FPGATrackSimNNPathfinderExtensionTool.cxx

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// Copyright (C) 2002-2025 CERN for the benefit of the ATLAS collaboration
 
 
#include "FPGATrackSimAlgorithms/FPGATrackSimNNPathfinderExtensionTool.h"
#include "FPGATrackSimBanks/FPGATrackSimSectorBank.h"
 
 
#include "FPGATrackSimHough/FPGATrackSimHoughFunctions.h"
 
#include <cmath>
#include <algorithm>
#include "CLHEP/Units/SystemOfUnits.h"
 
using CLHEP::pi;
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::initialize() {
 
    // Retrieve the mapping service.
    ATH_CHECK(m_FPGATrackSimMapping.retrieve());
 
    // hard code this for now but we may chance in the future
    m_nLayers_1stStage = 5;
    m_nLayers_2ndStage = 8;
 
    if (m_windowR.size() != 1 && m_windowR.size() != m_windowFineID.size()) {
      ATH_MSG_ERROR("Window r size = " << m_windowR << " is not equal to 1 (for all layers) and not equal to " << m_windowFineID.size());
      return StatusCode::FAILURE;
    }
 
    if (m_windowPhi.size() != 1 && m_windowPhi.size() != m_windowFineID.size()) {
      ATH_MSG_ERROR("Window phi size = " << m_windowPhi << " is not equal to 1 (for all layers) and not equal to " << m_windowFineID.size());
      return StatusCode::FAILURE;
    }    
 
    if (m_windowZ.size() != 1 && m_windowZ.size() != m_windowFineID.size()) {
      ATH_MSG_ERROR("Window z size = " << m_windowZ << " is not equal to 1 (for all layers) and not equal to " << m_windowFineID.size());
      return StatusCode::FAILURE;
    }
 
    if (m_FPGATrackSimMapping->getExtensionNNVolMapString() != "" && m_FPGATrackSimMapping->getExtensionNNHitMapString() != "") {
        ATH_MSG_INFO("Initializing extension hit NN with string = " << m_FPGATrackSimMapping->getExtensionNNHitMapString());
        m_extensionHitNN.initialize(m_FPGATrackSimMapping->getExtensionNNHitMapString());
        ATH_MSG_INFO("Initializing volume NN with string = " << m_FPGATrackSimMapping->getExtensionNNVolMapString());
        m_extensionVolNN.initialize(m_FPGATrackSimMapping->getExtensionNNVolMapString());
    }
    else {
        ATH_MSG_ERROR("Path to NN-based track extension ONNX file is empty! If you want to run this pipeline, you need to provide an input file.");
        return StatusCode::FAILURE;
    }
 
    ATH_CHECK(m_tHistSvc.retrieve());
 
    return StatusCode::SUCCESS;
}
 
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::extendTracks(const std::vector<std::shared_ptr<const FPGATrackSimHit>> & hits,
        const std::vector<std::shared_ptr<const FPGATrackSimTrack>> & tracks,
        std::vector<std::shared_ptr<const FPGATrackSimRoad>> & roads) {
 
    // Reset the internal second stage roads storage.
    roads.clear();
    m_roads.clear();
    const FPGATrackSimRegionMap* rmap_2nd = m_FPGATrackSimMapping->SubRegionMap_2nd();
 
    // Create one "tower" per slice for this event.
    // Note that there now might be only one "slice", at least for the time being.
    if (m_slicedHitHeader) {
      for (int ireg = 0; ireg < rmap_2nd->getNRegions(); ireg++) {
        FPGATrackSimTowerInputHeader tower = FPGATrackSimTowerInputHeader(ireg);
        m_slicedHitHeader->addTower(tower);
      }
    }
    if(m_debugEvent) ATH_MSG_DEBUG("Got: "<<tracks.size()<<" tracks to extrapolate");
    // Now, loop over the tracks.
    for (std::shared_ptr<const FPGATrackSimTrack> track : tracks) {
        if(m_debugEvent) ATH_MSG_DEBUG("\033[1;31m-------------------------- extraploating Track ------------------ \033[0m");
        if (track->passedOR() == 0) {
            continue;
        }
        const std::vector<FPGATrackSimHit> hitsOnTrack = track->getFPGATrackSimHits();
        miniRoad road;
        float pt = track->getPt();
 
