public static string GetRadarMessage(RadarMessage meg)
{
string ans = "";
ans = JsonConvert.SerializeObject(meg, Formatting.Indented, new JsonSerializerSettings()
{
NullValueHandling = NullValueHandling.Ignore
});
////去除字符中间的空隙
ans = ans.Replace("\n", "");
ans = ans.Replace("\r", "");
ans = ans.Replace("\t", "");
return(ans);
}
private IEnumerator UpdateRadar()
{
// Set Global Buffers
computeShader.SetMatrix("inv_CameraMatrix", radarCameras[0].projectionMatrix.inverse);
computeShader.SetInt("ImageWidthRes", WidthRes);
computeShader.SetInt("ImageHeightRes", HeightRes);
computeShader.SetInt("NrOfImages", NrOfCameras);
computeShader.SetInt("radarResolution", radarSpokeResolution);
computeShader.SetInt("radarSweepResolution", radarSweepResolution);
computeShader.SetFloat("MaxDist", MaxDistance);
computeShader.SetFloat("MinDist", MinDistance);
computeShader.SetFloat("AntennaGainDbi", AntennaGainDbi);
computeShader.SetFloat("PowerW", PowerW);
computeShader.SetFloat("RadarFrequencyGhz", RadarFrequencyGhz);
computeShader.SetFloat("SpokeAngle", SpokeAngle);
// Radar Spokes buffers
int RadarSpokesHandle = computeShader.FindKernel("RadarSpokes");
computeShader.SetTexture(RadarSpokesHandle, "RadarCharacteristics", RadiationPattern);
int dataSize = sizeof(int);
ComputeBuffer RadarSpokesIntBuffer = new ComputeBuffer(radarSpokeResolution * radarSweepResolution, dataSize);
RadarSpokesInt = new NativeArray <int>(radarSpokeResolution * radarSweepResolution, Allocator.Temp, NativeArrayOptions.ClearMemory);
RadarSpokesIntBuffer.SetData(RadarSpokesInt);
computeShader.SetBuffer(RadarSpokesHandle, "RadarSpokesInt", RadarSpokesIntBuffer);
for (int i = 0; i < radarCameras.Length; i++)
{
Quaternion angle = Quaternion.Euler(0, i * 360.0f / NrOfCameras, 0);
Matrix4x4 m = Matrix4x4.Rotate(angle);
computeShader.SetTexture(RadarSpokesHandle, "depthImage" + i.ToString(), radarCameras[i].targetTexture);
computeShader.SetMatrix("CameraRotationMatrix" + i.ToString(), m);
}
// Radar range Convolution buffers
int RadarRangeCovolutionHandle = computeShader.FindKernel("RadarRangeCovolution");
computeShader.SetBuffer(RadarRangeCovolutionHandle, "RadarSpokesInt", RadarSpokesIntBuffer);
dataSize = sizeof(float);
ComputeBuffer RadarSpokesFloatBuffer = new ComputeBuffer(radarSpokeResolution * radarSweepResolution, dataSize);
RadarSpokesFloat = new NativeArray <float>(radarSpokeResolution * radarSweepResolution, Allocator.Temp, NativeArrayOptions.ClearMemory);
RadarSpokesFloatBuffer.SetData(RadarSpokesFloat);
computeShader.SetBuffer(RadarRangeCovolutionHandle, "RadarSpokesFloat", RadarSpokesFloatBuffer);
// Radar spoke max buffers
int RadarSpokeMax = computeShader.FindKernel("FindRadarSpokeMax");
ComputeBuffer MaxSpokesBuffer = new ComputeBuffer(radarSweepResolution, sizeof(float));
NativeArray <float> MaxSpokes = new NativeArray <float>(radarSweepResolution, Allocator.Temp, NativeArrayOptions.ClearMemory);
MaxSpokesBuffer.SetData(MaxSpokes);
computeShader.SetBuffer(RadarSpokeMax, "MaxSpokes", MaxSpokesBuffer);
computeShader.SetBuffer(RadarSpokeMax, "RadarSpokesFloat", RadarSpokesFloatBuffer);
// Radar plot image buffers
int RadarPlotImageHandle = computeShader.FindKernel("CreateRadarPlotImage");
if (RadarPlotExternalImage != null)
{
dataSize = 24;
RadarPlotImage = new RenderTexture(RadarPlotExternalImage.width, RadarPlotExternalImage.height, dataSize);
RadarPlotImage.enableRandomWrite = true;
RadarPlotImage.Create();
computeShader.SetTexture(RadarPlotImageHandle, "plotImage", RadarPlotImage);
computeShader.SetBuffer(RadarPlotImageHandle, "RadarSpokesFloat", RadarSpokesFloatBuffer);
computeShader.SetBuffer(RadarPlotImageHandle, "MaxSpokes", MaxSpokesBuffer);
}
// Radar spoke image buffers
int RadarSpokeImageHandle = computeShader.FindKernel("CreateRadarSpokeImage");
if (RadarSpokeExternalImage != null)
{
dataSize = 24;
