diff --git a/.gitignore b/.gitignore index 7c5b18d80..1782ab32c 100644 --- a/.gitignore +++ b/.gitignore @@ -113,3 +113,8 @@ venv.bak/ !dlclivegui/config.py # uv package files uv.lock + +# profiling +profile*.svg +scalene*.json +scalene*.html diff --git a/dlclivegui/cameras/backends/aravis_backend.py b/dlclivegui/cameras/backends/aravis_backend.py index b437c3c3f..d1dd24ca1 100644 --- a/dlclivegui/cameras/backends/aravis_backend.py +++ b/dlclivegui/cameras/backends/aravis_backend.py @@ -11,7 +11,7 @@ import numpy as np from ...config import CameraSettings -from ..base import CameraBackend, SupportLevel, register_backend +from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend from ..factory import DetectedCamera LOG = logging.getLogger(__name__) @@ -52,6 +52,8 @@ def __init__(self, settings): self._actual_width: int | None = None self._actual_height: int | None = None self._actual_fps: float | None = None + self._camera_pixel_format: str | None = None + self._actual_output_format: str | None = None self._camera = None self._stream = None @@ -69,6 +71,16 @@ def actual_fps(self) -> float | None: """Return the actual frame rate of the camera after opening.""" return self._actual_fps + @property + def actual_pixel_format(self) -> str | None: + """Camera/native pixel format requested/reported for Aravis.""" + return self._camera_pixel_format or self._pixel_format + + @property + def actual_output_format(self) -> str | None: + """Current Aravis backend emits BGR uint8 frames.""" + return self._actual_output_format or "BGR8" + @classmethod def is_available(cls) -> bool: """Check if Aravis is available on this system.""" @@ -360,7 +372,7 @@ def open(self) -> None: self._camera.start_acquisition() - def read(self) -> tuple[np.ndarray, float]: + def read(self) -> CapturedFrame: """Read a frame from the camera.""" if self._camera is None or self._stream is None: raise RuntimeError("Aravis camera not initialized") @@ -418,7 +430,7 @@ def read(self) -> tuple[np.ndarray, float]: # Always push buffer back to stream self._stream.push_buffer(buffer) - return frame, timestamp + return CapturedFrame(frame=frame, software_timestamp=timestamp, timestamp_metadata=None) def stop(self) -> None: """Stop camera acquisition.""" @@ -615,10 +627,12 @@ def _configure_pixel_format(self) -> None: if self._pixel_format in format_map: self._camera.set_pixel_format(format_map[self._pixel_format]) + self._camera_pixel_format = self._pixel_format LOG.info(f"Pixel format set to '{self._pixel_format}'") else: # Try setting as string self._camera.set_pixel_format_from_string(self._pixel_format) + self._camera_pixel_format = self._pixel_format LOG.info(f"Pixel format set to '{self._pixel_format}' (from string)") except Exception as e: LOG.warning(f"Failed to set pixel format '{self._pixel_format}': {e}") diff --git a/dlclivegui/cameras/backends/basler_backend.py b/dlclivegui/cameras/backends/basler_backend.py index 8e7b0e19b..e1177d975 100644 --- a/dlclivegui/cameras/backends/basler_backend.py +++ b/dlclivegui/cameras/backends/basler_backend.py @@ -7,17 +7,30 @@ import time from typing import ClassVar -import numpy as np - -from ..base import CameraBackend, SupportLevel, register_backend +from ...config import BASLER_DO_LOG_TIMING, CameraTriggerSettings +from ...utils.stats import WorkerTimingStats +from ...utils.timestamps import FrameTimestampMetadata +from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend LOG = logging.getLogger(__name__) + +# NOTE @C-Achard: This could be added in settings eventually +# Forces pypylon to create N emulation virtual cameras, +# mostly for testing. This should not be enabled for release. +ENABLE_PYLON_EMU = True +if ENABLE_PYLON_EMU: + import os + + os.environ["PYLON_CAMEMU"] = "4" + try: # pragma: no cover - optional dependency from pypylon import pylon except Exception: # pragma: no cover - optional dependency pylon = None # type: ignore +DEBUG_TRIGGER_LOGS = False + @register_backend("basler") class BaslerCameraBackend(CameraBackend): @@ -25,14 +38,56 @@ class BaslerCameraBackend(CameraBackend): OPTIONS_KEY: ClassVar[str] = "basler" + # Keep RetrieveResult calls short enough that controller shutdown can stop + # worker threads promptly while waiting for external hardware triggers. + _MAX_HARDWARE_TRIGGER_RETRIEVE_TIMEOUT_MS: ClassVar[int] = 1000 + def __init__(self, settings): super().