/// <summary>
/// Generate an ObservationProto for the sensor using the provided WriteAdapter.
/// This is equivalent to producing an Observation and calling Observation.ToProto(),
/// but avoid some intermediate memory allocations.
/// </summary>
/// <param name="sensor"></param>
/// <param name="writeAdapter"></param>
/// <returns></returns>
public static ObservationProto GetObservationProto(this ISensor sensor, WriteAdapter writeAdapter)
{
var shape = sensor.GetObservationShape();
ObservationProto observationProto = null;
if (sensor.GetCompressionType() == SensorCompressionType.None)
{
var numFloats = sensor.ObservationSize();
var floatDataProto = new ObservationProto.Types.FloatData();
// Resize the float array
// TODO upgrade protobuf versions so that we can set the Capacity directly - see https://github.com/protocolbuffers/protobuf/pull/6530
for (var i = 0; i < numFloats; i++)
{
floatDataProto.Data.Add(0.0f);
}
writeAdapter.SetTarget(floatDataProto.Data, sensor.GetObservationShape(), 0);
sensor.Write(writeAdapter);
observationProto = new ObservationProto
{
FloatData = floatDataProto,
CompressionType = (CompressionTypeProto)SensorCompressionType.None,
};
}
else
{
observationProto = new ObservationProto
{
CompressedData = ByteString.CopyFrom(sensor.GetCompressedObservation()),
CompressionType = (CompressionTypeProto)sensor.GetCompressionType(),
};
}
observationProto.Shape.AddRange(shape);
return(observationProto);
}
