k4a-sys-temp/examples/calibration.rs

#![allow(non_upper_case_globals)]
extern crate k4a_sys;
use std::ptr;
use std::ffi::{CString};
use k4a_sys::*;

struct Device {
    idx : usize,
    k4a_device: k4a_device_t,
}
//The beginnings of a wrapper struct
impl Device {
    pub fn get_idx(&self) -> usize {
        self.idx
    }

    pub fn get_k4a_device(&self) -> k4a_device_t {
        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 {
        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;
        }
        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");
    println!("Found device with serial number {}", serial_number)
}