// Update is called once per frame
void Update()
{
if (Time.time > nextFragmentTime)
{
nextFragmentTime = Time.time + fragmentSendPeriod;
Color32[] currentImage = MiscUtils.getCurrentCameraImage(cameraRenderTexture, readerTexture);
currentImage = MathUtils.downSampleImg(currentImage, 2);
// Protocol:
// byte 0: fragment Counter (unsigned)
// bytes 1, 2, 3, 4: current total reward (float)
// bytes 5..: fragment data
byte[] buffer = MathUtils.ImageSliceToByteVector(currentImage,
fragmentCounter * packetLength,
(fragmentCounter + 1) * packetLength,
packetLength + 5,
5);
buffer[0] = (byte)fragmentCounter;
float[] totalReward = new float[] { rewardManager.GetTotalReward() };
System.Buffer.BlockCopy(totalReward,
0,
buffer,
1, // offset in sent array
4);
SendBuffer(buffer, targetDestination);
fragmentCounter = (fragmentCounter + 1) % nFragments;
}
}
private byte[] GetCurrentFragment(int fragmentCounter)
{
Color32[] currentImage = MiscUtils.getCurrentCameraImage(cameraRenderTexture, readerTexture);
currentImage = MathUtils.downSampleImg(currentImage, downSampleFactor);
// Protocol (hard coded):
// byte 0: frame counter
// byte 1: fragment ID (unsigned)
// bytes 2, 3, 4, 5: current total reward (float)
// bytes 6..: fragment data
// byte -1: checksum
byte[] buffer = MathUtils.ImageSliceToByteVector(currentImage,
fragmentCounter * imgFragmentLength,
(fragmentCounter + 1) * imgFragmentLength,
7 + imgFragmentLength + 1,
7);
buffer[0] = _frameCounter;
buffer[1] = (byte)fragmentCounter;
buffer[2] = (byte)agentRemoteControl.currentAction;
float[] totalReward = new float[] { rewardManager.GetTotalReward() };
System.Buffer.BlockCopy(totalReward,
0,
buffer,
3, // offset in sent array
4);
byte checksum = (byte)MathUtils.GetArraySum(buffer, 0, buffer.Length - 1, 256);
buffer[buffer.Length - 1] = checksum;
return(buffer);
}
void OnGUI()
{
GUI.Label(new Rect(position.x, position.y, 400, 50),
"Reward: " + rewardManager.GetTotalReward());
GUI.Label(new Rect(position.x, position.y + 20, 400, 50),
"Current reward rate: " + rewardManager.GetRewardRate() + " / sec");
GUI.Label(new Rect(position.x, position.y + 40, 400, 50),
"Current input action: " + inputListener.currentInputAction);
}
