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Cleaned up calibration wrapper a little to make the open and get_serial() methods.

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This commit is contained in:
Amédée d'Aboville
2020-01-29 09:43:24 -05:00
parent 4f0d6b2a67
commit fa4ee0d3f1
1 changed files with 42 additions and 45 deletions
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examples/calibration.rs
+42 -45
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@@ -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)
}