Mindstorms ev3 control with Leap Motion

remote_ctl_pub.py

import Leap, sys
import paho.mqtt.client as mqtt
from Leap import CircleGesture

client = mqtt.Client()
client.connect("localhost",1883,60)

class SampleListener(Leap.Listener):
    def on_connect(self, controller):
        controller.enable_gesture(Leap.Gesture.TYPE_CIRCLE);

    def on_frame(self, controller):
        # Get the most recent frame and report some basic information
        frame = controller.frame()

        if frame.id % 10 != 0:
            return

        hands = frame.hands
        hand = hands[0] # first hand
        x = hand.palm_position[0]
        y = hand.palm_position[1]
        z = hand.palm_position[2]

        print hand.palm_position
        if z < 0:
            client.publish("topic/motor/dt", str(50) + "," + str(50))
        elif z > 0:
            client.publish("topic/motor/dt", str(-50) + "," + str(-50))
        elif x == 0 and y == 0 and z == 0:
            client.publish("topic/motor/dt", str(0) + "," + str(0))

        for gesture in frame.gestures():
            if gesture.type == Leap.Gesture.TYPE_CIRCLE:
                circle = Leap.CircleGesture(gesture)
                if (circle.pointable.direction.angle_to(circle.normal) <= Leap.PI / 2):
                    client.publish("topic/motor/dt", str(-50) + "," + str(50))
                else:
                    client.publish("topic/motor/dt", str(50) + "," + str(-50))


def main():
    # Create a sample listener and controller
    listener = SampleListener()
    controller = Leap.Controller()

    # Have the sample listener receive events from the controller
    controller.add_listener(listener)

    # Keep this process running until Enter is pressed
    print "Press Enter to quit..."
    try:
        sys.stdin.readline()
    except KeyboardInterrupt:
        pass
    finally:
        # Remove the sample listener when done
        controller.remove_listener(listener)


if __name__ == "__main__":
    main()

remote_ctl_sub.py

# !/usr/bin/env python3

import paho.mqtt.client as mqtt
from ev3dev.auto import *

ma = Motor(OUTPUT_A)
md = Motor(OUTPUT_D)

def on_connect(client, userdata, flags, rc):
    print("Connected with result code " + str(rc))
    client.subscribe("topic/motor/dt")


def on_message(client, userdata, msg):
    msg_str = msg.payload.decode("utf-8")
    msg_array = msg_str.split(",")
    ma.duty_cycle_sp = msg_array[0]
    md.duty_cycle_sp = msg_array[1]

client = mqtt.Client()
client.connect("192.168.3.4" ,1883 ,60)

client.on_connect = on_connect
client.on_message = on_message

ma.run_direct()
md.run_direct()
ma.duty_cycle_sp = 0
md.duty_cycle_sp = 0

client.loop_forever()