diff options
Diffstat (limited to '')
-rw-r--r-- | src/core/hle/service/hid/irs.cpp | 2 | ||||
-rw-r--r-- | src/core/hle/service/hid/irs_ring_lifo.h | 47 | ||||
-rw-r--r-- | src/core/hle/service/hid/irsensor/clustering_processor.cpp | 239 | ||||
-rw-r--r-- | src/core/hle/service/hid/irsensor/clustering_processor.h | 38 |
4 files changed, 320 insertions, 6 deletions
diff --git a/src/core/hle/service/hid/irs.cpp b/src/core/hle/service/hid/irs.cpp index d5107e41f..c4b44cbf9 100644 --- a/src/core/hle/service/hid/irs.cpp +++ b/src/core/hle/service/hid/irs.cpp @@ -166,7 +166,7 @@ void IRS::RunClusteringProcessor(Kernel::HLERequestContext& ctx) { if (result.IsSuccess()) { auto& device = GetIrCameraSharedMemoryDeviceEntry(parameters.camera_handle); - MakeProcessor<ClusteringProcessor>(parameters.camera_handle, device); + MakeProcessorWithCoreContext<ClusteringProcessor>(parameters.camera_handle, device); auto& image_transfer_processor = GetProcessor<ClusteringProcessor>(parameters.camera_handle); image_transfer_processor.SetConfig(parameters.processor_config); diff --git a/src/core/hle/service/hid/irs_ring_lifo.h b/src/core/hle/service/hid/irs_ring_lifo.h new file mode 100644 index 000000000..255d1d296 --- /dev/null +++ b/src/core/hle/service/hid/irs_ring_lifo.h @@ -0,0 +1,47 @@ +// SPDX-FileCopyrightText: Copyright 2022 yuzu Emulator Project +// SPDX-License-Identifier: GPL-3.0-or-later + +#pragma once + +#include <array> + +#include "common/common_types.h" + +namespace Service::IRS { + +template <typename State, std::size_t max_buffer_size> +struct Lifo { + s64 sampling_number{}; + s64 buffer_count{}; + std::array<State, max_buffer_size> entries{}; + + const State& ReadCurrentEntry() const { + return entries[GetBufferTail()]; + } + + const State& ReadPreviousEntry() const { + return entries[GetPreviousEntryIndex()]; + } + + s64 GetBufferTail() const { + return sampling_number % max_buffer_size; + } + + std::size_t GetPreviousEntryIndex() const { + return static_cast<size_t>((GetBufferTail() + max_buffer_size - 1) % max_buffer_size); + } + + std::size_t GetNextEntryIndex() const { + return static_cast<size_t>((GetBufferTail() + 1) % max_buffer_size); + } + + void WriteNextEntry(const State& new_state) { + if (buffer_count < static_cast<s64>(max_buffer_size)) { + buffer_count++; + } + sampling_number++; + entries[GetBufferTail()] = new_state; + } +}; + +} // namespace Service::IRS diff --git a/src/core/hle/service/hid/irsensor/clustering_processor.cpp b/src/core/hle/service/hid/irsensor/clustering_processor.cpp index 6479af212..e2f4ae876 100644 --- a/src/core/hle/service/hid/irsensor/clustering_processor.cpp +++ b/src/core/hle/service/hid/irsensor/clustering_processor.cpp @@ -1,34 +1,265 @@ // SPDX-FileCopyrightText: Copyright 2022 yuzu Emulator Project // SPDX-License-Identifier: GPL-3.0-or-later +#include <queue> + +#include "core/hid/emulated_controller.h" +#include "core/hid/hid_core.h" #include "core/hle/service/hid/irsensor/clustering_processor.h" namespace Service::IRS { -ClusteringProcessor::ClusteringProcessor(Core::IrSensor::DeviceFormat& device_format) - : device(device_format) { +ClusteringProcessor::ClusteringProcessor(Core::HID::HIDCore& hid_core_, + Core::IrSensor::DeviceFormat& device_format, + std::size_t npad_index) + : device{device_format} { + npad_device = hid_core_.GetEmulatedControllerByIndex(npad_index); + device.mode = Core::IrSensor::IrSensorMode::ClusteringProcessor; device.camera_status = Core::IrSensor::IrCameraStatus::Unconnected; device.camera_internal_status = Core::IrSensor::IrCameraInternalStatus::Stopped; + SetDefaultConfig(); + + shared_memory = std::construct_at( + reinterpret_cast<ClusteringSharedMemory*>(&device_format.state.processor_raw_data)); + + Core::HID::ControllerUpdateCallback