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DeeJanuzandClaude Opus 5.5
3b2f065c85
hands/rec/session.py runs a recording session from script.json: it starts ft-camd and a tracking ft-hands as transient units only if they aren't running, records each section as one take (ft-hands --record-only at 10 sets/s, a new sets-N.bin after each pause), drives ft-handpanel, and writes session.json, calibration.json (identifying fields removed), prompts.jsonl and take.json. Feedback comes from the live hands file and, in the controller sections, from the panel's device poll. It also runs from the command line (--dry-run, --speed, --ring, --no-start). hands/rec/script.json: 11 sections, about 9 minutes without the object and controller sections. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
1507 lines
63 KiB
Python
Executable File
1507 lines
63 KiB
Python
Executable File
#!/usr/bin/env python3
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"""The hand recorder's session runner (DESIGN.md: "Processes during a session", "Files", "The
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script", "Feedback while recording", "Controls").
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It reads script.json, starts what the session needs (ft-camd and a tracking ft-hands, only if
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they aren't running), and runs the sections in order. Each section is one take: a recording
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ft-hands child process (--record-only, 10 sets a second) plus prompts.jsonl, take.json and the
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panel's poses.jsonl. The headset panel (ft-handpanel) shows the prompts; the live hands file
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gives feedback ("I can't see your left hand").
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Plain Python, standard library only: ft_handrec.py imports it, and it runs from the command line
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for testing (in the dev container):
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python3 hands/rec/session.py --dry-run --speed 20 # no processes: prints the panel commands
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python3 hands/rec/session.py --ring /tmp/ring --base /tmp/hr # ft-ringplay's frames, no headset needed
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All _ns times are CLOCK_MONOTONIC nanoseconds.
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"""
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import argparse
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import glob
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import json
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import math
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import mmap
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import os
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import re
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import shutil
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import signal
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import socket
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import struct
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import subprocess
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import sys
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import threading
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import time
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import traceback
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HERE = os.path.dirname(os.path.abspath(__file__))
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REPO = os.path.dirname(os.path.dirname(HERE))
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HANDS = os.path.join(REPO, "hands")
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FT_HANDS = os.path.join(HANDS, "build", "ft-hands")
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FT_CAMD = os.path.join(HANDS, "build", "ft-camd")
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PANEL_BIN = os.path.join(HERE, "build", "ft-handpanel")
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SCRIPT_PATH = os.path.join(HERE, "script.json")
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BASE_DIR = os.path.expanduser("~/.local/share/frametop/hands/contrib")
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PANEL_SOCKET = "ft_handpanel"
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CAMD_UNIT = "frametop-handrec-camd.service"
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HANDS_UNIT = "frametop-handrec-hands.service"
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RECORD_HZ = 10
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TICK_S = 0.05 # the session loop's step (real time)
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FRESH_S = 0.3 # the hands file counts as live if published this recently
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LOST_S = 1.5 # an asked-for hand lost this long gets a note
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CONTROLLER_LOST_S = 1.0 # a controller off 200 (Running_OK) this long gets a note
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TOUCH_M = 0.03 # touch the dot: the index tip within this of the dot
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MIN_FREE = 1.5e9 # stop the session before the disk fills
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RESUME_HINT = "Paused. Resume: Space in the Hand recorder window"
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def mono_ns():
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return time.clock_gettime_ns(time.CLOCK_MONOTONIC)
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def run_dir():
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return "/run/user/%d/frametop-hands" % os.getuid()
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def in_container():
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return os.path.exists("/run/.containerenv") or os.path.exists("/.dockerenv")
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def host_command(*cmd):
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"""argv to run a command on the SteamOS host from the dev container (as in
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display-settings: distrobox-host-exec needs the user's real session bus)."""
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exe = shutil.which("distrobox-host-exec")
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if not in_container() or not exe:
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return list(cmd)
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return ["env", "DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/%d/bus" % os.getuid(), exe] + list(cmd)
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def host_path(path):
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"""A host file, from the container (/run/host) or the host itself."""
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for p in ("/run/host" + path, path):
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if os.path.exists(p):
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return p
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return None
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def write_json(path, data):
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tmp = path + ".tmp"
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with open(tmp, "w") as f:
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json.dump(data, f, indent=1)
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f.write("\n")
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os.replace(tmp, path)
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def clean_text(s):
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"""Text for a panel command: one line; "|" is the panel's line break, so callers use it."""
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return " ".join(str(s).replace("\r", " ").replace("\n", " ").split())
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# ------------------------------------------------------------------------------------------
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# The camera ring (camd/fhring.h; tools/ring.py's layout, struct only)
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RING_HDR = struct.Struct("<8sIIIIQqQ16x") # 64 bytes
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RING_CAM = struct.Struct("<32s32siIIIIIQQQQQIf24x") # 160 bytes
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RING_SLOT = struct.Struct("<QQQQQIf16x") # 64 bytes, the image follows
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FH_CAM_DARK, FH_CAM_COLOR = 1, 2
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class Ring:
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def __init__(self, path):
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fd = os.open(path, os.O_RDONLY)
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try:
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self.map = mmap.mmap(fd, 0, mmap.MAP_SHARED, mmap.PROT_READ)
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finally:
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os.close(fd)
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magic, version, _, ncams, _, _, self.writer_pid, _ = RING_HDR.unpack_from(self.map, 0)
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if magic != b"FHRING01" or version != 1:
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self.map.close()
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raise ValueError("%s isn't a camera ring" % path)
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self.cams = []
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for i in range(min(ncams, 8)):
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f = RING_CAM.unpack_from(self.map, RING_HDR.size + i * RING_CAM.size)
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self.cams.append({
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"index": i, "sensor": f[0].split(b"\0", 1)[0].decode(errors="replace"),
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"name": f[1].split(b"\0", 1)[0].decode(errors="replace"), "node": f[2],
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"width": f[4], "height": f[5], "stride": f[6], "nslots": f[7],
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"slot_offset": f[8], "slot_bytes": f[9], "flags": f[13]})
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def close(self):
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self.map.close()
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def alive(self, max_age=1.0):
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hb = struct.unpack_from("<Q", self.map, 40)[0]
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return hb != 0 and (mono_ns() - hb) / 1e9 < max_age
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def _cam_field(self, cam, fmt, off):
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return struct.unpack_from(fmt, self.map, RING_HDR.size + cam["index"] * RING_CAM.size + off)[0]
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def latest(self, cam):
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return self._cam_field(cam, "<Q", 104)
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def dark_mean(self, cam):
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return self._cam_field(cam, "<f", 132)
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def mono(self):
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"""The mono tracking cameras (no dark twins, no colour cameras, also by name for
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ft-ringplay's rings, which carry no flags)."""
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return [c for c in self.cams if not c["flags"] & (FH_CAM_DARK | FH_CAM_COLOR)
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and not c["name"].endswith("_dk") and not c["name"].startswith("color")]
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def frame_mean(self, cam):
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"""The newest frame's mean luma: ft-camd's from the slot header, else (ft-ringplay
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leaves it 0) measured on a sparse grid. None if there's no complete frame."""
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n = self.latest(cam)
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if not n:
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return None
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off = cam["slot_offset"] + (n % cam["nslots"]) * cam["slot_bytes"]
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seq, _, _, _, _, _, mean = RING_SLOT.unpack_from(self.map, off)
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if seq != 2 * n + 2:
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return None
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if mean <= 0:
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img, total, count = off + RING_SLOT.size, 0, 0
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for y in range(0, cam["height"], 16):
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row = self.map[img + y * cam["stride"]: img + y * cam["stride"] + cam["width"]: 16]
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total += sum(row)
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count += len(row)
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mean = total / count if count else 0.0
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if struct.unpack_from("<Q", self.map, off)[0] != seq:
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return None
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return float(mean)
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def ring_lighting(ring_path=None, samples=5, interval=0.2):
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"""Each mono camera's brightness now: {"<cam>": {"mean": float, "dark_mean": float}}, the
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newest frames' mean luma and ft-camd's near-black frame mean (the room's IR light), averaged
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over about a second. None if no camera ring is running."""
