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Update gobot leap platform to support Leap Motion API v6

This commit is contained in:
Sam Kass 2018-12-26 00:09:09 +01:00 committed by Ron Evans
parent 6b061af9ca
commit 6f900a8dc2
5 changed files with 758 additions and 205 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
platforms/leap/leap_motion_adaptor.go
View File

@ -23,7 +23,7 @@ func NewAdaptor(port string) *Adaptor {
name: gobot.DefaultName("LeapMotion"),
port: port,
connect: func(host string) (io.ReadWriteCloser, error) {
return websocket.Dial("ws://"+host+"/v3.json", "", "http://"+host)
return websocket.Dial("ws://"+host+"/v6.json", "", "http://"+host)
},
}
}

29
platforms/leap/leap_motion_driver.go
View File

@ -30,7 +30,7 @@ type Driver struct {
// Adds the following events:
// "message" - Gets triggered when receiving a message from leap motion
// "hand" - Gets triggered per-message when leap motion detects a hand
// "gesture" - Gets triggered per-message when leap motion detects a hand
// "gesture" - Gets triggered per-message when leap motion detects a gesture
func NewDriver(a *Adaptor) *Driver {
l := &Driver{
name: gobot.DefaultName("LeapMotion"),
@ -61,6 +61,20 @@ func (l *Driver) adaptor() *Adaptor {
return l.Connection().(*Adaptor)
}
func enableFeature(l *Driver, feature string) (err error) {
command := map[string]bool{feature: true}
b, e := json.Marshal(command)
if e != nil {
return e
}
_, e = l.adaptor().ws.Write(b)
if e != nil {
return e
}
return nil
}
// Start inits leap motion driver by enabling gestures
// and listening from incoming messages.
//
@ -69,14 +83,13 @@ func (l *Driver) adaptor() *Adaptor {
// "hand" - Emits Hand when detected in message from Leap.
// "gesture" - Emits Gesture when detected in message from Leap.
func (l *Driver) Start() (err error) {
enableGestures := map[string]bool{"enableGestures": true}
b, e := json.Marshal(enableGestures)
if e != nil {
return e
err = enableFeature(l,"enableGestures")
if err != nil {
return err
}
_, e = l.adaptor().ws.Write(b)
if e != nil {
return e
err = enableFeature(l,"background")
if err != nil {
return err
}
go func() {

8
platforms/leap/leap_motion_driver_test.go
View File

@ -89,8 +89,8 @@ func TestLeapMotionDriverParser(t *testing.T) {
t.Errorf("ParseFrame incorrectly parsed frame")
}
gobottest.Assert(t, parsedFrame.Timestamp, uint64(4729292670))
gobottest.Assert(t, parsedFrame.Hands[0].X(), 117.546)
gobottest.Assert(t, parsedFrame.Hands[0].Y(), 236.007)
gobottest.Assert(t, parsedFrame.Hands[0].Z(), 76.3394)
gobottest.Assert(t, parsedFrame.Timestamp, uint64(134211791358))
gobottest.Assert(t, parsedFrame.Hands[0].X(), 247.410)
gobottest.Assert(t, parsedFrame.Hands[0].Y(), 275.868)
gobottest.Assert(t, parsedFrame.Hands[0].Z(), 132.843)
}

