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Merge pull request #647 from samkass/feature/leap-api-v6

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Update gobot leap platform to support Leap Motion API v6
This commit is contained in:
Trevor Rosen 2019-02-13 12:17:09 -06:00 committed by GitHub
commit 554dd043fa
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 768 additions and 205 deletions
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2
platforms/leap/leap_motion_adaptor.go
View File

@ -23,7 +23,7 @@ func NewAdaptor(port string) *Adaptor {
name: gobot.DefaultName("LeapMotion"), name: gobot.DefaultName("LeapMotion"),
port: port, port: port,
connect: func(host string) (io.ReadWriteCloser, error) { 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: // Adds the following events:
// "message" - Gets triggered when receiving a message from leap motion // "message" - Gets triggered when receiving a message from leap motion
// "hand" - Gets triggered per-message when leap motion detects a hand // "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 { func NewDriver(a *Adaptor) *Driver {
l := &Driver{ l := &Driver{
name: gobot.DefaultName("LeapMotion"), name: gobot.DefaultName("LeapMotion"),
@ -61,6 +61,20 @@ func (l *Driver) adaptor() *Adaptor {
return l.Connection().(*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 // Start inits leap motion driver by enabling gestures
// and listening from incoming messages. // and listening from incoming messages.
// //
@ -69,14 +83,13 @@ func (l *Driver) adaptor() *Adaptor {
// "hand" - Emits Hand when detected in message from Leap. // "hand" - Emits Hand when detected in message from Leap.
// "gesture" - Emits Gesture when detected in message from Leap. // "gesture" - Emits Gesture when detected in message from Leap.
func (l *Driver) Start() (err error) { func (l *Driver) Start() (err error) {
enableGestures := map[string]bool{"enableGestures": true} err = enableFeature(l,"enableGestures")
b, e := json.Marshal(enableGestures) if err != nil {
if e != nil { return err
return e
} }
_, e = l.adaptor().ws.Write(b) err = enableFeature(l,"background")
if e != nil { if err != nil {
return e return err
} }
go func() { go func() {

18
platforms/leap/leap_motion_driver_test.go
View File

@ -89,8 +89,18 @@ func TestLeapMotionDriverParser(t *testing.T) {
t.Errorf("ParseFrame incorrectly parsed frame") t.Errorf("ParseFrame incorrectly parsed frame")
} }
gobottest.Assert(t, parsedFrame.Timestamp, uint64(4729292670)) gobottest.Assert(t, parsedFrame.Timestamp, uint64(134211791358))
gobottest.Assert(t, parsedFrame.Hands[0].X(), 117.546) gobottest.Assert(t, parsedFrame.Hands[0].X(), 247.410)
gobottest.Assert(t, parsedFrame.Hands[0].Y(), 236.007) gobottest.Assert(t, parsedFrame.Hands[0].Y(), 275.868)
gobottest.Assert(t, parsedFrame.Hands[0].Z(), 76.3394) gobottest.Assert(t, parsedFrame.Hands[0].Z(), 132.843)
gobottest.Assert(t, parsedFrame.Pointables[0].BTipPosition[0], 214.293)
gobottest.Assert(t, parsedFrame.Pointables[0].BTipPosition[1], 213.865)
gobottest.Assert(t, parsedFrame.Pointables[0].BTipPosition[2], 95.0224)
gobottest.Assert(t, parsedFrame.Pointables[0].Bases[0][0][0], -0.468069)
gobottest.Assert(t, parsedFrame.Pointables[0].Bases[0][0][1], 0.807844)
gobottest.Assert(t, parsedFrame.Pointables[0].Bases[0][0][2], -0.358190)
gobottest.Assert(t, parsedFrame.Pointables[0].Width, 19.7871)
} }