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path = ring_path or os.path.join(run_dir(), "cam-ring")
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try:
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ring = Ring(path)
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except (OSError, ValueError):
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return None
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try:
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if not ring.alive():
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return None
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sums = {}
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for k in range(samples):
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for cam in ring.mono():
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m = ring.frame_mean(cam)
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s = sums.setdefault(cam["name"], [0.0, 0, 0.0, 0])
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if m is not None:
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s[0] += m
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s[1] += 1
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s[2] += ring.dark_mean(cam)
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s[3] += 1
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if k + 1 < samples:
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time.sleep(interval)
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out = {name: {"mean": round(s[0] / s[1], 2) if s[1] else 0.0,
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"dark_mean": round(s[2] / s[3], 2) if s[3] else 0.0} for name, s in sums.items()}
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return out or None
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finally:
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ring.close()
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def _light_levels(ring):
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vals = [v for v in (ring or {}).values() if isinstance(v, dict)]
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if not vals:
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return None
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return (sum(float(v.get("mean", 0)) for v in vals) / len(vals),
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sum(float(v.get("dark_mean", 0)) for v in vals) / len(vals))
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def _close(a, b, share=0.15, floor=1.0):
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"""Within 15% of the larger; the floor keeps near-black levels (a dim room's dark mean is a
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few levels) from looking different over sensor noise."""
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return abs(a - b) <= max(share * max(abs(a), abs(b)), floor)
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def similar_lighting(base_dir, lighting):
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"""An earlier session whose cameras saw about the same light (the mean of every mono
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camera's mean and dark_mean, each within 15%): (session_id, chosen), the latest such, or
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None. lighting is ring_lighting()'s dict, or session.json's {"chosen", "ring"}."""
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if not lighting:
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return None
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ring = lighting.get("ring") if isinstance(lighting.get("ring"), dict) else lighting
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now = _light_levels(ring)
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if not now:
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return None
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for path in sorted(glob.glob(os.path.join(base_dir, "sessions", "*", "session.json")), reverse=True):
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try:
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with open(path) as f:
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light = json.load(f).get("lighting") or {}
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except (OSError, ValueError):
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continue
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then = _light_levels(light.get("ring"))
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if then and _close(now[0], then[0]) and _close(now[1], then[1]):
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return os.path.basename(os.path.dirname(path)), light.get("chosen", "")
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return None
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# ------------------------------------------------------------------------------------------
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# The factory calibration, without what identifies the unit
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ID_TOKENS = {"serial", "sn", "uuid", "guid", "mac", "id", "ids", "identifier"}
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def _key_identifies(key):
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k = str(key)
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if re.search(r"serial|uuid", k, re.I):
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return True
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tokens = re.findall(r"[A-Z]+(?![a-z])|[A-Z]?[a-z]+|\d+", k)
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return any(t.lower() in ID_TOKENS for t in tokens)
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def _value_identifies(value):
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"""A string holding something like a serial number: a run of 8 or more letters and digits
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with at least 4 digits and a letter (sensor names like og01a1b are shorter)."""
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if not isinstance(value, str):
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return False
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for run in re.findall(r"[A-Za-z0-9]+", value):
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if len(run) >= 8 and sum(c.isdigit() for c in run) >= 4 and any(c.isalpha() for c in run):
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return True
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return False
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def strip_calibration(xrservice_json_dict):
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"""/persist/xrservice.json without what identifies the unit: keys naming a serial, sn,
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uuid, mac or id, and string values that look like serial numbers. Returns (cleaned dict,
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removed key paths such as "cameras[0].serial")."""
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removed = []
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def walk(o, path):
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if isinstance(o, dict):
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out = {}
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for k, v in o.items():
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p = "%s.%s" % (path, k) if path else str(k)
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if _key_identifies(k) or _value_identifies(v):
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removed.append(p)
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continue
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out[k] = walk(v, p)
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return out
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if isinstance(o, list):
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out = []
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for i, v in enumerate(o):
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p = "%s[%d]" % (path, i)
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if _value_identifies(v):
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removed.append(p)
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out.append(None) # keep the other items' positions
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continue
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out.append(walk(v, p))
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return out
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return o
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return walk(xrservice_json_dict, ""), removed
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# ------------------------------------------------------------------------------------------
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# The live hands file (include/fh_hands.h)
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HANDS_HDR = struct.Struct("<8sIIQQQII16x") # 64 bytes
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HAND = struct.Struct("<IIff63fI") # 272 bytes
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FH_HAND_RIGHT = 1
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PALM = (0, 5, 9, 13, 17) # wrist and knuckles
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INDEX_TIP = 8
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class HandsFile:
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"""Reads ft-hands' hands file under its sequence lock. read() gives None while no tracker
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publishes (no file, or nothing for FRESH_S), else {"left": hand|None, "right": hand|None}
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with hand = {"palm": [x,y,z], "palm_m": float, "tip": [x,y,z]} in the head frame."""
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def __init__(self, path):
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self.path = path
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def read(self):
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try:
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fd = os.open(self.path, os.O_RDONLY)
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except OSError:
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return None
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try:
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size = HANDS_HDR.size + 2 * HAND.size
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for _ in range(4):
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data = os.pread(fd, size, 0)
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if len(data) < size:
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return None
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magic, version, _, seq, _, publish_ns, nhands, _ = HANDS_HDR.unpack_from(data, 0)
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if magic != b"FHHANDS1" or version != 1:
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return None
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if seq % 2 or os.pread(fd, 8, 16) != data[16:24]:
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continue
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if (mono_ns() - publish_ns) / 1e9 > FRESH_S:
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return None
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out = {"left": None, "right": None}
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for k in range(min(nhands, 2)):
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f = HAND.unpack_from(data, HANDS_HDR.size + k * HAND.size)
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side = "right" if f[1] & FH_HAND_RIGHT else "left"
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if out[side]:
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continue
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pts = [f[4 + 3 * i: 7 + 3 * i] for i in range(21)]
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palm = [sum(pts[i][j] for i in PALM) / len(PALM) for j in range(3)]
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out[side] = {"palm": palm, "palm_m": math.sqrt(sum(v * v for v in palm)),
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"tip": list(pts[INDEX_TIP])}
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return out
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return None
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finally:
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os.close(fd)
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# ------------------------------------------------------------------------------------------
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# The panel (ft-handpanel, @ft_handpanel)
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class Panel:
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"""Commands to ft-handpanel over its datagram socket. Commands that need an answer wait
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for it; the rest don't, and their replies are read (and errors logged) later. With
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dry=True nothing is sent: commands are printed and replies made up."""
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def __init__(self, name=PANEL_SOCKET, dry=False, log=None, out=None):
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self.name, self.dry, self.log, self.out = name, dry, log or (lambda s: None), out or print
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self.sock = None
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self.sent = {}
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self.pending = 0 # commands sent and not answered yet
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if not dry:
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self.sock = socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM | socket.SOCK_CLOEXEC)
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self.sock.bind("\0ft_handrec.%d.%d" % (os.getpid(), id(self) & 0xffff))
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self.sock.setblocking(False)
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def close(self):
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if self.sock:
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self.sock.close()
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self.sock = None
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def _drain(self):
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while self.sock:
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try:
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r = self.sock.recv(4096).decode(errors="replace")
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except (BlockingIOError, OSError):
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return
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self.pending = max(0, self.pending - 1)
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if r.startswith("error"):
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self.log("panel: %s" % r)
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def cmd(self, text, reply=False, timeout=0.5):
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"""Send a command; with reply=True, its answer ("ok ..." or "error ..."), or None.
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The panel answers every command in order, so the answer is the one after those of
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the commands still unanswered."""
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if self.dry:
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self.out("panel: %s" % text)
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if not reply:
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return None
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if text.startswith("devices"):
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return "ok hmd 200 left 200 right 200"
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return "ok shown" if text == "ping" else "ok"
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if not self.sock:
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return None
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self._drain()
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try:
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self.sock.sendto(text.encode(), "\0" + self.name)
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except OSError:
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return None
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self.pending += 1
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if not reply:
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return None
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end = time.monotonic() + timeout
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while time.monotonic() < end:
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try:
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self.sock.settimeout(max(0.01, end - time.monotonic()))
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r = self.sock.recv(4096).decode(errors="replace")
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except OSError:
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break
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finally:
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self.sock.setblocking(False)
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self.pending = max(0, self.pending - 1)
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if self.pending == 0:
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return r
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if r.startswith("error"):
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self.log("panel: %s" % r)
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self.pending = 0 # a lost answer: start counting afresh
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return None
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def set(self, key, text):
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"""Send a command only if it changes what that part of the panel shows."""
