reorg again

.gitignore

@@ -8,3 +8,5 @@ Cargo.lock
 
 # These are backup files generated by rustfmt
 **/*.rs.bk
+
+bazel-*

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "ostream": "cpp"
+    }
+}

Cargo.toml

@@ -1,7 +1,2 @@
 [workspace]
-members = [
+members = ["libodm"]
-    "libleap-sys",
-#     "libleap",
-#     "libodm",
-#     "snapscan",
-]

libleap/Cargo.toml

@@ -1,13 +0,0 @@
-[package]
-name = "libleap"
-version = "0.1.0"
-authors = ["Evan Pratten <ewpratten@gmail.com>"]
-edition = "2018"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-leap-sys = "0.1.1"
-num = "0.4"
-num-derive = "0.3"
-num-traits = "0.2" 

libleap/src/error.rs

@@ -1,72 +0,0 @@
-use leap_sys::eLeapRS;
-
-#[derive(FromPrimitive, Debug)]
-pub enum LeapError {
-    /// The operation completed successfully.
-    Success = 0,
-    /// An undetermined error has occurred.
-    /// This is usually the result of an abnormal operating condition in LeapC,
-    /// the Leap Motion service, or the host computer itself.
-    UnknownError = -503250944,
-    /// An invalid argument was specified.
-    InvalidArgument = -503250943,
-    /// Insufficient resources existed to complete the request.
-    InsufficientResources = -503250942,
-    /// The specified buffer was not large enough to complete the request.
-    InsufficientBuffer = -503250941,
-    /// The requested operation has timed out.
-    Timeout = -503250940,
-    /// The operation is invalid because there is no current connection.
-    NotConnected = -503250939,
-    /// The operation is invalid because the connection is not complete.
-    HandshakeIncomplete = -503250938,
-    /// The specified buffer size is too large.
-    BufferSizeOverflow = -503250937,
-    /// A communications protocol error occurred.
-    ProtocolError = -503250936,
-    /// The server incorrectly specified zero as a client ID.
-    InvalidClientID = -503250935,
-    /// The connection to the service was unexpectedly closed while reading or writing a message.
-    /// The server may have terminated.
-    UnexpectedClosed = -503250934,
-    /// The specified request token does not appear to be valid
-    ///
-    /// Provided that the token value which identifies the request itself was, at one point, valid, this
-    /// error condition occurs when the request to which the token refers has already been satisfied or
-    /// is currently being satisfied.
-    UnknownImageFrameRequest = -503250933,
-    /// The specified frame ID is not valid or is no longer valid
-    ///
-    /// Provided that frame ID was, at one point, valid, this error condition occurs when the identifier
-    /// refers to a frame that occurred further in the past than is currently recorded in the rolling
-    /// frame window.
-    UnknownTrackingFrameID = -503250932,
-    /// The specified timestamp references a future point in time
-    ///
-    /// The related routine can only operate on time points having occurred in the past, and the
-    /// provided timestamp occurs in the future.
-    RoutineIsNotSeer = -503250931,
-    /// The specified timestamp references a point too far in the past
-    ///
-    /// The related routine can only operate on time points occurring within its immediate record of
-    /// the past.
-    TimestampTooEarly = -503250930,
-    /// LeapPollConnection is called concurrently.
-    ConcurrentPoll = -503250929,
-    /// A connection to the Leap Motion service could not be established.
-    NotAvailable = -419364862,
-    /// The requested operation can only be performed while the device is sending data.
-    NotStreaming = -419364860,
-    /// The specified device could not be opened. It is possible that the device identifier
-    /// is invalid, or that the device has been disconnected since being enumerated.
-    CannotOpenDevice = -419364859,
-}
-
-impl From<eLeapRS> for LeapError {
-    fn from(error: eLeapRS) -> Self {
-        match num::FromPrimitive::from_i32(error) {
-            Some(e) => e,
-            None => Self::UnknownError,
-        }
-    }
-}

