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DeeJanuzandClaude Opus 5.5
40a2f39b2a
A colour camera probes at most 4 buffers a frame (each probe syncs a ~9 MB buffer's cache, which made the mono cameras miss frames), and one that goes stale twice in a row is paused (10 s, doubling to 160 s) and learned again instead of ft-camd exiting. The colour cameras run at 2 fps until a reader asks for more in frametop-hands/color-fps, which saves most of their decoding while only their brightness is needed. Each mono camera's latest near-black frame's mean goes in the ring (dark_mean), a measure of the room's IR light. The service now starts with --with-color; HANDS_CAMERAS=mono leaves the colour cameras out. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
92 lines
4.6 KiB
C
92 lines
4.6 KiB
C
/*
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* fhring - the shared-memory frame ring ft-camd writes and trackers read.
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*
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* One file, /run/user/UID/frametop-hands/cam-ring (FH_RING_NAME in the user's runtime
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* folder; the folder is private to the user), holds a header, then for each camera
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* a few slots, each a slot header followed by the image rows packed tightly
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* (stride == width for 8-bit mono). Only complete, bright frames are published.
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*
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* Writer, for frame n of a camera: slot = n % nslots
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* slot.seq = 2n+1; write slot fields and pixels; slot.seq = 2n+2; cam.latest = n
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* Reader:
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* n = cam.latest; read slot.seq, expect 2n+2; copy; re-read slot.seq; if it
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* changed the copy is torn, retry with the new latest.
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*
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* All multi-byte fields are little-endian; offsets are fixed so Python can read
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* them with struct (tools/ring.py mirrors this file).
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*/
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#pragma once
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#include <assert.h>
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#include <stdint.h>
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#define FH_RING_MAGIC "FHRING01"
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#define FH_RING_VERSION 1
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#define FH_RING_MAX_CAMS 8
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#define FH_RING_SLOTS 4
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#define FH_RING_NAME "frametop-hands/cam-ring" /* in /run/user/UID */
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enum {
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FH_FMT_GREY8 = 0,
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};
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enum {
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FH_CAM_DARK = 1u << 0, /* the near-black exposures between this node's */
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/* normal frames (ft-camd --with-dark) */
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FH_CAM_COLOR = 1u << 1, /* an Arcturus color camera's luma, downscaled */
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/* (ft-camd --with-color). Not synced with the */
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/* mono cameras, and capture_ns is on its own */
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/* clock: line it up with them by dqbuf_ns */
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};
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typedef struct {
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char sensor[32]; /* media entity, e.g. "og01a1b 4-0060" */
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char name[32]; /* calibration name if known, else sensor slug */
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int32_t node; /* N of /dev/videoN */
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uint32_t format; /* FH_FMT_* */
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uint32_t width;
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uint32_t height;
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uint32_t stride; /* bytes per row in the ring */
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uint32_t nslots;
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uint64_t slot_offset; /* file offset of slot 0 */
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uint64_t slot_bytes; /* slot header + image, 64-byte aligned */
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volatile uint64_t latest; /* newest published frame number, 0 = none yet */
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uint64_t published; /* frames published */
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uint64_t dropped; /* dark, stale or torn frames not published */
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uint32_t flags; /* FH_CAM_* */
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float dark_mean; /* mono: mean luma of its latest near-black */
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/* frame (a short fixed exposure, so it follows */
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/* the room's IR light, sunlight above all); */
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/* 0 before the first */
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uint8_t reserved[24];
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} fh_ring_cam_t; /* 160 bytes */
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typedef struct {
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volatile uint64_t seq; /* 2n+1 while frame n is written, 2n+2 when done */
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uint64_t frame; /* n */
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uint64_t capture_ns; /* V4L2 timestamp (camera clock) */
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uint64_t dqbuf_ns; /* CLOCK_MONOTONIC when XRService dequeued it */
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uint64_t publish_ns; /* CLOCK_MONOTONIC when the copy finished */
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uint32_t v4l2_seq; /* V4L2 sequence number */
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float mean; /* mean luma on a sparse grid */
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uint8_t reserved[16];
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} fh_ring_slot_t; /* 64 bytes, image follows */
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typedef struct {
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char magic[8]; /* FH_RING_MAGIC */
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uint32_t version;
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uint32_t header_bytes; /* sizeof(fh_ring_hdr_t) */
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uint32_t ncams;
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uint32_t reserved0;
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uint64_t file_bytes;
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int64_t writer_pid;
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volatile uint64_t heartbeat_ns; /* CLOCK_MONOTONIC, refreshed at least every 0.2 s */
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uint8_t reserved[16];
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fh_ring_cam_t cams[FH_RING_MAX_CAMS];
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} fh_ring_hdr_t;
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static_assert(sizeof(fh_ring_cam_t) == 160, "fh_ring_cam_t layout");
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static_assert(sizeof(fh_ring_slot_t) == 64, "fh_ring_slot_t layout");
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static_assert(sizeof(fh_ring_hdr_t) == 64 + 160 * FH_RING_MAX_CAMS, "fh_ring_hdr_t layout");
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