        for (const auto &thit : hitsOnTrack) {
            road.addHit(std::make_shared<const FPGATrackSimHit>(thit)); // add all hits, we check if WC later
        }
 
        if(m_debugEvent) {
            ATH_MSG_DEBUG("-----------------Hits in event");
            for (const std::shared_ptr<const FPGATrackSimHit>& hit: hits) {
          ATH_MSG_DEBUG("Hit " << " X: " << hit->getX() << " Y: " << hit->getY() << " Z: " << hit->getZ() << " R: " << hit->getR() << "phi = " << hit->getGPhi() << " hitType: " << hit->getHitType() << " getDetType: " << hit->getDetType());
            }
        }
        std::vector<miniRoad> roadsToExtrapolate;
        roadsToExtrapolate.push_back(road);
 
        std::vector<miniRoad> completedRoads;
 
        int count = 0;
    // FIXED: Add maximum iteration limit to prevent infinite loops
        const int MAX_ROADS = 10000;
    while(roadsToExtrapolate.size() > 0 && count < MAX_ROADS ) {
      miniRoad currentRoad = *roadsToExtrapolate.begin();
 
            // Erase this road from the vector
            roadsToExtrapolate.erase(roadsToExtrapolate.begin());
            count ++;
            if(m_debugEvent) {
                ATH_MSG_DEBUG("\033[1;31m-------------------------- extraploating road "<< count << "------------------ \033[0m");
                printRoad(currentRoad);
            }
            // Check exit condition
            if (currentRoad.getNHits() >= (m_nLayers_1stStage+m_nLayers_2ndStage))
            {
                completedRoads.push_back(currentRoad);
                continue; // this one is done
            }
            // Other try to find the next hit in this road
            std::vector<float> inputTensorValues;
            if (!fillInputTensorForNN(currentRoad, inputTensorValues)) {
                ATH_MSG_WARNING("Failed to create input tensor for this road");
                continue;
            }
            std::vector<float> predhit;
            long fineID;
            if (!getPredictedHit(inputTensorValues, predhit, fineID)) {
                ATH_MSG_WARNING("Failed to predict hit for this road");
                continue;
            }
            // Check if exist conditions are there
            if (m_doOutsideIn) {
                // Make sure we are not predicting inside the inner most layer (x and y < 25, or r < 25)
                // If we are, road is done
          if ((m_useCartesian && (abs(predhit[0]) < 25 && abs(predhit[1]) < 25)) ||
          (!m_useCartesian && abs(predhit[0]) < 25))
        {
                    completedRoads.push_back(currentRoad);
                    continue;
                }
            }
            else {
                // Make sure we are not predicting outside the outer most layer       
                // if we are, road is done
                double radius = std::sqrt(predhit[0] * predhit[0] + predhit[1] * predhit[1]);
                if ((m_useCartesian && (abs(predhit[0]) > 1024 || abs(predhit[1]) > 1024 || radius > 1024 || abs(predhit[2]) > 3000)) ||
            (!m_useCartesian && (abs(predhit[0]) > 1024 || abs(predhit[2]) > 3000))) {
                    completedRoads.push_back(currentRoad);
                    continue;
                }
            }
            if(m_debugEvent) {
                ATH_MSG_DEBUG("Predicted hit at: " << predhit[0] << " " << predhit[1] << " " << predhit[2]);
            }
 
