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February 17, 2020 22:07
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TensorFlow Lite Micro sketch for Arduino that captures gesture data for training magic wand gestures
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| /* Copyright 2020 The TensorFlow Authors. All Rights Reserved. | |
| Licensed under the Apache License, Version 2.0 (the "License"); | |
| you may not use this file except in compliance with the License. | |
| You may obtain a copy of the License at | |
| http://www.apache.org/licenses/LICENSE-2.0 | |
| Unless required by applicable law or agreed to in writing, software | |
| distributed under the License is distributed on an "AS IS" BASIS, | |
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| See the License for the specific language governing permissions and | |
| limitations under the License. | |
| ==============================================================================*/ | |
| #include <TensorFlowLite.h> | |
| #include "main_functions.h" | |
| #include "accelerometer_handler.h" | |
| #include "constants.h" | |
| #include "gesture_predictor.h" | |
| #include "magic_wand_model_data.h" | |
| #include "output_handler.h" | |
| #include "tensorflow/lite/micro/micro_error_reporter.h" | |
| // Globals, used for compatibility with Arduino-style sketches. | |
| namespace { | |
| // For accelerometer data. | |
| constexpr int kSensorArenaSize = 3 * 200; | |
| float sensor_arena[kSensorArenaSize]; | |
| tflite::ErrorReporter* error_reporter = nullptr; | |
| bool should_clear_buffer = true; | |
| int counter = 0; | |
| enum { eWaitingForUpright, ePendingUpright, eIsUpright, eRecordingGesture, eStarting} state = eStarting; | |
| int upright_found_time; | |
| int gesture_start_time; | |
| char* next_gesture = nullptr; | |
| } // namespace | |
| // The name of this function is important for Arduino compatibility. | |
| void setup() { | |
| // Set up logging. Google style is to avoid globals or statics because of | |
| // lifetime uncertainty, but since this has a trivial destructor it's okay. | |
| static tflite::MicroErrorReporter micro_error_reporter; // NOLINT | |
| error_reporter = µ_error_reporter; | |
| TfLiteStatus setup_status = SetupAccelerometer(error_reporter); | |
| if (setup_status != kTfLiteOk) { | |
| error_reporter->Report("Set up failed\n"); | |
| } | |
| } | |
| void loop() { | |
| const int input_length = 384; | |
| // Attempt to read new data from the accelerometer. | |
| bool got_data = ReadAccelerometer(error_reporter, sensor_arena, | |
| input_length, should_clear_buffer); | |
| // Don't try to clear the buffer again | |
| should_clear_buffer = false; | |
| // If there was no new data, wait until next time. | |
| if (!got_data) return; | |
| const int last_x = int(sensor_arena[input_length - 3]); | |
| const int last_y = int(sensor_arena[input_length - 2]); | |
| const int last_z = int(sensor_arena[input_length - 1]); | |
| const bool is_upright = ((fabsf(last_x) < 100) && (fabsf(last_y) < 100) && (last_z > 950)); | |
| switch (state) { | |
| case eStarting: { | |
| if (!next_gesture || (strcmp(next_gesture, "slope") == 0)) { | |
| next_gesture = "wing"; | |
| } else if (strcmp(next_gesture, "wing") == 0) { | |
| next_gesture = "ring"; | |
| } else if (strcmp(next_gesture, "ring") == 0) { | |
| next_gesture = "slope"; | |
| } else { | |
| next_gesture = "other"; | |
| } | |
| error_reporter->Report("# Hold the wand upright, you should see the left LED light up"); | |
| error_reporter->Report("# Hold it steady for three seconds, and then perform the %s gesture", next_gesture); | |
| state = ePendingUpright; | |
| } break; | |
| case ePendingUpright: { | |
| if (is_upright) { | |
| upright_found_time = counter; | |
| state = eIsUpright; | |
| } | |
| } break; | |
| case eIsUpright: { | |
| if (is_upright) { | |
| digitalWrite(LED_BUILTIN, HIGH); | |
| if ((counter - upright_found_time) > 75) { | |
| digitalWrite(LED_BUILTIN, LOW); | |
| error_reporter->Report("# Start the %s gesture", next_gesture); | |
| gesture_start_time = counter; | |
| state = eRecordingGesture; | |
| } | |
| } else { | |
| digitalWrite(LED_BUILTIN, LOW); | |
| state = ePendingUpright; | |
| } | |
| } break; | |
| case eRecordingGesture: { | |
| const int recording_time = 100; | |
| if ((counter - gesture_start_time) > recording_time) { | |
| error_reporter->Report("****************"); | |
| error_reporter->Report("gesture: %s", next_gesture); | |
| for (int offset = recording_time; offset > 0; --offset) { | |
| const int array_offset = (input_length - (offset * 3)); | |
| const int x = int(sensor_arena[array_offset + 0]); | |
| const int y = int(sensor_arena[array_offset + 1]); | |
| const int z = int(sensor_arena[array_offset + 2]); | |
| error_reporter->Report("x: %d y:%d z:%d", x, y, z); | |
| } | |
| error_reporter->Report("~~~~~~~~~~~~~~~~"); | |
| state = eStarting; | |
| } | |
| } break; | |
| } | |
| ++counter; | |
| } |
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