NODEDC_MISSION_CORE/plugins/insta360-x4/runtime/frames.py

"""Bounded per-camera encoded fanout. Readers never consume each other's data."""

import json
import re
import struct
import threading
import time
from collections import deque

MAX_PACKET = 4 * 1024 * 1024
MAX_BYTES = 8 * 1024 * 1024
MAX_ENTRIES = 64
MAX_WIRE = MAX_PACKET + 1028
MAX_PARAMETERS = 65536
START_CODE = re.compile(b"\x00\x00(?:\x00)?\x01")


class Parameters:
    """Retain only codec setup, so a late viewer can decode the next keyframe.

    Parameter sets describe this preview generation, never a previous session.
    Media history and camera commands are not retained or replayed.
    """

    def __init__(self):
        self.streams = {}

    def packet(self, header, data):
        codec = header["codec"]
        required = (7, 8) if codec == 0 else (32, 33, 34)
        keyframes = (5,) if codec == 0 else (16, 17, 18, 19, 20, 21)
        saved = self.streams.setdefault((header["stream_index"], codec), {})
        markers = START_CODE.finditer(data)
        marker = next(markers, None)
        present, keyframe = set(), False
        while marker is not None:
            following = next(markers, None)
            if marker.end() >= len(data):
                break
            kind = data[marker.end()] & 31 if codec == 0 else (data[marker.end()] >> 1) & 63
            keyframe |= kind in keyframes
            if kind in required:
                end = following.start() if following is not None else len(data)
                value = data[marker.start() : end]
                if len(value) > MAX_PARAMETERS:
                    saved.clear()
                    return data
                saved[kind] = value
                present.add(kind)
            marker = following
        if keyframe and all(kind in saved for kind in required):
            prefix = b"".join(saved[kind] for kind in required if kind not in present)
            if len(prefix) + len(data) <= MAX_PACKET:
                return prefix + data
        return data


def encode(value):
    if value is None:
        return b""
    header, data = value
    raw = json.dumps(header, allow_nan=False, separators=(",", ":")).encode()
    if len(raw) > 1024 or not 0 < len(data) <= MAX_PACKET:
        raise ValueError("Invalid video envelope")
    return struct.pack("!I", len(raw)) + raw + data


def decode(raw):
    if not raw:
        return None
    if len(raw) < 5 or len(raw) > MAX_WIRE:
        raise ValueError("Invalid video envelope")
    size = struct.unpack("!I", raw[:4])[0]
    if not 0 < size <= 1024 or len(raw) <= 4 + size:
        raise ValueError("Invalid video envelope")
    header, data = json.loads(raw[4 : 4 + size]), raw[4 + size :]
    if (
        not isinstance(header, dict)
        or any(
            type(header.get(key)) is not int or header[key] < 0
            for key in ("cursor", "generation", "stream_index", "codec")
        )
        or header["stream_index"] not in (0, 1)
        or header["codec"] not in (0, 1)
        or type(header.get("gap")) is not bool
        or not 0 < len(data) <= MAX_PACKET
    ):
        raise ValueError("Invalid video metadata")
    return header, data


class Feed:
    def __init__(self, camera):
        self.camera = camera
        self.lock = threading.Condition()
        self.source_lock = threading.Lock()
        self.queue = deque()
        self.bytes = self.cursor = self.generation = 0
        self.source_generation = None
        self.parameters = Parameters()
        self.closed = threading.Event()
        self.thread = threading.Thread(target=self.pump, daemon=True)

    def clear(self):
        with self.lock:
            self.queue.clear()
            self.bytes = 0
            self.parameters = Parameters()
            self.generation += 1
            self.lock.notify_all()

    def append(self, value):
        source, data = value
        if not 0 < len(data) <= MAX_PACKET:
            self.clear()
            return
        with self.lock:
            if self.source_generation != source["generation"]:
                self.queue.clear()
                self.bytes = 0
                self.source_generation = source["generation"]
                self.generation += 1
                self.parameters = Parameters()
            data = self.parameters.packet(source, data)
            while self.queue and (
                self.bytes + len(data) > MAX_BYTES or len(self.queue) >= MAX_ENTRIES
            ):
                _, removed, _ = self.queue.popleft()
                self.bytes -= len(removed)
            self.cursor += 1
            header = dict(source, cursor=self.cursor, generation=self.generation)
            self.queue.append((header, data, time.monotonic()))
            self.bytes += len(data)
            self.lock.notify_all()

    def read(self, cursor, wait=0.1):
        if type(cursor) is not int or not 0 <= cursor < 2**64:
            raise ValueError("Invalid video cursor")
        deadline = time.monotonic() + min(max(wait, 0), 0.2)
        with self.lock:
            while True:
                for header, data, observed in self.queue:
                    if header["cursor"] > cursor and time.monotonic() - observed < 2:
                        return dict(
                            header, gap=bool(cursor and header["cursor"] != cursor + 1)
                        ), data
                remaining = deadline - time.monotonic()
                if remaining <= 0 or self.closed.is_set():
                    return None
                self.lock.wait(remaining)

    def reader(self):
        with self.lock:
            cursor = self.cursor

        def read():
            nonlocal cursor
            value = self.read(cursor, wait=0)
            if value is not None:
                cursor = value[0]["cursor"]
            return value

        return read

    def change(self, action):
        # No packet read from the previous preview may be appended after a
        # START/STOP boundary and mistaken for evidence of the new preview.
        with self.source_lock:
            self.clear()
            try:
                return action()
            finally:
                self.clear()

    def pump(self):
        while not self.closed.is_set():
            try:
                with self.source_lock:
                    value = self.camera.video()
                    if value is not None:
                        self.append(value)
                        continue
            except (OSError, RuntimeError, ValueError):
                self.clear()
            self.closed.wait(0.01)

    def close(self):
        self.closed.set()
        self.clear()
        if self.thread.is_alive():
            self.thread.join(timeout=1)