mirror of
https://github.com/DeeJanuz/frametop.git
synced 2026-10-06 15:00:11 +02:00
DeeJanuzandClaude Opus 5.5
e2abaa06b6
- The runtime files move to /run/user/UID/frametop-hands/: the desktop session deletes /run/user/UID/frametop at every start. - The cutout copy shader runs at highp: mediump (16-bit on Adreno) stepped 1.7 texels across a 3440-pixel screen. - One hand no longer pinches both sides after its left/right call flips mid-pinch, and --pinch-palm-down (0.6) holds back pinches with the palm facing down (typing on a lap keyboard). - ft-camd judges a colour frame fresh by its luma rows only, and logs per-buffer changes at stale colour frames with FT_CAMD_DEBUG=1. - hands/run.sh caps skips the setcap when ft-camd already has them. - The replay tool dumps poses (--poses), and its pinch events carry the hand id. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
81 lines
3.2 KiB
Python
81 lines
3.2 KiB
Python
"""Read frames from ft-camd's shared-memory ring (layout: camd/fhring.h)."""
|
|
import mmap
|
|
import os
|
|
import struct
|
|
import time
|
|
|
|
import numpy as np
|
|
|
|
RING_FILE = '/run/user/%d/frametop-hands/cam-ring' % os.getuid()
|
|
MAGIC = b'FHRING01'
|
|
HDR = struct.Struct('<8sIIIIQqQ16x') # 64 bytes
|
|
CAM = struct.Struct('<32s32siIIIIIQQQQQ32x') # 160 bytes
|
|
SLOT = struct.Struct('<QQQQQIf16x') # 64 bytes
|
|
MAX_CAMS = 8
|
|
LATEST_OFF = 32 + 32 + 4 * 6 + 8 * 2 # cam.latest within fh_ring_cam_t
|
|
HEARTBEAT_OFF = 40
|
|
|
|
|
|
class Frame:
|
|
__slots__ = ('cam', 'frame', 'capture_ns', 'dqbuf_ns', 'publish_ns', 'v4l2_seq', 'mean', 'image')
|
|
|
|
def __init__(self, cam, fields, image):
|
|
self.cam = cam
|
|
(_, self.frame, self.capture_ns, self.dqbuf_ns, self.publish_ns, self.v4l2_seq, self.mean) = fields
|
|
self.image = image
|
|
|
|
|
|
class RingCamera:
|
|
def __init__(self, index, fields):
|
|
(sensor, name, self.node, self.format, self.width, self.height, self.stride, self.nslots,
|
|
self.slot_offset, self.slot_bytes, _latest, _pub, _drop) = fields
|
|
self.index = index
|
|
self.sensor = sensor.split(b'\0', 1)[0].decode()
|
|
self.name = name.split(b'\0', 1)[0].decode()
|
|
self.latest_off = HDR.size + index * CAM.size + LATEST_OFF
|
|
|
|
def __repr__(self):
|
|
return 'RingCamera(video%d %s %dx%d)' % (self.node, self.sensor, self.width, self.height)
|
|
|
|
|
|
class Ring:
|
|
def __init__(self, path=RING_FILE):
|
|
fd = os.open(path, os.O_RDONLY)
|
|
try:
|
|
self.map = mmap.mmap(fd, 0, mmap.MAP_SHARED, mmap.PROT_READ)
|
|
finally:
|
|
os.close(fd)
|
|
magic, version, hdr_bytes, ncams, _, file_bytes, self.writer_pid, _ = HDR.unpack_from(self.map, 0)
|
|
if magic != MAGIC or version != 1:
|
|
raise RuntimeError('%s is not an ft-camd ring (magic %r version %d)' % (path, magic, version))
|
|
self.cams = [RingCamera(i, CAM.unpack_from(self.map, HDR.size + i * CAM.size)) for i in range(ncams)]
|
|
|
|
def heartbeat_ns(self):
|
|
return struct.unpack_from('<Q', self.map, HEARTBEAT_OFF)[0]
|
|
|
|
def alive(self, max_age=1.0):
|
|
hb = self.heartbeat_ns()
|
|
return hb != 0 and (time.clock_gettime_ns(time.CLOCK_MONOTONIC) - hb) / 1e9 < max_age
|
|
|
|
def latest(self, cam):
|
|
return struct.unpack_from('<Q', self.map, cam.latest_off)[0]
|
|
|
|
def read(self, cam, n=None):
|
|
"""Copy frame n (default: the newest) of a camera, or None if it's gone or being written."""
|
|
for _ in range(3):
|
|
if n is None or n == 0:
|
|
n = self.latest(cam)
|
|
if n == 0:
|
|
return None
|
|
off = cam.slot_offset + (n % cam.nslots) * cam.slot_bytes
|
|
fields = SLOT.unpack_from(self.map, off)
|
|
if fields[0] != 2 * n + 2:
|
|
return None
|
|
start = off + SLOT.size
|
|
image = np.frombuffer(self.map, np.uint8, cam.stride * cam.height, start).reshape(cam.height, cam.stride)
|
|
image = image[:, :cam.width].copy()
|
|
if struct.unpack_from('<Q', self.map, off)[0] == fields[0]:
|
|
return Frame(cam, fields, image)
|
|
n = None # overwritten while copying: take the newest
|
|
return None
|