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leapmotionw.py
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leapmotionw.py
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#!/usr/bin/env python
# -*- coding:utf-8 -*-
__author__='pengshp'
import Leap, sys, thread, time
import threading,serial,binascii
from Leap import CircleGesture, KeyTapGesture, ScreenTapGesture, SwipeGesture
class SampleListener(Leap.Listener):
finger_names = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky']
bone_names = ['Metacarpal', 'Proximal', 'Intermediate', 'Distal']
state_names = ['STATE_INVALID', 'STATE_START', 'STATE_UPDATE', 'STATE_END']
def on_init(self, controller):
#self.grab=grab
print "Initialized" #初始化
def on_connect(self, controller):
print "Connected" #连接
# Enable gestures
controller.enable_gesture(Leap.Gesture.TYPE_CIRCLE);
controller.enable_gesture(Leap.Gesture.TYPE_KEY_TAP);
controller.enable_gesture(Leap.Gesture.TYPE_SCREEN_TAP);
controller.enable_gesture(Leap.Gesture.TYPE_SWIPE);
def on_disconnect(self, controller):
# Note: not dispatched when running in a debugger.
print "Disconnected"
def on_exit(self, controller):
print "Exited"
def on_frame(self, controller):
# Get the most recent frame and report some basic information
frame = controller.frame()
print "Frame id: %d, timestamp: %d, hands: %d, fingers: %d, tools: %d, gestures: %d" % (
frame.id, frame.timestamp, len(frame.hands), len(frame.fingers), len(frame.tools), len(frame.gestures()))
# Get hands
for hand in frame.hands:
handType = "Left hand" if hand.is_left else "Right hand"
print " %s, id %d, position: %s" % (
handType, hand.id, hand.palm_position)
grab=hand.grab_strength
#global grab
#grab = hand.pinch_strength
print "grab=%f" %grab
value=int(grab*49+50)
value=str(value)
ser=serial.Serial('COM6',4800)
""" if 0.0 <= vaul < 0.3:
ser.write(vaul)
print "串口发送成功0"
time.sleep(0.5)
elif 0.3 <= vaul <=0.7:
ser.write('01')
print "串口发送成功1"
time.sleep(0.5)
else:
"""
#binascii_a2b_hex()
print value
#hexer=value.decode("hex")
#print hexer
ser.write('2')
ser.write(value)
#ser.write(hexer)
#print hexer
time.sleep(0.05)
# Get the hand's normal vector and direction
#normal = hand.palm_normal
normal = hand.palm_position
direction = hand.direction
numx=int((-normal[0])/7)
numx=numx+48
numx=str(numx)
print numx
#ser.write('2')
#ser.write(numx)
numy=int((-normal[1])/5)
numy=numy+60
numy=str(numy)
print "手掌y向量"
print numy
numz=int((-normal[2])/8)
numz=numz+45
numz=str(numz)
print "手掌z向量"
print numz
#ser.write('2')
# ser.write(numz)
#ser.write('2')
#ser.write(numx)
#ser.write('2')
#ser.write(numx)
print "palm_normal=手掌向量"
print normal[0]
print normal[1]
print normal[2]
time.sleep(0.5)
#for i in normal:
#str_normal=str(int (normal[i]))
#hex_normal=str_normal.decode("hex")
#print normal[i]
print "direction="
print direction
# Calculate the hand's pitch, roll, and yaw angles
print " pitch: %f degrees, roll: %f degrees, yaw: %f degrees" % (
direction.pitch * Leap.RAD_TO_DEG,
normal.roll * Leap.RAD_TO_DEG,
direction.yaw * Leap.RAD_TO_DEG)
# Get arm bone
arm = hand.arm
print " Arm direction: %s, wrist position: %s, elbow position: %s" % (
arm.direction,
arm.wrist_position,
arm.elbow_position)
# Get fingers
for finger in hand.fingers:
print " %s finger, id: %d, length: %fmm, width: %fmm" % (
self.finger_names[finger.type],
finger.id,
finger.length,
finger.width)
# Get bones
for b in range(0, 4):
bone = finger.bone(b)
print " Bone: %s, start: %s, end: %s, direction: %s" % (
self.bone_names[bone.type],
bone.prev_joint,
bone.next_joint,
bone.direction)
# Get tools
for tool in frame.tools:
print " Tool id: %d, position: %s, direction: %s" % (
tool.id, tool.tip_position, tool.direction)
# Get gestures
for gesture in frame.gestures():
if gesture.type == Leap.Gesture.TYPE_CIRCLE:
circle = CircleGesture(gesture)
# Determine clock direction using the angle between the pointable and the circle normal
if circle.pointable.direction.angle_to(circle.normal) <= Leap.PI/2:
clockwiseness = "clockwise"
else:
clockwiseness = "counterclockwise"
# Calculate the angle swept since the last frame
swept_angle = 0
if circle.state != Leap.Gesture.STATE_START:
previous_update = CircleGesture(controller.frame(1).gesture(circle.id))
swept_angle = (circle.progress - previous_update.progress) * 2 * Leap.PI
print " Circle id: %d, %s, progress: %f, radius: %f, angle: %f degrees, %s" % (
gesture.id, self.state_names[gesture.state],
circle.progress, circle.radius, swept_angle * Leap.RAD_TO_DEG, clockwiseness)
if gesture.type == Leap.Gesture.TYPE_SWIPE:
swipe = SwipeGesture(gesture)
print " Swipe id: %d, state: %s, position: %s, direction: %s, speed: %f" % (
gesture.id, self.state_names[gesture.state],
swipe.position, swipe.direction, swipe.speed)
if gesture.type == Leap.Gesture.TYPE_KEY_TAP:
keytap = KeyTapGesture(gesture)
print " Key Tap id: %d, %s, position: %s, direction: %s" % (
gesture.id, self.state_names[gesture.state],
keytap.position, keytap.direction )
if gesture.type == Leap.Gesture.TYPE_SCREEN_TAP:
screentap = ScreenTapGesture(gesture)
print " Screen Tap id: %d, %s, position: %s, direction: %s" % (
gesture.id, self.state_names[gesture.state],
screentap.position, screentap.direction )
if not (frame.hands.is_empty and frame.gestures().is_empty):
print "====================================="
#return grab
def regrab(self, controller):
frame = controller.frame()
frame.on_frame()
grab=frame.hand.pinch_strength
print "grab=======%f" %grab
return self.grab
def state_string(self, state):
if state == Leap.Gesture.STATE_START:
return "STATE_START" #开始
if state == Leap.Gesture.STATE_UPDATE:
return "STATE_UPDATE" #更新
if state == Leap.Gesture.STATE_STOP:
return "STATE_STOP" #停止
if state == Leap.Gesture.STATE_INVALID:
return "STATE_INVALID"#无效
#串口发送函数，设置波特率为9600
def serial_send(self,str):
ser=serial.Serial('COM3',9600)
ser.write(str)
#ser.close()
def main():
listener = SampleListener()
controller = Leap.Controller()
# Have the sample listener receive events from the controller
controller.add_listener(listener)
#while True:
#vaul=controller.regrab()
"""vaul=controller.grab
if 0.0 < vaul <= 0.5:
serial_send(0)
print "串口发送成功0"
time.sleep(1)
elif 0.5 < vaul <=1.0:
serial_send(1)
print "串口发送成功1"
time.sleep(1)
"""
# Keep this process running until Enter is pressed
print "Press Enter to quit..."
try:
sys.stdin.readline()
except KeyboardInterrupt:
pass
finally:
# Remove the sample listener when done
controller.remove_listener(listener)
if __name__ == "__main__":
main()