hayodea
27a5d48451
We now produce both light and dark ambience stimframes into stimbuffs for the LivoxGen1 lidar devices.
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
#ifndef _LIVOX_GEN1_PCLOUD_LIGHT_AMBIENCE_STIMULUS_BUFFER_H
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#define _LIVOX_GEN1_PCLOUD_LIGHT_AMBIENCE_STIMULUS_BUFFER_H
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#include <cstddef>
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#include <cstdint>
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#include <memory>
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#include <optional>
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#include <user/deviceAttachmentSpec.h>
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#include <user/intrin.h>
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#include <user/intrinThresholdParams.h>
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#include <user/stagingBuffer.h>
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#include <user/stimulusBuffer.h>
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#include "pcloudAmbienceQualeIfaceApi.h"
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namespace smo {
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namespace stim_buff {
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class StimulusProducer;
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/**
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* Sensory pcloudLightAmbience buffer: one uint32 stimspot per stimframe —
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* the count of per-frame slots whose average intensity exceeds the
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* qualeIface's passband-count-gt-val. A DAP spec may optionally attach a
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* negtrin(...) specifier (scene is "unbearably much, get away"); postrin
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* is not valid on this qualeIfaceApi.
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*/
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class PcloudLightAmbienceStimulusBuffer
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: public StimulusBuffer
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{
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public:
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explicit PcloudLightAmbienceStimulusBuffer(
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StimulusProducer& parent,
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const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec,
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int histbuffMs,
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const StagingBuffer::IOEngineConstraints& inputEngineConstraints,
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const StagingBuffer::IOEngineConstraints& outputEngineConstraints,
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const SmoCallbacks& callbacks,
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cl_mem_flags flags,
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size_t nDgramsPerFrame_)
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: StimulusBuffer(
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parent, deviceAttachmentSpec, histbuffMs,
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inputEngineConstraints, outputEngineConstraints,
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callbacks, flags),
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nDgramsPerFrame(nDgramsPerFrame_)
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{
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intrin::validateNoIntrinParamsOnQualeIface(
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deviceAttachmentSpec->qualeIfaceApi,
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deviceAttachmentSpec->qualeIfaceApiParams);
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passbandCountGtComparator =
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parsePcloudLightAmbienceGtComparator(deviceAttachmentSpec);
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if (!deviceAttachmentSpec->postrin.empty())
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{
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throw std::runtime_error(
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"pcloudLightAmbience DAP spec for device '"
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+ deviceAttachmentSpec->deviceIdentifier
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+ "' declares a postrin(...); postrin belongs on a "
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"pcloudDarkAmbience line, not pcloudLightAmbience.");
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}
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if (!deviceAttachmentSpec->negtrin.empty())
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{
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negtrinInterestConfig = parseAmbienceIntrinConfigFromParams(
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"negtrin",
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deviceAttachmentSpec->negtrinParams,
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nDgramsPerFrame_);
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}
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}
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~PcloudLightAmbienceStimulusBuffer() = default;
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PcloudLightAmbienceStimulusBuffer(
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const PcloudLightAmbienceStimulusBuffer&) = delete;
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PcloudLightAmbienceStimulusBuffer& operator=(
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const PcloudLightAmbienceStimulusBuffer&) = delete;
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PcloudLightAmbienceStimulusBuffer(
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PcloudLightAmbienceStimulusBuffer&&) = delete;
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PcloudLightAmbienceStimulusBuffer& operator=(
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PcloudLightAmbienceStimulusBuffer&&) = delete;
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bool shouldTriggerNegtrinEvent(uint32_t ambiencePassbandCount) const
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{
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if (!negtrinInterestConfig.has_value()) { return false; }
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return ambiencePassbandCount >= negtrinInterestConfig->threshold;
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}
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public:
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size_t nDgramsPerFrame;
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ParamComparator passbandCountGtComparator;
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std::optional<intrin::IntrinConfig> negtrinInterestConfig;
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};
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} // namespace stim_buff
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} // namespace smo
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#endif // _LIVOX_GEN1_PCLOUD_LIGHT_AMBIENCE_STIMULUS_BUFFER_H
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