@doorstepai/dropoff-sdk 2.0.3 → 2.0.6

package/ios/DoorstepDropoffSDK.xcframework/ios-arm64_x86_64-simulator/DoorstepDropoffSDK.framework/Headers/DoorstepDropoffSDK.h

@@ -14,5 +14,6 @@ FOUNDATION_EXPORT double DoorstepDropoffSDKVersionNumber;
 FOUNDATION_EXPORT const unsigned char DoorstepDropoffSDKVersionString[];
 
 // In this header, you should import all the public headers of your framework using statements like #import <DoorstepDropoffSDK/PublicHeader.h>
+#import <DoorstepDropoffSDK/RateReducer.h>
 
 

package/ios/DoorstepDropoffSDK.xcframework/ios-arm64_x86_64-simulator/DoorstepDropoffSDK.framework/Headers/RateReducer.h

@@ -0,0 +1,117 @@
+/**
+ * @file RateReducer.h
+ *
+ * Pure-C IMU rate reducer — port of the strapdown coning/sculling algorithm
+ * in the legacy C++ RateReducer.  Designed for integration into the
+ * DoorstepDropoffSDK sensor pipeline via SensorRateReducer.swift.
+ *
+ * Channel treatment:
+ *   - rotationRate / rawGyro    → coning-corrected integration (delta-angle)
+ *   - accel / userAccel         → sculling-corrected integration (delta-velocity)
+ *   - gravity / roll,pitch,yaw  → simple per-sample average over the epoch
+ *   - mag / heading / proximity → latest-value pass-through
+ *
+ * NOT compiled into the Xcode target by default; add RateReducer.c to the
+ * framework target if you want to call these functions from Objective-C.
+ * The active Swift implementation in SensorRateReducer.swift mirrors this
+ * code exactly and requires no project-file changes.
+ */
+
+#pragma once
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct { double x, y, z; } rr_vec3_t;
+
+/** Flat sample type — mirrors the fields of InternalSensorData. */
+typedef struct {
+    /* Inertial channels (coning/sculling-integrated, then rate-recovered) */
+    double rotation_rate_x, rotation_rate_y, rotation_rate_z;
+    double accel_x,         accel_y,         accel_z;
+    double raw_gyro_x,      raw_gyro_y,      raw_gyro_z;
+    double user_accel_x,    user_accel_y,    user_accel_z;
+
+    /* Averaged over the epoch */
+    double gravity_x, gravity_y, gravity_z;
+    double roll, pitch, yaw;
+
+    /* Latest-value pass-through */
+    double mag_x,     mag_y,     mag_z;
+    int    mag_accuracy;
+    double raw_mag_x, raw_mag_y, raw_mag_z;
+    double heading;
+    int    proximity_state;  /* 0 = false, 1 = true */
+
+    /* Timing */
+    double timestamp;    /* wall-clock timestamp of the epoch's last sample */
+    double delta_time;   /* total epoch duration in seconds */
+} rr_sample_t;
+
+/** Per-pair integration state for one (gyro, accel) channel pair. */
+typedef struct {
+    rr_vec3_t sum_delta_theta;   /* accumulated angular increments */
+    rr_vec3_t prev_delta_theta;  /* last sample's delta — NOT reset across epochs */
+    rr_vec3_t coning;            /* coning correction accumulator */
+
+    rr_vec3_t sum_delta_vel;     /* accumulated velocity increments */
+    rr_vec3_t prev_delta_vel;    /* last sample's delta — NOT reset across epochs */
+    rr_vec3_t sculling;          /* sculling correction accumulator */
+} rr_pair_state_t;
+
+/** Top-level rate-reducer state. Zero-initialise before calling rr_init(). */
+typedef struct {
+    rr_pair_state_t primary;  /* fusion gyro (rotationRate) + fusion accel */
+    rr_pair_state_t raw;      /* raw gyro + raw accel (includes gravity) */
+
+    rr_vec3_t sum_gravity;
+    double    sum_roll, sum_pitch, sum_yaw;
+
+    rr_sample_t latest;          /* latest-value fields, refreshed every sample */
+
+    double sum_delta_time;
+    double prev_timestamp;       /* 0.0 = not yet seen a sample */
+    double nominal_input_dt;     /* 1/inputHz — fallback when timestamps are missing */
+    int    count;                /* samples accumulated in the current epoch */
+    int    n;                    /* target samples per output epoch */
+
+    bool        output_ready;
+    rr_sample_t output;
+} rr_state_t;
+
+/**
+ * Initialise the rate reducer.
+ *
+ * @param rr        Pointer to a zero-initialised rr_state_t.
+ * @param input_hz  Sensor input rate (e.g. 100.0).
+ * @param output_hz Desired output rate (e.g. 50.0).
+ *                  n = round(input_hz / output_hz), clamped to [2, 100].
+ */
+void rr_init(rr_state_t *rr, double input_hz, double output_hz);
+
+/**
+ * Feed one input sample.
+ *
+ * @return true when an output sample is ready; retrieve it with rr_get_output().
+ */
+bool rr_process(rr_state_t *rr, const rr_sample_t *sample);
+
+/**
+ * Retrieve the pending output sample.
+ *
+ * @return true if a sample was available; false if rr_process() has not yet
+ *         returned true since the last retrieval.
+ */
+bool rr_get_output(rr_state_t *rr, rr_sample_t *out);
+
+/**
+ * Change the decimation factor at runtime.
+ * Epoch-in-progress is discarded; prev_delta_* state is preserved for continuity.
+ */
+void rr_set_n(rr_state_t *rr, int n);
+
+#ifdef __cplusplus
+}
+#endif