m_filter_fifo.h

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// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  A fifo that also lets you dynamically filter.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup aux_math
 */
 
#pragma once
 
#include "xrt/xrt_defines.h" // IWYU pragma: keep
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
struct m_ff_f64;
struct m_ff_vec3_f32;
 
/*!
 * Allocates a filter fifo tracking @p num samples and fills it with @p num
 * samples at timepoint zero.
 */
void
m_ff_vec3_f32_alloc(struct m_ff_vec3_f32 **ff_out, size_t num);
 
/*!
 * Frees the given filter fifo and all its samples.
 */
void
m_ff_vec3_f32_free(struct m_ff_vec3_f32 **ff_ptr);
 
/*!
 * Return the number of samples that can fill the fifo.
 */
size_t
m_ff_vec3_f32_get_num(struct m_ff_vec3_f32 *ff);
 
/*!
 * Pushes a sample at the given timepoint, pushing samples out of order yields
 * unspecified behaviour, so samples must be pushed in time order.
 */
void
m_ff_vec3_f32_push(struct m_ff_vec3_f32 *ff, const struct xrt_vec3 *sample, uint64_t timestamp_ns);
 
/*!
 * Return the sample at the index, zero means the last sample push, one second
 * last and so on.
 */
bool
m_ff_vec3_f32_get(struct m_ff_vec3_f32 *ff, size_t num, struct xrt_vec3 *out_sample, uint64_t *out_timestamp_ns);
 
/*!
 * Return the timestamp of the sample at the index, zero means the last sample push, one second
 * last and so on.
 */
bool
m_ff_vec3_f32_get_timestamp(struct m_ff_vec3_f32 *ff, size_t num, uint64_t *out_timestamp_ns);
 
/*!
 * Averages all samples in the fifo between the two timepoints, returns number
 * of samples sampled, if no samples was found between the timpoints returns 0
 * and sets @p out_average to all zeros.
 *
 * @param ff          Filter fifo to search in.
 * @param start_ns    Timepoint furthest in the past, to start searching for
 *                    samples.
 * @param stop_ns     Timepoint closest in the past, or now, to stop searching
 *                    for samples.
 * @param out_average Average of all samples in the given timeframe.
 */
size_t
m_ff_vec3_f32_filter(struct m_ff_vec3_f32 *ff, uint64_t start_ns, uint64_t stop_ns, struct xrt_vec3 *out_average);
 
/*!
 * Allocates a filter fifo tracking @p num samples and fills it with @p num
 * samples at timepoint zero.
 */
void
m_ff_f64_alloc(struct m_ff_f64 **ff_out, size_t num);
 
/*!
 * Frees the given filter fifo and all its samples.
 */
void
m_ff_f64_free(struct m_ff_f64 **ff_ptr);
 
/*!
 * Return the number of samples that can fill the fifo.
 */
size_t
m_ff_f64_get_num(struct m_ff_f64 *ff);
 
/*!
 * Pushes a sample at the given timepoint, pushing samples out of order yields
 * unspecified behaviour, so samples must be pushed in time order.
 */
void
m_ff_f64_push(struct m_ff_f64 *ff, const double *sample, uint64_t timestamp_ns);
 
/*!
 * Return the sample at the index, 0 means the last sample push, 1 second-to-last, etc.
 */
bool
m_ff_f64_get(struct m_ff_f64 *ff, size_t num, double *out_sample, uint64_t *out_timestamp_ns);
 
/*!
 * Averages all samples in the fifo between the two timepoints, returns number
 * of samples sampled, if no samples was found between the timpoints returns 0
 * and sets @p out_average to all zeros.
 *
 * @param ff          Filter fifo to search in.
 * @param start_ns    Timepoint furthest in the past, to start searching for
 *                    samples.
 * @param stop_ns     Timepoint closest in the past, or now, to stop searching
 *                    for samples.
 * @param out_average Average of all samples in the given timeframe.
 */
size_t
m_ff_f64_filter(struct m_ff_f64 *ff, uint64_t start_ns, uint64_t stop_ns, double *out_average);
 
 
#ifdef __cplusplus
}
 
/*!
 * Helper class to wrap a C filter fifo (@ref m_ff_vec3_f32).
 */
class FilterFifo3F
{
private:
        m_ff_vec3_f32 *mFifoPtr;
 
 
public:
        FilterFifo3F() = delete;
 
        FilterFifo3F(size_t size)
        {
                m_ff_vec3_f32_alloc(&mFifoPtr, size);
        }
 
        ~FilterFifo3F()
        {
                m_ff_vec3_f32_free(&mFifoPtr);
        }
 
        /*!
         * Get the pointer to the C filter fifo, ownership is not passed.
         */
        inline m_ff_vec3_f32 *
        unsafeGetFilterFifo()
        {
                return mFifoPtr;
        }
 
        /*!
         * @copydoc m_ff_vec3_f32_push
         *
         * Wrapper for @ref m_ff_vec3_f32_push.
         */
        inline void
        push(const xrt_vec3 &sample, uint64_t timestamp_ns)
        {
                m_ff_vec3_f32_push(mFifoPtr, &sample, timestamp_ns);
        }
 
        /*!
         * @copydoc m_ff_vec3_f32_get
         *
         * Wrapper for @ref m_ff_vec3_f32_get.
         */
        inline bool
        get(size_t num, xrt_vec3 *out_sample, uint64_t *out_timestamp_ns)
        {
                return m_ff_vec3_f32_get(mFifoPtr, num, out_sample, out_timestamp_ns);
        }
 
        /*!
         * @copydoc m_ff_vec3_f32_filter
         *
         * Wrapper for @ref m_ff_vec3_f32_filter.
         */
        inline size_t
        filter(uint64_t start_ns, uint64_t stop_ns, struct xrt_vec3 *out_average)
        {
                return m_ff_vec3_f32_filter(mFifoPtr, start_ns, stop_ns, out_average);
        }
};
#endif