static async ValueTask <(bool[] success, Pose[] poses)> TryGetFramePoseAsync(string[] ids)
{
bool[] success = null;
Pose[] poses = null;
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
List <bool> successList = new List <bool>();
List <Pose> posesList = new List <Pose>();
foreach (string id in ids)
{
if (!TfListener.TryGetFrame(id, out var frame))
{
successList.Add(false);
posesList.Add(Pose.Identity);
}
else
{
successList.Add(true);
posesList.Add(frame.OriginWorldPose.Unity2RosPose());
}
}
success = successList.ToArray();
poses = posesList.ToArray();
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
Logger.Error("ControllerService: Unexpected timeout in TryGetFramePoseAsync");
return(new bool[ids.Length], new Pose[ids.Length]);
}
}
return(success, poses);
}
internal static async Task CaptureScreenshotAsync([NotNull] CaptureScreenshot srv)
{
if (Settings.ScreenCaptureManager == null)
{
srv.Response.Success = false;
srv.Response.Message = "No screenshot manager has been set for this platform";
return;
}
string errorMessage = null;
Screenshot ss = null;
Pose? pose = null;
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(async() =>
{
try
{
var assetHolder = UnityEngine.Resources
.Load <GameObject>("App Asset Holder")
.GetComponent <AppAssetHolder>();
AudioSource.PlayClipAtPoint(assetHolder.Screenshot, Settings.MainCamera.transform.position);
ss = await Settings.ScreenCaptureManager.CaptureColorAsync();
pose = ss != null
? TfListener.RelativePoseToFixedFrame(ss.CameraPose).Unity2RosPose().ToCameraFrame()
: (Pose?)null;
}
catch (Exception e)
{
errorMessage = e.Message;
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
Logger.Error("ControllerService: Unexpected timeout in CaptureScreenshotAsync");
srv.Response.Success = false;
srv.Response.Message = "Request timed out";
return;
}
}
if (errorMessage != null)
{
srv.Response.Success = false;
srv.Response.Message = errorMessage;
return;
}
if (ss == null)
{
srv.Response.Success = false;
srv.Response.Message = "Captured failed for unknown reason";
return;
}
srv.Response.Success = true;
srv.Response.Width = ss.Width;
srv.Response.Height = ss.Height;
srv.Response.Bpp = ss.Bpp;
srv.Response.Header = (screenshotSeq++, ss.Timestamp, TfListener.FixedFrameId);
srv.Response.Intrinsics = ss.Intrinsic.ToArray();
srv.Response.Pose = pose ?? Pose.Identity;
srv.Response.Data = await CompressAsync(ss);
}