RadarSpokeImage = new RenderTexture(RadarSpokeExternalImage.width, RadarSpokeExternalImage.height, dataSize);
RadarSpokeImage.enableRandomWrite = true;
RadarSpokeImage.Create();
computeShader.SetTexture(RadarSpokeImageHandle, "spokeImage", RadarSpokeImage);
computeShader.SetBuffer(RadarSpokeImageHandle, "RadarSpokesFloat", RadarSpokesFloatBuffer);
computeShader.SetBuffer(RadarSpokeImageHandle, "MaxSpokes", MaxSpokesBuffer);
}
// Radar Data
string radarDataKernel = "RadarDataKernel";
string timeInSecondsBuffer = "timeInSeconds";
string azimuthBuffer = "azimuth";
string radarDataBuffer = "spokeData";
UnifiedArray <byte> radarData = new UnifiedArray <byte>(radarSweepResolution * radarSpokeResolution / 4, sizeof(uint), radarDataBuffer);
radarData.SetBuffer(computeShader, radarDataKernel);
UnifiedArray <float> azimuth = new UnifiedArray <float>(radarSweepResolution, sizeof(float), azimuthBuffer);;
azimuth.SetBuffer(computeShader, radarDataKernel);
UnifiedArray <double> timeInSeconds = new UnifiedArray <double>(radarSweepResolution, sizeof(double), timeInSecondsBuffer);;
timeInSeconds.SetBuffer(computeShader, radarDataKernel);
int radarDataKernelHandle = computeShader.FindKernel(radarDataKernel);
computeShader.SetBuffer(radarDataKernelHandle, "RadarSpokesFloat", RadarSpokesFloatBuffer);
computeShader.SetBuffer(radarDataKernelHandle, "MaxSpokes", MaxSpokesBuffer);
ComputeBuffer timeArray = new ComputeBuffer(2, sizeof(double));
double[] timeArr = new double[2] {
OSPtime, nextOSPtime
};
timeArray.SetData(timeArr);
computeShader.SetBuffer(radarDataKernelHandle, "timeArray", timeArray);
// Radar clear buffers
int ClearKernelHandle = computeShader.FindKernel("ClearRadar");
computeShader.SetBuffer(ClearKernelHandle, "RadarSpokesInt", RadarSpokesIntBuffer);
// Fetch data from GPU
float tempSens = -1;
float tempSpokeAngle = -1;
while (true)
{
// Check change in Inspector Variables
if (Sensitivity != tempSens)
{
computeShader.SetFloat("Sensitivity", Sensitivity);
tempSens = Sensitivity;
}
if (SpokeAngle != tempSpokeAngle)
{
computeShader.SetFloat("SpokeAngle", SpokeAngle);
tempSpokeAngle = SpokeAngle;
}
timeArr[0] = OSPtime;
timeArr[1] = nextOSPtime;
timeArray.SetData(timeArr);
computeShader.SetBuffer(radarDataKernelHandle, "timeArray", timeArray);
// Create and Radar Data
computeShader.Dispatch(RadarSpokesHandle, (int)Mathf.Ceil(NrOfCameras * WidthRes / 32), (int)Mathf.Ceil(HeightRes / 32), 1);
computeShader.Dispatch(RadarRangeCovolutionHandle, (int)Mathf.Ceil(radarSweepResolution / 512), 1, 1);
computeShader.Dispatch(RadarSpokeMax, (int)Mathf.Ceil(radarSweepResolution / 512), 1, 1);
computeShader.Dispatch(radarDataKernelHandle, (int)Mathf.Ceil(radarSweepResolution / 512), 1, 1);
// Recieve and send radar data
var request2 = AsyncGPUReadback.Request(radarData.buffer);
yield return(new WaitUntil(() => request2.done));
radarData.AsynchUpdate(request2);
var request3 = AsyncGPUReadback.Request(azimuth.buffer);
yield return(new WaitUntil(() => request3.done));
azimuth.AsynchUpdate(request3);
var request4 = AsyncGPUReadback.Request(timeInSeconds.buffer);
yield return(new WaitUntil(() => request4.done));
timeInSeconds.AsynchUpdate(request4);
message = new RadarMessage(radarData.array, timeInSeconds.array, azimuth.array, (uint)MinDistance, (uint)MaxDistance, (uint)radarSpokeResolution);
gate = true;
// Debugging Images
if (RadarPlotExternalImage != null)
{
computeShader.Dispatch(RadarPlotImageHandle, (int)Mathf.Ceil(RadarPlotImage.width / 32), (int)Mathf.Ceil(RadarPlotImage.height / 32), 1);
}
if (RadarSpokeExternalImage != null)
{
computeShader.Dispatch(RadarSpokeImageHandle, (int)Mathf.Ceil(RadarSpokeImage.width / 32), (int)Mathf.Ceil(RadarSpokeImage.height / 32), 1);
}
// Clear GPU memory
computeShader.Dispatch(ClearKernelHandle, (int)Mathf.Ceil((radarSpokeResolution * radarSweepResolution) / 1024), 1, 1);
}
}