engine_callback{ + .on_change = [this](Core::HID::ControllerTriggerType type) { OnControllerUpdate(type); }, + .is_npad_service = true, + }; + callback_key = npad_device->SetCallback(engine_callback); } -ClusteringProcessor::~ClusteringProcessor() = default; +ClusteringProcessor::~ClusteringProcessor() { + npad_device->DeleteCallback(callback_key); +}; -void ClusteringProcessor::StartProcessor() {} +void ClusteringProcessor::StartProcessor() { + device.camera_status = Core::IrSensor::IrCameraStatus::Available; + device.camera_internal_status = Core::IrSensor::IrCameraInternalStatus::Ready; +} void ClusteringProcessor::SuspendProcessor() {} void ClusteringProcessor::StopProcessor() {} +void ClusteringProcessor::OnControllerUpdate(Core::HID::ControllerTriggerType type) { + if (type != Core::HID::ControllerTriggerType::IrSensor) { + return; + } + + next_state = {}; + const auto camera_data = npad_device->GetCamera(); + auto filtered_image = camera_data.data; + + RemoveLowIntensityData(filtered_image); + + const auto window_start_x = static_cast<std::size_t>(current_config.window_of_interest.x); + const auto window_start_y = static_cast<std::size_t>(current_config.window_of_interest.y); + const auto window_end_x = + window_start_x + static_cast<std::size_t>(current_config.window_of_interest.width); + const auto window_end_y = + window_start_y + static_cast<std::size_t>(current_config.window_of_interest.height); + + for (std::size_t y = window_start_y; y < window_end_y; y++) { + for (std::size_t x = window_start_x; x < window_end_x; x++) { + u8 pixel = GetPixel(filtered_image, x, y); + if (pixel == 0) { + continue; + } + const auto cluster = GetClusterProperties(filtered_image, x, y); + if (cluster.pixel_count > current_config.pixel_count_max) { + continue; + } + if (cluster.pixel_count < current_config.pixel_count_min) { + continue; + } + // Cluster object limit reached + if (next_state.object_count >= next_state.data.size()) { + continue; + } + next_state.data[next_state.object_count] = cluster; + next_state.object_count++; + } + } + + next_state.sampling_number = camera_data.sample; + next_state.timestamp = next_state.timestamp + 131; + next_state.ambient_noise_level = Core::IrSensor::CameraAmbientNoiseLevel::Low; + shared_memory->clustering_lifo.WriteNextEntry(next_state); + + if (!IsProcessorActive()) { + StartProcessor(); + } +} + +void ClusteringProcessor::RemoveLowIntensityData(std::vector<u8>& data) { + for (u8& pixel : data) { + if (pixel < current_config.pixel_count_min) { + pixel = 0; + } + } +} + +ClusteringProcessor::ClusteringData ClusteringProcessor::GetClusterProperties(std::vector<u8>& data, + std::size_t x, + std::size_t y) { + using DataPoint = Common::Point<std::size_t>; + std::queue<DataPoint> search_points{}; + ClusteringData current_cluster = GetPixelProperties(data, x, y); + SetPixel(data, x, y, 0); + search_points.emplace<DataPoint>({x, y}); + + while (!search_points.empty()) { + const auto point = search_points.front(); + search_points.pop(); + + // Avoid negative numbers + if (point.x == 0 || point.y == 0) { + continue; + } + + std::array<DataPoint, 4> new_points{ + DataPoint{point.x - 1, point.y}, + {point.x, point.y - 1}, + {point.x + 1, point.y}, + {point.x, point.y + 1}, + }; + + for (const auto new_point : new_points) { + if (new_point.x >= width) { + continue; + } + if (new_point.y >= height) { + continue; + } + if (GetPixel(data, new_point.x, new_point.y) < current_config.object_intensity_min) { + continue; + } + const ClusteringData cluster = GetPixelProperties(data, new_point.x, new_point.y); + current_cluster = MergeCluster(current_cluster, cluster); + SetPixel(data, new_point.x, new_point.y, 