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DAP: Add intrin DAPSpecs

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We now specify intrins as separate DAPS lines. This syntax is much
nicer and well-grouped than the previous negtrin-*/postrin-* param
names.

Alas, we're about to replace it in the next few commits already though.
This commit is contained in:
Hayodea Hekol
2026-04-12 04:06:47 -04:00
parent c696316a1e
commit fc1fcae0b0
14 changed files with 595 additions and 284 deletions
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stimBuffApis/livoxGen1/pcloudAmbienceStimulusBuffer.h
+10 -173
View File
@@ -2,164 +2,22 @@
#define _LIVOX_GEN1_PCLOUD_AMBIENCE_STIMULUS_BUFFER_H
#include <memory>
#include <cstdint>
#include <cstddef>
#include <optional>
#include <vector>
#include <string>
#include <user/stimulusBuffer.h>
#include <user/stagingBuffer.h>
#include <user/deviceAttachmentSpec.h>
#include <user/intrinThresholdParams.h>
#include "pcloudAmbienceQualeIfaceApi.h"
namespace smo {
namespace stim_buff {
enum class IntrinStatus
{
DISABLED,
NEGTRIN,
POSTRIN,
};
struct ParsedAmbienceIntrinConfig
{
IntrinStatus status;
uint32_t interestPercentage;
uint32_t interestThreshold;
};
inline bool isAmbienceIntrinEnabled(IntrinStatus intrinStatus)
{
return intrinStatus != IntrinStatus::DISABLED;
}
inline intrin::ParsedThresholdParam parseAmbienceThresholdParam(
const std::string& paramName,
const std::string& paramValue,
intrin::ThresholdUnit unit)
{
try
{
return intrin::ParsedThresholdParam{
.value = std::stoi(paramValue),
.unit = unit,
.matchedName = paramName,
.wasSpecified = true,
};
}
catch (const std::exception& e)
{
throw std::runtime_error(
"Failed to parse '" + paramName + "' param value '" + paramValue
+ "' as integer: " + e.what());
}
}
inline ParsedAmbienceIntrinConfig buildAmbienceIntrinConfig(
IntrinStatus status,
const intrin::ParsedThresholdParam& thresholdParam,
size_t nDgramsPerFrame)
{
return ParsedAmbienceIntrinConfig{
.status = status,
.interestPercentage =
thresholdParam.unit == intrin::ThresholdUnit::Percentage
? static_cast<uint32_t>(thresholdParam.value)
: 0U,
.interestThreshold = intrin::resolveThresholdValue(
thresholdParam, nDgramsPerFrame),
};
}
inline std::optional<ParsedAmbienceIntrinConfig> tryParseAmbienceIntrinConfig(
const std::string& paramName,
const std::string& paramValue,
size_t nDgramsPerFrame)
{
using intrin::ThresholdUnit;
if (intrin::namesContain(intrin::kPosIntPcParamNames, paramName))
{
return buildAmbienceIntrinConfig(
IntrinStatus::POSTRIN,
parseAmbienceThresholdParam(
paramName, paramValue, ThresholdUnit::Percentage),
nDgramsPerFrame);
}
if (intrin::namesContain(intrin::kPosIntThrParamNames, paramName))
{
return buildAmbienceIntrinConfig(
IntrinStatus::POSTRIN,
parseAmbienceThresholdParam(
paramName, paramValue, ThresholdUnit::Absolute),
nDgramsPerFrame);
}
if (intrin::namesContain(intrin::kNegIntPcParamNames, paramName))
{
return buildAmbienceIntrinConfig(
IntrinStatus::NEGTRIN,
parseAmbienceThresholdParam(
paramName, paramValue, ThresholdUnit::Percentage),
nDgramsPerFrame);
}
if (intrin::namesContain(intrin::kNegIntThrParamNames, paramName))
{
return buildAmbienceIntrinConfig(
IntrinStatus::NEGTRIN,
parseAmbienceThresholdParam(
