Use constexpr in VelocityTracker
Previously, defining DEBUG_STRATEGY as 1 would fail to compile.
In this patch, the defines are changed to bools, in order to fix this
going forward.
Also, when I was porting the velocitytracker algorithm to python, I
realized that one of the velocities was wrong. I updated the value. I
didn't check other values, though. It was previously passing likely
because the tolerance for velocity is quite large.
Bug: 192439431
Test: atest libinput_tests
Change-Id: I70b44af6cd5567ee8321b29e509c628fa0b4950e
diff --git a/libs/input/VelocityTracker.cpp b/libs/input/VelocityTracker.cpp
index a44f0b7..a6465ee 100644
--- a/libs/input/VelocityTracker.cpp
+++ b/libs/input/VelocityTracker.cpp
@@ -18,10 +18,10 @@
//#define LOG_NDEBUG 0
// Log debug messages about velocity tracking.
-#define DEBUG_VELOCITY 0
+static constexpr bool DEBUG_VELOCITY = false;
// Log debug messages about the progress of the algorithm itself.
-#define DEBUG_STRATEGY 0
+static constexpr bool DEBUG_STRATEGY = false;
#include <array>
#include <inttypes.h>
@@ -30,7 +30,6 @@
#include <optional>
#include <android-base/stringprintf.h>
-#include <cutils/properties.h>
#include <input/VelocityTracker.h>
#include <utils/BitSet.h>
#include <utils/Timers.h>
@@ -64,7 +63,6 @@
return sqrtf(r);
}
-#if DEBUG_STRATEGY || DEBUG_VELOCITY
static std::string vectorToString(const float* a, uint32_t m) {
std::string str;
str += "[";
@@ -77,9 +75,11 @@
str += " ]";
return str;
}
-#endif
-#if DEBUG_STRATEGY
+static std::string vectorToString(const std::vector<float>& v) {
+ return vectorToString(v.data(), v.size());
+}
+
static std::string matrixToString(const float* a, uint32_t m, uint32_t n, bool rowMajor) {
std::string str;
str = "[";
@@ -99,7 +99,6 @@
str += " ]";
return str;
}
-#endif
// --- VelocityTracker ---
@@ -133,12 +132,18 @@
VelocityTracker::Strategy strategy) {
switch (strategy) {
case VelocityTracker::Strategy::IMPULSE:
+ if (DEBUG_STRATEGY) {
+ ALOGI("Initializing impulse strategy");
+ }
return std::make_unique<ImpulseVelocityTrackerStrategy>();
case VelocityTracker::Strategy::LSQ1:
return std::make_unique<LeastSquaresVelocityTrackerStrategy>(1);
case VelocityTracker::Strategy::LSQ2:
+ if (DEBUG_STRATEGY) {
+ ALOGI("Initializing lsq2 strategy");
+ }
return std::make_unique<LeastSquaresVelocityTrackerStrategy>(2);
case VelocityTracker::Strategy::LSQ3:
@@ -204,10 +209,10 @@
if ((mCurrentPointerIdBits.value & idBits.value)
&& eventTime >= mLastEventTime + ASSUME_POINTER_STOPPED_TIME) {
-#if DEBUG_VELOCITY
- ALOGD("VelocityTracker: stopped for %0.3f ms, clearing state.",
- (eventTime - mLastEventTime) * 0.000001f);
-#endif
+ if (DEBUG_VELOCITY) {
+ ALOGD("VelocityTracker: stopped for %0.3f ms, clearing state.",
+ (eventTime - mLastEventTime) * 0.000001f);
+ }
// We have not received any movements for too long. Assume that all pointers
// have stopped.
