/// @file matleap.h
/// @brief leap motion controller interface
/// @author Jeff Perry <jeffsp@gmail.com>
/// @version 1.0
/// @date 2013-09-12

#ifndef MATLEAP_H
#define MATLEAP_H

#define MAJOR_REVISION 4
#define MINOR_REVISION 0

#include "Leap.h"
#include "mex.h"

#include <unistd.h>

namespace matleap {

/// @brief a leap frame
    struct frame {
        int64_t id;
        int64_t timestamp;
        uint32_t detectedHands;
        Leap::HandList hands;
        bool has_gesture;
    };

/// @brief leap frame grabber interface
    class frame_grabber {
      private:
        bool debug;
        Leap::Controller controllerConnection;
        frame current_frame;

      public:
        /// @brief constructor
        frame_grabber()
                : debug(false) {
        }

        void open_connection() {
            mexPrintf("Waiting for connection");
            while (!controllerConnection.isConnected()) {
                mexPrintf(".");
                usleep(500000);
            }
            //controllerConnection.enableGesture(Leap::Gesture::TYPE_SWIPE);
            controllerConnection.enableGesture(Leap::Gesture::TYPE_CIRCLE);
            //controllerConnection.enableGesture(Leap::Gesture::TYPE_KEY_TAP);
            //controllerConnection.enableGesture(Leap::Gesture::TYPE_SCREEN_TAP);
            mexPrintf(" Connected!\n");
            // TODO: check if needed
            //LeapSetPolicyFlags(*controllerConnection, eLeapPolicyFlag_BackgroundFrames, 0);
        }

        void close_connection() {
            mexPrintf("Good bye.");
        }

        /// @brief destructor
        ~frame_grabber() {
            if (debug)
                mexPrintf("Closing matleap frame grabber\n");
        }

        /// @brief debug member access
        ///
        /// @param flag turn it on/off
        void set_debug(bool flag) {
            if (flag == debug)
                return;
            if (flag)
                mexPrintf("Setting debug on\n");
            debug = flag;
        }

        /// @brief get a frame from the controller
        ///
        /// @return the frame
        frame const &get_frame() {
            auto const &frame = controllerConnection.frame();
            current_frame.id = frame.id();
            if (debug)
                mexPrintf("Got frame with id %d\n", current_frame.id);
            current_frame.timestamp = frame.timestamp();
            current_frame.detectedHands = frame.hands().count();
            current_frame.hands = frame.hands();
            current_frame.has_gesture = !frame.gestures().isEmpty();
            return current_frame;
        }
    };

} // namespace matleap

#endif