private void handleConfigResponse(ref LEAP_CONNECTION_MESSAGE configMsg)
{
LEAP_CONFIG_RESPONSE_EVENT config_response_evt = LeapC.PtrToStruct <LEAP_CONFIG_RESPONSE_EVENT>(configMsg.eventStructPtr);
string config_key = "";
_configRequests.TryGetValue(config_response_evt.requestId, out config_key);
if (config_key != null)
{
_configRequests.Remove(config_response_evt.requestId);
}
Config.ValueType dataType;
object value;
uint requestId = config_response_evt.requestId;
if (config_response_evt.value.type != eLeapValueType.eLeapValueType_String)
{
switch (config_response_evt.value.type)
{
case eLeapValueType.eLeapValueType_Boolean:
dataType = Config.ValueType.TYPE_BOOLEAN;
value = config_response_evt.value.boolValue;
break;
case eLeapValueType.eLeapValueType_Int32:
dataType = Config.ValueType.TYPE_INT32;
value = config_response_evt.value.intValue;
break;
case eLeapValueType.eleapValueType_Float:
dataType = Config.ValueType.TYPE_FLOAT;
value = config_response_evt.value.floatValue;
break;
default:
dataType = Config.ValueType.TYPE_UNKNOWN;
value = new object();
break;
}
}
else
{
LEAP_CONFIG_RESPONSE_EVENT_WITH_REF_TYPE config_ref_value =
LeapC.PtrToStruct <LEAP_CONFIG_RESPONSE_EVENT_WITH_REF_TYPE>(configMsg.eventStructPtr);
dataType = Config.ValueType.TYPE_STRING;
value = config_ref_value.value.stringValue;
}
SetConfigResponseEventArgs args = new SetConfigResponseEventArgs(config_key, dataType, value, requestId);
this.LeapConfigResponse.Dispatch <SetConfigResponseEventArgs>(this, args);
}
private void handleImageCompletion(ref LEAP_IMAGE_COMPLETE_EVENT imageMsg)
{
LEAP_IMAGE_PROPERTIES props = LeapC.PtrToStruct <LEAP_IMAGE_PROPERTIES>(imageMsg.properties);
ImageReference pendingImage = null;
lock (lockPendingImageList)
{
_pendingImageRequests.TryGetValue(imageMsg.token.requestID, out pendingImage);
}
if (pendingImage != null)
{
//Update distortion data, if changed
if ((_currentDistortionData.Version != imageMsg.matrix_version) || !_currentDistortionData.IsValid)
{
_currentDistortionData = new DistortionData();
_currentDistortionData.Version = imageMsg.matrix_version;
_currentDistortionData.Width = LeapC.DistortionSize; //fixed value for now
_currentDistortionData.Height = LeapC.DistortionSize; //fixed value for now
if (_currentDistortionData.Data == null || _currentDistortionData.Data.Length != (2 * _currentDistortionData.Width * _currentDistortionData.Height * 2))
{
_currentDistortionData.Data = new float[(int)(2 * _currentDistortionData.Width * _currentDistortionData.Height * 2)]; //2 float values per map point
}
LEAP_DISTORTION_MATRIX matrix = LeapC.PtrToStruct <LEAP_DISTORTION_MATRIX>(imageMsg.distortionMatrix);
Array.Copy(matrix.matrix_data, _currentDistortionData.Data, matrix.matrix_data.Length);
this.LeapDistortionChange.Dispatch <DistortionEventArgs>(this, new DistortionEventArgs(_currentDistortionData));
}
pendingImage.imageData.CompleteImageData(props.type,
props.format,
props.bpp,
props.width,
props.height,
imageMsg.info.timestamp,
imageMsg.info.frame_id,
props.x_offset,
props.y_offset,
props.x_scale,
props.y_scale,
_currentDistortionData,
LeapC.DistortionSize,
imageMsg.matrix_version);
