prova
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_DIRSWIPE_1.c@9:6205ef056c8a, 2018-02-22 (annotated)
- Committer:
- mapellil
- Date:
- Thu Feb 22 15:50:29 2018 +0000
- Revision:
- 9:6205ef056c8a
- Parent:
- 7:d79cbeda2982
AStDay
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mapellil | 7:d79cbeda2982 | 1 | /******************************************************************************* |
mapellil | 7:d79cbeda2982 | 2 | Copyright © 2015, STMicroelectronics International N.V. |
mapellil | 7:d79cbeda2982 | 3 | All rights reserved. |
mapellil | 7:d79cbeda2982 | 4 | |
mapellil | 7:d79cbeda2982 | 5 | Use and Redistribution are permitted only in accordance with licensing terms |
mapellil | 7:d79cbeda2982 | 6 | available at www.st.com under software reference X-CUBE-6180XA1, and provided |
mapellil | 7:d79cbeda2982 | 7 | that the following conditions are met: |
mapellil | 7:d79cbeda2982 | 8 | * Redistributions of source code must retain the above copyright |
mapellil | 7:d79cbeda2982 | 9 | notice, this list of conditions and the following disclaimer. |
mapellil | 7:d79cbeda2982 | 10 | * Redistributions in binary form must reproduce the above copyright |
mapellil | 7:d79cbeda2982 | 11 | notice, this list of conditions and the following disclaimer in the |
mapellil | 7:d79cbeda2982 | 12 | documentation and/or other materials provided with the distribution. |
mapellil | 7:d79cbeda2982 | 13 | * Neither the name of STMicroelectronics nor the |
mapellil | 7:d79cbeda2982 | 14 | names of its contributors may be used to endorse or promote products |
mapellil | 7:d79cbeda2982 | 15 | derived from this software without specific prior written permission. |
mapellil | 7:d79cbeda2982 | 16 | |
mapellil | 7:d79cbeda2982 | 17 | THIS SOFTWARE IS PROTECTED BY STMICROELECTRONICS PATENTS AND COPYRIGHTS. |
mapellil | 7:d79cbeda2982 | 18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND |
mapellil | 7:d79cbeda2982 | 19 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
mapellil | 7:d79cbeda2982 | 20 | WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND |
mapellil | 7:d79cbeda2982 | 21 | NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. |
mapellil | 7:d79cbeda2982 | 22 | IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY |
mapellil | 7:d79cbeda2982 | 23 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
mapellil | 7:d79cbeda2982 | 24 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
mapellil | 7:d79cbeda2982 | 25 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
mapellil | 7:d79cbeda2982 | 26 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
mapellil | 7:d79cbeda2982 | 27 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
mapellil | 7:d79cbeda2982 | 28 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
mapellil | 7:d79cbeda2982 | 29 | ********************************************************************************/ |
mapellil | 7:d79cbeda2982 | 30 | |
mapellil | 7:d79cbeda2982 | 31 | /* |
mapellil | 7:d79cbeda2982 | 32 | * $Date: 2015-11-10 11:21:53 +0100 (Tue, 10 Nov 2015) $ |
mapellil | 7:d79cbeda2982 | 33 | * $Revision: 2612 $ |
mapellil | 7:d79cbeda2982 | 34 | */ |
mapellil | 7:d79cbeda2982 | 35 | |
mapellil | 7:d79cbeda2982 | 36 | #include "tof_gestures.h" |
mapellil | 7:d79cbeda2982 | 37 | #include "tof_gestures_DIRSWIPE_1.h" |
mapellil | 7:d79cbeda2982 | 38 | |
mapellil | 7:d79cbeda2982 | 39 | int tof_gestures_initDIRSWIPE_1(int32_t rangeThreshold_mm, int minSwipeDuration, int maxSwipeDuration, bool handMustCoverBoth, Gesture_DIRSWIPE_1_Data_t *data){ |
mapellil | 7:d79cbeda2982 | 40 | int status=0; |
mapellil | 7:d79cbeda2982 | 41 | // Init left and right motion |
mapellil | 7:d79cbeda2982 | 42 | status |= tof_initMotion(rangeThreshold_mm, &(data->motionDetectorLeft)); |
mapellil | 7:d79cbeda2982 | 43 | status |= tof_initMotion(rangeThreshold_mm, &(data->motionDetectorRight)); |
mapellil | 7:d79cbeda2982 | 44 | data->minSwipeDuration = minSwipeDuration; |
mapellil | 7:d79cbeda2982 | 45 | data->maxSwipeDuration = maxSwipeDuration; |
mapellil | 7:d79cbeda2982 | 46 | data->handMustCoverBoth = handMustCoverBoth; |
mapellil | 7:d79cbeda2982 | 47 | data->state = GESTURES_DIRSWIPE_1_START; |