            // Now search for the hits
            bool foundhitForRoad = false;
            if(fineID == 215){
                ATH_MSG_DEBUG("Stopping condition reached");
                completedRoads.push_back(currentRoad);
                continue;
            }
            // Get the last layer and hit in the road
            unsigned lastLayerInRoad = 0;
            std::shared_ptr<const FPGATrackSimHit> lastHit;
            if(!getLastLayer(currentRoad, lastLayerInRoad, lastHit) or !lastHit) {
                ATH_MSG_WARNING("Failed to find last layer this road");
                continue;
            }
            unsigned layer = lastLayerInRoad+1; // the layer we're looking to find
            bool lastHitWasReal = lastHit->isReal();
            float lastHitR = lastHit->getR();
            if(layer >= (m_nLayers_1stStage + m_nLayers_2ndStage)) {
                completedRoads.push_back(currentRoad);
                continue;
            }
            unsigned int hitsInWindow = 0;
 
            // List of all the hits, with their distances to the predicted point
            std::vector<std::vector<std::shared_ptr<const FPGATrackSimHit>>> listofHitsFound;
 
            for (const std::shared_ptr<const FPGATrackSimHit>& hit: hits) {
                if (m_doOutsideIn && (hit->getR() > lastHitR)) continue;
                if (!m_doOutsideIn && (hit->getR() < lastHitR)) continue;
                if ((hit->getHitType() == HitType::spacepoint) && ((hit->getPhysLayer(true)) %2 == 1)) continue; // ignore outer parts of SP, they get added separately
                if(m_debugEvent) {
          ATH_MSG_DEBUG("In the hit loop hit at x: " << hit->getX() << " y " << hit->getY() << " z " << hit->getZ() << " phi " << hit->getGPhi());
                }
                // loop over hits in that layer
                if (getFineID(*hit) == fineID && hit->isReal()) {
                    // a hit is in the right fine ID == layer
                    double hitz = hit->getZ();
                    double hitr = hit->getR();
                    double hitphi = hit->getGPhi();
                    double predr = (m_useCartesian ? sqrt(predhit[0] * predhit[0] + predhit[1] * predhit[1]) : predhit[0]);
            double predphi = predhit[1]; // only for non cartesian, ie cylinndrical
                    double predz = predhit[2];
                    double windowR = m_windowR[0]; // default for all layers
                    double windowPhi = m_windowPhi[0]; // default for all layers
                    double windowZ = m_windowZ[0]; // default for all layers
                    int fineID_index = 0;
                    // But if available pick up per-window values
                    if (m_windowZ.size() > 1 || m_windowR.size() > 1 || m_windowPhi.size() > 1) {
 
                        auto fineID_it = std::find(m_windowFineID.begin(), m_windowFineID.end(), fineID);
                        if (fineID_it == m_windowFineID.end()){
                            ATH_MSG_DEBUG("No windows for predicted fineID " << fineID << ", using maximum in provided list instead!");
                            fineID_index = -1;
                        }
                        else {
                            fineID_index = fineID_it - m_windowFineID.begin();
                        }
                    }
                    if (m_windowR.size() > 1) {
                        if (fineID_index == -1) {
                            windowR = *std::max_element(m_windowR.begin(), m_windowR.end());
                        }
                        else {
                            windowR = m_windowR[fineID_index];
                        }
                    }
                    if (m_windowZ.size() > 1) {
                        if (fineID_index == -1) {
                            windowZ = *std::max_element(m_windowZ.begin(), m_windowZ.end());
                        }
                        else {
                            windowZ = m_windowZ[fineID_index];
                        }
                    }
                    if (m_windowPhi.size() > 1) {
                        if (fineID_index == -1) {
                            windowPhi = *std::max_element(m_windowPhi.begin(), m_windowPhi.end());
                        }
                        else {
                            windowPhi = m_windowPhi[fineID_index];
                        }
                    }
 
