use super::error::ToResult;
use super::k4a_functions::*;
use super::*;
use std::ffi::c_void;
use std::os::raw;
use std::ptr;
#[link(name = "kernel32")]
#[no_mangle]
extern "stdcall" {
fn GetLastError() -> u32;
fn LoadLibraryExW(
lpLibFileName: *const u16,
hFile: *const c_void,
dwFlags: u32,
) -> *const c_void;
fn FreeLibrary(hLibModule: *const c_void) -> i32;
fn GetProcAddress(hModule: *const c_void, lpProcName: *const u8) -> *const c_void;
}
pub type DebugMessageHandler = Box<dyn Fn(k4a_log_level_t, &str, raw::c_int, &str)>;
pub struct Factory {
handle: *const c_void,
debug_message_handler: Option<DebugMessageHandler>,
pub(crate) k4a_device_get_installed_count: k4a_device_get_installed_count,
pub(crate) k4a_set_debug_message_handler: k4a_set_debug_message_handler,
pub(crate) k4a_device_open: k4a_device_open,
pub(crate) k4a_device_close: k4a_device_close,
pub(crate) k4a_device_get_capture: k4a_device_get_capture,
pub(crate) k4a_device_get_imu_sample: k4a_device_get_imu_sample,
pub(crate) k4a_capture_create: k4a_capture_create,
pub(crate) k4a_capture_release: k4a_capture_release,
pub(crate) k4a_capture_reference: k4a_capture_reference,
pub(crate) k4a_capture_get_color_image: k4a_capture_get_color_image,
pub(crate) k4a_capture_get_depth_image: k4a_capture_get_depth_image,
pub(crate) k4a_capture_get_ir_image: k4a_capture_get_ir_image,
pub(crate) k4a_capture_set_color_image: k4a_capture_set_color_image,
pub(crate) k4a_capture_set_depth_image: k4a_capture_set_depth_image,
pub(crate) k4a_capture_set_ir_image: k4a_capture_set_ir_image,
pub(crate) k4a_capture_set_temperature_c: k4a_capture_set_temperature_c,
pub(crate) k4a_capture_get_temperature_c: k4a_capture_get_temperature_c,
pub(crate) k4a_image_create: k4a_image_create,
pub(crate) k4a_image_create_from_buffer: k4a_image_create_from_buffer,
pub(crate) k4a_image_get_buffer: k4a_image_get_buffer,
pub(crate) k4a_image_get_size: k4a_image_get_size,
pub(crate) k4a_image_get_format: k4a_image_get_format,
pub(crate) k4a_image_get_width_pixels: k4a_image_get_width_pixels,
pub(crate) k4a_image_get_height_pixels: k4a_image_get_height_pixels,
pub(crate) k4a_image_get_stride_bytes: k4a_image_get_stride_bytes,
pub(crate) k4a_image_get_device_timestamp_usec: k4a_image_get_device_timestamp_usec,
pub(crate) k4a_image_get_system_timestamp_nsec: k4a_image_get_system_timestamp_nsec,
pub(crate) k4a_image_get_exposure_usec: k4a_image_get_exposure_usec,
pub(crate) k4a_image_get_white_balance: k4a_image_get_white_balance,
pub(crate) k4a_image_get_iso_speed: k4a_image_get_iso_speed,
pub(crate) k4a_image_set_device_timestamp_usec: k4a_image_set_device_timestamp_usec,
pub(crate) k4a_image_set_system_timestamp_nsec: k4a_image_set_system_timestamp_nsec,
pub(crate) k4a_image_set_exposure_usec: k4a_image_set_exposure_usec,
pub(crate) k4a_image_set_white_balance: k4a_image_set_white_balance,
pub(crate) k4a_image_set_iso_speed: k4a_image_set_iso_speed,
pub(crate) k4a_image_reference: k4a_image_reference,
pub(crate) k4a_image_release: k4a_image_release,
pub(crate) k4a_device_start_cameras: k4a_device_start_cameras,
pub(crate) k4a_device_stop_cameras: k4a_device_stop_cameras,
pub(crate) k4a_device_start_imu: k4a_device_start_imu,