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if self.sent.get(key) == text:
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return
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self.sent[key] = text
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self.cmd(text)
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# ------------------------------------------------------------------------------------------
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# Processes
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def find_processes(name):
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"""[(pid, argv)] of running processes called name (the container shares the host's PIDs)."""
|
|
out = []
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for pid in os.listdir("/proc"):
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if not pid.isdigit():
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continue
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try:
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with open("/proc/%s/comm" % pid) as f:
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|
if f.read().strip() != name:
|
|
continue
|
|
with open("/proc/%s/cmdline" % pid, "rb") as f:
|
|
argv = [a.decode(errors="replace") for a in f.read().split(b"\0") if a]
|
|
except OSError:
|
|
continue
|
|
out.append((int(pid), argv))
|
|
return out
|
|
|
|
|
|
def tracker_running():
|
|
"""A tracking ft-hands (not a --record-only recorder)."""
|
|
return any("--record-only" not in argv for _, argv in find_processes("ft-hands"))
|
|
|
|
|
|
class Recorder:
|
|
"""One part of a take's recording: ft-hands --record-only as a child process. Part 1
|
|
writes TAKE/sets.bin; part N (after a pause) records into TAKE/.part-N and is moved to
|
|
TAKE/sets-N.bin when it ends (ft-hands never overwrites, and always writes DIR/sets.bin)."""
|
|
|
|
def __init__(self, take_dir, part, seconds, ring, log_file):
|
|
self.take_dir, self.part = take_dir, part
|
|
self.dir = take_dir if part == 1 else os.path.join(take_dir, ".part-%d" % part)
|
|
argv = [FT_HANDS, "--record-only", "--record", self.dir, "--record-for", "%.0f" % max(seconds, 5),
|
|
"--record-hz", str(RECORD_HZ), "--status", "0"]
|
|
if ring:
|
|
argv += ["--ring", ring]
|
|
if not in_container():
|
|
argv = [os.path.expanduser("~/.local/bin/distrobox"), "enter", "dev", "--"] + argv
|
|
self.proc = subprocess.Popen(argv, stdin=subprocess.DEVNULL, stdout=log_file, stderr=log_file)
|
|
self.started_ns = mono_ns()
|
|
|
|
def exited(self):
|
|
return self.proc.poll() is not None
|
|
|
|
def stop(self):
|
|
"""End it (SIGTERM: ft-hands writes out its queue) and put the part in place."""
|
|
if self.proc.poll() is None:
|
|
self.proc.send_signal(signal.SIGTERM)
|
|
try:
|
|
self.proc.wait(15)
|
|
except subprocess.TimeoutExpired:
|
|
self.proc.kill()
|
|
self.proc.wait()
|
|
if self.part > 1:
|
|
src = os.path.join(self.dir, "sets.bin")
|
|
if os.path.exists(src):
|
|
os.replace(src, os.path.join(self.take_dir, "sets-%d.bin" % self.part))
|
|
try:
|
|
os.rmdir(self.dir)
|
|
except OSError:
|
|
pass
|
|
return self.proc.returncode
|
|
|
|
|
|
# ------------------------------------------------------------------------------------------
|
|
# The script
|
|
|
|
HAND_VALUES = ("left", "right", "both", "none", "any", "")
|
|
PROMPT_KEYS = ("text", "seconds", "hands", "pose", "distance", "position", "object", "controller")
|
|
|
|
|
|
def _when_ok(cond, ctx):
|
|
"""A prompt's or block's "when": "controllers", "objects:keyboard", or either negated with "!"."""
|
|
if not cond:
|
|
return True
|
|
neg = cond.startswith("!")
|
|
c = cond.lstrip("!")
|
|
value = c[len("objects:"):] in ctx["objects"] if c.startswith("objects:") else bool(ctx.get(c))
|
|
return value != neg
|
|
|
|
|
|
def _prompt(section, raw, ctx, subst=None):
|
|
p = dict(section.get("defaults") or {})
|
|
p.update(raw)
|
|
p.pop("when", None)
|
|
for k, v in (subst or {}).items():
|
|
for key in ("text", "object"):
|
|
if isinstance(p.get(key), str):
|
|
p[key] = p[key].replace("{%s}" % k, v)
|
|
if subst and "object_key" in subst:
|
|
p["object"] = subst["object_key"]
|
|
for key in PROMPT_KEYS:
|
|
p.setdefault(key, False if key == "controller" else 0 if key == "seconds" else "")
|
|
p["controllers"] = list(p.get("controllers") or [])
|
|
if p["hands"] not in HAND_VALUES:
|
|
raise ValueError("%s: hands %r" % (section["id"], p["hands"]))
|
|
return p
|
|
|
|
|
|
def _set_ids(section, prompts):
|
|
seen = {}
|
|
for p in prompts:
|
|
if not p.get("id"):
|
|
parts = [section["id"]] + [re.sub(r"[^a-z0-9]+", "-", str(p[k]).lower()).strip("-")
|
|
for k in ("pose", "hands", "distance", "position", "object") if p[k]]
|
|
p["id"] = "/".join(parts) if len(parts) > 1 else "%s/%d" % (section["id"], len(seen) + 1)
|
|
n = seen.get(p["id"], 0) + 1
|
|
seen[p["id"]] = n
|
|
if n > 1:
|
|
p["id"] = "%s#%d" % (p["id"], n)
|
|
|
|
|
|
def load_script(path):
|
|
with open(path) as f:
|
|
script = json.load(f)
|
|
if script.get("version") != 1 or not isinstance(script.get("sections"), list):
|
|
raise ValueError("%s: not a version 1 script" % path)
|
|
return script
|
|
|
|
|
|
def build_plan(script, checklist):
|
|
"""The sections this session runs, prompts expanded for the checklist, and the ones
|
|
skipped: (plan, skipped) with skipped = [{"section", "reason"}]."""
|
|
objects = [o for o in (checklist.get("objects") or []) if o]
|
|
own = [o for o in (checklist.get("own_objects") or []) if str(o).strip()]
|
|
ctx = {"objects": set(objects) | set(own), "controllers": checklist.get("controllers") == "straps"}
|
|
names = script.get("objects") or {}
|
|
plan, skipped = [], []
|
|
for raw in script["sections"]:
|
|
sid = raw["id"]
|
|
missing = [r for r in raw.get("requires") or [] if not ctx.get(r)]
|
|
if missing:
|
|
skipped.append({"section": sid, "reason": "needs " + ", ".join(missing)})
|
|
continue
|
|
s = dict(raw)
|
|
s["kind"] = raw.get("kind", "prompts")
|
|
s["intro_s"] = float(raw.get("intro_s", script.get("intro_s", 4)))
|
|
prompts = []
|
|
if raw.get("for_each") == "object":
|
|
skip = set(raw.get("skip_objects") or [])
|
|
for o in [o for o in objects if o not in skip] + own:
|
|
label = clean_text(names.get(o, o)).replace("|", "/")
|
|
for p in raw.get("prompts") or []:
|
|
if _when_ok(p.get("when"), ctx):
|
|
prompts.append(_prompt(s, p, ctx, {"object": label, "object_key": clean_text(o)}))
|
|
else:
|
|
prompts = [_prompt(s, p, ctx) for p in raw.get("prompts") or [] if _when_ok(p.get("when"), ctx)]
|
|
_set_ids(s, prompts)
|
|
s["prompts"] = prompts
|
|
if s["kind"] == "bar":
|
|
heights = []
|
|
for h in raw.get("heights") or []:
|
|
h = {"id": h} if isinstance(h, str) else dict(h)
|
|
h.setdefault("text", (raw.get("height_text") or {}).get(h["id"], raw.get("text", "")))
|
|
h.setdefault("reps", raw.get("reps", 5))
|
|
heights.append(h)
|
|
s["heights"] = heights
|
|
before = raw.get("before")
|
|
s["before"] = before if before and _when_ok(before.get("when"), ctx) else None
|
|
if s["kind"] == "prompts" and not prompts:
|
|
skipped.append({"section": sid, "reason": "nothing to do"})
|
|
continue
|
|
if s["kind"] == "targets" and not raw.get("targets"):
|
|
skipped.append({"section": sid, "reason": "no targets"})
|
|
continue
|
|
plan.append(s)
|
|
return plan, skipped
|
|
|
|
|
|
def section_seconds(s, worst=False):
|
|
"""A section's length in script seconds (targets: about 4 s each, or the timeout if worst)."""
