void on_frame(leap_controller_ref controller, void *user_info)
{
leap_frame_ref frame = leap_controller_copy_frame(controller, 0);
printf("frame %llu\n", leap_frame_timestamp(frame));
for (int i = 0; i < leap_frame_hands_count(frame); i++) {
leap_hand_ref hand = leap_frame_hand_at_index(frame, i);
printf("\thand %i: fingers=%i\n", leap_hand_id(hand), leap_hand_fingers_count(hand));
for (int p = 0; p < leap_hand_fingers_count(hand); p++) {
leap_pointable_ref pointable = leap_hand_finger_at_index(hand, p);
leap_vector tip_position = leap_pointable_tip_position(pointable);
printf("\t\tfinger %i: tip-pos={%0.2f, %0.2f, %0.2f}\n",
leap_pointable_id(pointable), tip_position.x, tip_position.y, tip_position.z);
}
for (int p = 0; p < leap_hand_tools_count(hand); p++) {
leap_pointable_ref pointable = leap_hand_tool_at_index(hand, p);
leap_vector tip_position = leap_pointable_tip_position(pointable);
printf("\t\ttool %i: tip-pos={%0.2f, %0.2f, %0.2f}\n",
leap_pointable_id(pointable), tip_position.x, tip_position.y, tip_position.z);
}
}
leap_frame_delete(frame);
}
void jamieOnFrame(leap_hand_ref hand,leap_frame_ref frame, CCrazyflie* cflie){
//printf("JAMIEonframe");
leap_vector current_position;
leap_vector current_direction;
leap_vector current_velocity;
leap_vector current_normal; // perpendicular line to direction
// Gets number of fingers on screen
int num_fingers = leap_hand_fingers_count(hand);
int num_hands = leap_frame_hands_count(frame);
// Gets current position, direction, velocity of hand from Leap
leap_hand_palm_position(hand, ¤t_position);
leap_hand_direction(hand, ¤t_direction);
leap_hand_palm_velocity(hand, ¤t_velocity);
leap_hand_palm_normal(hand, ¤t_normal);
// Print out values. Easier to determine thresholds for gestures.
//printf("\n");
//printf("Position: \n X: %f \n Y: %f \n Z:%f", current_position.x, current_position.y, current_position.z);
//printf("\nDirection: \n X: %f \n Y: %f \n Z:%f", current_direction.x, current_direction.y, current_direction.z);
//printf("\nVelocity: \n X: %f \n Y: %f \n Z:%f", current_velocity.x, current_velocity.y, current_velocity.z);
//printf("\nNormal: \n X: %f \n Y: %f \n Z:%f", current_normal.x, current_normal.y, current_normal.z);
//printf("\nNumber of Fingers: %d", num_fingers);
//printf("\ncurrent_signal == %d\n", current_signal);
//lock
//pthread_mutex_lock(&lockz);
// Only send new signal if last signal has been processed
if (current_signal == NO_SIG){
//Pitch
// Palm is stationary.
// looks at Y direction of palm vector (vector from middle of palm to finger)
if ((current_velocity.x < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.y < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.z < MINIMUM_VELOCITY_THRESHOLD)){
if (current_direction.y < -PITCH_THRESHOLD){ // hand pointed down. increase pitch
current_pitch = PITCH_CONSTANT;
//printf("\n-------Decreased pitch ");
}else if (current_direction.y > PITCH_THRESHOLD){ // hand pointed up. decrease pitch
current_pitch = -PITCH_CONSTANT;
//printf("\n-------Increased pitch ");
}
else {
current_pitch = 0;
}
}
//Roll
// Palm is stationary.
// looks at X direction of palm normal vector (prependicular to vector from middle of palm to finger)
if ((current_velocity.x < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.y < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.z < MINIMUM_VELOCITY_THRESHOLD)){
if (current_normal.x < -ROLL_THRESHOLD){ // hand pointed left. decrease roll
current_roll = ROLL_CONSTANT;
//printf("\n-------Decreased roll ");
}else if (current_normal.x > ROLL_THRESHOLD){ // hand pointed right. increase roll
current_roll = -ROLL_CONSTANT;
//printf("\n-------Increased roll ");
}
else {
current_roll = 0;
}
}
//Thrust
// Palm is stationary.
