public async void StartPolling(int updateFrequencyMs)
{
SceneUnderstandingState.UpdateState("Started Polling");
isPolling = true;
await new WaitForBackgroundThread();
try
{
while (isPolling)
{
SceneUnderstandingState.UpdateState("Fetching a scene");
Scene = sceneFetcher.FetchScene();
SceneUnderstandingState.UpdateState("Waiting for main thread");
await new WaitForUpdate();
SceneUnderstandingState.UpdateState("Invoking callbacks");
onScene.Invoke();
SceneUnderstandingState.UpdateState("Waiting for background for next poll");
await new WaitForBackgroundThread();
SceneUnderstandingState.UpdateState("Waiting for next poll");
await Task.Delay(updateFrequencyMs);
}
SceneUnderstandingState.UpdateState("Polling ended gracefully");
}
catch (Exception ex)
{
Debug.LogException(ex);
Debug.LogError("Error in scene understanding: " + ex.Message);
SceneUnderstandingState.UpdateErrors(ex, "Error when polling");
await new WaitForUpdate();
}
}
public Scene FetchScene()
{
var querySettings = Prepare();
SceneUnderstandingState.UpdateState("Querying scene");
var fetchSceneTask = lastScene == null
? SceneObserver.ComputeAsync(querySettings, SearchRadius)
: SceneObserver.ComputeAsync(querySettings, SearchRadius, lastScene);
var scene = fetchSceneTask.GetAwaiter().GetResult();
SceneUnderstandingState.UpdateState("Scene bytes queried");
return(scene);
}
public byte[] FetchSceneBytes()
{
var querySettings = Prepare();
SceneUnderstandingState.UpdateState("Querying scene bytes...");
var fetchSceneTask = SceneObserver.ComputeSerializedAsync(querySettings, SearchRadius);
var sceneBuffer = fetchSceneTask.GetAwaiter().GetResult();
SceneUnderstandingState.UpdateState("Scene bytes queried");
var data = new byte[sceneBuffer.Size];
sceneBuffer.GetData(data);
return(data);
}
private SceneQuerySettings Prepare()
{
SceneUnderstandingState.UpdateState("Requesting access");
var status = SceneObserver.RequestAccessAsync().GetAwaiter().GetResult();
if (status != SceneObserverAccessStatus.Allowed)
{
SceneUnderstandingState.UpdateState($"FAILED - no access: {status}");
throw new Exception($"Expected to get access. Actually got: " + status);
}
var querySettings = new SceneQuerySettings()
{
EnableWorldMesh = false,
EnableSceneObjectMeshes = false,
EnableSceneObjectQuads = true,
RequestedMeshLevelOfDetail = SceneMeshLevelOfDetail.Coarse,
EnableOnlyObservedSceneObjects = false
};
return(querySettings);
}
public void TakeSnapshot()
{
SceneUnderstandingState.UpdateState("Taking snapshot");
Scene = sceneFetcher.FetchScene();
onScene.Invoke();
}
public void StopPolling()
{
SceneUnderstandingState.UpdateState("Stopping Polling");
isPolling = false;
}
