void jester::LeapMotionImpl::processHand(Leap::Hand hand, LeapHand whichHand) {
Bone::JointId toSet = (whichHand == LeapHand::LEFT ? Bone::JointId::WRIST_L : Bone::JointId::WRIST_R);
Bone::BoneId firstFinger = (whichHand == LeapHand::LEFT ? Bone::BoneId::PHALANX_L_1 : Bone::BoneId::PHALANX_R_1);
JointFusionData wristData;
wristData.confidence = LeapConfidence;
wristData.position = glm::vec3(hand.palmPosition()[0] / LeapMeasurmentScalingFactor,
hand.palmPosition()[1] / LeapMeasurmentScalingFactor,
hand.palmPosition()[2] / LeapMeasurmentScalingFactor);
wristData.id = toSet;
kJointData.insert(std::pair<Bone::JointId, JointFusionData>(toSet, wristData));
processFingers(hand, firstFinger, whichHand);
}
/* Main function, contains kernel driver event loop */
int main(int argc, char **argv) {
char* devname = 0;
int doDaemonize = 1;
int doWait = 0;
int clickMode = 2;
int i;
for (i = 1; i < argc; i++) {
if (strcmp(argv[i], "--debug") == 0) {
doDaemonize = 0;
debugMode = 1;
} else if (strcmp(argv[i], "--wait") == 0) {
doWait = 1;
} else if (strcmp(argv[i], "--click=first") == 0) {
clickMode = 0;
} else if (strcmp(argv[i], "--click=second") == 0) {
clickMode = 1;
} else if (strcmp(argv[i], "--click=center") == 0) {
clickMode = 2;
} else {
devname = argv[i];
}
}
initGestures(clickMode);
if (doDaemonize) {
daemonize();
}
if (doWait) {
/* Wait until all necessary things are loaded */
sleep(10);
}
/* Connect to X server */
if ((display = XOpenDisplay(NULL)) == NULL) {
fprintf(stderr, "Couldn't connect to X server\n");
exit(1);
}
/* Read X data */
screenNum = DefaultScreen(display);
root = RootWindow(display, screenNum);
// realDisplayWidth = DisplayWidth(display, screenNum);
// realDisplayHeight = DisplayHeight(display, screenNum);
WM_CLASS = XInternAtom(display, "WM_CLASS", 0);
/* Get notified about new windows */
XSelectInput(display, root, StructureNotifyMask | SubstructureNotifyMask);
//TODO load blacklist and profiles from file(s)
/* Device file name */
if (devname == 0) {
devname = "/dev/twofingtouch";
}
/* Try to read from device file */
int fileDesc;
if ((fileDesc = open(devname, O_RDONLY)) < 0) {
perror("twofing");
return 1;
}
fd_set fileDescSet;
FD_ZERO(&fileDescSet);
int eventQueueDesc = XConnectionNumber(display);
while (1) {
/* Perform initialization at beginning and after module has been re-loaded */
int rd, i;
struct input_event ev[64];
char name[256] = "Unknown";
/* Read device name */
ioctl(fileDesc, EVIOCGNAME(sizeof(name)), name);
printf("Input device name: \"%s\"\n", name);
//TODO activate again?
//XSetErrorHandler(invalidWindowHandler);
int opcode, event, error;
if (!XQueryExtension(display, "RANDR", &opcode, &event,
&error)) {
printf("X RANDR extension not available.\n");
XCloseDisplay(display);
exit(1);
}
/* Which version of XRandR? We support 1.3 */
int major = 1, minor = 3;
if (!XRRQueryVersion(display, &major, &minor)) {
printf("XRandR version not available.\n");
XCloseDisplay(display);
exit(1);
} else if(!(major>1 || (major == 1 && minor >= 3))) {
printf("XRandR 1.3 not available. Server supports %d.%d\n", major, minor);
XCloseDisplay(display);
exit(1);
}
/* XInput Extension available? */
if (!XQueryExtension(display, "XInputExtension", &opcode, &event,
&error)) {
printf("X Input extension not available.\n");
XCloseDisplay(display);
exit(1);
}
/* Which version of XI2? We support 2.1 */
major = 2; minor = 1;
if (XIQueryVersion(display, &major, &minor) == BadRequest) {
printf("XI 2.1 not available. Server supports %d.%d\n", major, minor);
XCloseDisplay(display);
exit(1);
}
screenWidth = XDisplayWidth(display, screenNum);
screenHeight = XDisplayHeight(display, screenNum);
int n;
XIDeviceInfo *info = XIQueryDevice(display, XIAllDevices, &n);
if (!info) {
printf("No XInput devices available\n");
exit(1);
}
/* Go through input devices and look for that with the same name as the given device */
int devindex;
for (devindex = 0; devindex < n; devindex++) {
if (info[devindex].use == XIMasterPointer || info[devindex].use
== XIMasterKeyboard)
continue;
if (strcmp(info[devindex].name, name) == 0) {
deviceID = info[devindex].deviceid;
break;
}
}
if (deviceID == -1) {
printf("Input device not found in XInput device list.\n");
exit(1);
}
XIFreeDeviceInfo(info);
if(debugMode) printf("XInput device id is %i.\n", deviceID);
/* Prepare by reading calibration */
readCalibrationData(1);
/* Receive device property change events */
XIEventMask device_mask2;
unsigned char mask_data2[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
