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

Update gobot leap platform to support Leap Motion API v6
IshanChaks91 · Feb 13, 2019 · 554dd04 · 554dd04
2 parents 9ddd6c0 + b843702
commit 554dd04
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Showing 5 changed files with 760 additions and 197 deletions.
diff --git a/platforms/leap/leap_motion_adaptor.go b/platforms/leap/leap_motion_adaptor.go
@@ -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)
 		},
 	}
 }

diff --git a/platforms/leap/leap_motion_driver.go b/platforms/leap/leap_motion_driver.go
@@ -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() {

diff --git a/platforms/leap/leap_motion_driver_test.go b/platforms/leap/leap_motion_driver_test.go
@@ -89,8 +89,18 @@ 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)
+
+	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)
 }
diff --git a/platforms/leap/parser.go b/platforms/leap/parser.go
@@ -4,54 +4,75 @@ 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"`
 	SphereRadius           float64     `json:"sphereRadius"`
 	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"`
 }