using System;
using System.Threading;
using System.Runtime.InteropServices;
using System.Linq;
using Microsoft.Kinect;
using RGiesecke.DllExport;


namespace KinectExtension
{


    public class KinectExtension
    {
        public static ThreadStart tsKinect;
        public static Thread threadKinect;
        public static KinectSensor sensor;
        public static Skeleton[] skeleton;
        public static bool tracking = true;
        public static float HandRight_x;
        public static float HandRight_y;
        public static float HandRight_z;

        [DllExport("StartKinect", CallingConvention = CallingConvention.Cdecl)]
        public static void StartKinect()
        {
            tsKinect = new ThreadStart(StartSensor);
            threadKinect = new Thread(tsKinect);
            threadKinect.Start();
        }

        [DllExport("StopKinect", CallingConvention = CallingConvention.Cdecl)]
        public static void StopKinect()
        {
            tracking = false;
            threadKinect.Abort();
            GC.Collect();
        }

        [DllExport("GetHandRightX", CallingConvention = CallingConvention.Cdecl)]
        public static float GetHandRightX()
        {
            return HandRight_x;
        }

        [DllExport("GetHandRightY", CallingConvention = CallingConvention.Cdecl)]
        public static float GetHandRightY()
        {
            return HandRight_y;
        }

        [DllExport("GetHandRightZ", CallingConvention = CallingConvention.Cdecl)]
        public static float GetHandRightZ()
        {
            return HandRight_z;
        }

        public static void StartSensor()
        {
            sensor = KinectSensor.KinectSensors.FirstOrDefault(s => s.Status == KinectStatus.Connected);
            sensor.SkeletonStream.Enable();
            sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
            sensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
            skeleton = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
            sensor.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(skeletonFrameReady);
            sensor.Start();

           while(tracking == true)
            {
                if (sensor.IsRunning == true)
                {
                    foreach (Skeleton s in skeleton)
                    {
                        if (s != null)
                        {
                            foreach (Joint j in s.Joints)
                            {
                                if (j != null && j.TrackingState == JointTrackingState.Tracked )
                                {
                                    if  (j.JointType==JointType.HandRight)
                                    {
                                            HandRight_x = j.Position.X;
                                            HandRight_y = j.Position.Y;
                                            HandRight_z = j.Position.Z;
                                    }
                                }
                            }
                        }
                    }

                }
            }



        }

        public static  void skeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame()) // Open the Skeleton frame
            {
                if (skeletonFrame != null && skeleton != null) // check that a frame is available
                {
                    skeletonFrame.CopySkeletonDataTo(skeleton); // get the skeletal information in this frame
                }
            }
            return;
        }


    }
}