55
platforms/leap/parser.go
View File

@ -4,27 +4,37 @@ import (
"encoding/json"
)
// Gesture is a Leap Motion gesture tht has been detected
// Gesture is a Leap Motion gesture that has been detected
type Gesture struct {
Center []float64 `json:"center"`
Direction []float64 `json:"direction"`
Duration int `json:"duration"`
Hands []Hand `json:"hands"`
HandIDs []int `json:"handIds"`
ID int `json:"id"`
Pointables []Pointable `json:"pointables"`
Normal []float64 `json:"normal"`
PointableIDs []int `json:"pointableIds"`
Position []float64 `json:"position"`
Progress float64 `json:"progress"`
Radius float64 `json:"radius"`
Speed float64 `json:"speed"`
StartPosition []float64 `json:"StartPosition"`
State string `json:"state"`
Type string `json:"type"`
}
// Hand is a Leap Motion hand tht has been detected
// Hand is a Leap Motion hand that has been detected
type Hand struct {
ArmBasis [][]float64 `json:"armBasis"`
ArmWidth float64 `json:"armWidth"`
Confidence float64 `json:"confidence"`
Direction []float64 `json:"direction"`
Elbow []float64 `json:"elbow"`
GrabStrength float64 `json:"grabStrength"`
ID int `json:"id"`
PalmNormal []float64 `json:"palmNormal"`
PalmPosition []float64 `json:"PalmPosition"`
PalmVelocity []float64 `json:"PalmVelocity"`
PinchStrength float64 `json:"PinchStrength"`
R [][]float64 `json:"r"`
S float64 `json:"s"`
SphereCenter []float64 `json:"sphereCenter"`
@ -32,26 +42,37 @@ type Hand struct {
StabilizedPalmPosition []float64 `json:"stabilizedPalmPosition"`
T []float64 `json:"t"`
TimeVisible float64 `json:"TimeVisible"`
Type string `json:"type"`
Wrist []float64 `json:"wrist"`
}
// Pointable is a Leap Motion pointing motion tht has been detected
// Pointable is a Leap Motion pointing motion that has been detected
type Pointable struct {
Direction []float64 `json:"direction"`
HandID int `json:"handId"`
ID int `json:"id"`
Length float64 `json:"length"`
StabilizedTipPosition []float64 `json:"stabilizedTipPosition"`
TimeVisible float64 `json:"timeVisible"`
TipPosition []float64 `json:"tipPosition"`
TipVelocity []float64 `json:"tipVelocity"`
Tool bool `json:"tool"`
TouchDistance float64 `json:"touchDistance"`
TouchZone string `json:"touchZone"`
Bases [][]float64 `json:"bases"`
BTipPosition []float64 `json:"btipPosition"`
CarpPosition []float64 `json:"carpPosition"`
DipPosition []float64 `json:"dipPosition"`
Direction []float64 `json:"direction"`
Extended bool `json:"extended"`
HandID int `json:"handId"`
ID int `json:"id"`
Length float64 `json:"length"`
MCPPosition []float64 `json:"mcpPosition"`
PIPPosition []float64 `json:"pipPosition"`
StabilizedTipPosition []float64 `json:"stabilizedTipPosition"`
TimeVisible float64 `json:"timeVisible"`
TipPosition []float64 `json:"tipPosition"`
TipVelocity []float64 `json:"tipVelocity"`
Tool bool `json:"tool"`
TouchDistance float64 `json:"touchDistance"`
TouchZone string `json:"touchZone"`
Type int `json:"type"`
Width float64 `json:"width"`
}
// InteractionBox is the area within which the gestural interaction has been detected
type InteractionBox struct {
Center []int `json:"center"`
Center []float64 `json:"center"`
Size []float64 `json:"size"`
}

