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#[derive(thiserror::Error, Debug, Clone)]
pub enum Error {}
pub struct Adapter {
t: u64,
overflows: u32,
previous_msb_t: u16,
previous_lsb_t: u16,
x: u16,
y: u16,
width: u16,
height: u16,
polarity: neuromorphic_types::DvsPolarity,
}
#[derive(Default)]
pub struct EventsLengths {
pub dvs: usize,
pub trigger: usize,
}
impl Adapter {
pub fn from_dimensions(width: u16, height: u16) -> Self {
Self {
t: 0,
overflows: 0,
previous_msb_t: 0,
previous_lsb_t: 0,
x: 0,
y: 0,
width,
height,
polarity: neuromorphic_types::DvsPolarity::Off,
}
}
pub fn events_lengths(&self, slice: &[u8]) -> EventsLengths {
let mut lengths = EventsLengths::default();
let mut x = self.x;
let mut y = self.y;
for index in 0..slice.len() / 2 {
let word = u16::from_le_bytes([slice[index * 2], slice[index * 2 + 1]]);
match word >> 12 {
0b0000 => {
y = word & 0b11111111111;
}
0b0001 => (),
0b0010 => {
x = word & 0b11111111111;
if x < self.width && y < self.height {
lengths.dvs += 1;
}
}
0b0011 => {
x = word & 0b11111111111;
}
0b0100 => {
if x < self.width && y < self.height {
lengths.dvs += (word & ((1 << std::cmp::min(12, self.width - x)) - 1))
.count_ones() as usize;
x += 12;
}
}
0b0101 => {
if x < self.width && y < self.height {
lengths.dvs += (word & ((1 << std::cmp::min(8, self.width - x)) - 1))
.count_ones() as usize;
x += 8;
}
}
0b1010 => {
lengths.trigger += 1;
}
_ => (),
}
}
lengths
}
pub fn current_t(&self) -> u64 {
self.t
}
pub fn convert<HandleDvsEvent, HandleTriggerEvent>(
&mut self,
slice: &[u8],
mut handle_dvs_event: HandleDvsEvent,
mut handle_trigger_event: HandleTriggerEvent,
) where
HandleDvsEvent: FnMut(neuromorphic_types::DvsEvent<u64, u16, u16>),
HandleTriggerEvent: FnMut(neuromorphic_types::TriggerEvent<u64, u8>),
{
for index in 0..slice.len() / 2 {
let word = u16::from_le_bytes([slice[index * 2], slice[index * 2 + 1]]);
match word >> 12 {
0b0000 => {
self.y = word & 0b11111111111;
if self.y < self.height {
self.y = self.height - 1 - self.y;
}
}
0b0001 => (),
0b0010 => {
self.x = word & 0b11111111111;
self.polarity = if (word & (1 << 11)) > 0 {
neuromorphic_types::DvsPolarity::On
} else {
neuromorphic_types::DvsPolarity::Off
};
if self.x < self.width && self.y < self.height {
handle_dvs_event(neuromorphic_types::DvsEvent {
t: self.t,
x: self.x,
y: self.y,
polarity: self.polarity,
});
}
}
0b0011 => {
self.x = word & 0b11111111111;
self.polarity = if (word & (1 << 11)) > 0 {
neuromorphic_types::DvsPolarity::On
} else {
neuromorphic_types::DvsPolarity::Off
};
}
0b0100 => {
if self.x < self.width && self.y < self.height {
let set = word & ((1 << std::cmp::min(12, self.width - self.x)) - 1);
for bit in 0..12 {
if (set & (1 << bit)) > 0 {
handle_dvs_event(neuromorphic_types::DvsEvent {
t: self.t,
x: self.x + bit,
y: self.y,
polarity: self.polarity,
});
}
}
self.x += 12;
}
}
0b0101 => {
if self.x < self.width && self.y < self.height {
let set = word & ((1 << std::cmp::min(8, self.width - self.x)) - 1);
for bit in 0..8 {
if (set & (1 << bit)) > 0 {
handle_dvs_event(neuromorphic_types::DvsEvent {
t: self.t,
x: self.x + bit,
y: self.y,
polarity: self.polarity,
});
}
}
self.x += 8;
}
}
0b0110 => {
let lsb_t = word & 0b111111111111;
if lsb_t != self.previous_lsb_t {
self.previous_lsb_t = lsb_t;
let t = (((self.previous_lsb_t as u32)
| ((self.previous_msb_t as u32) << 12))
as u64)
| ((self.overflows as u64) << 24);
if t >= self.t {
self.t = t;
}
}
}
0b0111 => (),
0b1000 => {
let msb_t = word & 0b111111111111;
if msb_t != self.previous_msb_t {
if msb_t > self.previous_msb_t {
if (msb_t - self.previous_msb_t) < (1 << 11) {
self.previous_lsb_t = 0;
self.previous_msb_t = msb_t;
}
} else if (self.previous_msb_t - msb_t) > (1 << 11) {
self.overflows += 1;
self.previous_lsb_t = 0;
self.previous_msb_t = msb_t;
}
let t = (((self.previous_lsb_t as u32)
| ((self.previous_msb_t as u32) << 12))
as u64)
| ((self.overflows as u64) << 24);
if t >= self.t {
self.t = t;
}
}
}
0b1001 => (),
0b1010 => handle_trigger_event(neuromorphic_types::TriggerEvent {
t: self.t,
id: ((word >> 8) & 0b1111) as u8,
polarity: if (word & 1) > 0 {
neuromorphic_types::TriggerPolarity::Rising
} else {
neuromorphic_types::TriggerPolarity::Falling
},
}),
#[allow(clippy::manual_range_patterns)]
0b1011 | 0b1100 | 0b1101 | 0b1110 | 0b1111 => (),
_ => (),
}
}
}
pub fn consume(&mut self, slice: &[u8]) {
for index in 0..slice.len() / 2 {
let word = u16::from_le_bytes([slice[index * 2], slice[index * 2 + 1]]);
match word >> 12 {
0b0110 => {
let lsb_t = word & 0b111111111111;
if lsb_t != self.previous_lsb_t {
self.previous_lsb_t = lsb_t;
let t = (((self.previous_lsb_t as u32)
| ((self.previous_msb_t as u32) << 12))
as u64)
| ((self.overflows as u64) << 24);
if t >= self.t {
self.t = t;
}
}
}
0b1000 => {
let msb_t = word & 0b111111111111;
if msb_t != self.previous_msb_t {
if msb_t > self.previous_msb_t {
if (msb_t - self.previous_msb_t) < (1 << 11) {
self.previous_lsb_t = 0;
self.previous_msb_t = msb_t;
}
} else if (self.previous_msb_t - msb_t) > (1 << 11) {
self.overflows += 1;
self.previous_lsb_t = 0;
self.previous_msb_t = msb_t;
}
let t = (((self.previous_lsb_t as u32)
| ((self.previous_msb_t as u32) << 12))
as u64)
| ((self.overflows as u64) << 24);
if t >= self.t {
self.t = t;
}
}
}
_ => (),
}
}
}
}