                // If last hit was not real and we want to, scale the window
                if (m_missedHitRScaling > 0 && !lastHitWasReal) windowR *= m_missedHitRScaling;
                if (m_missedHitZScaling > 0 && !lastHitWasReal) windowZ *= m_missedHitZScaling;
                if (m_missedHitPhiScaling > 0 && !lastHitWasReal) windowPhi *= m_missedHitPhiScaling;         
                // now scale windows for low pt, if desired
                if (pt < m_lowPtValueForWindowRScaling.value()) windowR *= m_lowPtWindowRScaling.value();
                if (pt < m_lowPtValueForWindowZScaling.value()) windowZ *= m_lowPtWindowZScaling.value();
                if (pt < m_lowPtValueForWindowPhiScaling.value()) windowPhi *= m_lowPtWindowPhiScaling.value();     
 
        double dr = abs(hitr - predr);
        double dz = abs(hitz - predz);
        double dphi = abs(hitphi - predphi);
        while (dphi > pi) dphi -= pi;
                if ((m_useCartesian && dr < windowR && dz < windowZ) ||
            (!m_useCartesian && dphi < windowPhi && dz < windowZ && dr < windowR))
          {
                    std::vector<std::shared_ptr<const FPGATrackSimHit>> theseHits {hit};
                    hitsInWindow = hitsInWindow + 1;
                    // If the hit is a space point, skip the next layer, as it will be a duplicated space point and we have already taken care of that in the adding of the hits
                    if(hit->isStrip()) {
                        if (hit->getHitType() == HitType::spacepoint) {
                            // find the hit in the next layer
                            if(!findHitinNextStripLayer(hit,  hits, theseHits)) {
                                ATH_MSG_WARNING("For a SP in layer " << layer << " Couldn't find a matching strip SP");
                            }
                        }
                        else {
                            std::shared_ptr<FPGATrackSimHit> guessedSecondHitPtr = std::make_shared<FPGATrackSimHit>();
                            guessedSecondHitPtr->setX(0);
                            guessedSecondHitPtr->setY(0);
                            guessedSecondHitPtr->setZ(0);
                            guessedSecondHitPtr->setPhysLayer(lastHit->getPhysLayer(true)+1);
                            guessedSecondHitPtr->setHitType(HitType::undefined);
                            if(isFineIDInStrip(fineID))  guessedSecondHitPtr->setDetType(SiliconTech::strip);
                            else  guessedSecondHitPtr->setDetType(SiliconTech::pixel);
 
                            theseHits.push_back(guessedSecondHitPtr);
                        }
                    }
                    // Store the hits for now
                    listofHitsFound.push_back(theseHits);
                    }
                }
            }
        // Sort the hit by the distance
        if (m_useCartesian) {
          std::sort(listofHitsFound.begin(), listofHitsFound.end(), [&predhit](auto& a, auto& b){
        double predr = sqrt(predhit[0] * predhit[0] + predhit[1] * predhit[1]);
        double predz = predhit[2];
        
        // HitA
        double hitz = a[0]->getZ();
        double hitr = a[0]->getR();
                float distance_a = (hitr - predr)*(hitr - predr) + (hitz - predz)*(hitz - predz);
        
                // HitB
                hitz = b[0]->getZ();
                hitr = b[0]->getR();
                float distance_b = (hitr - predr)*(hitr - predr) + (hitz - predz)*(hitz - predz);
        
                return distance_a < distance_b;
          });
        }
        else {
          std::sort(listofHitsFound.begin(), listofHitsFound.end(), [&predhit](auto& a, auto& b){
        
        double predr = predhit[0];
        double predphi = predhit[1];        
        double predz = predhit[2];
        // HitA
        double hitr = a[0]->getR();     
        double hitphi = a[0]->getGPhi();
        double hitz = a[0]->getZ();
                double dz = abs(hitz - predz);
                double dr = abs(hitr - predr);      
                double dphi = abs(hitphi - predphi);
        while (dphi > pi) dphi -= pi;
 
        // scaled distance because z and phi and r are not in same units
                float distance_a = dz*dz/(getZScale()*getZScale()) + dphi*dphi/(getPhiScale()*getPhiScale()) + dr*dr/(getRScale()*getRScale());
        
                // HitB
        hitr = b[0]->getR();
        hitphi = b[0]->getGPhi();       
        hitz = b[0]->getZ();
                dz = abs(hitz - predz);
                dr = abs(hitr - predr);     
                dphi = abs(hitphi - predphi);
        while (dphi > pi) dphi -= pi;
 