|
|
t = s["intro_s"] + sum(p["seconds"] for p in s["prompts"])
|
|
if s["kind"] == "targets":
|
|
t += len(s["targets"]) * (s.get("timeout_s", 8) if worst else min(4.0, s.get("timeout_s", 8)))
|
|
if s["kind"] == "bar":
|
|
t += sum(s.get("lead_s", 3) + h["reps"] * s.get("period_s", 6) for h in s["heights"])
|
|
return t
|
|
|
|
|
|
def plan_seconds(script, plan, worst=False):
|
|
t = (script.get("welcome") or {}).get("seconds", 0) + (script.get("done") or {}).get("seconds", 0)
|
|
for i, s in enumerate(plan):
|
|
t += section_seconds(s, worst)
|
|
t += s["before"]["seconds"] if s.get("before") else (script.get("between_s", 3) if i else 0)
|
|
return t
|
|
|
|
|
|
# ------------------------------------------------------------------------------------------
|
|
# The session
|
|
|
|
class _Skip(Exception):
|
|
pass
|
|
|
|
|
|
class _Stop(Exception):
|
|
pass
|
|
|
|
|
|
class _Fail(Exception):
|
|
pass
|
|
|
|
|
|
def _git_describe():
|
|
try:
|
|
r = subprocess.run(["git", "-C", REPO, "describe", "--always", "--dirty", "--tags"],
|
|
capture_output=True, text=True, timeout=5)
|
|
return r.stdout.strip() or "unknown"
|
|
except (OSError, subprocess.TimeoutExpired):
|
|
return "unknown"
|
|
|
|
|
|
def _os_version():
|
|
path = "/run/host/etc/os-release" if in_container() else "/etc/os-release"
|
|
try:
|
|
with open(path) as f:
|
|
for line in f:
|
|
if line.startswith("VERSION_ID="):
|
|
return line.split("=", 1)[1].strip().strip('"')
|
|
except OSError:
|
|
pass
|
|
return ""
|
|
|
|
|
|
def _steamvr_version():
|
|
for db in ("/usr/lib/holo/pacmandb", "/var/lib/pacman"): # SteamOS keeps it in the image
|
|
found = sorted(glob.glob(("/run/host" if in_container() else "") + db + "/local/deckard-steamvr-rel-*"))
|
|
if found:
|
|
return os.path.basename(found[-1])[len("deckard-steamvr-rel-"):]
|
|
p = host_path("/opt/steamvr/bin/version.txt")
|
|
if p:
|
|
try:
|
|
with open(p) as f:
|
|
return "build " + f.read().strip()
|
|
except OSError:
|
|
pass
|
|
return ""
|
|
|
|
|
|
class Session:
|
|
"""One recording session. start() runs it in its own thread; pause(), resume(), skip()
|
|
and stop() steer it from any thread. on_status(dict) is called from the session thread
|
|
whenever something changes (see STATUS_KEYS)."""
|
|
|
|
def __init__(self, base_dir, profile, checklist, lighting_choice, script_path, *, ring=None,
|
|
start_processes=True, dry_run=False, speed=1.0, on_status=None, hands_dir=None, panel_bin=None):
|
|
self.base_dir = os.path.abspath(os.path.expanduser(base_dir or BASE_DIR))
|
|
self.profile = dict(profile or {})
|
|
self.checklist = dict(checklist or {})
|
|
self.lighting_choice = lighting_choice or ""
|
|
self.script_path = script_path or SCRIPT_PATH
|
|
self.ring = ring
|
|
self.start_processes = start_processes
|
|
self.dry_run = dry_run
|
|
self.speed = max(float(speed or 1.0), 0.01)
|
|
self.on_status = on_status
|
|
self.hands_dir = hands_dir or run_dir()
|
|
self.panel_bin = panel_bin or PANEL_BIN
|
|
self.print = print # where dry-run panel commands go (the CLI's stdout)
|
|
self.script = load_script(self.script_path)
|
|
self.plan, self.skipped = build_plan(self.script, self.checklist)
|
|
self.session_dir = ""
|
|
self._thread = None
|
|
self._lock = threading.Lock()
|
|
self._want = {"pause": False, "skip": False, "stop": False}
|
|
self._wake = threading.Event()
|
|
self._status = {"state": "starting", "section": "", "title": "", "section_index": 0,
|
|
"section_count": len(self.plan), "prompt": "", "seconds_left": 0.0, "note": "",
|
|
"hands": {"left": None, "right": None}, "take": None, "error": ""}
|
|
self._last_emit = 0.0
|
|
self._log_file = None
|
|
self._panel = None
|
|
self._panel_proc = None
|
|
self._units = [] # transient units this session started
|
|
self._session_json = None
|
|
self._take = None # the take in progress: dict
|
|
self._recorder = None
|
|
self._prompt = None # the prompt shown: dict (hands, controllers)
|
|
self._live = None # the hands file's last read
|
|
self._hands_file = HandsFile(os.path.join(self.hands_dir, "hands"))
|
|
self._paused = False
|
|
self._fb = {} # feedback timers
|
|
|
|
# --- controls (any thread)
|
|
def start(self):
|
|
if self._thread:
|
|
raise RuntimeError("the session has started already")
|
|
self._thread = threading.Thread(target=self._run, name="handrec-session", daemon=True)
|
|
self._thread.start()
|
|
|
|
def _set(self, key, value):
|
|
with self._lock:
|
|
self._want[key] = value
|
|
self._wake.set()
|
|
|
|
def pause(self):
|
|
self._set("pause", True)
|
|
|
|
def resume(self):
|
|
self._set("pause", False)
|
|
|
|
def skip(self):
|
|
self._set("skip", True)
|
|
|
|
def stop(self, wait=20.0):
|
|
"""Stop. The take in progress is kept as far as it got. Blocks until the session has
|
|
written its files (up to wait seconds), unless called from the session thread."""
|
|
self._set("stop", True)
|
|
if self._thread and threading.current_thread() is not self._thread and wait:
|
|
self._thread.join(wait)
|
|
|
|
def join(self, timeout=None):
|
|
if self._thread:
|
|
self._thread.join(timeout)
|
|
|
|
@property
|
|
def state(self):
|
|
return self._status["state"]
|
|
|
|
# --- status and logging
|
|
def _emit(self, force=True, **changes):
|
|
self._status.update(changes)
|
|
now = time.monotonic()
|
|
if not force and now - self._last_emit < 0.25:
|
|
return
|
|
self._last_emit = now
|
|
if self.on_status:
|
|
try:
|
|
self.on_status(dict(self._status, hands=dict(self._status["hands"])))
|
|
except Exception:
|
|
self._log("on_status: " + traceback.format_exc())
|
|
|
|
def _log(self, text):
|
|
if self._log_file:
|
|
self._log_file.write("%s %s\n" % (time.strftime("%H:%M:%S"), text))
|
|
self._log_file.flush()
|
|
|
|
def _event(self, event, **fields):
|
|
if not self._take:
|
|
return
|
|
line = {"t": mono_ns(), "event": event}
|
|
line.update(fields)
|
|
self._take["prompts"].write(json.dumps(line) + "\n")
|
|
self._take["prompts"].flush()
|
|
|
|
# --- the run
|
|
def _run(self):
|
|
try:
|
|
self._make_dir()
|
|
self._emit(state="starting")
|
|
self._setup()
|
|
self._screen("starting", self.script.get("welcome") or {})
|
|
for i, s in enumerate(self.plan):
|
|
self._section(i, s)
|
|
self._finish("done")
|
|
except _Stop:
|
|
self._finish("stopped")
|
|
except _Fail as e:
|
|
self._finish("error", str(e))
|
|
except Exception as e:
|
|
self._log(traceback.format_exc())
|
|
self._finish("error", "%s: %s" % (type(e).__name__, e))
|
|
|
|
def _make_dir(self):
|
|
sessions = os.path.join(self.base_dir, "sessions")
|
|
os.makedirs(sessions, exist_ok=True)
|
|
sid = time.strftime("%Y%m%d-%H%M%S")
|
|
path, n = os.path.join(sessions, sid), 1
|
|
while True:
|
|
try:
|
|
os.mkdir(path)
|
|
break
|
|
except FileExistsError:
|
|
n += 1
|
|
path = os.path.join(sessions, "%s-%d" % (sid, n))
|
|
os.mkdir(os.path.join(path, "takes"))
|
|
self.session_dir = path
|
|
self._log_file = open(os.path.join(path, "session.log"), "a", buffering=1)
|
|
self._log("session %s%s, script %s" % (os.path.basename(path), " (dry run)" if self.dry_run else "",
|
|
self.script_path))
|
|
for s in self.skipped:
|
|
self._log("skipping %s: %s" % (s["section"], s["reason"]))
|
|
|
|
def _setup(self):
|
|
ring_path = self.ring or os.path.join(self.hands_dir, "cam-ring")
|
|
if not self.dry_run:
|
|
if not os.access(FT_HANDS, os.X_OK):
|
|
raise _Fail("ft-hands isn't built: hands/build.sh")
|
|
self._ensure_ring(ring_path)
|
|
if not tracker_running():
|