33
platforms/leap/parser.go
View File

@ -4,27 +4,37 @@ import (
"encoding/json" "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 { type Gesture struct {
Center []float64 `json:"center"`
Direction []float64 `json:"direction"` Direction []float64 `json:"direction"`
Duration int `json:"duration"` Duration int `json:"duration"`
Hands []Hand `json:"hands"` HandIDs []int `json:"handIds"`
ID int `json:"id"` ID int `json:"id"`
Pointables []Pointable `json:"pointables"` Normal []float64 `json:"normal"`
PointableIDs []int `json:"pointableIds"`
Position []float64 `json:"position"` Position []float64 `json:"position"`
Progress float64 `json:"progress"`
Radius float64 `json:"radius"`
Speed float64 `json:"speed"` Speed float64 `json:"speed"`
StartPosition []float64 `json:"StartPosition"` StartPosition []float64 `json:"StartPosition"`
State string `json:"state"` State string `json:"state"`
Type string `json:"type"` 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 { type Hand struct {
ArmBasis [][]float64 `json:"armBasis"`
ArmWidth float64 `json:"armWidth"`
Confidence float64 `json:"confidence"`
Direction []float64 `json:"direction"` Direction []float64 `json:"direction"`
Elbow []float64 `json:"elbow"`
GrabStrength float64 `json:"grabStrength"`
ID int `json:"id"` ID int `json:"id"`
PalmNormal []float64 `json:"palmNormal"` PalmNormal []float64 `json:"palmNormal"`
PalmPosition []float64 `json:"PalmPosition"` PalmPosition []float64 `json:"PalmPosition"`
PalmVelocity []float64 `json:"PalmVelocity"` PalmVelocity []float64 `json:"PalmVelocity"`
PinchStrength float64 `json:"PinchStrength"`
R [][]float64 `json:"r"` R [][]float64 `json:"r"`
S float64 `json:"s"` S float64 `json:"s"`
SphereCenter []float64 `json:"sphereCenter"` SphereCenter []float64 `json:"sphereCenter"`
@ -32,14 +42,23 @@ type Hand struct {
StabilizedPalmPosition []float64 `json:"stabilizedPalmPosition"` StabilizedPalmPosition []float64 `json:"stabilizedPalmPosition"`
T []float64 `json:"t"` T []float64 `json:"t"`
TimeVisible float64 `json:"TimeVisible"` 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 { type Pointable struct {
Bases [][][]float64 `json:"bases"`
BTipPosition []float64 `json:"btipPosition"`
CarpPosition []float64 `json:"carpPosition"`
DipPosition []float64 `json:"dipPosition"`
Direction []float64 `json:"direction"` Direction []float64 `json:"direction"`
Extended bool `json:"extended"`
HandID int `json:"handId"` HandID int `json:"handId"`
ID int `json:"id"` ID int `json:"id"`
Length float64 `json:"length"` Length float64 `json:"length"`
MCPPosition []float64 `json:"mcpPosition"`
PIPPosition []float64 `json:"pipPosition"`
StabilizedTipPosition []float64 `json:"stabilizedTipPosition"` StabilizedTipPosition []float64 `json:"stabilizedTipPosition"`
TimeVisible float64 `json:"timeVisible"` TimeVisible float64 `json:"timeVisible"`
TipPosition []float64 `json:"tipPosition"` TipPosition []float64 `json:"tipPosition"`
@ -47,11 +66,13 @@ type Pointable struct {
Tool bool `json:"tool"` Tool bool `json:"tool"`
TouchDistance float64 `json:"touchDistance"` TouchDistance float64 `json:"touchDistance"`
TouchZone string `json:"touchZone"` TouchZone string `json:"touchZone"`
Type int `json:"type"`
Width float64 `json:"width"`
} }
// InteractionBox is the area within which the gestural interaction has been detected // InteractionBox is the area within which the gestural interaction has been detected
type InteractionBox struct { type InteractionBox struct {
Center []int `json:"center"` Center []float64 `json:"center"`
Size []float64 `json:"size"` Size []float64 `json:"size"`
} }