        // scaled distance because z and phi and r are not in same units
        float distance_b = dz*dz/(getZScale()*getZScale()) + dphi*dphi/(getPhiScale()*getPhiScale()) + dr*dr/(getRScale()*getRScale());
 
                return distance_a < distance_b;
          });
        }
            // Select the top N hits
            std::vector<std::vector<std::shared_ptr<const FPGATrackSimHit>>> cleanHitsToGrow;
 
            // If max branches are limited, pick only the top N from the list of hits found at each level
            if (m_maxBranches.value() >= 0) {
                int nHitsToChoose = std::min(int(m_maxBranches.value()), int(listofHitsFound.size()));
                cleanHitsToGrow.reserve(nHitsToChoose);
                std::copy(listofHitsFound.begin(), listofHitsFound.begin() + nHitsToChoose, std::back_inserter(cleanHitsToGrow));
            }
            else {
                cleanHitsToGrow = std::move(listofHitsFound);
            }
 
            for (auto& hitsFound: cleanHitsToGrow) {
 
                // We got a hit, lets make a road
                miniRoad newRoad;
                if(!addHitToRoad(newRoad, currentRoad, std::move(hitsFound))) {
                    ATH_MSG_WARNING("Failed to make a new road");
                    continue;
                }
                roadsToExtrapolate.push_back(newRoad);
                foundhitForRoad = true;
                if(m_debugEvent) {
                    ATH_MSG_DEBUG("------ road grown with hit from layer "<<layer<<" to");
                    printRoad(newRoad);
                }
            }
            // If the hit wasn't found, push a fake hit
            if (!foundhitForRoad) {
                // did not find a hit to extrapolate to, check if we need to delete this road. if not, add a guessed hit if still useful
                if (currentRoad.getNWCLayers() >= m_maxMiss) {
                    // we don't want this road, so we continue
                    continue;
                }
                else {
                    std::vector<std::shared_ptr<const FPGATrackSimHit>> theseHits;
                    // first make the fake hit that we will add
                    if (!getFakeHit(currentRoad, predhit, fineID, theseHits)) {
                        ATH_MSG_WARNING("Failed adding a guessed hit in extrapolation");
                        continue;
                    }
 
                    if((isFineIDInPixel(fineID) && theseHits.size() != 1) || (isFineIDInStrip(fineID) && theseHits.size() != 2)) {
                        continue;
                    }
                    // add the hit to the road
                    miniRoad newroad;
                    if (!addHitToRoad(newroad, currentRoad, std::move(theseHits))) {
                        ATH_MSG_WARNING("Failed making a new road with fake hit");
                        continue;
                    }
                    roadsToExtrapolate.push_back(newroad);
                }
            }
        }
        // This track has been extrapolated, copy the completed tracks to the full list with full road objects
        for (const auto &miniroad : completedRoads) {
            FPGATrackSimRoad road;
            road.setWCLayers(miniroad.getWCLayers());
            road.setHitLayers(miniroad.getHitLayers());
            road.setRoadID(m_roads.size() - 1);
            // Set the "Hough x" and "Hough y" using the track parameters.
            road.setX(track->getPhi());
            road.setY(track->getQOverPt());
            road.setXBin(track->getHoughXBin());
            road.setYBin(track->getHoughYBin());
            road.setSubRegion(track->getSubRegion());
 
            // just force the right number of layers now, in case we find fewer than expected (needed downstream)
            std::vector<std::vector<std::shared_ptr<const FPGATrackSimHit>>> roadhits = miniroad.getVecHits();
            unsigned nexpected = m_nLayers_1stStage+m_nLayers_2ndStage;
            if (roadhits.size() > nexpected) { // cut off the last ones
                roadhits.resize(nexpected);
            }
            else if (roadhits.size() < nexpected) { // fill with missing hits
                for (unsigned layer = roadhits.size(); layer < nexpected; layer++) {
                    std::shared_ptr<FPGATrackSimHit> emptyHitPtr = std::make_shared<FPGATrackSimHit>();
                    emptyHitPtr->setX(0);
                    emptyHitPtr->setY(0);
                    emptyHitPtr->setZ(0);
                    emptyHitPtr->setLayer(layer);
                    emptyHitPtr->setHitType(HitType::wildcard);
                    std::vector<std::shared_ptr<const FPGATrackSimHit>> hitVec;
                    hitVec.push_back(emptyHitPtr);
                    roadhits.push_back(hitVec);
                    layer_bitmask_t wclayers = road.getWCLayers();
                    wclayers |= (1 << layer);
                    road.setWCLayers(wclayers);
                }
            }
            road.setHits(std::move(roadhits));
 
