Add CAN-driven lazy inference with resident TensorRT engines

src/config.cpp

@@ -19,6 +19,12 @@ PipelineConfig loadConfig(std::filesystem::path const& path) {
     auto const& door=j.at("door");config.door_mask=resolve(door.at("mask"));
     config.warning_relative=door.at("warning_relative");config.release_relative=door.at("release_relative");
     config.door_mask_calibration_verified=door.at("calibration_verified");
+    if(j.contains("lazy_inference")) {
+        auto const& gate=j.at("lazy_inference");
+        config.lazy_gate.threshold_percent=gate.value("threshold_percent",15);
+        config.lazy_gate.can_timeout_ms=gate.value("can_timeout_ms",1000);
+        config.lazy_gate.motion_timeout_ms=gate.value("motion_timeout_ms",300);
+    }
     return config;
 }
 }