867
platforms/leap/test/support/example_frame.json
View File

@ -1,277 +1,796 @@
{ {
"currentFrameRate": 115.473, "currentFrameRate": 110.583,
"devices": [],
"gestures": [ "gestures": [
{ {
"direction": [ "direction": [
-0.647384, 0.721478,
0.750476, -0.510801,
-0.132964 0.467495
], ],
"duration": 0, "duration": 108349,
"handIds": [ "handIds": [
57 129
], ],
"id": 72, "id": 1,
"pointableIds": [ "pointableIds": [
14 1290
], ],
"position": [ "position": [
117.665, 228.679,
313.471, 214.101,
27.2095 101.574
], ],
"speed": 1050.66, "progress": 1.00000,
"startPosition": [ "state": "stop",
195.438, "type": "keyTap"
223.313,
43.183
],
"state": "start",
"type": "swipe"
} }
], ],
"hands": [ "hands": [
{ {
"direction": [ "armBasis": [
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": [
[ [
0.999844, 0.642307,
0.0142022, 0.418027,
0.0105289 0.642414
], ],
[ [
-0.0141201, -0.760890,
0.99987, 0.448533,
-0.00783186 0.468898
], ],
[ [
-0.0106388, -0.0921319,
0.00768197, -0.789982,
0.999914 0.606168
] ]
], ],
"s": 0.992511, "armWidth": 62.2635,
"sphereCenter": [ "confidence": 0.152371,
156.775, "direction": [
227.378, 0.221251,
48.3453 -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": [ "stabilizedPalmPosition": [
119.009, 247.480,
236.071, 276.296,
75.951 133.123
], ],
"t": [ "t": [
-38.0468, 61.7977,
28.2341, 116.515,
-21.3291 56.4642
], ],
"timeVisible": 0.051952 "timeVisible": 1.87085,
"type": "right",
"wrist": [
236.308,
287.660,
183.786
]
} }
], ],
"id": 99943, "id": 641123,
"interactionBox": { "interactionBox": {
"center": [ "center": [
0, 0.00000,
200, 189.367,
0 0.00000
], ],
"size": [ "size": [
221.418, 222.740,
221.418, 222.740,
154.742 139.896
] ]
}, },
"pointables": [ "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": [ "direction": [
0.54044, 0.0159988,
0.174084, -0.359238,
-0.823176 -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": [ "stabilizedTipPosition": [
194.714, 220.428,
291.812, 215.841,
20.6219 99.4813
], ],
"timeVisible": 0.13873, "timeVisible": 1.87085,
"tipPosition": [ "tipPosition": [
194.714, 212.427,
291.812, 218.656,
20.6219 99.7341
], ],
"tipVelocity": [ "tipVelocity": [
-716.414, -324.525,
686.468, 55.5317,
-427.914 -41.1663
], ],
"tool": false, "tool": false,
"touchDistance": 0.333333, "touchDistance": 0.341002,
"touchZone": "hovering" "touchZone": "hovering",
"type": 0,
"width": 19.7871
}, },
{ {
"bases": [
[
[
0.654255,
0.750454,
0.0936476
],
[
-0.683587,
0.639792,
-0.351248
],
[
-0.323510,
0.165789,
0.931588
]
],
[
[
0.641810,
0.756085,
0.128125
],
[
-0.742571,
0.654463,
-0.142363
],
[
-0.191492,
-0.00377221,
0.981487
]
],
[
[
0.641810,
0.756085,
0.128125
],
[
-0.726482,
0.652969,
-0.214139
],
[
-0.245569,
0.0443555,
0.968364
]
],
[
[
0.641810,
0.756085,
0.128125
],
[
-0.709564,
0.648876,
-0.274734
],
[
-0.290860,
0.0854138,
0.952946
]
]
],
"btipPosition": [
269.006,
271.529,
17.2009
],
"carpPosition": [
225.768,
285.455,
171.343
],
"dipPosition": [
263.665,
273.097,
34.6993
],
"direction": [ "direction": [
0.655715, 0.245569,
0.423222, -0.0443555,
-0.625237 -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": [ "stabilizedTipPosition": [
166.231, 268.409,
308.631, 272.318,
21.1697 21.5696
], ],
"timeVisible": 0.156012, "timeVisible": 1.87085,
"tipPosition": [ "tipPosition": [
166.231, 268.718,
308.631, 271.794,
21.1697 21.5136
], ],
"tipVelocity": [ "tipVelocity": [
-817.678, -13.9732,
511.988, 6.53920,
-496.456 -19.5770
], ],
"tool": false, "tool": false,
"touchDistance": 0.333333, "touchDistance": 0.332816,
"touchZone": "hovering" "touchZone": "hovering",
"type": 2,
"width": 18.5630
}, },
{ {
"bases": [
[
[
0.649174,
0.716291,
0.255928
],
[
-0.645061,
0.696732,
-0.313783
],
[
-0.403074,
0.0386109,
0.914353
]
],
[
[
0.610655,
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0.336426