mStrategy->clear();
@@ -221,24 +226,24 @@
mStrategy->addMovement(eventTime, idBits, positions);
-#if DEBUG_VELOCITY
- ALOGD("VelocityTracker: addMovement eventTime=%" PRId64 ", idBits=0x%08x, activePointerId=%d",
- eventTime, idBits.value, mActivePointerId);
- for (BitSet32 iterBits(idBits); !iterBits.isEmpty(); ) {
- uint32_t id = iterBits.firstMarkedBit();
- uint32_t index = idBits.getIndexOfBit(id);
- iterBits.clearBit(id);
- Estimator estimator;
- getEstimator(id, &estimator);
- ALOGD(" %d: position (%0.3f, %0.3f), "
- "estimator (degree=%d, xCoeff=%s, yCoeff=%s, confidence=%f)",
- id, positions[index].x, positions[index].y,
- int(estimator.degree),
- vectorToString(estimator.xCoeff, estimator.degree + 1).c_str(),
- vectorToString(estimator.yCoeff, estimator.degree + 1).c_str(),
- estimator.confidence);
+ if (DEBUG_VELOCITY) {
+ ALOGD("VelocityTracker: addMovement eventTime=%" PRId64
+ ", idBits=0x%08x, activePointerId=%d",
+ eventTime, idBits.value, mActivePointerId);
+ for (BitSet32 iterBits(idBits); !iterBits.isEmpty();) {
+ uint32_t id = iterBits.firstMarkedBit();
+ uint32_t index = idBits.getIndexOfBit(id);
+ iterBits.clearBit(id);
+ Estimator estimator;
+ getEstimator(id, &estimator);
+ ALOGD(" %d: position (%0.3f, %0.3f), "
+ "estimator (degree=%d, xCoeff=%s, yCoeff=%s, confidence=%f)",
+ id, positions[index].x, positions[index].y, int(estimator.degree),
+ vectorToString(estimator.xCoeff, estimator.degree + 1).c_str(),
+ vectorToString(estimator.yCoeff, estimator.degree + 1).c_str(),
+ estimator.confidence);
+ }
}
-#endif
}
void VelocityTracker::addMovement(const MotionEvent* event) {
@@ -419,11 +424,10 @@
static bool solveLeastSquares(const std::vector<float>& x, const std::vector<float>& y,
const std::vector<float>& w, uint32_t n, float* outB, float* outDet) {
const size_t m = x.size();
-#if DEBUG_STRATEGY
- ALOGD("solveLeastSquares: m=%d, n=%d, x=%s, y=%s, w=%s", int(m), int(n),
- vectorToString(x, m).c_str(), vectorToString(y, m).c_str(),
- vectorToString(w, m).c_str());
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD("solveLeastSquares: m=%d, n=%d, x=%s, y=%s, w=%s", int(m), int(n),
+ vectorToString(x).c_str(), vectorToString(y).c_str(), vectorToString(w).c_str());
+ }
LOG_ALWAYS_FATAL_IF(m != y.size() || m != w.size(), "Mismatched vector sizes");
// Expand the X vector to a matrix A, pre-multiplied by the weights.
@@ -434,9 +438,9 @@
a[i][h] = a[i - 1][h] * x[h];
}
}
-#if DEBUG_STRATEGY
- ALOGD(" - a=%s", matrixToString(&a[0][0], m, n, false /*rowMajor*/).c_str());
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD(" - a=%s", matrixToString(&a[0][0], m, n, false /*rowMajor*/).c_str());
+ }
// Apply the Gram-Schmidt process to A to obtain its QR decomposition.