device_mask2.deviceid = deviceID;
device_mask2.mask_len = sizeof(mask_data2);
device_mask2.mask = mask_data2;
XISetMask(device_mask2.mask, XI_PropertyEvent);
XISetMask(device_mask2.mask, XI_ButtonPress);
//XISetMask(device_mask2.mask, XI_TouchBegin);
//XISetMask(device_mask2.mask, XI_TouchUpdate);
//XISetMask(device_mask2.mask, XI_TouchEnd);
XISelectEvents(display, root, &device_mask2, 1);
/* Recieve events when screen size changes */
XRRSelectInput(display, root, RRScreenChangeNotifyMask);
/* Receive touch events */
/* Needed for XTest to work correctly */
XTestGrabControl(display, True);
/* Needed for some reason to receive events */
/* XGrabPointer(display, root, False, 0, GrabModeAsync, GrabModeAsync,
None, None, CurrentTime);
XUngrabPointer(display, CurrentTime);*/
grab(display, deviceID);
printf("Reading input from device ... (interrupt to exit)\n");
/* We perform raw event reading here as X touch events don't seem too reliable */
int currentSlot = 0;
/* If we use the legacy protocol, we collect all data of one finger into tempFingerInfo and set
it to the correct slot once MT_SYNC occurs. */
FingerInfo tempFingerInfo = { .rawX=0, .rawY=0, .rawZ=0, .id = -1, .slotUsed = 0, .setThisTime = 0 };
while (1) {
FD_SET(fileDesc, &fileDescSet);
FD_SET(eventQueueDesc, &fileDescSet);
select(MAX(fileDesc, eventQueueDesc) + 1, &fileDescSet, NULL, NULL, getEasingStepTimeVal());
checkEasingStep();
if(FD_ISSET(fileDesc, &fileDescSet))
{
rd = read(fileDesc, ev, sizeof(struct input_event) * 64);
if (rd < (int) sizeof(struct input_event)) {
printf("Data stream stopped\n");
break;
}
for (i = 0; i < rd / sizeof(struct input_event); i++) {
if (ev[i].type == EV_SYN) {
if (0 == ev[i].code) { // Ev_Sync event end
/* All finger data received, so process now. */
if(useLegacyProtocol) {
/* Clear slots not set this time */
int i;
for(i = 0; i < 2; i++) {
if(fingerInfos[i].setThisTime) {
fingerInfos[i].setThisTime = 0;
} else {
/* Clear slot */
fingerInfos[i].slotUsed = 0;
}
}
tempFingerInfo.slotUsed = 0;
}
processFingers();
} else if (2 == ev[i].code) { // MT_Sync : Multitouch event end
if(!useLegacyProtocol) {
/* This messsage indicates we use legacy protocol, so switch */
useLegacyProtocol = 1;
currentSlot = -1;
tempFingerInfo.slotUsed = 0;
if(debugMode) printf("Switch to legacy protocol.\n");
} else {
if(tempFingerInfo.slotUsed) {
/* Finger info for one finger collected in tempFingerInfo, so save it to fingerInfos. */
/* Look for slot to put the data into by looking at the tracking ids */
int index = -1;
int i;
for(i = 0; i < 2; i++) {
if(fingerInfos[i].slotUsed && fingerInfos[i].id == tempFingerInfo.id) {
index = i;
break;
}
}
if(index == -1) {
for(i = 0; i < 2; i++) {
if(!fingerInfos[i].slotUsed) {
/* "Empty" slot, so we can add it. */
index = i;
fingerInfos[i].id = tempFingerInfo.id;
fingerInfos[i].slotUsed = 1;
break;
}
}
}
if(index != -1) {
/* Copy temporary data to slot */
fingerInfos[index].setThisTime = 1;
fingerInfos[index].rawX = tempFingerInfo.rawX;
fingerInfos[index].rawY = tempFingerInfo.rawY;
fingerInfos[index].rawZ = tempFingerInfo.rawZ;
}
}
}
}
} else if (ev[i].type == EV_MSC && (ev[i].code == MSC_RAW
|| ev[i].code == MSC_SCAN)) {
} else if (ev[i].code == 47) {
currentSlot = ev[i].value;
if(currentSlot < 0 || currentSlot > 1) currentSlot = -1;
} else {
/* Set finger info values for current finger */
if (ev[i].code == 57) {
/* ABS_MT_TRACKING_ID */
if(currentSlot != -1) {
if(ev[i].value == -1)
{
fingerInfos[currentSlot].slotUsed = 0;
}
else
{
fingerInfos[currentSlot].id = ev[i].value;
fingerInfos[currentSlot].slotUsed = 1;
}
} else if(useLegacyProtocol) {
tempFingerInfo.id = ev[i].value;
tempFingerInfo.slotUsed = 1;
}
};
if (ev[i].code == 53) {
if(currentSlot != -1) {
fingerInfos[currentSlot].rawX = ev[i].value;
} else if(useLegacyProtocol) {
tempFingerInfo.rawX = ev[i].value;
}
};
if (ev[i].code == 54) {
if(currentSlot != -1) {
fingerInfos[currentSlot].rawY = ev[i].value;
} else if(useLegacyProtocol) {
tempFingerInfo.rawY = ev[i].value;
}
};
if (ev[i].code == 58) {
if(currentSlot != -1) {
fingerInfos[currentSlot].rawZ = ev[i].value;
} else if(useLegacyProtocol) {
tempFingerInfo.rawZ = ev[i].value;
}
};
}
}
}
if(FD_ISSET(eventQueueDesc, &fileDescSet)) {
handleXEvent();
}
}
/* Stream stopped, probably because module has been unloaded */
close(fileDesc);
/* Clean up */
releaseButton();
ungrab(display, deviceID);
/* Wait until device file is there again */
while ((fileDesc = open(devname, O_RDONLY)) < 0) {
sleep(1);
}
}
}