869
platforms/leap/test/support/example_frame.json
View File

@ -1,277 +1,796 @@
{
"currentFrameRate": 115.473,
"currentFrameRate": 110.583,
"devices": [],
"gestures": [
{
"direction": [
-0.647384,
0.750476,
-0.132964
0.721478,
-0.510801,
0.467495
],
"duration": 0,
"duration": 108349,
"handIds": [
57
129
],
"id": 72,
"id": 1,
"pointableIds": [
14
1290
],
"position": [
117.665,
313.471,
27.2095
228.679,
214.101,
101.574
],
"speed": 1050.66,
"startPosition": [
195.438,
223.313,
43.183
],
"state": "start",
"type": "swipe"
"progress": 1.00000,
"state": "stop",
"type": "keyTap"
}
],
"hands": [
{
"direction": [
0.772435,
0.520335,
-0.364136
],
"id": 57,
"palmNormal": [
-0.0100593,
-0.563263,
-0.826217
],
"palmPosition": [
117.546,
236.007,
76.3394
],
"palmVelocity": [
-866.196,
-100.749,
275.692
],
"r": [
"armBasis": [
[
0.999844,
0.0142022,
0.0105289
0.642307,
0.418027,
0.642414
],
[
-0.0141201,
0.99987,
-0.00783186
-0.760890,
0.448533,
0.468898
],
[
-0.0106388,
0.00768197,
0.999914
-0.0921319,
-0.789982,
0.606168
]
],
"s": 0.992511,
"sphereCenter": [
156.775,
227.378,
48.3453
"armWidth": 62.2635,
"confidence": 0.152371,
"direction": [
0.221251,
-0.0617914,
-0.973257
],
"sphereRadius": 75.3216,
"elbow": [
212.001,
79.2408,
343.710
],
"grabStrength": 0.00000,
"id": 129,
"palmNormal": [
0.813532,
-0.538649,
0.219139
],
"palmPosition": [
247.410,
275.868,
132.843
],
"palmVelocity": [
-0.713996,
-23.6569,
-13.8691
],
"palmWidth": 88.9102,
"pinchStrength": 0.00000,
"r": [
[
0.192921,
0.960078,
-0.202565
],
[
-0.745728,
0.00929180,
-0.666186
],
[
-0.637708,
0.279579,
0.717750
]
],
"s": 1.30419,
"sphereCenter": [
287.160,
297.142,
100.094
],
"sphereRadius": 67.0665,
"stabilizedPalmPosition": [
119.009,
236.071,
75.951
247.480,
276.296,
133.123
],
"t": [
-38.0468,
28.2341,
-21.3291
61.7977,
116.515,
56.4642
],
"timeVisible": 0.051952
"timeVisible": 1.87085,
"type": "right",
"wrist": [
236.308,
287.660,
183.786
]
}
],
"id": 99943,
"id": 641123,
"interactionBox": {
"center": [
0,
200,
0
0.00000,
189.367,
0.00000
],
"size": [
221.418,
221.418,
154.742
222.740,
222.740,
139.896
]
},
"pointables": [
{
"bases": [
[
[
-0.468069,
0.807844,
-0.358190
],
[
-0.882976,
-0.411231,
0.226369
],
[
0.0355723,
0.422230,
0.905791
]
],
[
[
-0.466451,
0.822774,
-0.324757
],
[
-0.870335,
-0.361355,
0.334573
],
[
0.157925,
0.438709,
0.884643
]
],
[
[
-0.466451,
0.822774,
-0.324757
],
[
-0.884402,
-0.440445,
0.154403
],
[
-0.0159988,
0.359238,
0.933109
]
],
[
[
-0.466451,
0.822774,
-0.324757
],
[
-0.817784,
-0.261199,
0.512840
],
[
0.337125,
0.504796,
0.794687
]
]
],
"btipPosition": [
214.293,
213.865,
95.0224
],
"carpPosition": [
229.172,
258.776,
187.433
],
"dipPosition": [
222.002,
225.409,
113.196
],
"direction": [
0.54044,
0.174084,
-0.823176
0.0159988,
-0.359238,
-0.933109
],
"extended": true,
"handId": 129,
"id": 1290,
"length": 50.9251,
"mcpPosition": [
229.172,
258.776,
187.433
],
"pipPosition": [
221.469,
237.377,
144.284
],
"handId": 57,
"id": 1,
"length": 48.393,
"stabilizedTipPosition": [
194.714,
291.812,
20.6219
220.428,
215.841,
99.4813
],
"timeVisible": 0.13873,
"timeVisible": 1.87085,
"tipPosition": [
194.714,
291.812,
20.6219
212.427,
218.656,
99.7341
],
"tipVelocity": [
-716.414,
686.468,
-427.914
-324.525,
55.5317,
-41.1663
],
"tool": false,
"touchDistance": 0.333333,
"touchZone": "hovering"
"touchDistance": 0.341002,
"touchZone": "hovering",
"type": 0,
"width": 19.7871
},
{
"bases": [
[
[
0.654255,
0.750454,
0.0936476
],
[
-0.683587,
0.639792,
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],
[
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]
],
[
[
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],
[
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],
[
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]
],
[
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],
[
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],
[
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]
],
[
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],
[
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],
[
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]
]
],
"btipPosition": [
269.006,
271.529,
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],
"carpPosition": [
225.768,
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],
"dipPosition": [
263.665,
273.097,
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],
"direction": [
0.655715,
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-0.625237
0.245569,
-0.0443555,
-0.968364
],
"extended": true,
"handId": 129,
"id": 1292,
"length": 65.4748,
"mcpPosition": [
247.823,
274.152,
107.833
],
"pipPosition": [
256.842,
274.330,
61.6066
],
"handId": 57,
"id": 69,
"length": 43.4594,
"stabilizedTipPosition": [
