astra_start_rgb   xtlang

(bind-func astra_start_rgb
  (lambda ()
    (let ((sensor:astra_streamsetconnection_t (alloc))
          (reader:astra_reader_t (alloc))
          (colorAvailable:i1 0)
          (mode:<i32,i32,i32,i32,i8,i32>* (alloc))
          (stream:astra_colorstream_t (alloc)))
      (astra_initialize)
      (println '[open]: (astra_streamset_open "device/default" (ref sensor)))
      (println '[create 'reader]: (astra_reader_create sensor (ref reader)))
      (println '[fetch 'stream]: (astra_reader_get_colorstream reader (ref stream)))
      (println '[check 'color 'available]: (astra_colorstream_is_available stream (ref colorAvailable)))
      (println '[is 'color 'available]: colorAvailable)
      ;(tfill! mode 0 640 480 ASTRA_PIXEL_FORMAT_RGB888 30)
      ;(println '[set 'mode]: (astra_imagestream_set_mode stream (convert mode)))
      (println '[start 'stream]: (astra_stream_start stream))
      (AstraCtx sensor reader))))