            m_roads.push_back(road);
        }
    }
    // Copy the roads we found into the output argument and return success.
    roads.reserve(m_roads.size());
    for (FPGATrackSimRoad & r : m_roads)
    {
        if (r.getNWCLayers() >= m_maxMiss) continue; // extra check on this
        roads.emplace_back(std::make_shared<const FPGATrackSimRoad>(r));
    }
    ATH_MSG_DEBUG("Found " << roads.size() << " new roads in second stage.");
 
    return StatusCode::SUCCESS;
}
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::fillInputTensorForNN(miniRoad& thisroad, std::vector<float>& inputTensorValues)
{
    std::vector<std::shared_ptr<const FPGATrackSimHit>> hitsR;
 
    std::vector<std::shared_ptr<const FPGATrackSimHit>> hits = thisroad.getHits();
 
 
    for (unsigned ihit = 0; ihit < hits.size(); ihit++) {
      if (ihit < m_nLayers_1stStage && !(hits[ihit]->isReal())) continue; // skip guessed hits for the 1st stage
       hitsR.push_back(hits[ihit]);
    }
    // Sort in increasing 3D distance.
    std::sort(hitsR.begin(), hitsR.end(), [](auto& a, auto& b){
        double dist_a = std::hypot(a->getX(), a->getY(), a->getZ());
        double dist_b = std::hypot(b->getX(), b->getY(), b->getZ());
        return dist_a < dist_b;
    });
 
    if(m_debugEvent) ATH_MSG_DEBUG("hitsR");
    for (auto thit : hitsR)
    {
      if(m_debugEvent) ATH_MSG_DEBUG(thit->getX()<<" "<<thit->getY()<<" "<<thit->getZ() << " and phi = " << thit->getGPhi());
    }
 
    // Remove all the duplicate space points
    std::vector<std::shared_ptr<const FPGATrackSimHit>> cleanHits;
    bool skipHit = false;
    for (auto thit : hitsR)
    {
        if(skipHit)
        {
            skipHit = false;
            continue;
        }
        if (thit->isPixel())
        {
            cleanHits.push_back(thit);
        }
        else if (thit->isStrip() && (thit->getHitType() == HitType::spacepoint))
        {
            // This is a proper strips SP, push the first hit back and skip the next one since its a duplicate
            cleanHits.push_back(thit);
            skipHit = true;
        }
        else if (thit->isStrip() && (thit->getHitType() == HitType::guessed))
        {
            // this is a guessed strip SP, push the first hit back and skip the next one since its a duplicate
            cleanHits.push_back(thit);
            skipHit = true;
        }
        else if (thit->isStrip() && (thit->getHitType() == HitType::undefined))
        {
            // this is a fake hit, inserted for a unpaired SP, continue
            continue;
        }
        else if (thit->isStrip() && thit->isReal())
        {
            // What is left here is a unpaired hit, push it back
            cleanHits.push_back(thit);
        }
        else
        {
            ATH_MSG_WARNING("No clue how to deal with this hit in the NN predicition ");
            continue;
        }
    }
 
    // Reverse the hits as we changed the ordering before
    if(!m_doOutsideIn)
    {
        std::reverse(cleanHits.begin(), cleanHits.end());
    }
 
    // Select the top N hits
    std::vector<std::shared_ptr<const FPGATrackSimHit>> hitsToEncode;
    std::copy(cleanHits.begin(), cleanHits.begin() + m_predictionWindowLength, std::back_inserter(hitsToEncode));
 
    if(m_debugEvent) ATH_MSG_DEBUG("Clean hits");
    for (auto thit : cleanHits)
    {
      if(m_debugEvent) ATH_MSG_DEBUG(thit->getX()<<" "<<thit->getY()<<" "<<thit->getZ()<<" "<<thit->isStrip() << " and gphi = " << thit->getGPhi());
    }
 
