private static async Task <OnnxModel> CreateFromStreamAsyncHelper(IRandomAccessStreamReference stream)
{
OnnxModel onnxModel = new OnnxModel();
onnxModel.learningModel = await LearningModel.LoadFromStreamAsync(stream);
onnxModel.session = new LearningModelSession(onnxModel.learningModel);
onnxModel.binding = new LearningModelBinding(onnxModel.session);
return(onnxModel);
}
private async Task LoadModelAsync()
{
try
{
var modelFile = await StorageFile.GetFileFromApplicationUriAsync(new Uri($"ms-appx:///Model/{_ourOnnxFileName}"));
_model = await OnnxModel.CreateFromStreamAsync(modelFile);
_misty.SkillLogger.Log($"Loaded {_ourOnnxFileName}");
_misty.SendDebugMessage($"Loaded {_ourOnnxFileName}", null);
}
catch (Exception ex)
{
_misty.SendDebugMessage($"error: {ex.Message}", null);
_model = null;
}
}
/// <summary>
/// This event handler is called when the cancel command is issued from the robot/user
/// You currently have a few seconds to do cleanup and robot resets before the skill is shut down...
/// Events will be unregistered for you
/// </summary>
public void OnCancel(object sender, IDictionary <string, object> parameters)
{
yaw.YawReached -= HandleYawReached;
yaw.YawReached -= HandleReturnYawReached;
yaw.YawReached -= FinalYaw;
tof.DistanceReached -= HandleOreReached;
tof.DistanceReached -= HandleReturnReached;
arm.ArmPosReached -= ArmDown;
arm.ArmPosReached -= ArmUp;
yaw = null;
tof = null;
arm = null;
celebrationCount = 0;
_model = null;
//TODO Put your code here and update the summary above
}