// Update is called once per frame
void Update()
{
if (!hasStarted)
{
policy_con.StartConnection(ResetShouldSendState);
hasStarted = true;
}
if (!sentExplorationSetting)
{
SendExplorationSetting();
sentExplorationSetting = true;
}
if (shouldSendState && !sentEpisodeOver)
{
RaycastState();
SendState();
shouldSendState = false;
}
}
void OnPostRender()
{
if (!hasStarted)
{
policy_con.StartConnection(ResetShouldSendFrame);
Debug.Log("CONNECTED");
hasStarted = true;
}
if (shouldSendFrame && !sentEpisodeOverFrame)
{
shouldSendFrame = false;
RenderTexture renderTexture = cam.activeTexture;
Texture2D tex2d = new Texture2D(renderTexture.width, renderTexture.height, TextureFormat.RGB24, false);
RenderTexture.active = renderTexture;
tex2d.ReadPixels(new Rect(0, 0, renderTexture.width, renderTexture.height), 0, 0);
tex2d.Apply();
Color32[] framePixels = tex2d.GetPixels32();
Thread createFrameThread = new Thread(() => CreateFrame(framePixels));
createFrameThread.Start();
}
}
