WindowsBuffer::~WindowsBuffer()
{
glDeleteBuffers(getNumBuffers(), _bufferIDs);
delete[] _bufferIDs;
for (int i = 0; i < getNumBuffers(); i++)
{
if (_fences[i] != 0)
{
glDeleteSync(_fences[i]);
}
}
delete [] _fences;
}
void NUKinectView::NUDrawGLScene() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
glEnable(GL_TEXTURE_2D);
for (int i = 0; i < getNumBuffers(); i++) {
if (!buffer_ptrs[i]) {
continue;
}
const int col = i % numCols;
const int row = i / numCols;
glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
_mutex.lock();
glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, buffer_ptrs[i]);
_mutex.unlock();
glBegin(GL_TRIANGLE_FAN);
glColor4f(255.0f, 255.0f, 255.0f, 255.0f);
glTexCoord2f(0, 0); glVertex3f(0+col*640,0+row*480,0);
glTexCoord2f(1, 0); glVertex3f(640+col*640,0+row*480,0);
glTexCoord2f(1, 1); glVertex3f(640+col*640,480+row*480,0);
glTexCoord2f(0, 1); glVertex3f(0+col*640,480+row*480,0);
glEnd();
} // for i
glutSwapBuffers();
}
ITransferBuffer* TransferBufferManager::create(const TransferBufferManagerKey& key)
{
if (key.isEmpty())
{
UAVCAN_ASSERT(0);
return UAVCAN_NULLPTR;
}
remove(key);
TransferBufferManagerEntry* tbme = TransferBufferManagerEntry::instantiate(allocator_, max_buf_size_);
if (tbme == UAVCAN_NULLPTR)
{
return UAVCAN_NULLPTR; // Epic fail.
}
buffers_.insert(tbme);
UAVCAN_TRACE("TransferBufferManager", "Buffer created [num=%u], %s", getNumBuffers(), key.toString().c_str());
if (tbme != UAVCAN_NULLPTR)
{
UAVCAN_ASSERT(tbme->isEmpty());
tbme->reset(key);
}
return tbme;
}
int NUKinectView::setBuffer(char * buffer_ptr, const NUBufferSpec & spec, int buffer_ind) {
if (buffer_ind >= getNumBuffers()) {
return 1;
}
_mutex.lock();
buffer_ptrs[buffer_ind] = buffer_ptr;
//buffer_specs[buffer_ind] = spec;
_mutex.unlock();
return 0;
}
bool TransferBufferManager::isEmpty() const
{
return getNumBuffers() == 0;
}