libleap/src/event.rs

@@ -1,86 +0,0 @@
-//! Wrappers for LeapMotion device events
-
-use leap_sys::{
-    LEAP_CONFIG_CHANGE_EVENT, LEAP_CONFIG_RESPONSE_EVENT, LEAP_CONNECTION_EVENT,
-    LEAP_CONNECTION_LOST_EVENT, LEAP_CONNECTION_MESSAGE, LEAP_DEVICE_EVENT,
-    LEAP_DEVICE_FAILURE_EVENT, LEAP_HEAD_POSE_EVENT, LEAP_IMAGE_EVENT, LEAP_LOG_EVENT,
-    LEAP_LOG_EVENTS, LEAP_POINT_MAPPING_CHANGE_EVENT, LEAP_POLICY_EVENT, LEAP_TRACKING_EVENT,
-};
-
-#[derive(Debug)]
-pub enum Event {
-    Invalid,
-    Connection(*const LEAP_CONNECTION_EVENT),
-    ConnectionLost(*const LEAP_CONNECTION_LOST_EVENT),
-    Device(*const LEAP_DEVICE_EVENT),
-    DeviceLost(*const LEAP_DEVICE_EVENT),
-    DeviceFailure(*const LEAP_DEVICE_FAILURE_EVENT),
-    Tracking(*const LEAP_TRACKING_EVENT),
-    ImageComplete,
-    ImageRequestError,
-    LogEvent(*const LEAP_LOG_EVENT),
-    Policy(*const LEAP_POLICY_EVENT),
-    ConfigChange(*const LEAP_CONFIG_CHANGE_EVENT),
-    ConfigResponse(*const LEAP_CONFIG_RESPONSE_EVENT),
-    Image(*const LEAP_IMAGE_EVENT),
-    PointMappingChange(*const LEAP_POINT_MAPPING_CHANGE_EVENT),
-    LogEvents(*const LEAP_LOG_EVENTS),
-    HeadPose(*const LEAP_HEAD_POSE_EVENT),
-}
-
-impl From<LEAP_CONNECTION_MESSAGE> for Event {
-    #[allow(non_snake_case)]
-    fn from(message: LEAP_CONNECTION_MESSAGE) -> Self {
-        unsafe {
-            match message.type_ {
-                leap_sys::_eLeapEventType_eLeapEventType_Connection => {
-                    Self::Connection(message.__bindgen_anon_1.connection_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_ConnectionLost => {
-                    Self::ConnectionLost(message.__bindgen_anon_1.connection_lost_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_Device => {
-                    Self::Device(message.__bindgen_anon_1.device_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_DeviceLost => {
-                    Self::DeviceLost(message.__bindgen_anon_1.device_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_DeviceFailure => {
-                    Self::DeviceFailure(message.__bindgen_anon_1.device_failure_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_Tracking => {
-                    Self::Tracking(message.__bindgen_anon_1.tracking_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_ImageComplete => Self::ImageComplete,
-                leap_sys::_eLeapEventType_eLeapEventType_ImageRequestError => {
-                    Self::ImageRequestError
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_LogEvent => {
-                    Self::LogEvent(message.__bindgen_anon_1.log_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_Policy => {
-                    Self::Policy(message.__bindgen_anon_1.policy_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_ConfigChange => {
-                    Self::ConfigChange(message.__bindgen_anon_1.config_change_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_ConfigResponse => {
-                    Self::ConfigResponse(message.__bindgen_anon_1.config_response_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_Image => {
-                    Self::Image(message.__bindgen_anon_1.image_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_PointMappingChange => {
-                    Self::PointMappingChange(message.__bindgen_anon_1.point_mapping_change_event)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_LogEvents => {
-                    Self::LogEvents(message.__bindgen_anon_1.log_events)
-                }
-                leap_sys::_eLeapEventType_eLeapEventType_HeadPose => {
-                    Self::HeadPose(message.__bindgen_anon_1.head_pose_event)
-                }
-                _ => Self::Invalid,
-            }
-        }
-    }
-}

libleap/src/lib.rs

@@ -1,140 +0,0 @@
-#[macro_use]
-extern crate num_derive;
-
-use std::{sync::{
-        mpsc::{self, Sender},
-        Arc,
-    }, thread::Thread, time::{Duration, SystemTime}};
-
-use error::LeapError;
-use event::Event;
-use leap_sys::{
-     _eLeapRS_eLeapRS_Success,
-    LEAP_CONNECTION, LEAP_CONNECTION_MESSAGE,LeapCreateConnection, LeapOpenConnection, LeapPollConnection
-};
-// use ffi::{LeapCreateConnection, LeapOpenConnection, LeapPollConnection};
-
-pub mod error;
-pub mod event;
-// pub mod ffi;
-
-// Cheaty way to ensure only one LeapDevice is created
-static mut LEAP_DEVICE_EXISTS: bool = false;
-
-/// Wrapper around a LeapMotion device
-pub struct LeapDevice {
-    /// Device handle
-    handle: LEAP_CONNECTION,
-
-    /// Storage for incoming messages
-    latest_message: *mut LEAP_CONNECTION_MESSAGE,
-
-    /// Weather the device is connected
-    connected: bool,
-}
-
-impl LeapDevice {
-
-    /// Open a connection to the first found LeapMotion device and wait for a connection or timeout
-    pub fn new(timeout: Duration) -> Result<Self, LeapError> {
-
-        // Connect to the device
-        let mut device = Self::new_raw()?;
-
-        // Track the start time
-        let start = SystemTime::now();
-        loop {
-
-            // Handle timeout
-            if start.elapsed().unwrap() > timeout {
-                return Err(LeapError::Timeout);
-            }
-
-            // Poll for an event and let the handler do its work
-            let _ = device.fetch_event();
-
-        }
-
-        Ok(device)
-
-    }
-
-    /// Open a connection to the first found LeapMotion device
-    pub fn new_raw() -> Result<Self, LeapError> {
-        // Handle being called too many times
-        unsafe {
-            if LEAP_DEVICE_EXISTS {
-                panic!("Tried to call LeapDevice::new() more than once!");
-            }
-        }
-
-        // Create a connection handle
-        let handle = std::ptr::null_mut();
-
-        // Try to create a connection
-        let result;
-        unsafe {
-            result = LeapCreateConnection(std::ptr::null(), handle);
-        }
-        if result != _eLeapRS_eLeapRS_Success {
-            return Err(result.into());
-        }
-
-        // Try to open a connection
-        let result;
-        unsafe {
-            result = LeapOpenConnection(*handle);
-        }
-        if result != _eLeapRS_eLeapRS_Success {
-            return Err(result.into());
-        }
-
-        // Set the device flag
-        unsafe {
-            LEAP_DEVICE_EXISTS = true;
-        }
-
-        unsafe {
-            Ok(Self {
-                handle: *handle,
-                latest_message: std::ptr::null_mut(),
-                connected: false
-            })
-        }
-    }
-
-
-
-    /// Fetch the latest event from the device
-    pub fn fetch_event(&mut self) -> Result<Event, LeapError> {
-        // Poll for a new message
-        let result;
-        unsafe {
-            result = LeapPollConnection(self.handle, 1000, self.latest_message);
-        }
-        if result != _eLeapRS_eLeapRS_Success {
-            return Err(result.into());
-        }
-
-        // Deref and convert into an event
-        let event: Event;
-        unsafe {
-            event = (*self.latest_message).into();
-        }
-
-        // Handle checking connection status
-        match event {
-            Event::Connection(_) => self.connected = true,
-            Event::ConnectionLost(_) => self.connected = false,
-            _ => {}
-        };
-
-        Ok(event)
-    }
-}
-
-impl Drop for LeapDevice {
-    fn drop(&mut self) {
-        todo!()
-    }
-}