mapellil | 7:d79cbeda2982 | 48 | data->timestamp = 0; |
mapellil | 7:d79cbeda2982 | 49 | return status; |
mapellil | 7:d79cbeda2982 | 50 | } |
mapellil | 7:d79cbeda2982 | 51 | |
mapellil | 7:d79cbeda2982 | 52 | int tof_gestures_detectDIRSWIPE_1(int32_t left_range_mm, int32_t right_range_mm, Gesture_DIRSWIPE_1_Data_t *data){ |
mapellil | 7:d79cbeda2982 | 53 | int return_code = GESTURES_NULL; |
mapellil | 7:d79cbeda2982 | 54 | int r_motion_code, l_motion_code; |
mapellil | 7:d79cbeda2982 | 55 | int timestamp = GET_TIME_STAMP(); |
mapellil | 7:d79cbeda2982 | 56 | int duration=0; |
mapellil | 7:d79cbeda2982 | 57 | |
mapellil | 7:d79cbeda2982 | 58 | // Get left and right motion |
mapellil | 7:d79cbeda2982 | 59 | l_motion_code = tof_getMotion(left_range_mm, &(data->motionDetectorLeft)); |
mapellil | 7:d79cbeda2982 | 60 | r_motion_code = tof_getMotion(right_range_mm, &(data->motionDetectorRight)); |
mapellil | 7:d79cbeda2982 | 61 | |
mapellil | 7:d79cbeda2982 | 62 | TOF_GESTURES_DEBUG(DIRSWIPE_1,"lmotion=%d, rmotion=%d", l_motion_code, r_motion_code); |
mapellil | 7:d79cbeda2982 | 63 | |
mapellil | 7:d79cbeda2982 | 64 | switch(data->state){ |
mapellil | 7:d79cbeda2982 | 65 | case GESTURES_DIRSWIPE_1_START: |
mapellil | 7:d79cbeda2982 | 66 | 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)){ |
mapellil | 7:d79cbeda2982 | 67 | if(data->motionDetectorRight.duration > data->minSwipeDuration){ |
mapellil | 7:d79cbeda2982 | 68 | data->gesture_start_from_right = true; |
mapellil | 7:d79cbeda2982 | 69 | data->state = GESTURES_DIRSWIPE_1_END; |
mapellil | 7:d79cbeda2982 | 70 | data->timestamp = timestamp; |
mapellil | 7:d79cbeda2982 | 71 | TOF_GESTURES_DEBUG(DIRSWIPE_1,"Start right to left (%d ms)",data->motionDetectorRight.duration); |
mapellil | 7:d79cbeda2982 | 72 | }else{ |
mapellil | 7:d79cbeda2982 | 73 | return_code = GESTURES_DISCARDED_TOO_FAST; |
mapellil | 7:d79cbeda2982 | 74 | } |
mapellil | 7:d79cbeda2982 | 75 | }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)){ |
mapellil | 7:d79cbeda2982 | 76 | if(data->motionDetectorRight.duration > data->minSwipeDuration){ |
mapellil | 7:d79cbeda2982 | 77 | data->gesture_start_from_right = false; |
mapellil | 7:d79cbeda2982 | 78 | data->state = GESTURES_DIRSWIPE_1_END; |
mapellil | 7:d79cbeda2982 | 79 | data->timestamp = timestamp; |
mapellil | 7:d79cbeda2982 | 80 | TOF_GESTURES_DEBUG(DIRSWIPE_1,"Start left to right(%d ms)",data->motionDetectorRight.duration); |
mapellil | 7:d79cbeda2982 | 81 | }else{ |
mapellil | 7:d79cbeda2982 | 82 | return_code = GESTURES_DISCARDED_TOO_FAST; |
mapellil | 7:d79cbeda2982 | 83 | } |
mapellil | 7:d79cbeda2982 | 84 | } |
mapellil | 7:d79cbeda2982 | 85 | break; |
mapellil | 7:d79cbeda2982 | 86 | case GESTURES_DIRSWIPE_1_END: |
mapellil | 7:d79cbeda2982 | 87 | duration = timestamp - data->timestamp; |
mapellil | 7:d79cbeda2982 | 88 | if(duration > data->maxSwipeDuration){ |
mapellil | 7:d79cbeda2982 | 89 | // Gesture is too long : discard it |
mapellil | 7:d79cbeda2982 | 90 | data->state = GESTURES_DIRSWIPE_1_START; |
mapellil | 7:d79cbeda2982 | 91 | TOF_GESTURES_DEBUG(DIRSWIPE_1,"Too slow"); |
mapellil | 7:d79cbeda2982 | 92 | return_code = GESTURES_DISCARDED_TOO_SLOW; |
mapellil | 7:d79cbeda2982 | 93 | }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)){ |
mapellil | 7:d79cbeda2982 | 94 | // Gesture detected |
mapellil | 7:d79cbeda2982 | 95 | data->state = GESTURES_DIRSWIPE_1_START; |
mapellil | 7:d79cbeda2982 | 96 | return_code = (data->gesture_start_from_right) ? GESTURES_SWIPE_RIGHT_LEFT : GESTURES_SWIPE_LEFT_RIGHT; |
mapellil | 7:d79cbeda2982 | 97 | TOF_GESTURES_DEBUG(DIRSWIPE_1,"DETECTED"); |
mapellil | 7:d79cbeda2982 | 98 | }else{ |
mapellil | 7:d79cbeda2982 | 99 | // Waiting... |
mapellil | 7:d79cbeda2982 | 100 | TOF_GESTURES_DEBUG(DIRSWIPE_1,"Waiting..."); |
mapellil | 7:d79cbeda2982 | 101 | return_code = GESTURES_STARTED; |
mapellil | 7:d79cbeda2982 | 102 | } |
mapellil | 7:d79cbeda2982 | 103 | break; |
mapellil | 7:d79cbeda2982 | 104 | } |
mapellil | 7:d79cbeda2982 | 105 | return return_code; |
mapellil | 7:d79cbeda2982 | 106 | } |
mapellil | 7:d79cbeda2982 | 107 |