    // Reverse this vector so we can encode it the format as expected from the NN
    std::reverse(hitsToEncode.begin(), hitsToEncode.end());
 
    if(m_debugEvent) ATH_MSG_DEBUG("Input for NN prediction");
    for (auto thit : hitsToEncode)
    {
      if (m_useCartesian) {
        inputTensorValues.push_back(thit->getX()/ getXScale());
        inputTensorValues.push_back(thit->getY()/ getYScale());
        inputTensorValues.push_back(thit->getZ()/ getZScale());
      }
      else {
        inputTensorValues.push_back(thit->getR()/ getRScale());
        inputTensorValues.push_back(thit->getGPhi()/ getPhiScale());
        inputTensorValues.push_back(thit->getZ()/ getZScale());
      }
 
      if(m_debugEvent) ATH_MSG_DEBUG(thit->getX()<<" "<<thit->getY()<<" "<<thit->getZ() << " and gphi = " << thit->getGPhi());
    }
 
    return StatusCode::SUCCESS;
 
}
 
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::getPredictedHit(std::vector<float>& inputTensorValues, std::vector<float>& outputTensorValues, long& fineID)
{
    std::vector<float> NNVoloutput = m_extensionVolNN.runONNXInference(inputTensorValues);
    fineID = std::distance(NNVoloutput.begin(),std::max_element(NNVoloutput.begin(), NNVoloutput.end()));
    // Insert the output for the second stage NN
    inputTensorValues.insert(inputTensorValues.end(), NNVoloutput.begin(), NNVoloutput.end()); //now we append the first NN to the list of coordinates
 
    // use the above to predict the next hit position
    outputTensorValues = m_extensionHitNN.runONNXInference(inputTensorValues);
 
    // now scale back
    if (m_useCartesian) {
      outputTensorValues[0] *= getXScale();
      outputTensorValues[1] *= getYScale();
      outputTensorValues[2] *= getZScale();
    }
    else {
      outputTensorValues[0] *= getRScale();
      outputTensorValues[1] *= getPhiScale();
      outputTensorValues[2] *= getZScale();
    }
 
    return StatusCode::SUCCESS;
}
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::addHitToRoad(miniRoad& newroad, miniRoad& currentRoad, const std::vector<std::shared_ptr<const FPGATrackSimHit>>& hits)
{
  newroad.setHits(currentRoad.getHits());
  newroad.addHits(hits);
  return StatusCode::SUCCESS;
}
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::getFakeHit(miniRoad& currentRoad, std::vector<float>& predhit, const long& fineID, std::vector<std::shared_ptr<const FPGATrackSimHit>>& hits) {
 
  unsigned guessedLayer(0);
 
    std::shared_ptr<FPGATrackSimHit> guessedHitPtr = std::make_shared<FPGATrackSimHit>();
    if (m_useCartesian) {
      guessedHitPtr->setX(predhit[0]);
      guessedHitPtr->setY(predhit[1]);
      guessedHitPtr->setZ(predhit[2]);
    }
    else {
      double r = predhit[0];
      double phi = predhit[1];
      guessedHitPtr->setX(r*cos(phi));
      guessedHitPtr->setY(r*sin(phi));
      guessedHitPtr->setZ(predhit[2]);
    }
     
 
    if (m_doOutsideIn) { // outside in
      // TODO
    }
    else { // nope, inside out
      guessedLayer = currentRoad.getNHits();
    }
 
    guessedHitPtr->setLayer(guessedLayer);
    guessedHitPtr->setHitType(HitType::guessed);
 
    if(isFineIDInStrip(fineID))  {
      guessedHitPtr->setDetType(SiliconTech::strip);
      guessedHitPtr->setPhysLayer(0); // it is just to set the side, it's not actually 0
    }
    else  guessedHitPtr->setDetType(SiliconTech::pixel);
 