float q[n][m]; // orthonormal basis, column-major order
@@ -455,9 +459,9 @@
float norm = vectorNorm(&q[j][0], m);
if (norm < 0.000001f) {
// vectors are linearly dependent or zero so no solution
-#if DEBUG_STRATEGY
- ALOGD(" - no solution, norm=%f", norm);
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD(" - no solution, norm=%f", norm);
+ }
return false;
}
@@ -469,22 +473,22 @@
r[j][i] = i < j ? 0 : vectorDot(&q[j][0], &a[i][0], m);
}
}
-#if DEBUG_STRATEGY
- ALOGD(" - q=%s", matrixToString(&q[0][0], m, n, false /*rowMajor*/).c_str());
- ALOGD(" - r=%s", matrixToString(&r[0][0], n, n, true /*rowMajor*/).c_str());
+ if (DEBUG_STRATEGY) {
+ ALOGD(" - q=%s", matrixToString(&q[0][0], m, n, false /*rowMajor*/).c_str());
+ ALOGD(" - r=%s", matrixToString(&r[0][0], n, n, true /*rowMajor*/).c_str());
- // calculate QR, if we factored A correctly then QR should equal A
- float qr[n][m];
- for (uint32_t h = 0; h < m; h++) {
- for (uint32_t i = 0; i < n; i++) {
- qr[i][h] = 0;
- for (uint32_t j = 0; j < n; j++) {
- qr[i][h] += q[j][h] * r[j][i];
+ // calculate QR, if we factored A correctly then QR should equal A
+ float qr[n][m];
+ for (uint32_t h = 0; h < m; h++) {
+ for (uint32_t i = 0; i < n; i++) {
+ qr[i][h] = 0;
+ for (uint32_t j = 0; j < n; j++) {
+ qr[i][h] += q[j][h] * r[j][i];
+ }
}
}
+ ALOGD(" - qr=%s", matrixToString(&qr[0][0], m, n, false /*rowMajor*/).c_str());
}
- ALOGD(" - qr=%s", matrixToString(&qr[0][0], m, n, false /*rowMajor*/).c_str());
-#endif
// Solve R B = Qt W Y to find B. This is easy because R is upper triangular.
// We just work from bottom-right to top-left calculating B's coefficients.
@@ -500,9 +504,9 @@
}
outB[i] /= r[i][i];
}
-#if DEBUG_STRATEGY
- ALOGD(" - b=%s", vectorToString(outB, n).c_str());
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD(" - b=%s", vectorToString(outB, n).c_str());
+ }
// Calculate the coefficient of determination as 1 - (SSerr / SStot) where
// SSerr is the residual sum of squares (variance of the error),
@@ -528,11 +532,11 @@
sstot += w[h] * w[h] * var * var;
}
*outDet = sstot > 0.000001f ? 1.0f - (sserr / sstot) : 1;
-#if DEBUG_STRATEGY
- ALOGD(" - sserr=%f", sserr);
- ALOGD(" - sstot=%f", sstot);
- ALOGD(" - det=%f", *outDet);
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD(" - sserr=%f", sserr);
+ ALOGD(" - sstot=%f", sstot);
+ ALOGD(" - det=%f", *outDet);
+ }
return true;
}
@@ -655,13 +659,11 @@
outEstimator->time = newestMovement.eventTime;
outEstimator->degree = degree;
outEstimator->confidence = xdet * ydet;
-#if DEBUG_STRATEGY
- ALOGD("estimate: degree=%d, xCoeff=%s, yCoeff=%s, confidence=%f",
- int(outEstimator->degree),
- vectorToString(outEstimator->xCoeff, n).c_str(),
- vectorToString(outEstimator->yCoeff, n).c_str(),
- outEstimator->confidence);
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD("estimate: degree=%d, xCoeff=%s, yCoeff=%s, confidence=%f",
+ int(outEstimator->degree), vectorToString(outEstimator->xCoeff, n).c_str(),
+ vectorToString(outEstimator->yCoeff, n).c_str(), outEstimator->confidence);
+ }
return true;
}
}
@@ -1169,9 +1171,9 @@
outEstimator->time = newestMovement.eventTime;
outEstimator->degree = 2; // similar results to 2nd degree fit
outEstimator->confidence = 1;
-#if DEBUG_STRATEGY
- ALOGD("velocity: (%f, %f)", outEstimator->xCoeff[1], outEstimator->yCoeff[1]);
-#endif
+ if (DEBUG_STRATEGY) {
+ ALOGD("velocity: (%f, %f)", outEstimator->xCoeff[1], outEstimator->yCoeff[1]);
+ }
return true;
}