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/*
* Copyright (C) 2023 The Android Open Source Project
*
* 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.
*/
#pragma once
#include <array>
#include <cstddef>
#include <cstdint>
#include <memory>
#include <optional>
#include <span>
#include <android-base/mapped_file.h>
#include <input/RingBuffer.h>
#include <utils/Timers.h>
#include <tensorflow/lite/core/api/error_reporter.h>
#include <tensorflow/lite/interpreter.h>
#include <tensorflow/lite/model.h>
#include <tensorflow/lite/signature_runner.h>
namespace android {
struct TfLiteMotionPredictorSample {
// The untransformed AMOTION_EVENT_AXIS_X and AMOTION_EVENT_AXIS_Y of the sample.
struct Point {
float x;
float y;
} position;
// The AMOTION_EVENT_AXIS_PRESSURE, _TILT, and _ORIENTATION.
float pressure;
float tilt;
float orientation;
};
inline TfLiteMotionPredictorSample::Point operator-(const TfLiteMotionPredictorSample::Point& lhs,
const TfLiteMotionPredictorSample::Point& rhs) {
return {.x = lhs.x - rhs.x, .y = lhs.y - rhs.y};
}
class TfLiteMotionPredictorModel;
// Buffer storage for a TfLiteMotionPredictorModel.
class TfLiteMotionPredictorBuffers {
public:
// Creates buffer storage for a model with the given input length.
TfLiteMotionPredictorBuffers(size_t inputLength);
// Adds a motion sample to the buffers.
void pushSample(int64_t timestamp, TfLiteMotionPredictorSample sample);
// Returns true if the buffers are complete enough to generate a prediction.
bool isReady() const {
// Predictions can't be applied unless there are at least two points to determine
// the direction to apply them in.
return mAxisFrom && mAxisTo;
}
// Resets all buffers to their initial state.
void reset();
// Copies the buffers to those of a model for prediction.
void copyTo(TfLiteMotionPredictorModel& model) const;
// Returns the current axis of the buffer's samples. Only valid if isReady().
TfLiteMotionPredictorSample axisFrom() const { return *mAxisFrom; }
TfLiteMotionPredictorSample axisTo() const { return *mAxisTo; }
// Returns the timestamp of the last sample.
int64_t lastTimestamp() const { return mTimestamp; }
private:
int64_t mTimestamp = 0;
RingBuffer<float> mInputR;
RingBuffer<float> mInputPhi;
RingBuffer<float> mInputPressure;
RingBuffer<float> mInputTilt;
RingBuffer<float> mInputOrientation;
// The samples defining the current polar axis.
std::optional<TfLiteMotionPredictorSample> mAxisFrom;
std::optional<TfLiteMotionPredictorSample> mAxisTo;
};
// A TFLite model for generating motion predictions.
class TfLiteMotionPredictorModel {
public:
struct Config {
// The time between predictions.
nsecs_t predictionInterval = 0;
// The noise floor for predictions.
// Distances (r) less than this should be discarded as noise.
float distanceNoiseFloor = 0;
};
// Creates a model from an encoded Flatbuffer model.
static std::unique_ptr<TfLiteMotionPredictorModel> create();
~TfLiteMotionPredictorModel();
// Returns the length of the model's input buffers.
size_t inputLength() const;
// Returns the length of the model's output buffers.
size_t outputLength() const;
const Config& config() const { return mConfig; }
// Executes the model.
// Returns true if the model successfully executed and the output tensors can be read.
bool invoke();
// Returns mutable buffers to the input tensors of inputLength() elements.
std::span<float> inputR();
std::span<float> inputPhi();
std::span<float> inputPressure();
std::span<float> inputOrientation();
std::span<float> inputTilt();
// Returns immutable buffers to the output tensors of identical length. Only valid after a
// successful call to invoke().
std::span<const float> outputR() const;
std::span<const float> outputPhi() const;
std::span<const float> outputPressure() const;
private:
explicit TfLiteMotionPredictorModel(std::unique_ptr<android::base::MappedFile> model,
Config config);
void allocateTensors();
void attachInputTensors();
void attachOutputTensors();
TfLiteTensor* mInputR = nullptr;
TfLiteTensor* mInputPhi = nullptr;
TfLiteTensor* mInputPressure = nullptr;
TfLiteTensor* mInputTilt = nullptr;
TfLiteTensor* mInputOrientation = nullptr;
const TfLiteTensor* mOutputR = nullptr;
const TfLiteTensor* mOutputPhi = nullptr;
const TfLiteTensor* mOutputPressure = nullptr;
std::unique_ptr<android::base::MappedFile> mFlatBuffer;
std::unique_ptr<tflite::ErrorReporter> mErrorReporter;
std::unique_ptr<tflite::FlatBufferModel> mModel;
std::unique_ptr<tflite::Interpreter> mInterpreter;
tflite::SignatureRunner* mRunner = nullptr;
const Config mConfig = {};
};
} // namespace android
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