void AgentMover::getAgents(std::vector<Agent>& agentsVector) const
{
// Accessing shared buffer through OpenGL or else content would go random when acquiring the buffer with OpenCL lateron.
BuffersMapping mapping = mapBuffers(GL_READ_ONLY);
std::vector<Agent>::iterator iter;
size_t i = 0;
for (iter = agentsVector.begin(); iter != agentsVector.end(); ++iter)
{
(*iter).position = mapping.positions[i];
(*iter).direction = mapping.directions[i];
(*iter).speed = mapping.speeds[i];
(*iter).maximumSpeed = mapping.maximumSpeeds[i];
(*iter).radius = mapping.radii[i];
(*iter).id = mapping.ids[i];
(*iter).turnRate = mapping.turnRates[i];
i++;
}
unmapBuffers();
}
NaoCamera::~NaoCamera()
{
stopCapturing();
unmapBuffers();
close(fd);
}
void AgentMover::setAgents(const std::vector<Agent>& agentsVector)
{
if (agentsVector.size() != count)
{
throw Exception("AgentMover::setAgents: number of agents does not match previously set count");
}
// Accessing shared buffer through OpenGL or else content would go random when acquiring the buffer with OpenCL lateron.
BuffersMapping mapping = mapBuffers(GL_WRITE_ONLY);
std::vector<Agent>::const_iterator iter;
size_t i = 0;
for (iter = agentsVector.begin(); iter != agentsVector.end(); ++iter)
{
mapping.positions[i] = (*iter).position;
mapping.directions[i] = (*iter).direction;
mapping.speeds[i] = (*iter).speed;
mapping.maximumSpeeds[i] = (*iter).maximumSpeed;
mapping.radii[i] = (*iter).radius;
mapping.ids[i] = (*iter).id;
mapping.turnRates[i] = (*iter).turnRate;
i++;
}
unmapBuffers();
}
bool V4Linux2Camera::closeCamera() {
if (dev_handle >= 0) {
updateSettings();
if (buffers_initialized) unmapBuffers();
close(dev_handle);
return true;
} else return false;
}