Image completedImage = pendingImage.imageObject;
lock (lockPendingImageList)
{
_pendingImageRequests.Remove(imageMsg.token.requestID);
}
this.LeapImageReady.Dispatch <ImageEventArgs>(this, new ImageEventArgs(completedImage));
}
}
public Hand makeHand(ref LEAP_HAND hand, Frame owningFrame)
{
LEAP_BONE arm = LeapC.PtrToStruct <LEAP_BONE>(hand.arm);
Arm newArm = makeArm(ref arm);
LEAP_PALM palm = LeapC.PtrToStruct <LEAP_PALM>(hand.palm);
Hand newHand = new Hand(
(int)owningFrame.Id,
(int)hand.id,
hand.confidence,
hand.grab_strength,
hand.grab_angle,
hand.pinch_strength,
hand.pinch_distance,
palm.width,
hand.type == eLeapHandType.eLeapHandType_Left,
hand.visible_time,
newArm,
new List <Finger>(5),
new Vector(palm.position.x, palm.position.y, palm.position.z),
new Vector(palm.stabilized_position.x, palm.stabilized_position.y, palm.stabilized_position.z),
new Vector(palm.velocity.x, palm.velocity.y, palm.velocity.z),
new Vector(palm.normal.x, palm.normal.y, palm.normal.z),
new Vector(palm.direction.x, palm.direction.y, palm.direction.z),
newArm.NextJoint //wrist position
);
LEAP_DIGIT thumbDigit = LeapC.PtrToStruct <LEAP_DIGIT>(hand.thumb);
newHand.Fingers.Insert(0, makeFinger(owningFrame, ref hand, ref thumbDigit, Finger.FingerType.TYPE_THUMB));
LEAP_DIGIT indexDigit = LeapC.PtrToStruct <LEAP_DIGIT>(hand.index);
newHand.Fingers.Insert(1, makeFinger(owningFrame, ref hand, ref indexDigit, Finger.FingerType.TYPE_INDEX));
LEAP_DIGIT middleDigit = LeapC.PtrToStruct <LEAP_DIGIT>(hand.middle);
newHand.Fingers.Insert(2, makeFinger(owningFrame, ref hand, ref middleDigit, Finger.FingerType.TYPE_MIDDLE));
LEAP_DIGIT ringDigit = LeapC.PtrToStruct <LEAP_DIGIT>(hand.ring);
newHand.Fingers.Insert(3, makeFinger(owningFrame, ref hand, ref ringDigit, Finger.FingerType.TYPE_RING));
LEAP_DIGIT pinkyDigit = LeapC.PtrToStruct <LEAP_DIGIT>(hand.pinky);
newHand.Fingers.Insert(4, makeFinger(owningFrame, ref hand, ref pinkyDigit, Finger.FingerType.TYPE_PINKY));
return(newHand);
}
public Frame makeFrame(ref LEAP_TRACKING_EVENT trackingMsg)
{
Frame newFrame = new Leap.Frame((long)trackingMsg.info.frame_id,
(long)trackingMsg.info.timestamp,
trackingMsg.framerate,
new InteractionBox(trackingMsg.interaction_box_center.ToLeapVector(),
trackingMsg.interaction_box_size.ToLeapVector()),
new List <Hand>((int)trackingMsg.nHands)
);
int pHandArrayOffset = 0;
for (int h = 0; h < trackingMsg.nHands; h++)
{
LEAP_HAND hand = LeapC.PtrToStruct <LEAP_HAND>(new IntPtr(trackingMsg.pHands.ToInt64() + pHandArrayOffset));
pHandArrayOffset += handStructSize;
newFrame.Hands.Add(makeHand(ref hand, newFrame));
}
return(newFrame);
}
//Run in Polster thread, fills in object queues
private void processMessages()
{
try
{
eLeapRS result;
LeapInit.Dispatch <LeapEventArgs>(this, new LeapEventArgs(LeapEvent.EVENT_INIT));
while (_isRunning)
{
if (_leapConnection != IntPtr.Zero)
{
LEAP_CONNECTION_MESSAGE _msg = new LEAP_CONNECTION_MESSAGE();
uint timeout = 1000;
result = LeapC.PollConnection(_leapConnection, timeout, ref _msg);
reportAbnormalResults("LeapC PollConnection call was ", result);
if (result == eLeapRS.eLeapRS_Success)
{
switch (_msg.type)
{
case eLeapEventType.eLeapEventType_Connection:
LEAP_CONNECTION_EVENT connection_evt = LeapC.PtrToStruct <LEAP_CONNECTION_EVENT>(_msg.eventStructPtr);
handleConnection(ref connection_evt);
break;
case eLeapEventType.eLeapEventType_ConnectionLost:
LEAP_CONNECTION_LOST_EVENT connection_lost_evt = LeapC.PtrToStruct <LEAP_CONNECTION_LOST_EVENT>(_msg.eventStructPtr);
handleConnectionLost(ref connection_lost_evt);
break;
case eLeapEventType.eLeapEventType_Device:
LEAP_DEVICE_EVENT device_evt = LeapC.PtrToStruct <LEAP_DEVICE_EVENT>(_msg.eventStructPtr);
handleDevice(ref device_evt);
break;
case eLeapEventType.eLeapEventType_DeviceLost:
LEAP_DEVICE_EVENT device_lost_evt = LeapC.PtrToStruct <LEAP_DEVICE_EVENT>(_msg.eventStructPtr);
handleLostDevice(ref device_lost_evt);
break;
case eLeapEventType.eLeapEventType_DeviceFailure:
LEAP_DEVICE_FAILURE_EVENT device_failure_evt = LeapC.PtrToStruct <LEAP_DEVICE_FAILURE_EVENT>(_msg.eventStructPtr);
handleFailedDevice(ref device_failure_evt);
break;
case eLeapEventType.eLeapEventType_Tracking:
LEAP_TRACKING_EVENT tracking_evt = LeapC.PtrToStruct <LEAP_TRACKING_EVENT>(_msg.eventStructPtr);
handleTrackingMessage(ref tracking_evt);
break;
case eLeapEventType.eLeapEventType_ImageComplete:
completeCount++;
LEAP_IMAGE_COMPLETE_EVENT image_complete_evt = LeapC.PtrToStruct <LEAP_IMAGE_COMPLETE_EVENT>(_msg.eventStructPtr);
handleImageCompletion(ref image_complete_evt);
break;
case eLeapEventType.eLeapEventType_ImageRequestError:
failedCount++;
LEAP_IMAGE_FRAME_REQUEST_ERROR_EVENT failed_image_evt = LeapC.PtrToStruct <LEAP_IMAGE_FRAME_REQUEST_ERROR_EVENT>(_msg.eventStructPtr);
handleFailedImageRequest(ref failed_image_evt);
break;
case eLeapEventType.eLeapEventType_TrackedQuad:
LEAP_TRACKED_QUAD_EVENT quad_evt = LeapC.PtrToStruct <LEAP_TRACKED_QUAD_EVENT>(_msg.eventStructPtr);
handleQuadMessage(ref quad_evt);
break;
case eLeapEventType.eLeapEventType_LogEvent:
LEAP_LOG_EVENT log_evt = LeapC.PtrToStruct <LEAP_LOG_EVENT>(_msg.eventStructPtr);
reportLogMessage(ref log_evt);
break;
case eLeapEventType.eLeapEventType_PolicyChange:
LEAP_POLICY_EVENT policy_evt = LeapC.PtrToStruct <LEAP_POLICY_EVENT>(_msg.eventStructPtr);
handlePolicyChange(ref policy_evt);
break;
case eLeapEventType.eLeapEventType_ConfigChange:
LEAP_CONFIG_CHANGE_EVENT config_change_evt = LeapC.PtrToStruct <LEAP_CONFIG_CHANGE_EVENT>(_msg.eventStructPtr);
handleConfigChange(ref config_change_evt);
break;
case eLeapEventType.eLeapEventType_ConfigResponse:
handleConfigResponse(ref _msg);
break;
default:
//discard unknown message types
Logger.Log("Unhandled message type " + Enum.GetName(typeof(eLeapEventType), _msg.type));
break;
} //switch on _msg.type
} // if valid _msg.type
else if (result == eLeapRS.eLeapRS_NotConnected)
{
this.LeapConnectionLost.Dispatch <ConnectionLostEventArgs>(this, new ConnectionLostEventArgs());
result = LeapC.CreateConnection(out _leapConnection);
reportAbnormalResults("LeapC CreateConnection call was ", result);
result = LeapC.OpenConnection(_leapConnection);
reportAbnormalResults("LeapC OpenConnection call was ", result);
}
} // if have connection handle
} //while running
}
catch (Exception e)
{
Logger.Log("Exception: " + e);
}
}
