Diff: Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_DIRSWIPE_1.c

Revision:

7:d79cbeda2982

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_DIRSWIPE_1.c	Fri Dec 15 14:16:16 2017 +0000
@@ -0,0 +1,107 @@
+/*******************************************************************************
+Copyright © 2015, STMicroelectronics International N.V.
+All rights reserved.
+
+Use and Redistribution are permitted only in accordance with licensing terms 
+available at www.st.com under software reference X-CUBE-6180XA1, and provided
+that the following conditions are met:
+* Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.
+* Neither the name of STMicroelectronics nor the
+names of its contributors may be used to endorse or promote products
+derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROTECTED BY STMICROELECTRONICS PATENTS AND COPYRIGHTS.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+/*
+ * $Date: 2015-11-10 11:21:53 +0100 (Tue, 10 Nov 2015) $
+ * $Revision: 2612 $
+ */
+
+#include "tof_gestures.h"
+#include "tof_gestures_DIRSWIPE_1.h"
+
+int tof_gestures_initDIRSWIPE_1(int32_t rangeThreshold_mm, int minSwipeDuration, int maxSwipeDuration, bool handMustCoverBoth, Gesture_DIRSWIPE_1_Data_t *data){
+    int status=0;
+    // Init left and right motion
+    status |= tof_initMotion(rangeThreshold_mm, &(data->motionDetectorLeft));
+    status |= tof_initMotion(rangeThreshold_mm, &(data->motionDetectorRight));
+    data->minSwipeDuration = minSwipeDuration;
+    data->maxSwipeDuration = maxSwipeDuration;
+    data->handMustCoverBoth = handMustCoverBoth;
+    data->state = GESTURES_DIRSWIPE_1_START;
+    data->timestamp = 0;
+    return status;
+}
+
+int tof_gestures_detectDIRSWIPE_1(int32_t left_range_mm, int32_t right_range_mm, Gesture_DIRSWIPE_1_Data_t *data){
+    int return_code = GESTURES_NULL;
+    int r_motion_code, l_motion_code;
+    int timestamp = GET_TIME_STAMP();
+    int duration=0;
+    
+    // Get left and right motion
+    l_motion_code = tof_getMotion(left_range_mm, &(data->motionDetectorLeft));
+    r_motion_code = tof_getMotion(right_range_mm, &(data->motionDetectorRight));
+    
+    TOF_GESTURES_DEBUG(DIRSWIPE_1,"lmotion=%d, rmotion=%d", l_motion_code, r_motion_code);
+    
+    switch(data->state){
+        case GESTURES_DIRSWIPE_1_START:
+        	if((!data->handMustCoverBoth && r_motion_code == GESTURES_MOTION_RAISE_UP) || (data->handMustCoverBoth && r_motion_code == GESTURES_MOTION_RAISE_UP && l_motion_code == GESTURES_MOTION_DOWN_STATE)){
+                if(data->motionDetectorRight.duration > data->minSwipeDuration){
+                    data->gesture_start_from_right = true;
+                    data->state = GESTURES_DIRSWIPE_1_END;
+                    data->timestamp = timestamp;
+                    TOF_GESTURES_DEBUG(DIRSWIPE_1,"Start right to left (%d ms)",data->motionDetectorRight.duration);
+                }else{
+                    return_code = GESTURES_DISCARDED_TOO_FAST;
+                }
+            }else if((!data->handMustCoverBoth && l_motion_code == GESTURES_MOTION_RAISE_UP) || (data->handMustCoverBoth && r_motion_code == GESTURES_MOTION_DOWN_STATE && l_motion_code == GESTURES_MOTION_RAISE_UP)){
+                if(data->motionDetectorRight.duration > data->minSwipeDuration){
+                    data->gesture_start_from_right = false;
+                    data->state = GESTURES_DIRSWIPE_1_END;
+                    data->timestamp = timestamp;
+                    TOF_GESTURES_DEBUG(DIRSWIPE_1,"Start left to right(%d ms)",data->motionDetectorRight.duration);
+                }else{
+                    return_code = GESTURES_DISCARDED_TOO_FAST;
+                }
+            }   
+            break;
+        case GESTURES_DIRSWIPE_1_END:
+            duration = timestamp - data->timestamp;
+            if(duration > data->maxSwipeDuration){
+                // Gesture is too long : discard it
+                data->state = GESTURES_DIRSWIPE_1_START;
+                TOF_GESTURES_DEBUG(DIRSWIPE_1,"Too slow");
+                return_code = GESTURES_DISCARDED_TOO_SLOW;
+            }else if ((data->gesture_start_from_right && l_motion_code == GESTURES_MOTION_RAISE_UP) || (!data->gesture_start_from_right && r_motion_code == GESTURES_MOTION_RAISE_UP)){
+                // Gesture detected
+                data->state = GESTURES_DIRSWIPE_1_START;
+                return_code = (data->gesture_start_from_right) ? GESTURES_SWIPE_RIGHT_LEFT : GESTURES_SWIPE_LEFT_RIGHT;
+                TOF_GESTURES_DEBUG(DIRSWIPE_1,"DETECTED");
+            }else{
+                // Waiting...
+                TOF_GESTURES_DEBUG(DIRSWIPE_1,"Waiting...");
+                return_code = GESTURES_STARTED;
+            }             
+            break;
+    }
+    return return_code;
+}
+