prova
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_DIRSWIPE_1.c
- Committer:
- mapellil
- Date:
- 2017-12-15
- Revision:
- 7:d79cbeda2982
File content as of revision 7:d79cbeda2982:
/******************************************************************************* 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; }