service: irs: Implement clustering processor

6 files changed, 320 insertions, 7 deletions

diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
index 32cc2f392..db7bc7a8b 100644
--- a/src/core/CMakeLists.txt
+++ b/src/core/CMakeLists.txt
@@ -446,6 +446,7 @@ add_library(core STATIC
     hle/service/hid/hidbus.h
     hle/service/hid/irs.cpp
     hle/service/hid/irs.h
+    hle/service/hid/irs_ring_lifo.h
     hle/service/hid/ring_lifo.h
     hle/service/hid/xcd.cpp
     hle/service/hid/xcd.h
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..a31e61037
--- /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 < 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..57e1831b4 100644
--- a/src/core/hle/service/hid/irsensor/clustering_processor.cpp
+++ b/src/core/hle/service/hid/irsensor/clustering_processor.cpp
@@ -1,34 +1,263 @@
 // 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 std::size_t window_start_x =
+        static_cast<std::size_t>(current_config.window_of_interest.x);
+    const std::size_t window_start_y =
+        static_cast<std::size_t>(current_config.window_of_interest.y);
+    const std::size_t window_end_x =
+        window_start_x + static_cast<std::size_t>(current_config.window_of_interest.width);
+    const std::size_t 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 >= 0x10) {
+                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) {
+    std::queue<Common::Point<std::size_t>> search_points{};
+    ClusteringData current_cluster = GetPixelProperties(data, x, y);
+    SetPixel(data, x, y, 0);
+    search_points.push({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<Common::Point<std::size_t>, 4> new_points{
+            Common::Point<std::size_t>{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 < 0 || new_point.x >= width) {
+                continue;
+            }
+            if (new_point.y < 0 || 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.push({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 u32 pixel_count = a.pixel_count + b.pixel_count;
+    const f32 average_intensitiy =
+        (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 ? a_bound_end_x - bound_start_x
+                                               : b_bound_end_x - bound_start_x,
+        .height = a_bound_end_y > b_bound_end_y ? a_bound_end_y - bound_start_y
+                                                : b_bound_end_y - bound_start_y,
+    };
+
+    return {
+        .average_intensity = average_intensitiy,
+        .centroid = centroid,
+        .pixel_count = 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() {
+    current_config.camera_config.exposure_time = 200000;
+    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 = 0x12C00;
+    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
diff --git a/src/yuzu/bootmanager.cpp b/src/yuzu/bootmanager.cpp
index 0ee3820a2..3acb61f03 100644
--- a/src/yuzu/bootmanager.cpp
+++ b/src/yuzu/bootmanager.cpp
@@ -838,7 +838,7 @@ void GRenderWindow::InitializeCamera() {
     camera_timer = std::make_unique<QTimer>();
     connect(camera_timer.get(), &QTimer::timeout, [this] { RequestCameraCapture(); });
     // This timer should be dependent of camera resolution 5ms for every 100 pixels
-    camera_timer->start(100);
+    camera_timer->start(50);
 }
 
 void GRenderWindow::FinalizeCamera() {