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#ifndef MEDIAPIPE_CALCULATORS_SENSORS_SENSOR_SYNC_CALCULATOR_H_
#define MEDIAPIPE_CALCULATORS_SENSORS_SENSOR_SYNC_CALCULATOR_H_
#include "mediapipe/framework/calculator_framework.h"
#include <deque>
namespace mediapipe {
message SyncedState {
uint64 timestamp_us = 1;
int32 gaze_zone = 10;
float fatigue_score = 11;
float speed = 20;
float steering_angle = 21;
bool turn_signal_left = 22;
bool turn_signal_right = 23;
}
class SensorSyncCalculator : public CalculatorBase {
public:
static absl::Status GetContract(CalculatorContract* cc) {
cc->Inputs().Tag("GAZE_ZONE").Set<int>();
cc->Inputs().Tag("FATIGUE").Set<float>();
cc->Inputs().Tag("VEHICLE_STATE").Set<VehicleState>();
cc->Outputs().Tag("SYNCED_STATE").Set<SyncedState>();
cc->Options<SensorSyncOptions>();
return absl::OkStatus();
}
absl::Status Open(CalculatorContext* cc) override {
const auto& options = cc->Options<SensorSyncOptions>();
max_latency_ms_ = options.max_latency_ms();
interpolation_ = options.interpolation();
return absl::OkStatus();
}
absl::Status Process(CalculatorContext* cc) override {
uint64_t current_time = cc->InputTimestamp().Value();
if (!cc->Inputs().Tag("GAZE_ZONE").IsEmpty()) {
int gaze = cc->Inputs().Tag("GAZE_ZONE").Get<int>();
gaze_buffer_.push_back({current_time, gaze});
}
if (!cc->Inputs().Tag("FATIGUE").IsEmpty()) {
float fatigue = cc->Inputs().Tag("FATIGUE").Get<float>();
fatigue_buffer_.push_back({current_time, fatigue});
}
if (!cc->Inputs().Tag("VEHICLE_STATE").IsEmpty()) {
auto state = cc->Inputs().Tag("VEHICLE_STATE").Get<VehicleState>();
vehicle_buffer_.push_back({current_time, state});
}
uint64_t cutoff_time = current_time - max_latency_ms_ * 1000;
CleanupOldBuffer(gaze_buffer_, cutoff_time);
CleanupOldBuffer(fatigue_buffer_, cutoff_time);
CleanupOldBuffer(vehicle_buffer_, cutoff_time);
SyncedState synced;
synced.set_timestamp_us(current_time);
synced.set_gaze_zone(FindNearest(gaze_buffer_, current_time));
synced.set_fatigue_score(FindNearest(fatigue_buffer_, current_time));
if (!vehicle_buffer_.empty()) {
auto state = InterpolateVehicleState(current_time);
synced.set_speed(state.speed());
synced.set_steering_angle(state.steering_angle());
synced.set_turn_signal_left(state.turn_signal_left());
synced.set_turn_signal_right(state.turn_signal_right());
}
cc->Outputs().Tag("SYNCED_STATE").AddPacket(
MakePacket<SyncedState>(synced).At(cc->InputTimestamp()));
return absl::OkStatus();
}
private:
int max_latency_ms_ = 100;
bool interpolation_ = true;
template <typename T>
struct TimedData {
uint64_t timestamp;
T data;
};
std::deque<TimedData<int>> gaze_buffer_;
std::deque<TimedData<float>> fatigue_buffer_;
std::deque<TimedData<VehicleState>> vehicle_buffer_;
template <typename T>
void CleanupOldBuffer(std::deque<TimedData<T>>& buffer, uint64_t cutoff) {
while (!buffer.empty() && buffer.front().timestamp < cutoff) {
buffer.pop_front();
}
}
template <typename T>
T FindNearest(const std::deque<TimedData<T>>& buffer, uint64_t target) {
if (buffer.empty()) return T();
auto it = std::lower_bound(buffer.begin(), buffer.end(), target,
[](const TimedData<T>& a, uint64_t t) { return a.timestamp < t; });
if (it == buffer.end()) return buffer.back().data;
if (it == buffer.begin()) return it->data;
auto prev = it - 1;
if (target - prev->timestamp < it->timestamp - target) {
return prev->data;
}
return it->data;
}
VehicleState InterpolateVehicleState(uint64_t target) {
if (vehicle_buffer_.empty()) return VehicleState();
if (vehicle_buffer_.size() == 1) return vehicle_buffer_.front().data;
auto it = std::lower_bound(vehicle_buffer_.begin(), vehicle_buffer_.end(),
target, [](const TimedData<VehicleState>& a, uint64_t t) {
return a.timestamp < t;
});
if (it == vehicle_buffer_.end()) return vehicle_buffer_.back().data;
if (it == vehicle_buffer_.begin()) return it->data;
auto prev = it - 1;
float t = static_cast<float>(target - prev->timestamp) /
(it->timestamp - prev->timestamp);
VehicleState result;
result.set_speed(prev->data.speed() + t * (it->data.speed() - prev->data.speed()));
result.set_steering_angle(prev->data.steering_angle() +
t * (it->data.steering_angle() - prev->data.steering_angle()));
return result;
}
};
REGISTER_CALCULATOR(SensorSyncCalculator);
}
#endif
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