0); + search_points.emplace<DataPoint>({new_point.x, new_point.y}); + } + } + + return current_cluster; +} + +ClusteringProcessor::ClusteringData ClusteringProcessor::GetPixelProperties( + const std::vector<u8>& data, std::size_t x, std::size_t y) const { + return { + .average_intensity = GetPixel(data, x, y) / 255.0f, + .centroid = + { + .x = static_cast<f32>(x), + .y = static_cast<f32>(y), + + }, + .pixel_count = 1, + .bound = + { + .x = static_cast<s16>(x), + .y = static_cast<s16>(y), + .width = 1, + .height = 1, + }, + }; +} + +ClusteringProcessor::ClusteringData ClusteringProcessor::MergeCluster( + const ClusteringData a, const ClusteringData b) const { + const f32 a_pixel_count = static_cast<f32>(a.pixel_count); + const f32 b_pixel_count = static_cast<f32>(b.pixel_count); + const f32 pixel_count = a_pixel_count + b_pixel_count; + const f32 average_intensity = + (a.average_intensity * a_pixel_count + b.average_intensity * b_pixel_count) / pixel_count; + const Core::IrSensor::IrsCentroid centroid = { + .x = (a.centroid.x * a_pixel_count + b.centroid.x * b_pixel_count) / pixel_count, + .y = (a.centroid.y * a_pixel_count + b.centroid.y * b_pixel_count) / pixel_count, + }; + s16 bound_start_x = a.bound.x < b.bound.x ? a.bound.x : b.bound.x; + s16 bound_start_y = a.bound.y < b.bound.y ? a.bound.y : b.bound.y; + s16 a_bound_end_x = a.bound.x + a.bound.width; + s16 a_bound_end_y = a.bound.y + a.bound.height; + s16 b_bound_end_x = b.bound.x + b.bound.width; + s16 b_bound_end_y = b.bound.y + b.bound.height; + + const Core::IrSensor::IrsRect bound = { + .x = bound_start_x, + .y = bound_start_y, + .width = a_bound_end_x > b_bound_end_x ? static_cast<s16>(a_bound_end_x - bound_start_x) + : static_cast<s16>(b_bound_end_x - bound_start_x), + .height = a_bound_end_y > b_bound_end_y ? static_cast<s16>(a_bound_end_y - bound_start_y) + : static_cast<s16>(b_bound_end_y - bound_start_y), + }; + + return { + .average_intensity = average_intensity, + .centroid = centroid, + .pixel_count = static_cast<u32>(pixel_count), + .bound = bound, + }; +} + +u8 ClusteringProcessor::GetPixel(const std::vector<u8>& data, std::size_t x, std::size_t y) const { + if ((y * width) + x > data.size()) { + return 0; + } + return data[(y * width) + x]; +} + +void ClusteringProcessor::SetPixel(std::vector<u8>& data, std::size_t x, std::size_t y, u8 value) { + if ((y * width) + x > data.size()) { + return; + } + data[(y * width) + x] = value; +} + +void ClusteringProcessor::SetDefaultConfig() { + using namespace std::literals::chrono_literals; + current_config.camera_config.exposure_time = std::chrono::microseconds(200ms).count(); + current_config.camera_config.gain = 2; + current_config.camera_config.is_negative_used = false; + current_config.camera_config.light_target = Core::IrSensor::CameraLightTarget::BrightLeds; + current_config.window_of_interest = { + .x = 0, + .y = 0, + .width = width, + .height = height, + }; + current_config.pixel_count_min = 3; + current_config.pixel_count_max = static_cast<u32>(GetDataSize(format)); + current_config.is_external_light_filter_enabled = true; + current_config.object_intensity_min = 150; + + npad_device->SetCameraFormat(format); +} + void ClusteringProcessor::SetConfig(Core::IrSensor::PackedClusteringProcessorConfig config) { current_config.camera_config.exposure_time = config.camera_config.exposure_time; current_config.camera_config.gain = config.camera_config.gain; current_config.camera_config.is_negative_used = config.camera_config.is_negative_used; current_config.camera_config.light_target = static_cast<Core::IrSensor::CameraLightTarget>(config.camera_config.light_target); + current_config.window_of_interest = config.window_of_interest; current_config.pixel_count_min = config.pixel_count_min; current_config.pixel_count_max = config.pixel_count_max; current_config.is_external_light_filter_enabled = config.is_external_light_filter_enabled; current_config.object_intensity_min = config.object_intensity_min; + + LOG_INFO(Service_IRS, + "Processor config, exposure_time={}, gain={}, is_negative_used={}, " + "light_target={}, window_of_interest=({}, {}, {}, {}), pixel_count_min={}, " + "pixel_count_max={}, is_external_light_filter_enabled={}, object_intensity_min={}", + current_config.camera_config.exposure_time, current_config.camera_config.gain, + current_config.camera_config.is_negative_used, + current_config.camera_config.light_target, current_config.window_of_interest.x, + current_config.window_of_interest.y, current_config.window_of_interest.width, + current_config.window_of_interest.height, current_config.pixel_count_min, + current_config.pixel_count_max, current_config.is_external_light_filter_enabled, + current_config.object_intensity_min); + + npad_device->SetCameraFormat(format); } } // namespace Service::IRS diff --git a/src/core/hle/service/hid/irsensor/clustering_processor.h b/src/core/hle/service/hid/irsensor/clustering_processor.h index 6e2ba8846..dc01a8ea7 100644 --- a/src/core/hle/service/hid/irsensor/clustering_processor.h +++ b/src/core/hle/service/hid/irsensor/clustering_processor.h @@ -5,12 +5,19 @@ #include "common/common_types.h" #include "core/hid/irs_types.h" +#include "core/hle/service/hid/irs_ring_lifo.h" #include "core/hle/service/hid/irsensor/processor_base.h" +namespace Core::HID { +class EmulatedController; +} // namespace Core::HID + namespace Service::IRS { class ClusteringProcessor final : public ProcessorBase { public: - explicit ClusteringProcessor(Core::IrSensor::DeviceFormat& device_format); + explicit ClusteringProcessor(Core::HID::HIDCore& hid_core_, + Core::IrSensor::DeviceFormat& device_format, + std::size_t npad_index); ~ClusteringProcessor() override; // Called when the processor is initialized @@ -26,6 +33,10 @@ public: void SetConfig(Core::IrSensor::PackedClusteringProcessorConfig config); private: + static constexpr auto format = Core::IrSensor::ImageTransferProcessorFormat::Size320x240; + static constexpr std::size_t width = 320; + static constexpr std::size_t height = 240; + // This is nn::irsensor::ClusteringProcessorConfig struct ClusteringProcessorConfig { Core::IrSensor::CameraConfig camera_config; @@ -68,7 +79,32 @@ private: static_assert(sizeof(ClusteringProcessorState) == 0x198, "ClusteringProcessorState is an invalid size"); + struct ClusteringSharedMemory { + Service::IRS::Lifo<ClusteringProcessorState, 6> clustering_lifo; + static_assert(sizeof(clustering_lifo) == 0x9A0, "clustering_lifo is an invalid size"); + INSERT_PADDING_WORDS(0x11F); + }; + static_assert(sizeof(ClusteringSharedMemory) == 0xE20, + "ClusteringSharedMemory is an invalid size"); + + void OnControllerUpdate(Core::HID::ControllerTriggerType type); + void RemoveLowIntensityData(std::vector<u8>& data); + ClusteringData GetClusterProperties(std::vector<u8>& data, std::size_t x, std::size_t y); + ClusteringData GetPixelProperties(const std::vector<u8>& data, std::size_t x, + std::size_t y) const; + ClusteringData MergeCluster(const ClusteringData a, const ClusteringData b) const; + u8 GetPixel(const std::vector<u8>& data, std::size_t x, std::size_t y) const; + void SetPixel(std::vector<u8>& data, std::size_t x, std::size_t y, u8 value); + + // Sets config parameters of the camera + void SetDefaultConfig(); + + ClusteringSharedMemory* shared_memory = nullptr; + ClusteringProcessorState next_state{}; + ClusteringProcessorConfig current_config{}; Core::IrSensor::DeviceFormat& device; + Core::HID::EmulatedController* npad_device; + int callback_key{}; }; } // namespace Service::IRS |