/// <summary>
/// Appends to the body stream
/// </summary>
/// <returns>The total amount of bytes added</returns>
public int AppendBody(byte[] value, int offset, int count)
{
if (Header == null)
{
throw new DriverInternalError("To add a response body you must specify the header");
}
if (BodyStream == null)
{
if (Header.BodyLength <= count)
{
//There is no need to copy the buffer: Use the inner buffer
BodyStream = new MemoryStream(value, offset, this.Header.BodyLength, false, false);
return(this.Header.BodyLength);
}
BodyStream = new ListBackedStream();
}
if (BodyStream.Position + count > Header.BodyLength)
{
count = Header.BodyLength - (int)BodyStream.Position;
}
BodyStream.Write(value, offset, count);
return(count);
}
/// <summary>
/// Write a section of a byte array into the message body, without encoding or interpretation.
/// </summary>
public IMessageBuilder RawWrite(byte[] bytes, int offset, int length)
{
BodyStream.Write(bytes, offset, length);
return(this);
}
/// <summary>
/// Write a single byte into the message body, without encoding or interpretation.
/// </summary>
public IMessageBuilder RawWrite(byte value)
{
BodyStream.WriteByte(value);
return(this);
}
private void InitializeStreams()
{
try
{
_streamSet = Astra.StreamSet.Open();
_reader1 = _streamSet.CreateReader();
_reader1.FrameReady += FrameReady;
_reader2 = _streamSet.CreateReader();
_reader2.FrameReady += FrameReady;
_reader3 = _streamSet.CreateReader();
_reader3.FrameReady += FrameReady;
_reader4 = _streamSet.CreateReader();
_reader4.FrameReady += FrameReady;
_reader5 = _streamSet.CreateReader();
_reader5.FrameReady += FrameReady;
_depthStream = _reader1.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetDepthWidth = 160;
int targetDepthHeight = 120;
int targetDepthFps = 30;
#else
int targetDepthWidth = 320;
int targetDepthHeight = 240;
int targetDepthFps = 60;
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _reader2.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth = 320;
int targetColorHeight = 240;
int targetColorFps = 30;
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 60;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
_bodyStream = _reader3.GetStream <BodyStream>();
_maskedColorStream = _reader4.GetStream <MaskedColorStream>();
_colorizedBodyStream = _reader5.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}
private void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_readerPoint = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetDepthWidth = 160;
int targetDepthHeight = 120;
int targetDepthFps = 30;
#else
int targetDepthWidth = 320;
int targetDepthHeight = 240;
int targetDepthFps = 30;
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth = 320;
int targetColorHeight = 240;
int targetColorFps = 30;
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_pointStream = _readerPoint.GetStream <PointStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}
/// <summary>
/// Read bytes from the body stream into a section of
/// an existing byte array, without encoding or
/// interpretation. Returns the number of bytes read from the
/// body and written into the target array, which may be less
/// than the number requested if the end-of-stream is reached.
/// </summary>
public int RawRead(byte[] target, int offset, int length)
{
return(BodyStream.Read(target, offset, length));
}
/// <summary>
/// Read a single byte from the body stream, without encoding or interpretation.
/// Returns -1 for end-of-stream.
/// </summary>
public int RawRead()
{
return(BodyStream.ReadByte());
}
public void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerNV21Color = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
int targetDepthWidth, targetDepthHeight, targetDepthFps;
#if ASTRA_UNITY_ANDROID_NATIVE
//Deeyea and Dabai doesn't support qqvga and qvga resolution.
//use 640*400.
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x60e ||
_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x617)
{
targetDepthWidth = 640;
targetDepthHeight = 400;
targetDepthFps = 30;
}
else
{
targetDepthWidth = 160;
targetDepthHeight = 120;
targetDepthFps = 30;
}
#else
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x60e ||
_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x617)
{
targetDepthWidth = 640;
targetDepthHeight = 400;
targetDepthFps = 30;
}
else
{
targetDepthWidth = 320;
targetDepthHeight = 240;
targetDepthFps = 30;
}
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x617)
{
//for deeyea, set mirror to false to match depth.
_colorStream.IsMirroring = false;
}
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth, targetColorHeight, targetColorFps;
if (_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x60f ||
_depthStream.usbInfo.Pid == 0x617)
{
targetColorWidth = 640;
targetColorHeight = 480;
targetColorFps = 30;
}
else
{
targetColorWidth = 320;
targetColorHeight = 240;
targetColorFps = 30;
}
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
#if ASTRA_UNITY_ANDROID_NATIVE
_nv21ColorStream = _readerNV21Color.GetStream <ColorStream>(Astra.Core.StreamSubType.COLOR_NV21_SUBTYPE);
if (_nv21ColorStream.IsAvailable)
{
//COLOR_NV21_SUBTYPE is only available when using astra pro and astra pro plus.
colorModes = _nv21ColorStream.AvailableModes;
selectedColorMode = colorModes[0];
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_nv21ColorStream.SetMode(selectedColorMode);
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x617)
{
//for deeyea, set mirror to false to match depth.
_nv21ColorStream.IsMirroring = false;
}
}
else
{
_readerNV21Color.Dispose();
_readerNV21Color = null;
_nv21ColorStream = null;
}
#endif
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}
public override void Write(byte[] buffer, int offset, int count)
{
BodyStream.Write(buffer, offset, count);
}
public override void SetLength(long value)
{
BodyStream.SetLength(value);
}
public override long Seek(long offset, SeekOrigin origin)
{
return(BodyStream.Seek(offset, origin));
}
public override int Read(byte[] buffer, int offset, int count)
{
return(BodyStream.Read(buffer, offset, count));
}
public override void Flush()
{
FlusIndex++;
BodyStream.Flush();
}
public void Dispose()
{
BodyStream?.Dispose();
}
private void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
_depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = _depthModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetDepthWidth = 160;
int targetDepthHeight = 120;
int targetDepthFps = 30;
#else
int targetDepthWidth = 320;
int targetDepthHeight = 240;
int targetDepthFps = 30;
#endif
foreach (var m in _depthModes)
{
Debug.Log("Depth mode: " + m.Width + "x" + m.Height + "@" + m.FramesPerSecond);
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
try
{
_colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = _colorModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth = 320;
int targetColorHeight = 240;
int targetColorFps = 30;
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in _colorModes)
{
Debug.Log("Color mode: " + m.Width + "x" + m.Height + "@" + m.FramesPerSecond);
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
}
catch (System.Exception e)
{
Debug.Log("Couldn't initialize color stream: " + e.ToString());
}
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
Debug.Log("Stream initialize success");
OnInitializeSuccess.Invoke();
}
catch (System.Exception e)
{
Debug.Log("Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
if (_initializeCount > 0)
{
_initializeCount--;
}
else
{
Debug.Log("Initialize failed");
OnInitializeFailed.Invoke();
}
}
}
public byte[] ReadBodyToEnd()
{
return(BodyStream.ReadAllBytes());
}
