From fa4ee0d3f12efc33438ddfd49444a9650eec9a6b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Am=C3=A9d=C3=A9e=20d=27Aboville?=
 <amedee.daboville@gmail.com>
Date: Wed, 29 Jan 2020 09:43:24 -0500
Subject: [PATCH] Cleaned up calibration wrapper a little to make the open and
 get_serial() methods.

---
 examples/calibration.rs | 87 ++++++++++++++++++++---------------------
 1 file changed, 42 insertions(+), 45 deletions(-)

diff --git a/examples/calibration.rs b/examples/calibration.rs
index 43fb3c2..13e07d7 100644
--- a/examples/calibration.rs
+++ b/examples/calibration.rs
@@ -5,12 +5,12 @@ use std::ffi::{CString};
 use k4a_sys::*;
 
 struct Device {
-    idx : usize,
+    idx : u32,
     k4a_device: k4a_device_t,
 }
 //The beginnings of a wrapper struct
 impl Device {
-    pub fn get_idx(&self) -> usize {
+    pub fn get_idx(&self) -> u32 {
         self.idx
     }
 
@@ -18,59 +18,56 @@ impl Device {
         self.k4a_device
     }
 
-    // pub fn get_k4a_device_mut_ptr(&self) -> *mut k4a_device_t {
-    //     (&self.k4a_device).as_raw()
-    // }
-    pub fn new(k4a_device: k4a_device_t, idx: usize) -> Self {
+    fn new(k4a_device: k4a_device_t, idx: u32) -> Self {
         Self {
             idx,
             k4a_device,
         }
 
     }
-}
-fn open_device() -> Option<Device> {
-    unsafe {
-        let device_count = k4a_sys::k4a_device_get_installed_count();
-        let mut device: k4a_device_t = ptr::null_mut();
-        if device_count == 0 {
-            println!("No K4A devices found");
-            return None;
-        }
 
-        if k4a_device_open(0, &mut device) != k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
-            println!("Failed to open device");
-            return None;
+    pub fn open(device_idx: u32) -> Option<Self> {
+        unsafe {
+                let device_count = k4a_sys::k4a_device_get_installed_count();
+                let mut device: k4a_device_t = ptr::null_mut();
+                if device_count == 0 {
+                    println!("No K4A devices found");
+                    return None;
+                }
+
+                if k4a_device_open(device_idx, &mut device) != k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
+                    println!("Failed to open device");
+                    return None;
+                }
+        Some(Self::new(device, device_idx))
+        }
+    }
+
+    pub fn get_serial(&self) -> Option<String> {
+        unsafe {
+            let mut serial_number_length: usize = 0;
+
+            if k4a_device_get_serialnum(self.get_k4a_device(), ptr::null_mut(), &mut serial_number_length) != 
+                k4a_buffer_result_t_K4A_BUFFER_RESULT_TOO_SMALL {
+                println!("{}: Failed to get serial number length", self.get_idx());
+                return None
+            }
+
+            let mut serial_number = CString::new(vec![1u8; serial_number_length]).expect("Building a cstring failed");
+            let serial_number_ptr = serial_number.into_raw();
+
+            if k4a_device_get_serialnum(self.get_k4a_device(), serial_number_ptr, &mut serial_number_length) != 
+                k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
+                    println!("{}: Failed to get serial number", self.get_idx());
+                    return None;
+            }
+            serial_number = CString::from_raw(serial_number_ptr);
+            serial_number.into_string().ok() 
         }
-        Some(Device::new(device, 0))
     }
 }
-
-fn get_serial(device: &Device) -> Option<String> {
-    unsafe {
-        let mut serial_number_length: usize = 0;
-
-        if k4a_device_get_serialnum(device.get_k4a_device(), ptr::null_mut(), &mut serial_number_length) != 
-            k4a_buffer_result_t_K4A_BUFFER_RESULT_TOO_SMALL {
-            println!("{}: Failed to get serial number length", device.get_idx());
-            return None
-        }
-
-        let mut serial_number = CString::new(vec![1u8; serial_number_length]).expect("Building a cstring failed");
-        let serial_number_ptr = serial_number.into_raw();
-
-        if k4a_device_get_serialnum(device.get_k4a_device(), serial_number_ptr, &mut serial_number_length) != 
-            k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
-                println!("{}: Failed to get serial number", device.get_idx());
-                return None;
-        }
-        serial_number = CString::from_raw(serial_number_ptr);
-        serial_number.into_string().ok() 
-    }
-}
-
 fn main () {
-    let device = open_device().expect("Couldn't open device");
-    let serial_number = get_serial(&device).expect("Couldn't get serial number");
+    let device = Device::open(0).expect("Couldn't open device");
+    let serial_number = device.get_serial().expect("Couldn't get serial number");
     println!("Found device with serial number {}", serial_number)
 }
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