],
[
-0.767227,
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0.0271437
],
[
-0.196123,
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0.941319
]
],
[
[
0.610655,
0.716881,
0.336426
],
[
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0.675044,
-0.115904
],
[
-0.310191,
-0.174348,
0.934550
]
],
[
[
0.610655,
0.716881,
0.336426
],
[
-0.679596,
0.692496,
-0.242072
],
[
-0.406510,
-0.0808113,
0.910065
]
]
],
"btipPosition": [
282.293,
310.673,
32.4311
],
"carpPosition": [
233.241,
294.849,
171.406
],
"dipPosition": [
274.872,
309.198,
49.0461
],
"direction": [ "direction": [
0.593251, 0.310191,
0.566682, 0.174348,
-0.571773 -0.934550
],
"extended": true,
"handId": 129,
"id": 1293,
"length": 62.9558,
"mcpPosition": [
257.913,
292.486,
115.440
],
"pipPosition": [
266.475,
304.478,
74.3433
], ],
"handId": 57,
"id": 14,
"length": 47.3576,
"stabilizedTipPosition": [ "stabilizedTipPosition": [
119.328, 281.546,
312.537, 310.434,
27.7416 36.7157
], ],
"timeVisible": 0.164757, "timeVisible": 1.87085,
"tipPosition": [ "tipPosition": [
117.665, 281.024,
313.471, 309.986,
27.2095 36.2968
], ],
"tipVelocity": [ "tipVelocity": [
-779.297, -49.1356,
651.055, 23.1718,
-269.665 -14.1464
], ],
"tool": false, "tool": false,
"touchDistance": 0.333333, "touchDistance": 0.332567,
"touchZone": "hovering" "touchZone": "hovering",
"type": 3,
"width": 17.6638
}, },
{ {
"bases": [
[
[
0.695759,
0.590913,
0.408339
],
[
-0.569298,
0.800316,
-0.188135
],
[
-0.437971,
-0.101569,
0.893233
]
],
[
[
0.555629,
0.543209,
0.629445
],
[
-0.762608,
0.634559,
0.125553
],
[
-0.331219,
-0.549780,
0.766835
]
],
[
[
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0.629445
],
[
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0.0148494
],
[
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0.776903
]
],
[
[
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],
[
-0.645129,
0.759246,
-0.0857538
],
[
-0.524486,
-0.358426,
0.772299
]
]
],
"btipPosition": [
298.360,
340.270,
71.0701
],
"carpPosition": [
244.922,
300.813,
176.031
],
"dipPosition": [
289.526,
334.233,
84.0778
],
"direction": [ "direction": [
0.292649, 0.436645,
-0.45091, 0.453610,
-0.84323 -0.776904
],
"extended": true,
"handId": 129,
"id": 1294,
"length": 49.3562,
"mcpPosition": [
269.737,
306.568,
125.421
],
"pipPosition": [
281.181,
325.564,
98.9257
], ],
"handId": 57,
"id": 29,
"length": 57.4251,
"stabilizedTipPosition": [ "stabilizedTipPosition": [
223.535, 297.824,
239.849, 337.184,
37.7847 73.7178
], ],
"timeVisible": 0.086657, "timeVisible": 1.87085,
"tipPosition": [ "tipPosition": [
223.535, 295.463,
239.849, 338.639,
37.7847 73.5436
], ],
"tipVelocity": [ "tipVelocity": [
-929.251, -67.9258,
390.064, 44.5899,
-506.855 -9.70583
], ],
"tool": false, "tool": false,
"touchDistance": 0.333333, "touchDistance": 0.332281,
"touchZone": "hovering" "touchZone": "hovering",
"type": 4,
"width": 15.6904
}, },
{ {
"bases": [
[
[
0.567299,
0.817958,
-0.0954824
],
[
-0.785572,
0.502726,
-0.360755
],
[
-0.247081,
0.279664,
0.927760
]
],
[
[
0.556741,
0.828691,
-0.0575341
],
[
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-0.850974
],
[
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]
],
[
[
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0.828691,
-0.0575341
],
[
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-0.963977
],
[
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-0.259688
]
],
[
[
0.556741,
0.828691,
-0.0575341
],
[
0.450238,
-0.359238,
-0.817456
],
[
-0.698087,
0.429207,
-0.573111
]
]
],
"btipPosition": [
297.722,
214.346,
100.704
],
"carpPosition": [
220.180,
275.044,
173.613
],
"dipPosition": [
286.067,
221.511,
91.1361
],
"direction": [ "direction": [
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