libodm/Cargo.toml

@@ -3,9 +3,8 @@ name = "libodm"
 version = "0.1.0"
 authors = ["Evan Pratten <ewpratten@gmail.com>"]
 edition = "2018"
+build = "build.rs"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-opencv = "0.53.0"
-leap-sys = "0.1.1"

libodm/cpp/wrapper.cc

@@ -0,0 +1,68 @@
+#include <iostream>
+#include "../lib/Leap.h"
+
+using namespace Leap;
+
+class LeapEventListener : public Listener
+{
+public:
+    virtual void onConnect(const Controller &);
+    virtual void onDisconnect(const Controller &);
+    virtual void onFrame(const Controller &);
+};
+
+void LeapEventListener::onConnect(const Controller &controller)
+{
+    std::cout << "Connected" << std::endl;
+    // Enable gestures, set Config values:
+    controller.enableGesture(Gesture::TYPE_SWIPE);
+    controller.config().setFloat("Gesture.Swipe.MinLength", 200.0);
+    controller.config().save();
+}
+
+//Not dispatched when running in a debugger
+void LeapEventListener::onDisconnect(const Controller &controller)
+{
+    std::cout << "Disconnected" << std::endl;
+}
+
+void LeapEventListener::onFrame(const Controller &controller)
+{
+    std::cout << "New frame available" << std::endl;
+    Frame frame = controller.frame();
+    
+    // Get the camera images
+    ImageList images = frame.images();
+
+    // We require two images
+    if (images.count() != 2){
+        std::cout << "Not enough images received" << std::endl;
+        return;
+    }
+    
+    // Build a protobuf repr of the image data
+    FrameStreamMessage message;
+    message.set_frame_height(images[0].height());
+    message.set_frame_width(images[0].width());
+    message.set_pixel_bytes(images[0].bytesPerPixel());
+    message.set_left_image((char*) images[0].data());
+    message.set_right_image((char*) images[1].data());
+
+    
+}
+
+int main()
+{
+
+    // Access to the LeapMotion device along with callback setup
+    Controller controller;
+    LeapEventListener listener;
+    controller.addListener(listener);
+    controller.setPolicy(Leap::Controller::POLICY_IMAGES);
+
+    while(true){
+
+    }
+
+    return 0;
+}

libodm/src/lib.rs

@@ -0,0 +1 @@
+mod ffi;

snapscan/Cargo.toml

@@ -1,11 +0,0 @@
-[package]
-name = "snapscan"
-version = "0.1.0"
-authors = ["Evan Pratten <ewpratten@gmail.com>"]
-edition = "2018"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-[dependencies]
-clap = "2.33.3"
-libleap = { verison = "0.1.0", path = "../libleap" }
-libodm = { verison = "0.1.0", path = "../libodm" }

snapscan/src/main.rs

@@ -1,15 +0,0 @@
-use std::time::Duration;
-
-use clap::{value_t, App, Arg};
-use libleap::LeapDevice;
-
-fn main() {
-    let matches = App::new("snapscan")
-        .author("Evan Pratten <ewpratten@gmail.com>")
-        .get_matches();
-
-        // Open a connection to the device 
-        let device = LeapDevice::new(Duration::from_secs(1)).unwrap();
-
-        println!("Connected to LeapMotion device");
-}