pub(crate) k4a_device_stop_imu: k4a_device_stop_imu,
pub(crate) k4a_device_get_serialnum: k4a_device_get_serialnum,
pub(crate) k4a_device_get_version: k4a_device_get_version,
pub(crate) k4a_device_get_color_control_capabilities: k4a_device_get_color_control_capabilities,
pub(crate) k4a_device_get_color_control: k4a_device_get_color_control,
pub(crate) k4a_device_set_color_control: k4a_device_set_color_control,
pub(crate) k4a_device_get_raw_calibration: k4a_device_get_raw_calibration,
pub(crate) k4a_device_get_calibration: k4a_device_get_calibration,
pub(crate) k4a_device_get_sync_jack: k4a_device_get_sync_jack,
pub(crate) k4a_calibration_get_from_raw: k4a_calibration_get_from_raw,
pub(crate) k4a_calibration_3d_to_3d: k4a_calibration_3d_to_3d,
pub(crate) k4a_calibration_2d_to_3d: k4a_calibration_2d_to_3d,
pub(crate) k4a_calibration_3d_to_2d: k4a_calibration_3d_to_2d,
pub(crate) k4a_calibration_2d_to_2d: k4a_calibration_2d_to_2d,
pub(crate) k4a_calibration_color_2d_to_depth_2d: k4a_calibration_color_2d_to_depth_2d,
pub(crate) k4a_transformation_create: k4a_transformation_create,
pub(crate) k4a_transformation_destroy: k4a_transformation_destroy,
pub(crate) k4a_transformation_depth_image_to_color_camera:
k4a_transformation_depth_image_to_color_camera,
pub(crate) k4a_transformation_depth_image_to_color_camera_custom:
k4a_transformation_depth_image_to_color_camera_custom,
pub(crate) k4a_transformation_color_image_to_depth_camera:
k4a_transformation_color_image_to_depth_camera,
pub(crate) k4a_transformation_depth_image_to_point_cloud:
k4a_transformation_depth_image_to_point_cloud,
}
const K4A_LIBNAME: &'static str = "k4a.dll";
fn load_library(lib_dir: &str, dll_file_name: &str) -> Result<*const c_void, Error> {
let full_path =
std::path::Path::new(if lib_dir.len() > 0 { lib_dir } else { "." }).join(dll_file_name);
unsafe {
LoadLibraryExW(
full_path
.to_str()
.ok_or(Error::Failed)?
.encode_utf16()
.chain(Some(0))
.collect::<Vec<u16>>()
.as_ptr(),
ptr::null(),
0x000,
)
.to_result()
}
}
macro_rules! proc_address {
($h:ident, $proc_name:ident) => {
std::mem::transmute::<_, $proc_name>(
GetProcAddress($h, concat!(stringify!($proc_name), "\0").as_ptr()).to_result()?,
)
};
}
impl Factory {
fn new(handle: *const c_void) -> Result<Factory, Error> {
unsafe {
Ok(Factory {
handle: handle,
debug_message_handler: None,
k4a_device_get_installed_count: proc_address!(
handle,
k4a_device_get_installed_count
),
k4a_set_debug_message_handler: proc_address!(handle, k4a_set_debug_message_handler),
k4a_device_open: proc_address!(handle, k4a_device_open),
k4a_device_close: proc_address!(handle, k4a_device_close),
k4a_device_get_capture: proc_address!(handle, k4a_device_get_capture),
k4a_device_get_imu_sample: proc_address!(handle, k4a_device_get_imu_sample),
k4a_capture_create: proc_address!(handle, k4a_capture_create),
k4a_capture_release: proc_address!(handle, k4a_capture_release),
k4a_capture_reference: proc_address!(handle, k4a_capture_reference),
k4a_capture_get_color_image: proc_address!(handle, k4a_capture_get_color_image),
k4a_capture_get_depth_image: proc_address!(handle, k4a_capture_get_depth_image),