|
if self.start_processes:
|
|
self._start_tracker()
|
|
else:
|
|
self._log("no tracking ft-hands found: feedback only if one publishes")
|
|
lighting = ring_lighting(ring_path)
|
|
cams = []
|
|
try:
|
|
ring = Ring(ring_path)
|
|
cams = [{"name": c["name"], "width": c["width"], "height": c["height"]}
|
|
for c in ring.cams if not c["flags"] & FH_CAM_DARK and not c["name"].endswith("_dk")]
|
|
ring.close()
|
|
except (OSError, ValueError):
|
|
pass
|
|
removed = self._write_calibration()
|
|
self._session_json = {
|
|
"schema": 1, "tool": "ft-handrec " + _git_describe(), "started": time.strftime("%Y-%m-%dT%H:%M:%S%z"),
|
|
"contributor": self.profile.get("contributor", ""),
|
|
"lighting": {"chosen": self.lighting_choice, "ring": lighting or {}},
|
|
"checklist": self.checklist,
|
|
"device": {"steamos": _os_version(), "steamvr": _steamvr_version(), "cameras": cams},
|
|
"calibration_removed": removed,
|
|
"script": {"version": self.script.get("version"), "sections": [s["id"] for s in self.plan],
|
|
"skipped": self.skipped},
|
|
"takes": [], "status": "recording"}
|
|
if self.dry_run:
|
|
self._session_json["dry_run"] = True
|
|
if self.speed != 1:
|
|
self._session_json["speed"] = self.speed
|
|
self._save_session()
|
|
self._panel = Panel(dry=self.dry_run, log=self._log, out=self.print)
|
|
if not self.dry_run:
|
|
self._start_panel()
|
|
self._panel.cmd("show")
|
|
self._panel.cmd("paused off")
|
|
for key, c in (("note", "note "), ("countdown", "countdown off"), ("hands", "hands off off"),
|
|
("bar", "bar off"), ("target", "target off")):
|
|
self._panel.set(key, c)
|
|
|
|
def _write_calibration(self):
|
|
src = host_path("/persist/xrservice.json")
|
|
if not src:
|
|
self._log("no /persist/xrservice.json: no calibration.json")
|
|
return []
|
|
with open(src) as f:
|
|
clean, removed = strip_calibration(json.load(f))
|
|
write_json(os.path.join(self.session_dir, "calibration.json"), clean)
|
|
return removed
|
|
|
|
def _save_session(self):
|
|
if self._session_json is not None:
|
|
write_json(os.path.join(self.session_dir, "session.json"), self._session_json)
|
|
|
|
def _ensure_ring(self, path):
|
|
def alive():
|
|
try:
|
|
r = Ring(path)
|
|
except (OSError, ValueError):
|
|
return False
|
|
try:
|
|
return r.alive()
|
|
finally:
|
|
r.close()
|
|
|
|
if alive():
|
|
return
|
|
if self.ring:
|
|
raise _Fail("No frames in %s (start ft-ringplay first)" % path)
|
|
if not self.start_processes:
|
|
raise _Fail("ft-camd isn't running (and --no-start)")
|
|
if not os.access(FT_CAMD, os.X_OK):
|
|
raise _Fail("ft-camd isn't built: hands/build.sh")
|
|
caps = subprocess.run(["getcap", FT_CAMD], capture_output=True, text=True) if shutil.which("getcap") else None
|
|
if caps is not None and "cap_sys_ptrace" not in caps.stdout:
|
|
raise _Fail("ft-camd needs its capabilities: hands/run.sh caps (asks for sudo)")
|
|
self._start_unit(CAMD_UNIT, "the camera broker", [FT_CAMD, "--status", "60"])
|
|
for _ in range(150):
|
|
if alive():
|
|
return
|
|
if self._want["stop"]:
|
|
raise _Stop()
|
|
time.sleep(0.1)
|
|
raise _Fail("ft-camd didn't start (is SteamVR running?): journalctl --user -u " + CAMD_UNIT)
|
|
|
|
def _start_tracker(self):
|
|
up = os.path.join(REPO, "scripts", "container-up.sh")
|
|
if os.access(up, os.X_OK):
|
|
subprocess.run(host_command(up), capture_output=True, timeout=120)
|
|
argv = [os.path.expanduser("~/.local/bin/distrobox"), "enter", "dev", "--", FT_HANDS,
|
|
"--no-gestures", "--status", "0"]
|
|
if self.ring:
|
|
argv += ["--ring", self.ring]
|
|
self._start_unit(HANDS_UNIT, "hand tracking for feedback", argv)
|
|
|
|
def _start_unit(self, unit, what, argv):
|
|
def active():
|
|
return subprocess.run(host_command("systemctl", "--user", "-q", "is-active", unit),
|
|
capture_output=True, timeout=30).returncode == 0
|
|
|
|
if active():
|
|
self._log("%s is running already" % unit)
|
|
return
|
|
cmd = host_command("systemd-run", "--user", "--quiet", "--collect", "--unit=" + unit,
|
|
"--description=Frametop hand recorder: " + what,
|
|
"-p", "PartOf=steamvr.service", "-p", "After=steamvr.service",
|
|
"-p", "Restart=on-failure", "-p", "RestartSec=3", "-p", "TimeoutStopSec=5", *argv)
|
|
for attempt in range(3): # distrobox-host-exec has failed once, silently, and worked again
|
|
r = subprocess.run(cmd, capture_output=True, text=True, timeout=30)
|
|
if r.returncode == 0 or active():
|
|
self._units.append(unit)
|
|
self._log("started %s" % unit)
|
|
return
|
|
self._log("starting %s failed (exit %d): %s" % (unit, r.returncode, (r.stderr or r.stdout).strip()))
|
|
time.sleep(0.5)
|
|
raise _Fail("couldn't start %s (exit %d): %s" % (unit, r.returncode, (r.stderr or r.stdout).strip()))
|
|
|
|
def _stop_units(self):
|
|
for unit in reversed(self._units):
|
|
subprocess.run(host_command("systemctl", "--user", "stop", unit), capture_output=True, timeout=30)
|
|
self._log("stopped %s" % unit)
|
|
self._units = []
|
|
|
|
def _start_panel(self):
|
|
if self._panel.cmd("ping", reply=True):
|
|
self._log("using the ft-handpanel that's running")
|
|
return
|
|
if not os.access(self.panel_bin, os.X_OK):
|
|
raise _Fail("ft-handpanel isn't built: hands/rec/build.sh")
|
|
self._panel_proc = subprocess.Popen([self.panel_bin, "--watch-stdin"], stdin=subprocess.PIPE,
|
|
stdout=self._log_file, stderr=self._log_file)
|
|
end = time.monotonic() + 15
|
|
while time.monotonic() < end:
|
|
if self._panel.cmd("ping", reply=True, timeout=0.2):
|
|
return
|
|
if self._panel_proc.poll() is not None:
|
|
raise _Fail("ft-handpanel exited (is SteamVR running?): see session.log")
|
|
time.sleep(0.1)
|
|
raise _Fail("ft-handpanel doesn't answer")
|
|
|
|
def _stop_panel(self):
|
|
if self._panel:
|
|
self._panel.cmd("hide")
|
|
if self._panel_proc:
|
|
try:
|
|
self._panel_proc.stdin.close()
|
|
self._panel_proc.wait(3)
|
|
except (OSError, subprocess.TimeoutExpired):
|
|
self._panel_proc.terminate()
|
|
try:
|
|
self._panel_proc.wait(3)
|
|
except subprocess.TimeoutExpired:
|
|
self._panel_proc.kill()
|
|
self._panel_proc = None
|
|
if self._panel:
|
|
self._panel.close()
|
|
|
|
def _finish(self, state, error=""):
|
|
if self._take:
|
|
self._end_take({"done": "complete", "stopped": "stopped"}.get(state, "stopped"))
|
|
if self._session_json is not None:
|
|
self._session_json["status"] = state
|
|
self._session_json["ended"] = time.strftime("%Y-%m-%dT%H:%M:%S%z")
|
|
if error:
|
|
self._session_json["error"] = error
|
|
self._save_session()
|
|
self._log("%s%s" % (state, ": " + error if error else ""))
|
|
self._stop_units()
|
|
if self._panel:
|
|
screen = {"done": self.script.get("done") or {}, "stopped": self.script.get("stopped") or {},
|
|
"error": {"title": "Something went wrong", "text": "See the Hand recorder window.",
|
|
"seconds": 4}}[state]
|
|
try:
|
|
self._panel.cmd("paused off")
|
|
self._screen(state, screen, controls=False)
|
|
except (_Stop, _Skip, _Fail):
|
|
pass
|
|
self._stop_panel()
|
|
if self._log_file:
|
|
self._log_file.close()
|
|
self._log_file = None
|
|
screen = {"done": self.script.get("done"), "stopped": self.script.get("stopped")}.get(state) or {}
|
|
self._emit(state=state, error=error, seconds_left=0.0, note="", take=None, section="",
|
|
prompt=error or screen.get("text", "").replace("|", "\n"), hands={"left": None, "right": None})
|
|
|
|
# --- the timing loop
|
|
def _controls(self):
|
|
"""Handle a pause (blocking until resumed), skip and stop. True if a pause happened."""
