ColorSensor.h

#ifndef NUITRACK_COLORSENSOR_H_
#define NUITRACK_COLORSENSOR_H_

#include <vector>

#include "nuitrack/modules/HeaderOnlyAPI_Module.h"
#include "nuitrack/types/Export.h"
#include "nuitrack/utils/ExceptionTranslator.h"
#include "nuitrack/types/RGBFrame.h"
#include "nuitrack/types/Vector3.h"
#include "nuitrack/types/OutputMode.h"
#include "nuitrack/capi/Nuitrack_CAPI.h"
#include "nuitrack/capi/ColorSensor_CAPI.h"
#include "nuitrack/utils/CallbackStruct.h"

#include <iostream>

namespace tdv
{
namespace nuitrack
{
class ColorSensor : public tdv::nuitrack::HeaderOnlyAPI_Module
{
public:

    typedef std::shared_ptr<ColorSensor> Ptr;

    typedef std::function<void (RGBFrame::Ptr)> OnNewFrame;

    static ColorSensor::Ptr create()
    {
        NuitrackModule* pimpl = NULL;
        ExceptionType exception_code = nuitrack_CreateColorSensor(&pimpl);
        ExceptionTranslator::generateExceptionByErrorCode(exception_code);
        return std::shared_ptr<ColorSensor>(new ColorSensor(pimpl));
    }

    ColorSensor(NuitrackModule* pimpl)
    {
        _pimpl = pimpl;

        _callbackStruct = new CallbackStruct<RGBFrame::Ptr>();
        _callbackWrapper.setColorSensor(this);
        _callbackWrapper.setFunctionAddress(&onNewFrameCallback);
        nuitrack_registerColorSensorCallback(_pimpl, &_callbackWrapper);
    }

    virtual ~ColorSensor()
    {
        nuitrack_DestroyColorSensor(_pimpl);
        if(_callbackStruct)
            delete _callbackStruct;
    }

    const OutputMode getOutputMode() const
    {
        OutputMode mode;
        nuitrack_GetColorSensorOutputMode(_pimpl, &mode);
        return mode;
    }

    uint64_t connectOnNewFrame(const OnNewFrame& callback)
    {
        return _callbackStruct->addCallback(callback);
    }

    void disconnectOnNewFrame(uint64_t handler)
    {
        _callbackStruct->deleteCallback(handler);
    }

    RGBFrame::Ptr getColorFrame()
    {
        ColorSensorDataPtr data = nuitrack_GetColorSensorData(_pimpl);
        RGBFrame::Ptr newFrame(new RGBFrame(data));
        return newFrame;
    }

    bool canUpdate() const
    {
        return nuitrack_GetNuitrackModuleCanUpdate(_pimpl);
    }

    virtual uint64_t getTimestamp()
    {
        return nuitrack_GetNuitrackModuleTimestamp(_pimpl);
    }

private:

    static void onNewFrameCallback(ColorSensorData* colorFrameImpl, ColorSensor* sensor)
    {
        RGBFrame::Ptr newFrame(new RGBFrame(colorFrameImpl));
        sensor->_callbackStruct->executeAllCallbacks(newFrame);
    }

    NuitrackModule* _pimpl;

    ColorSensorCallbackWrapper _callbackWrapper;

    CallbackStruct<RGBFrame::Ptr>* _callbackStruct;
};

} /* namespace nuitrack */
} /* namespace tdv */

#endif /* NUITRACK_COLORSENSOR_H_ */