k4a_capture_get_ir_image: proc_address!(handle, k4a_capture_get_ir_image),
k4a_capture_set_color_image: proc_address!(handle, k4a_capture_set_color_image),
k4a_capture_set_depth_image: proc_address!(handle, k4a_capture_set_depth_image),
k4a_capture_set_ir_image: proc_address!(handle, k4a_capture_set_ir_image),
k4a_capture_set_temperature_c: proc_address!(handle, k4a_capture_set_temperature_c),
k4a_capture_get_temperature_c: proc_address!(handle, k4a_capture_get_temperature_c),
k4a_image_create: proc_address!(handle, k4a_image_create),
k4a_image_create_from_buffer: proc_address!(handle, k4a_image_create_from_buffer),
k4a_image_get_buffer: proc_address!(handle, k4a_image_get_buffer),
k4a_image_get_size: proc_address!(handle, k4a_image_get_size),
k4a_image_get_format: proc_address!(handle, k4a_image_get_format),
k4a_image_get_width_pixels: proc_address!(handle, k4a_image_get_width_pixels),
k4a_image_get_height_pixels: proc_address!(handle, k4a_image_get_height_pixels),
k4a_image_get_stride_bytes: proc_address!(handle, k4a_image_get_stride_bytes),
k4a_image_get_device_timestamp_usec: proc_address!(
handle,
k4a_image_get_device_timestamp_usec
),
k4a_image_get_system_timestamp_nsec: proc_address!(
handle,
k4a_image_get_system_timestamp_nsec
),
k4a_image_get_exposure_usec: proc_address!(handle, k4a_image_get_exposure_usec),
k4a_image_get_white_balance: proc_address!(handle, k4a_image_get_white_balance),
k4a_image_get_iso_speed: proc_address!(handle, k4a_image_get_iso_speed),
k4a_image_set_device_timestamp_usec: proc_address!(
handle,
k4a_image_set_device_timestamp_usec
),
k4a_image_set_system_timestamp_nsec: proc_address!(
handle,
k4a_image_set_system_timestamp_nsec
),
k4a_image_set_exposure_usec: proc_address!(handle, k4a_image_set_exposure_usec),
k4a_image_set_white_balance: proc_address!(handle, k4a_image_set_white_balance),
k4a_image_set_iso_speed: proc_address!(handle, k4a_image_set_iso_speed),
k4a_image_reference: proc_address!(handle, k4a_image_reference),
k4a_image_release: proc_address!(handle, k4a_image_release),
k4a_device_start_cameras: proc_address!(handle, k4a_device_start_cameras),
k4a_device_stop_cameras: proc_address!(handle, k4a_device_stop_cameras),
k4a_device_start_imu: proc_address!(handle, k4a_device_start_imu),
k4a_device_stop_imu: proc_address!(handle, k4a_device_stop_imu),
k4a_device_get_serialnum: proc_address!(handle, k4a_device_get_serialnum),
k4a_device_get_version: proc_address!(handle, k4a_device_get_version),
k4a_device_get_color_control_capabilities: proc_address!(
handle,
k4a_device_get_color_control_capabilities
),
k4a_device_get_color_control: proc_address!(handle, k4a_device_get_color_control),
k4a_device_set_color_control: proc_address!(handle, k4a_device_set_color_control),
k4a_device_get_raw_calibration: proc_address!(
handle,
k4a_device_get_raw_calibration
),
k4a_device_get_calibration: proc_address!(handle, k4a_device_get_calibration),
k4a_device_get_sync_jack: proc_address!(handle, k4a_device_get_sync_jack),
k4a_calibration_get_from_raw: proc_address!(handle, k4a_calibration_get_from_raw),
k4a_calibration_3d_to_3d: proc_address!(handle, k4a_calibration_3d_to_3d),