paramName, paramValue, ThresholdUnit::Absolute),
nDgramsPerFrame);
}
return std::nullopt;
}
inline ParsedAmbienceIntrinConfig parseAmbienceIntrinConfig(
const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec,
size_t nDgramsPerFrame)
{
const auto& params = deviceAttachmentSpec->qualeIfaceApiParams;
for (auto paramIt = params.rbegin(); paramIt != params.rend(); ++paramIt)
{
const auto& [paramName, paramValue] = *paramIt;
const auto parsedConfig = tryParseAmbienceIntrinConfig(
paramName, paramValue, nDgramsPerFrame);
if (parsedConfig.has_value())
{ return parsedConfig.value(); }
}
return ParsedAmbienceIntrinConfig{
.status = IntrinStatus::DISABLED,
.interestPercentage = 0U,
.interestThreshold = 0U,
};
}
inline void validateAmbienceIntrinComparatorConfig(
IntrinStatus intrinStatus,
const std::optional<ParamComparator>& ambienceCountComparator)
{
if (isAmbienceIntrinEnabled(intrinStatus)
&& !ambienceCountComparator.has_value())
{
throw std::runtime_error(
"A pcloudAmbience stim buff instance with an intrin threshold "
"must also specify either 'ambience-count-gt-val' or "
"'ambience-count-lt-val'");
}
}
// Forward declaration
class StimulusProducer;
/**
* PcloudAmbienceStimulusBuffer is a specialized StimulusBuffer for ambience point cloud data.
* Sensory PcloudAmbience buffer: per-dgram ambience floats only.
* Intrinsic thresholds and passband comparators are only valid on dedicated
* negtrin/postrin qualeIfaceApi specs (PcloudAmbienceIntrinStimulusBuffer);
* see docs/design/intrin-thresholds.md.
*/
class PcloudAmbienceStimulusBuffer
: public StimulusBuffer
@@ -180,42 +38,21 @@ public:
callbacks, flags),
nDgramsPerFrame(nDgramsPerFrame_)
{
intrin::validateNoForbiddenUnitlessIntrinParams(
intrin::validateIntrinsQualeApiPolicy(
deviceAttachmentSpec->qualeIfaceApi,
deviceAttachmentSpec->qualeIfaceApiParams);
const auto intrinConfig = parseAmbienceIntrinConfig(
deviceAttachmentSpec, nDgramsPerFrame_);
intrinStatus = intrinConfig.status;
intrinInterestPercentage = intrinConfig.interestPercentage;
intrinInterestThreshold = intrinConfig.interestThreshold;
ambienceCountComparator = parseOptionalPcloudAmbienceParamComparator(
deviceAttachmentSpec);
validateAmbienceIntrinComparatorConfig(
intrinStatus, ambienceCountComparator);
}
~PcloudAmbienceStimulusBuffer() = default;
bool shouldTriggerIntrinEvent(uint32_t ambiencePassbandCount) const
{
if (!isAmbienceIntrinEnabled(intrinStatus))
{ return false; }
return ambiencePassbandCount >= intrinInterestThreshold;
}
// Non-copyable, non-movable: inherited pinner lifetime is instance-bound
PcloudAmbienceStimulusBuffer(const PcloudAmbienceStimulusBuffer&) = delete;
PcloudAmbienceStimulusBuffer& operator=(const PcloudAmbienceStimulusBuffer&) = delete;
PcloudAmbienceStimulusBuffer& operator=(
const PcloudAmbienceStimulusBuffer&) = delete;
PcloudAmbienceStimulusBuffer(PcloudAmbienceStimulusBuffer&&) = delete;
PcloudAmbienceStimulusBuffer& operator=(PcloudAmbienceStimulusBuffer&&) = delete;
PcloudAmbienceStimulusBuffer& operator=(
PcloudAmbienceStimulusBuffer&&) = delete;
public:
IntrinStatus intrinStatus;
uint32_t intrinInterestPercentage;
uint32_t intrinInterestThreshold;
std::optional<ParamComparator> ambienceCountComparator;
size_t nDgramsPerFrame;
};