|
|
with self._lock:
|
|
want = dict(self._want)
|
|
self._want["skip"] = False
|
|
if want["stop"]:
|
|
raise _Stop()
|
|
if want["skip"]:
|
|
raise _Skip()
|
|
if not want["pause"]:
|
|
return False
|
|
self._pause()
|
|
outcome = None
|
|
while outcome is None:
|
|
self._wake.wait(0.2)
|
|
self._wake.clear()
|
|
with self._lock:
|
|
want = dict(self._want)
|
|
self._want["skip"] = False
|
|
if want["skip"]:
|
|
self._want["pause"] = False
|
|
if want["stop"]:
|
|
outcome = _Stop
|
|
elif want["skip"]:
|
|
outcome = _Skip
|
|
elif not want["pause"]:
|
|
outcome = True
|
|
self._unpause(record=outcome is True)
|
|
if outcome is not True:
|
|
raise outcome()
|
|
return True
|
|
|
|
def _pause(self):
|
|
self._paused = True
|
|
self._state_before = self._status["state"]
|
|
if self._take:
|
|
self._stop_recording()
|
|
self._event("pause")
|
|
self._panel.cmd("paused on")
|
|
self._panel.set("note", "note " + RESUME_HINT)
|
|
self._emit(state="paused", note=RESUME_HINT)
|
|
self._log("paused")
|
|
|
|
def _unpause(self, record=True):
|
|
self._paused = False
|
|
self._panel.cmd("paused off")
|
|
self._panel.set("note", "note ")
|
|
self._fb.clear()
|
|
if self._take and record:
|
|
self._event("resume")
|
|
self._start_recording()
|
|
self._emit(state=self._state_before, note="")
|
|
self._log("resumed")
|
|
|
|
def _wait(self, seconds, tick=None, countdown=True):
|
|
"""Let `seconds` (script time) pass, handling the controls and feedback. tick(dt) runs
|
|
every step with the script time passed; it ends the wait early by returning True.
|
|
Returns True if tick ended it, else False."""
|
|
left = float(seconds)
|
|
last = time.monotonic()
|
|
last_cd = -1.0
|
|
while True:
|
|
if self._controls():
|
|
last = time.monotonic()
|
|
now = time.monotonic()
|
|
dt = (now - last) * self.speed
|
|
last = now
|
|
left -= dt
|
|
self._feedback()
|
|
if tick and tick(dt):
|
|
return True
|
|
if countdown and seconds > 0 and (now - last_cd >= 0.25 or left <= 0):
|
|
last_cd = now
|
|
self._panel.set("countdown", "countdown %.2f" % max(0.0, min(1.0, left / seconds)))
|
|
self._emit(force=False, seconds_left=round(max(left, 0.0), 1))
|
|
if left <= 0:
|
|
return False
|
|
self._wake.wait(TICK_S)
|
|
self._wake.clear()
|
|
|
|
# --- feedback
|
|
def _feedback(self):
|
|
now = time.monotonic()
|
|
fb = self._fb
|
|
if self._panel_proc and self._panel_proc.poll() is not None:
|
|
raise _Fail("The headset panel closed (did SteamVR quit?)")
|
|
if self._recorder and self._recorder.exited():
|
|
raise _Fail("The recording stopped by itself: see session.log")
|
|
if not self.dry_run and now - fb.get("disk", 0) > 5:
|
|
fb["disk"] = now
|
|
if shutil.disk_usage(self.session_dir).free < MIN_FREE:
|
|
raise _Fail("The disk is nearly full: the session stopped")
|
|
live = None if self.dry_run else self._hands_file.read()
|
|
self._live = live
|
|
p = self._prompt or {}
|
|
asked = p.get("hands", "")
|
|
seen = {s: (bool(live[s]) if live else None) for s in ("left", "right")}
|
|
# the chips: the asked-for hands, seen or lost, while the tracker publishes
|
|
chips = []
|
|
for side in ("left", "right"):
|
|
show = live is not None and (asked in (side, "both", "any"))
|
|
chips.append(("seen" if seen[side] else "lost") if show else "off")
|
|
self._panel.set("hands", "hands %s %s" % tuple(chips))
|
|
# a note when an asked-for hand stays lost, or a hand shows when none is wanted
|
|
notes = []
|
|
if live is not None and asked:
|
|
if asked == "none":
|
|
missing = [] if not (seen["left"] or seen["right"]) else ["shown"]
|
|
elif asked == "any":
|
|
missing = [] if (seen["left"] or seen["right"]) else ["any"]
|
|
else:
|
|
missing = [s for s in ("left", "right") if asked in (s, "both") and not seen[s]]
|
|
key = ",".join(missing)
|
|
if key != fb.get("lost_key"):
|
|
fb["lost_key"], fb["lost_since"] = key, now
|
|
if missing and now - fb["lost_since"] > LOST_S:
|
|
if missing == ["shown"]:
|
|
notes.append("I can see a hand: keep them out of view")
|
|
elif missing == ["any"] or len(missing) == 2:
|
|
notes.append("I can't see your hands: bring them into view")
|
|
else:
|
|
notes.append("I can't see your %s hand: bring it into view" % missing[0])
|
|
else:
|
|
fb.pop("lost_key", None)
|
|
notes = self._controller_feedback(now, p) + notes
|
|
note = notes[0] if notes else ""
|
|
if not self._paused:
|
|
self._panel.set("note", "note " + note)
|
|
hands = {"left": seen["left"], "right": seen["right"]}
|
|
if note != self._status["note"] or hands != self._status["hands"]:
|
|
self._emit(note=note, hands=hands)
|
|
if self._take and live is not None and now - fb.get("logged", 0) >= 0.5:
|
|
fb["logged"] = now
|
|
self._event("feedback", left=seen["left"], right=seen["right"],
|
|
palm_m=[round(live[s]["palm_m"], 4) if live[s] else None for s in ("left", "right")])
|
|
|
|
def _controller_feedback(self, now, p):
|
|
"""Sections with controllers: `devices` once a second; a result other than 200 for
|
|
more than a second gets a note, and each change goes into prompts.jsonl."""
|
|
sides = p.get("controllers") or []
|
|
fb = self._fb
|
|
if not sides:
|
|
fb.pop("ctl", None)
|
|
return []
|
|
ctl = fb.setdefault("ctl", {"polled": 0, "r": {}, "bad_since": {}, "lost": []})
|
|
if now - ctl["polled"] >= 1.0:
|
|
ctl["polled"] = now
|
|
reply = self._panel.cmd("devices", reply=True, timeout=0.3) or ""
|
|
tok = reply.split()
|
|
vals = dict(zip(tok[1::2], tok[2::2]))
|
|
if tok[:1] == ["ok"] and "hmd" in vals:
|
|
ctl["r"] = {s: vals.get(s, "-") for s in ("left", "right")}
|
|
for s in sides:
|
|
r = ctl["r"].get(s)
|
|
if r is None or r == "200":
|
|
ctl["bad_since"].pop(s, None)
|
|
else:
|
|
ctl["bad_since"].setdefault(s, now)
|
|
lost = sorted(s for s, t in ctl["bad_since"].items() if s in sides and now - t > CONTROLLER_LOST_S)
|
|
if lost != ctl["lost"]:
|
|
ctl["lost"] = lost
|
|
self._event("feedback", controller={s: (None if ctl["r"].get(s) in (None, "-") else int(ctl["r"][s]))
|
|
for s in ("left", "right")}, controller_lost=lost)
|
|
notes = []
|
|
for s in lost:
|
|
if ctl["r"].get(s) == "-":
|
|
notes.append("I can't find the %s controller: is it on?" % s)
|
|
else:
|
|
notes.append("The %s controller lost tracking: turn your palm slightly toward you" % s)
|
|
return notes
|
|
|
|
# --- sections and takes
|
|
def _show(self, title=None, step=None, text=None):
|
|
if title is not None:
|
|
self._panel.set("title", "title " + clean_text(title))
|
|
if step is not None:
|
|
self._panel.set("step", "step " + clean_text(step))
|
|
if text is not None:
|
|
self._panel.set("text", "text " + clean_text(text))
|
|
|
|
def _screen(self, state, screen, controls=True):
|
|
"""A screen of its own (welcome, done): title, text, a few seconds. controls=False: the
|
|
session's end, which reports its state once all is done."""