k4a_calibration_2d_to_3d: proc_address!(handle, k4a_calibration_2d_to_3d),
k4a_calibration_3d_to_2d: proc_address!(handle, k4a_calibration_3d_to_2d),
k4a_calibration_2d_to_2d: proc_address!(handle, k4a_calibration_2d_to_2d),
k4a_calibration_color_2d_to_depth_2d: proc_address!(
handle,
k4a_calibration_color_2d_to_depth_2d
),
k4a_transformation_create: proc_address!(handle, k4a_transformation_create),
k4a_transformation_destroy: proc_address!(handle, k4a_transformation_destroy),
k4a_transformation_depth_image_to_color_camera: proc_address!(
handle,
k4a_transformation_depth_image_to_color_camera
),
k4a_transformation_depth_image_to_color_camera_custom: proc_address!(
handle,
k4a_transformation_depth_image_to_color_camera_custom
),
k4a_transformation_color_image_to_depth_camera: proc_address!(
handle,
k4a_transformation_color_image_to_depth_camera
),
k4a_transformation_depth_image_to_point_cloud: proc_address!(
handle,
k4a_transformation_depth_image_to_point_cloud
),
})
}
}
pub fn load(lib_dir: &str) -> Result<Factory, Error> {
let h = load_library(lib_dir, K4A_LIBNAME)?;
let r = Factory::new(h);
if let Err(_) = r {
unsafe {
FreeLibrary(h);
}
}
r
}
pub fn set_debug_message_handler(
mut self,
debug_message_handler: DebugMessageHandler,
min_level: k4a_log_level_t,
) -> Self {
self.debug_message_handler = debug_message_handler.into();
(self.k4a_set_debug_message_handler)(
Some(debug_message_handler_func),
&self.debug_message_handler as *const Option<DebugMessageHandler> as *mut (),
min_level,
);
self
}
pub fn reset_debug_message_handler(mut self) -> Self {
self.debug_message_handler = None;
(self.k4a_set_debug_message_handler)(
None,
ptr::null_mut(),
k4a_log_level_t::K4A_LOG_LEVEL_OFF,
);
self
}
pub fn device_get_installed_count(&self) -> u32 {
(self.k4a_device_get_installed_count)()
}
pub fn device_open(&self, index: u32) -> Result<Device, Error> {
let mut handle: k4a_device_t = ptr::null_mut();
Error::from((self.k4a_device_open)(index, &mut handle))
.to_result_fn(&|| Device::from_handle(self, handle))
}
}
extern "C" fn debug_message_handler_func(
context: *mut ::std::os::raw::c_void,
level: k4a_log_level_t,
file: *const ::std::os::raw::c_char,
line: ::std::os::raw::c_int,
message: *const ::std::os::raw::c_char,
) {
unsafe {
let h = context as *const Option<DebugMessageHandler>;
if h != ptr::null() && (*h).is_some() {
(*h).as_ref().unwrap()(
level,
std::ffi::CStr::from_ptr(file).to_str().unwrap_or(""),
line,
std::ffi::CStr::from_ptr(message).to_str().unwrap_or(""),
);
}
}
}
impl Drop for Factory {
fn drop(&mut self) {
if self.handle != ptr::null() {
unsafe {
FreeLibrary(self.handle);
self.handle = ptr::null();
}
}
}
}
impl ToResult for *const c_void {
fn to_result(&self) -> Result<*const c_void, Error> {
if *self == ptr::null() {
unsafe { Err(Error::Win32Error(GetLastError())) }
} else {
Ok(*self)
}
}
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn test() -> std::result::Result<(), Box<dyn std::error::Error>> {
let manager = Factory::load(std::env::current_dir()?.to_str().ok_or(Error::Failed)?);
assert!(manager.is_ok());
let manager2 = manager.unwrap();
let c = (manager2.k4a_device_get_installed_count)();
println!("device count = {}", c);
Ok(())
}
}