def map()

in mujoco_py/mjbatchrenderer.pyx [0:0]

• 26 lines of code
• 8 McCabe index (conditional complexity)

    def map(self):
        """ Map OpenGL buffer to CUDA for reading. """
        if not self._use_cuda:
            raise CudaNotEnabledError()
        elif self._cuda_buffers_are_mapped:
            return  # just make it a no-op

        self._cuda_context.push()
        self._cuda_rgb_mapping = self._cuda_rgb_pbo.map()
        ptr, self._cuda_rgb_buf_size = (
            self._cuda_rgb_mapping.device_ptr_and_size())
        assert ptr is not None and self._cuda_rgb_buf_size > 0
        if self._cuda_rgb_ptr is None:
            self._cuda_rgb_ptr = ptr

        # There doesn't seem to be a guarantee from the API that the
        # pointer will be the same between mappings, but empirically
        # this has been true. If this isn't true, we need to modify
        # the interface to MjBatchRenderer to make this clearer to user.
        # So, hopefully we won't hit this assert.
        assert self._cuda_rgb_ptr == ptr, (
            "Mapped CUDA rgb buffer pointer %d doesn't match old pointer %d" %
            (ptr, self._cuda_rgb_ptr))

        if self._depth:
            self._cuda_depth_mapping = self._cuda_depth_pbo.map()
            ptr, self._cuda_depth_buf_size = (
                self._cuda_depth_mapping.device_ptr_and_size())
            assert ptr is not None and self._cuda_depth_buf_size > 0
            if self._cuda_depth_ptr is None:
                self._cuda_depth_ptr = ptr
            assert self._cuda_depth_ptr == ptr, (
                "Mapped CUDA depth buffer pointer %d doesn't match old pointer %d" %
                (ptr, self._cuda_depth_ptr))

        self._cuda_buffers_are_mapped = True