|
|
if not screen:
|
|
return
|
|
self._prompt = None
|
|
self._show(screen.get("title", ""), "", screen.get("text", ""))
|
|
self._panel.set("countdown", "countdown off")
|
|
if controls:
|
|
self._emit(state=state, title=screen.get("title", ""), prompt=screen.get("text", "").replace("|", "\n"),
|
|
section="", seconds_left=float(screen.get("seconds", 0)))
|
|
try:
|
|
self._wait(screen.get("seconds", 0), countdown=False)
|
|
except _Skip:
|
|
pass
|
|
else:
|
|
end = time.monotonic() + screen.get("seconds", 0) / self.speed
|
|
while time.monotonic() < end and not self._want["stop"]:
|
|
time.sleep(TICK_S)
|
|
|
|
def _section(self, i, s):
|
|
step = "Section %d of %d" % (i + 1, len(self.plan))
|
|
status = {"section": s["id"], "title": s["title"], "section_index": i + 1, "section_count": len(self.plan)}
|
|
try:
|
|
before = s.get("before")
|
|
if before or i > 0:
|
|
self._prompt = None
|
|
text = before["text"] if before else "Next: %s" % s["title"]
|
|
secs = before.get("seconds", 10) if before else self.script.get("between_s", 3)
|
|
self._show("Get ready" if before else s["title"], step, text)
|
|
self._emit(state="between", prompt=text.replace("|", "\n"), take=None, **status)
|
|
self._wait(secs)
|
|
self._start_take(i, s)
|
|
self._status.update(state="intro", take=self._take["id"], **status) # sent with the intro
|
|
self._run_prompt(s, {"id": s["id"] + "/intro", "text": s.get("intro", ""), "seconds": s["intro_s"],
|
|
"hands": "", "pose": "", "distance": "", "position": "", "object": "",
|
|
"controller": False, "controllers": []}, step, intro=True)
|
|
self._status["state"] = "running" # sent with the first prompt
|
|
if s["kind"] == "targets":
|
|
self._targets(s, step)
|
|
elif s["kind"] == "bar":
|
|
self._bar(s, step)
|
|
for p in s["prompts"]:
|
|
self._run_prompt(s, p, step)
|
|
self._end_take("complete")
|
|
except _Skip:
|
|
self._log("skipped %s" % s["id"])
|
|
if self._take:
|
|
self._end_take("skipped")
|
|
except _Stop:
|
|
raise
|
|
finally:
|
|
self._panel.set("bar", "bar off")
|
|
self._panel.set("target", "target off")
|
|
|
|
def _start_take(self, i, s):
|
|
n = len(self._session_json["takes"]) + 1
|
|
take_id = "%02d-%s" % (n, s["id"])
|
|
d = os.path.join(self.session_dir, "takes", take_id)
|
|
os.makedirs(d)
|
|
self._take = {"id": take_id, "dir": d, "section": s, "part": 0,
|
|
"prompts": open(os.path.join(d, "prompts.jsonl"), "a", buffering=1),
|
|
"json": {"section": s["id"], "title": s["title"], "started_ns": mono_ns(), "ended_ns": None,
|
|
"status": "stopped", "deleted": [], "notes": ""}}
|
|
write_json(os.path.join(d, "take.json"), self._take["json"])
|
|
self._session_json["takes"].append(take_id)
|
|
self._save_session()
|
|
self._event("take", section=s["id"], take=take_id)
|
|
self._start_recording()
|
|
self._log("take %s" % take_id)
|
|
|
|
def _start_recording(self):
|
|
t = self._take
|
|
t["part"] += 1
|
|
if not self.dry_run:
|
|
# a safety net only: the session ends the recording itself
|
|
remaining = section_seconds(t["section"], worst=True) / self.speed
|
|
self._recorder = Recorder(t["dir"], t["part"], remaining * 1.5 + 60, self.ring, self._log_file)
|
|
self._panel.cmd("poses start " + os.path.join(t["dir"], "poses.jsonl"))
|
|
|
|
def _stop_recording(self):
|
|
self._panel.cmd("poses stop", reply=not self.dry_run, timeout=1.0)
|
|
if self._recorder:
|
|
rec, self._recorder = self._recorder, None
|
|
code = rec.stop()
|
|
self._log("recording part %d ended (%s)" % (rec.part, code))
|
|
|
|
def _end_take(self, status):
|
|
t = self._take
|
|
try:
|
|
if not self._paused:
|
|
self._stop_recording()
|
|
finally:
|
|
self._event("end", status=status)
|
|
self._take = None
|
|
t["prompts"].close()
|
|
t["json"]["ended_ns"] = mono_ns()
|
|
t["json"]["status"] = status
|
|
write_json(os.path.join(t["dir"], "take.json"), t["json"])
|
|
self._log("take %s %s" % (t["id"], status))
|
|
|
|
def _prompt_event(self, p):
|
|
self._event("prompt", id=p["id"], text=p["text"], hands=p["hands"], pose=p["pose"], distance=p["distance"],
|
|
position=p["position"], object=p["object"], controller=bool(p["controller"]),
|
|
**({"controllers": p["controllers"]} if p["controllers"] else {}))
|
|
|
|
def _begin_prompt(self, s, p, step):
|
|
self._prompt = p
|
|
self._fb.pop("lost_key", None)
|
|
self._show(s["title"], step, p["text"])
|
|
self._prompt_event(p)
|
|
self._emit(prompt=p["text"].replace("|", "\n"), seconds_left=float(p["seconds"]))
|
|
self._log(" %s" % p["id"])
|
|
|
|
def _run_prompt(self, s, p, step, intro=False):
|
|
if intro and not p["text"]:
|
|
return
|
|
self._begin_prompt(s, p, step)
|
|
self._wait(p["seconds"])
|
|
|
|
def _targets(self, s, step):
|
|
hold_s, timeout_s = float(s.get("hold_s", 1.0)), float(s.get("timeout_s", 8))
|
|
defaults = s.get("defaults") or {}
|
|
for k, pt in enumerate(s["targets"]):
|
|
p = {"id": "%s/%d" % (s["id"], k + 1), "text": s.get("text", ""), "seconds": timeout_s,
|
|
"hands": defaults.get("hands", "any"), "pose": defaults.get("pose", "point"), "distance": "",
|
|
"position": "", "object": "", "controller": False, "controllers": []}
|
|
self._begin_prompt(s, p, step)
|
|
xyz = "%.3f %.3f %.3f" % tuple(pt)
|
|
reply = self._panel.cmd("target %s show" % xyz, reply=True) or ""
|
|
self._panel.sent["target"] = "target %s show" % xyz
|
|
tok = reply.split()
|
|
room = [float(v) for v in tok[1:4]] if tok[:1] == ["ok"] and len(tok) >= 4 else None
|
|
target = {"id": p["id"], "head": list(pt), "room": room}
|
|
self._event("target", state="show", **target)
|
|
st = {"hold": 0.0, "sent": 0.0, "holding": False}
|
|
|
|
def tick(dt, pt=pt, room=room, target=target, st=st, xyz=xyz):
|
|
d = self._tip_distance(pt, room)
|
|
if d is not None and d <= TOUCH_M:
|
|
if not st["holding"]:
|
|
st["holding"] = True
|
|
self._event("target", state="hold", **target)
|
|
st["hold"] += dt
|
|
elif st["holding"]:
|
|
st["holding"], st["hold"] = False, 0.0
|
|
self._panel.set("target", "target %s show" % xyz)
|
|
if st["holding"]:
|
|
frac = min(1.0, st["hold"] / hold_s)
|
|
if time.monotonic() - st["sent"] >= 0.1 or frac >= 1:
|
|
st["sent"] = time.monotonic()
|
|
self._panel.set("target", "target %s hold %.2f" % (xyz, frac))
|
|
return st["hold"] >= hold_s
|
|
|
|
done = self._wait(timeout_s, tick)
|
|
state = "done" if done else "timeout"
|
|
if done:
|
|
self._panel.set("target", "target %s done" % xyz)
|
|
self._event("target", state=state, **target)
|
|
self._log(" %s %s" % (p["id"], state))
|
|
if done:
|
|
self._wait(0.6, countdown=False)
|
|
self._panel.set("target", "target off")
|
|
|
|
def _tip_distance(self, pt, room):
|
|
"""The nearest seen index tip's distance from the target: in the room (with the head's
|
|
pose now) when the panel placed the target there, else in the head frame."""
