Merge "Add jerk thresholded pruning." into main

       the UX issue mentioned above.

  -->

  <distance-noise-floor>0.2</distance-noise-floor>

  <!-- The low and high jerk thresholds for prediction pruning.

    The jerk thresholds are based on normalized dt = 1 calculations, and

    are taken from Jetpacks MotionEventPredictor's KalmanPredictor

    implementation (using its ACCURATE_LOW_JANK and ACCURATE_HIGH_JANK).

  -->

  <low-jerk>0.1</low-jerk>

  <high-jerk>0.2</high-jerk>

</motion-predictor>

        // The noise floor for predictions.

        // Distances (r) less than this should be discarded as noise.

        float distanceNoiseFloor = 0;

        // Low and high jerk thresholds (with normalized dt = 1) for predictions.

        // High jerk means more predictions will be pruned, vice versa for low.

        float lowJerk = 0;

        float highJerk = 0;

    };

    // Creates a model from an encoded Flatbuffer model.

#include <input/MotionPredictor.h>

#include <algorithm>

#include <array>

#include <cinttypes>

#include <cmath>

    return {.x = axisTo.x + x_delta, .y = axisTo.y + y_delta};

}

float normalizeRange(float x, float min, float max) {

    const float normalized = (x - min) / (max - min);

    return std::min(1.0f, std::max(0.0f, normalized));

}

} // namespace

// --- JerkTracker ---

    int64_t predictionTime = mBuffers->lastTimestamp();

    const int64_t futureTime = timestamp + mPredictionTimestampOffsetNanos;

    const float jerkMagnitude = mJerkTracker.jerkMagnitude().value_or(0);

    const float fractionKept =

            1 - normalizeRange(jerkMagnitude, mModel->config().lowJerk, mModel->config().highJerk);

    // float to ensure proper division below.

    const float predictionTimeWindow = futureTime - predictionTime;

    const int maxNumPredictions = static_cast<int>(

            std::ceil(predictionTimeWindow / mModel->config().predictionInterval * fractionKept));

    ALOGD_IF(isDebug(),

             "jerk (d^3p/normalizedDt^3): %f, fraction of prediction window pruned: %f, max number "

             "of predictions: %d",

             jerkMagnitude, 1 - fractionKept, maxNumPredictions);

    for (size_t i = 0; i < static_cast<size_t>(predictedR.size()) && predictionTime <= futureTime;

         ++i) {

        if (predictedR[i] < mModel->config().distanceNoiseFloor) {

            break;

        }

        if (input_flags::enable_prediction_pruning_via_jerk_thresholding()) {

            // TODO(b/266747654): Stop predictions if confidence is < some threshold

            // Arbitrarily high pruning index, will correct once jerk thresholding is implemented.

            const size_t upperBoundPredictionIndex = std::numeric_limits<size_t>::max();

            if (i > upperBoundPredictionIndex) {

            if (i >= static_cast<size_t>(maxNumPredictions)) {

                break;

            }

        }

        // TODO(b/266747654): Stop predictions if confidence is < some

        // threshold. Currently predictions are pruned via jerk thresholding.

        const TfLiteMotionPredictorSample::Point predictedPoint =

                convertPrediction(axisFrom, axisTo, predictedR[i], predictedPhi[i]);

    Config config{

            .predictionInterval = parseXMLInt64(*configRoot, "prediction-interval"),

            .distanceNoiseFloor = parseXMLFloat(*configRoot, "distance-noise-floor"),

            .lowJerk = parseXMLFloat(*configRoot, "low-jerk"),

            .highJerk = parseXMLFloat(*configRoot, "high-jerk"),

    };

    return std::unique_ptr<TfLiteMotionPredictorModel>(

        "tensorflow_headers",

    ],

    static_libs: [

        "libflagtest",

        "libgmock",

        "libgui_window_info_static",

        "libinput",