// Update is called once per frame
void Update()
{
Vector2 v = rigidbody2D.velocity;
if (v.magnitude > 0)
{
if (v.y > 0)
{
hasFallen = true;
}
}
else if (hasFallen)
{
stTools.Remove(gameObject);
}
if (ready)
{
if (Input.GetButtonUp(launchKey))
{
ready = false;
SetMotion motion = GetComponent <SetMotion>();
motion.speed = multiplier * (float)stData.GetDictionaryValue("Game", "Thrust");
motion.DoSetMotion();
GetComponent <ControlsRotateDrive>().enabled = false;
GetComponent <MouseFace>().enabled = false;
rigidbody2D.gravityScale = 1;
}
}
}
/**
* Update method which gets called by PiCarConnection when sending image frames and car actions.
*/
public void HandleStream(byte[] imageBytes, SetMotion action)
{
if (imageBytes == null)
{
return;
}
var save_dir_path = getPathName();
var session_prefix = getSessionName();
bool save_to_disk = getSaveEnabled();
//Convert bytes to ImageSource type for GUI
var imgSource = (ImageSource) new ImageSourceConverter().ConvertFrom(imageBytes);
// Update the GUI
try
{
synchronizationContext.Post(o => StreamImage.Source = (ImageSource)o, imgSource);
}
catch (Exception e)
{
LogField.AppendText($"{DateTime.Now}: Error updating the GUI with image received from car: {e}\n");
}
if (save_to_disk)
{
try
{
var csv_path = $"{save_dir_path}\\{session_prefix}.csv";
var image_file_name = $"{session_prefix}_{saved_frame_count.ToString("D5")}.jpg";
saved_frame_count += 1;
using (var fileStream = new FileStream($"{save_dir_path}\\train\\{image_file_name}", FileMode.Create))
{
//Console.WriteLine($"Writing image of length {imageBytes.Length}");
fileStream.Write(imageBytes, 0, imageBytes.Length);
fileStream.Flush();
}
using (var streamWriter = new StreamWriter(csv_path, true))
{
streamWriter.WriteLineAsync($"train/{image_file_name},{action.Throttle},{action.Direction}");
}
}
catch (IOException e)
{
LogField.AppendText($"{DateTime.Now}:\tError writing stream data to disk: {e.Message}\n");
}
}
}
//Send a signal to the PiCar telling it how to move its wheels
public void SetMotion(double throttle, double direction)
{
try
{
// Send a control signal to the PiCar
var request = new SetMotion {
Throttle = throttle, Direction = direction
};
remoteControlCall.RequestStream.WriteAsync(request);
}
catch (RpcException e)
{
Console.Write("RPC failed " + e);
throw;
}
}