|
|
live = self._live
|
|
if not live:
|
|
return None
|
|
tips = [live[s]["tip"] for s in ("left", "right") if live[s]]
|
|
if not tips:
|
|
return None
|
|
ref = pt
|
|
if room is not None:
|
|
reply = (self._panel.cmd("head", reply=True, timeout=0.1) or "").split()
|
|
if reply[:1] == ["ok"] and len(reply) == 13:
|
|
m = [float(v) for v in reply[1:]]
|
|
tips = [[m[4 * r] * t[0] + m[4 * r + 1] * t[1] + m[4 * r + 2] * t[2] + m[4 * r + 3] for r in range(3)]
|
|
for t in tips]
|
|
ref = room
|
|
return min(math.dist(t, ref) for t in tips)
|
|
|
|
def _palm_share(self, near, far):
|
|
live = self._live
|
|
if not live:
|
|
return -1.0
|
|
ds = [live[s]["palm_m"] for s in ("left", "right") if live[s]]
|
|
if not ds:
|
|
return -1.0
|
|
return max(0.0, min(1.0, (sum(ds) / len(ds) - near) / (far - near)))
|
|
|
|
def _bar(self, s, step):
|
|
near, far = float(s.get("near_m", 0.2)), float(s.get("far_m", 0.6))
|
|
period, lead = float(s.get("period_s", 6)), float(s.get("lead_s", 3))
|
|
labels = "%s %s" % (s.get("near_label", "Near"), s.get("far_label", "Far"))
|
|
defaults = s.get("defaults") or {}
|
|
for h in s["heights"]:
|
|
p = {"id": "%s/%s" % (s["id"], h["id"]), "text": h["text"], "hands": defaults.get("hands", "both"),
|
|
"pose": defaults.get("pose", "open"), "distance": "", "position": h["id"], "object": "",
|
|
"controller": bool(defaults.get("controller", False)),
|
|
"controllers": list(defaults.get("controllers") or [])}
|
|
total = lead + h["reps"] * period
|
|
p["seconds"] = total
|
|
self._begin_prompt(s, p, step)
|
|
st = {"t": 0.0, "sent": 0.0}
|
|
|
|
def tick(dt, st=st):
|
|
st["t"] += dt
|
|
sweep = st["t"] - lead
|
|
target = 0.0 if sweep <= 0 else 1 - abs(1 - 2 * ((sweep % period) / period))
|
|
if time.monotonic() - st["sent"] >= 0.1:
|
|
st["sent"] = time.monotonic()
|
|
cur = self._palm_share(near, far)
|
|
self._panel.set("bar", "bar %.3f %.3f %s" % (target, cur, labels))
|
|
if sweep > 0:
|
|
self._event("bar", target=round(target, 3), current=None if cur < 0 else round(cur, 3))
|
|
return False
|
|
|
|
self._wait(total, tick)
|
|
self._panel.set("bar", "bar off")
|
|
|
|
|
|
# ------------------------------------------------------------------------------------------
|
|
# The command line
|
|
|
|
def main():
|
|
ap = argparse.ArgumentParser(description="Run a hand recording session (the hand recorder's session runner).")
|
|
ap.add_argument("--dry-run", action="store_true", help="run no processes; print the panel commands")
|
|
ap.add_argument("--speed", type=float, default=1.0, help="run the script this many times faster")
|
|
ap.add_argument("--ring", help="read frames from this ring (ft-ringplay's) instead of ft-camd's")
|
|
ap.add_argument("--no-start", action="store_true", help="start no ft-camd or tracking ft-hands")
|
|
ap.add_argument("--base", help="where sessions go (default %s; a temporary folder with --dry-run)" % BASE_DIR)
|
|
ap.add_argument("--objects", default="", help="ticked objects, comma-separated (unknown names are your own)")
|
|
ap.add_argument("--controllers", action="store_true", help="controllers with the straps")
|
|
ap.add_argument("--lighting", default="room", choices=("dim", "room", "daylight"))
|
|
ap.add_argument("--script", default=SCRIPT_PATH)
|
|
ap.add_argument("--panel", help="the panel program (default hands/rec/build/ft-handpanel)")
|
|
ap.add_argument("--hands-dir", help="where the hands file is (default /run/user/UID/frametop-hands)")
|
|
ap.add_argument("--plan", action="store_true", help="print the sections and their length, and exit")
|
|
a = ap.parse_args()
|
|
|
|
known = ("pencil", "phone", "cup", "keyboard", "mouse", "gamepad", "small")
|
|
names = [o.strip() for o in a.objects.split(",") if o.strip()]
|
|
checklist = {"objects": [o for o in names if o in known], "own_objects": [o for o in names if o not in known],
|
|
"controllers": "straps" if a.controllers else "none", "sleeves": "", "rings": False,
|
|
"watch": False, "notes": ""}
|
|
base = a.base
|
|
if not base and a.dry_run:
|
|
import tempfile
|
|
base = tempfile.mkdtemp(prefix="handrec-dry-")
|
|
base = base or BASE_DIR
|
|
profile = {}
|
|
try:
|
|
with open(os.path.join(base, "profile.json")) as f:
|
|
profile = json.load(f)
|
|
except (OSError, ValueError):
|
|
pass
|
|
|
|
t0 = time.monotonic()
|
|
last = {}
|
|
|
|
def on_status(st):
|
|
key = (st["state"], st["section"], st["prompt"], st["note"], st["take"],
|
|
st["hands"]["left"], st["hands"]["right"], st["error"])
|
|
if key == last.get("key"):
|
|
return
|
|
last["key"] = key
|
|
hands = "".join("%s%s" % (s[0].upper(), {True: "+", False: "-", None: "?"}[st["hands"][s]])
|
|
for s in ("left", "right"))
|
|
line = "[%6.1f] %-8s %d/%d %-16s %s %s" % (time.monotonic() - t0, st["state"], st["section_index"],
|
|
st["section_count"], st["section"] or "-", hands, st["prompt"])
|
|
if st["note"]:
|
|
line += " (%s)" % st["note"]
|
|
if st["error"]:
|
|
line += " ERROR: %s" % st["error"]
|
|
print(line, flush=True)
|
|
|
|
s = Session(base, profile, checklist, a.lighting, a.script, ring=a.ring, start_processes=not a.no_start,
|
|
dry_run=a.dry_run, speed=a.speed, on_status=on_status, hands_dir=a.hands_dir, panel_bin=a.panel)
|
|
est, worst = plan_seconds(s.script, s.plan), plan_seconds(s.script, s.plan, worst=True)
|
|
print("%d sections, about %.1f min (at most %.1f)%s" % (len(s.plan), est / 60, worst / 60,
|
|
", %gx speed" % a.speed if a.speed != 1 else ""))
|
|
for sk in s.skipped:
|
|
print(" skipping %s: %s" % (sk["section"], sk["reason"]))
|
|
if a.plan:
|
|
for sec in s.plan:
|
|
print(" %-18s %-9s %3d prompts %5.0f s" % (sec["id"], sec["kind"], len(sec["prompts"]), section_seconds(sec)))
|
|
return 0
|
|
if not a.dry_run:
|
|
light = ring_lighting(a.ring)
|
|
match = similar_lighting(base, {"chosen": a.lighting, "ring": light}) if light else None
|
|
print("lighting: %s" % (json.dumps(light) if light else "no camera ring"))
|
|
if match:
|
|
print(" about the same light as session %s (%s)" % match)
|
|
|
|
def on_signal(*_):
|
|
print("stopping", flush=True)
|
|
threading.Thread(target=s.stop, daemon=True).start()
|
|
|
|
signal.signal(signal.SIGINT, on_signal)
|
|
signal.signal(signal.SIGTERM, on_signal)
|
|
if sys.stdin.isatty():
|
|
def keys():
|
|
print("keys: p pause, r resume, s skip, q stop (then Enter)", flush=True)
|
|
for line in sys.stdin:
|
|
c = line.strip()[:1]
|
|
if c == "p":
|
|
s.pause()
|
|
elif c == "r":
|
|
s.resume()
|
|
elif c == "s":
|
|
s.skip()
|
|
elif c == "q":
|
|
s.stop(wait=0)
|
|
threading.Thread(target=keys, daemon=True).start()
|
|
s.start()
|
|
while s._thread.is_alive():
|
|
s.join(0.5)
|
|
print("session: %s" % s.session_dir)
|
|
return 0 if s.state in ("done", "stopped") else 1
|
|
|
|
|
|
if __name__ == "__main__":
|
|
sys.exit(main())
|