129 lines
2.8 KiB
Go
129 lines
2.8 KiB
Go
package leap
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import (
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"encoding/json"
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"io"
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"log"
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"golang.org/x/net/websocket"
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"gobot.io/x/gobot/v2"
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)
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const (
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// MessageEvent event
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MessageEvent = "message"
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// HandEvent event
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HandEvent = "hand"
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// GestureEvent event
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GestureEvent = "gesture"
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)
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// Driver the Gobot software device to the Leap Motion
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type Driver struct {
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name string
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connection gobot.Connection
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receive func(ws io.ReadWriteCloser, msg *[]byte)
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gobot.Eventer
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}
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// NewDriver creates a new leap motion driver
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//
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// Adds the following events:
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//
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// "message" - Gets triggered when receiving a message from leap motion
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// "hand" - Gets triggered per-message when leap motion detects a hand
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// "gesture" - Gets triggered per-message when leap motion detects a gesture
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func NewDriver(a *Adaptor) *Driver {
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l := &Driver{
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name: gobot.DefaultName("LeapMotion"),
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connection: a,
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Eventer: gobot.NewEventer(),
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receive: func(ws io.ReadWriteCloser, msg *[]byte) {
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//nolint:forcetypeassert // ok here
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if err := websocket.Message.Receive(ws.(*websocket.Conn), msg); err != nil {
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panic(err)
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}
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},
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}
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l.AddEvent(MessageEvent)
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l.AddEvent(HandEvent)
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l.AddEvent(GestureEvent)
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return l
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}
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// Name returns the Driver Name
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func (l *Driver) Name() string { return l.name }
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// SetName sets the Driver Name
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func (l *Driver) SetName(n string) { l.name = n }
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// Connection returns the Driver's Connection
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func (l *Driver) Connection() gobot.Connection { return l.connection }
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// adaptor returns leap motion adaptor
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func (l *Driver) adaptor() *Adaptor {
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//nolint:forcetypeassert // ok here
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return l.Connection().(*Adaptor)
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}
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func enableFeature(l *Driver, feature string) error {
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command := map[string]bool{feature: true}
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b, err := json.Marshal(command)
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if err != nil {
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return err
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}
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if _, err = l.adaptor().ws.Write(b); err != nil {
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return err
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}
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return nil
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}
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// Start inits leap motion driver by enabling gestures
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// and listening from incoming messages.
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//
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// Publishes the following events:
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//
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// "message" - Emits Frame on new message received from Leap.
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// "hand" - Emits Hand when detected in message from Leap.
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// "gesture" - Emits Gesture when detected in message from Leap.
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func (l *Driver) Start() error {
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if err := enableFeature(l, "enableGestures"); err != nil {
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return err
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}
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if err := enableFeature(l, "background"); err != nil {
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return err
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}
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go func() {
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var msg []byte
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var frame Frame
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var err error
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for {
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l.receive(l.adaptor().ws, &msg)
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frame, err = l.ParseFrame(msg)
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if err != nil {
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log.Println(err)
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continue
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}
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l.Publish(MessageEvent, frame)
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for _, hand := range frame.Hands {
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l.Publish(HandEvent, hand)
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}
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for _, gesture := range frame.Gestures {
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l.Publish(GestureEvent, gesture)
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}
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}
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}()
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return nil
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}
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// Halt returns nil if driver is halted successfully
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func (l *Driver) Halt() error { return nil }
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