 
    // Make sure that the hit is inside the boundaries of the layers
    if(guessedLayer < (m_nLayers_1stStage + m_nLayers_2ndStage ))
    {
        hits.push_back(guessedHitPtr);
    }
    // if in strips, add the second hit into the list
    if(isFineIDInStrip(fineID))
    {
        std::shared_ptr<FPGATrackSimHit> guessedSecondHitPtr = std::make_shared<FPGATrackSimHit>();
        guessedSecondHitPtr->setX(0);
        guessedSecondHitPtr->setY(0);
        guessedSecondHitPtr->setZ(0);
        guessedSecondHitPtr->setLayer( guessedLayer + 1 );
        guessedSecondHitPtr->setHitType(HitType::guessed);
 
        guessedSecondHitPtr->setDetType(SiliconTech::strip);
    guessedHitPtr->setPhysLayer(1); // it is just to set the side, it's not actually 1
        // Make sure that the hit is inside the boundaries of the layers
        if((guessedLayer + 1) < (m_nLayers_1stStage + m_nLayers_2ndStage ))
        {
            hits.push_back(guessedSecondHitPtr);
        }
    }
 
 
 
    return StatusCode::SUCCESS;
 
}
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::findHitinNextStripLayer(std::shared_ptr<const FPGATrackSimHit> hitToSearch, const std::vector<std::shared_ptr<const FPGATrackSimHit>>& hitList, std::vector<std::shared_ptr<const FPGATrackSimHit>>& hits)
{
    float EPSILON = 0.00001;
    for (const std::shared_ptr<const FPGATrackSimHit>& hit: hitList)
    {
      if (abs(hit->getX() - hitToSearch->getX()) < EPSILON && abs(hit->getY() - hitToSearch->getY()) < EPSILON && abs(hit->getZ() - hitToSearch->getZ()) < EPSILON && hit->getIdentifierHash() != hitToSearch->getIdentifierHash())
        {
            hits.push_back(hit);
            return StatusCode::SUCCESS;
        }
 
    }
 
    ATH_MSG_WARNING("Didn't find a matching space point");
 
    return StatusCode::FAILURE;
}
 
void FPGATrackSimNNPathfinderExtensionTool::printRoad(miniRoad& currentRoad)
{
    if(!m_debugEvent) return;
 
    // print this road
    if(m_debugEvent)
    {
        std::vector<std::shared_ptr<const FPGATrackSimHit>> hitsR;
        for (auto &hit : currentRoad.getHits()) {
            hitsR.push_back(hit);
        }
 
        // If outside in, sort in increasing R, otherwise, decreasing R
        if(m_doOutsideIn)
        {
            std::sort(hitsR.begin(), hitsR.end(), [](auto& a, auto& b){
                if(a->getR() == b->getR()) return a->getLayer() < b->getLayer();
                return a->getR() < b->getR();
            });
        }
        else
        {
            std::sort(hitsR.begin(), hitsR.end(), [](auto& a, auto& b){
                return a->getR() > b->getR();
            });
        }
 
        for (unsigned long i = 0; i < hitsR.size(); i++)
        {
      ATH_MSG_DEBUG("Hit i "<<i<<" X: "<<hitsR[i]->getX()<<" Y: "<<hitsR[i]->getY()<<" Z: "<<hitsR[i]->getZ()<<" R: "<<hitsR[i]->getR()<< " hitType: "<<hitsR[i]->getHitType()<<" getDetType: "<<hitsR[i]->getDetType() << "phi = " << hitsR[i]->getGPhi());
        }
    }
 
}
 
StatusCode FPGATrackSimNNPathfinderExtensionTool::getLastLayer(miniRoad& currentRoad, unsigned& lastHitLayer, std::shared_ptr<const FPGATrackSimHit>& lastHit)
{
    lastHitLayer = currentRoad.getNHits()-1;
    lastHit = currentRoad.getHit(lastHitLayer);
    return StatusCode::SUCCESS;
 
}