// looks at Y position. 2-3ft above leap = increase thrust. a few inches above leap = decrease thrust
if ((current_velocity.x < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.y < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.z < MINIMUM_VELOCITY_THRESHOLD)){
current_thrust = current_position.y;
}
//FLY_SIG = Two hands. 5 fingers on each (open palm). Stationary hands
// number of hands == 2. and each hand has 5 fingers
// hand velocity is less than minimum threshold
if (num_hands == 2){
leap_hand_ref hand_0 = leap_frame_hand_at_index(frame, 0); // gets hand objects
leap_hand_ref hand_1 = leap_frame_hand_at_index(frame, 1);
if ((leap_hand_fingers_count(hand_0) == 5) && (leap_hand_fingers_count(hand_1) == 5)){
if ((current_velocity.x < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.y < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.z < MINIMUM_VELOCITY_THRESHOLD)){
current_signal = FLY_SIG;
printf("----------Two hands, 5 fingers each gesture: FLY_SIG\n");
}
}
}
//LAND_SIG = Two hands. 0 fingers on each (fist). fists stationary.
// number of hands == 2. number of fingers == 0
// hand velocity less than minimum threshold
if (num_hands == 2){
leap_hand_ref hand_0 = leap_frame_hand_at_index(frame, 0);
leap_hand_ref hand_1 = leap_frame_hand_at_index(frame, 1);
if ((leap_hand_fingers_count(hand_0) == 2) && (leap_hand_fingers_count(hand_1) == 2)){
if ((current_velocity.x < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.y < MINIMUM_VELOCITY_THRESHOLD) && (current_velocity.z < MINIMUM_VELOCITY_THRESHOLD)){
current_signal = LAND_SIG;
printf("----------Two hands, two fingers: LAND_SIG\n");
}
}
}
// CHANGE_HOVER_SIG = Swipe gesture. From right to left.
// X velocitiy less than SWIPE_VELOCITY_THRESHOLD
// Recognizes swipes in both directions: CHANGE_HOVER_SIG
if ( (num_hands == 2) && (current_velocity.x < -SWIPE_VELOCITY_THRESHOLD || current_velocity.x > SWIPE_VELOCITY_THRESHOLD)){
current_signal = CHANGE_HOVER_SIG;
printf("----------Swipe gesture: CHANGE_HOVER_SIG\n");
}
// POINTABLE OBJECT: FLY_PATTERN
// Detects pointable.
// Gets x,y,z position
// calls record_tool_movement
int num_tools = leap_hand_tools_count(hand);
// printf("\n Number of tools: %d ", num_tools);
if ((FLY_PATTERN == 1) && (num_tools == 1) && (num_hands == 2)){ // pointable taken off screen, done drawing pattern
printf("\n----FLYING PATTERN----\n");
FLY_PATTERN = 2;
totalFrames = frame_count;
frame_count = 0;
current_node = DLL_HEAD;
}else if((num_tools > 0) && (FLY_PATTERN != 2)){
//printf("\nPointable tool detected\n");
//reset everything while recording
current_pitch = 0;
current_roll = 0;
current_yaw = 0;
current_thrust = 0;
//hover mode while recording
flightModeHover = 1;
cflie->m_nThrust = HOVERTHRUST;
cycle(cflie);
leap_pointable_ref tool1;
tool1 = leap_hand_tool_at_index(hand,0);
leap_vector tool_position;
//printf("FRAME COUNT: %d\n",frame_count);
leap_pointable_tip_position(tool1, &tool_position);
record_tool_movement(tool_position);
FLY_PATTERN = 1;
}
}//end of if current_signal == NO_SIG
//leap_pointable_ref leap_hand_finger_at_index(leap_hand_ref hand, int index);
//unlock
//pthread_mutex_unlock(&lockz);
}