1 files changed, 62 insertions, 0 deletions
diff --git a/bindings/cs/LibSurviveBinding/Program.cs b/bindings/cs/LibSurviveBinding/Program.cs
new file mode 100644
index 0000000..b6d0d8f
--- /dev/null
+++ b/bindings/cs/LibSurviveBinding/Program.cs
@@ -0,0 +1,62 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace LibSurVive
+{
+    class Program
+    {
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern IntPtr survive_init_internal(int argc, string[] args);
+
+        public delegate void raw_pose_func(IntPtr so, byte lighthouse, IntPtr pose);
+        public delegate void lighthouse_pose_func(IntPtr ctx, byte lighthouse, IntPtr lighthouse_pose, IntPtr object_pose);
+        public delegate void light_process_func( IntPtr so, int sensor_id, int acode, int timeinsweep, 
+        UInt32 timecode, UInt32 length, UInt32 lighthouse);                                                
+
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern void survive_install_raw_pose_fn(IntPtr ctx, raw_pose_func fbp);
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern void survive_install_lighthouse_pose_fn(IntPtr ctx, lighthouse_pose_func fbp);
+
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern void survive_install_light_fn(IntPtr ctx, light_process_func fbp);
+
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern int survive_startup(IntPtr ctx);
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern void survive_cal_install(IntPtr ctx);
+
+        [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
+        static extern int survive_poll(IntPtr ctx);
+
+        static void Main(string[] args)
+        {
+            IntPtr context = survive_init_internal(args.Length, args);
+
+            survive_install_lighthouse_pose_fn(context, LighthousPos);
+            survive_install_raw_pose_fn(context, PositionUpdate);
+            survive_install_light_fn(context, LightUpdate); 
+
+            survive_startup(context);
+            survive_cal_install(context);
+
+            while(survive_poll(context) == 0) {}
+
+        }
+        
+        public static void LightUpdate( IntPtr so, int sensor_id, int acode, int timeinsweep, 
+        UInt32 timecode, UInt32 length, UInt32 lighthouse) {
+            Console.WriteLine(timeinsweep);
+        }                                                
+
+        public static void PositionUpdate(IntPtr so, byte lighthouse, IntPtr pose)
+        {
+            Console.WriteLine(pose);
+        }
+
+        public static void LighthousPos(IntPtr ctx, byte lighthouse, IntPtr lighthouse_pose, IntPtr object_pose)
+        {
+
+        }
+    }
+}