166.231,
308.631,
21.1697
268.409,
272.318,
21.5696
],
"timeVisible": 0.156012,
"timeVisible": 1.87085,
"tipPosition": [
166.231,
308.631,
21.1697
268.718,
271.794,
21.5136
],
"tipVelocity": [
-817.678,
511.988,
-496.456
-13.9732,
6.53920,
-19.5770
],
"tool": false,
"touchDistance": 0.333333,
"touchZone": "hovering"
"touchDistance": 0.332816,
"touchZone": "hovering",
"type": 2,
"width": 18.5630
},
{
"bases": [
[
[
0.649174,
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],
[
-0.645061,
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],
[
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]
],
[
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],
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]
],
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],
[
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]
]
],
"btipPosition": [
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],
"carpPosition": [
233.241,
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],
"dipPosition": [
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],
"direction": [
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],
"extended": true,
"handId": 129,
"id": 1293,
"length": 62.9558,
"mcpPosition": [
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115.440
],
"pipPosition": [
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],
"handId": 57,
"id": 14,
"length": 47.3576,
"stabilizedTipPosition": [
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],
"timeVisible": 0.164757,
"timeVisible": 1.87085,
"tipPosition": [
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],
"tipVelocity": [
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-269.665
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-14.1464
],
"tool": false,
"touchDistance": 0.333333,
"touchZone": "hovering"
"touchDistance": 0.332567,
"touchZone": "hovering",
"type": 3,
"width": 17.6638
},
{
"bases": [
[
[
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],
[
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]
],
"btipPosition": [
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],
"carpPosition": [
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],
"dipPosition": [
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"direction": [
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],
"extended": true,
"handId": 129,
"id": 1294,
"length": 49.3562,
"mcpPosition": [
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],
"pipPosition": [
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],
"handId": 57,
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"length": 57.4251,
"stabilizedTipPosition": [
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],
"timeVisible": 0.086657,
"timeVisible": 1.87085,
"tipPosition": [
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],
"tipVelocity": [
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],
"tool": false,
"touchDistance": 0.333333,
"touchZone": "hovering"
"touchDistance": 0.332281,
"touchZone": "hovering",
"type": 4,
"width": 15.6904
},
{
"bases": [
[
[
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],
[
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]
]
],
"btipPosition": [
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],
"carpPosition": [
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],
"dipPosition": [
286.067,
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],
"direction": [
0.887561,
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],
"extended": false,
"handId": 129,
"id": 1291,
"length": 57.4633,
"mcpPosition": [
237.942,
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],
"pipPosition": [
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],
"handId": -1,
"id": 83,
"length": 64.4149,
"stabilizedTipPosition": [
1.8725087977383e-321,
2.1433800000305e-314,
2.1681499999593e-314
294.484,
215.800,
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],
"timeVisible": 0.034634,
"timeVisible": 1.87085,
"tipPosition": [
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294.960,
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],
"tipVelocity": [
-478.099,
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-417.63
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38.2101,
-21.6539
],
"tool": false,
"touchDistance": 0.0166667,
"touchZone": "none"
"touchDistance": 0.340420,
"touchZone": "none",
"type": 1,
"width": 18.9007
}
],
"r": [
[
-0.973344,
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],
[
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],
[
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]
],
"s": -34.3848,
"s": 1.30419,
"t": [
-10091.8,
-24629.7,
1011.04
61.7977,
116.515,
56.4642
],
"timestamp": 4729292670
}
"timestamp": 134211791358
}