + robosimsPort + "/train", form);
yield return(w);
if (!string.IsNullOrEmpty(w.error))
{
Debug.Log("Error: " + w.error);
yield break;
}
else
{
emitState = emitStates.Received;
ProcessControlCommand(w.text);
}
}