__init__(settings) self._props: dict = settings.properties if isinstance(settings.properties, dict) else {} + self._preserve_mono: bool = bool( + getattr(settings, "preserve_mono", False) or self.ns.get("preserve_mono", False) + ) + self._camera_pixel_format: str | None = None + self._logged_first_frame: bool = False # Optional fast-start hint for probe workers # (may skip StartGrabbing and converter setup for faster capability probing; not suitable for normal capture) self._fast_start: bool = bool(self.ns.get("fast_start", False)) + self._retrieve_timeout_ms: int = 100 # default; may be overridden by trigger settings + self._timestamp_tick_frequency_hz: float | None = None + self._timestamp_tick_frequency_source: str | None = None + + # ---- Trigger settings ---- + raw_trigger = self.ns.get("trigger", self._props.get("trigger")) + raw_trigger_strict = isinstance(raw_trigger, dict) and bool(raw_trigger.get("strict", False)) + + try: + self._trigger = CameraTriggerSettings.from_any(raw_trigger) + except Exception as exc: + if raw_trigger_strict: + raise ValueError(f"Strict mode failure - Invalid Basler trigger configuration: {exc}") from exc + + LOG.warning( + "Invalid Basler trigger config; falling back to trigger role=off: %s. " + "Enable strict mode to force this to raise.", + exc, + ) + self._trigger = CameraTriggerSettings() + + trigger_timeout = self._positive_float(self._trigger_attr(self._trigger, "timeout", None)) + if trigger_timeout is not None: + # pypylon RetrieveResult timeout is milliseconds. + self._retrieve_timeout_ms = max(1, int(float(trigger_timeout) * 1000.0)) + else: + self._retrieve_timeout_ms = 100 + + if self.waits_for_hardware_trigger: + self._retrieve_timeout_ms = min( + self._retrieve_timeout_ms, + self._MAX_HARDWARE_TRIGGER_RETRIEVE_TIMEOUT_MS, + ) # Stable identity (serial-based). Prefer new namespace; fall back to legacy keys read-only. self._device_id: str | None = None @@ -62,6 +117,16 @@ def __init__(self, settings): self._actual_exposure: float | None = None self._actual_gain: float | None = None + # ---- Timing stats for logging (optional) ---- + msg = self._device_id or f"index:{getattr(settings, 'index', '?')}" + timing_id = f"Basler {msg}" + self._timing = WorkerTimingStats( + timing_id, + logger=LOG, + log_interval=1.0, + enabled=BASLER_DO_LOG_TIMING, + ) + @property def actual_resolution(self) -> tuple[int, int] | None: if self._actual_width and self._actual_height: @@ -80,6 +145,24 @@ def actual_exposure(self) -> float | None: def actual_gain(self) -> float | None: return self._actual_gain + @property + def actual_pixel_format(self) -> str | None: + """Camera/native pixel format reported by Basler, e.g. 'Mono8'.""" + return self._camera_pixel_format + + @property + def actual_output_format(self) -> str | None: + """Backend output frame format emitted to the app, e.g. 'Mono8' or 'BGR8'.""" + if not self._camera_pixel_format: + return None + return "Mono8" if self._should_output_mono() else "BGR8" + + @property + def recommended_preserve_mono(self) -> bool | None: + if not self._camera_pixel_format: + return None + return self._is_camera_mono() + @classmethod def is_available(cls) -> bool: return pylon is not None @@ -95,6 +178,9 @@ def static_capabilities(cls) -> dict[str, SupportLevel]: "set_gain": SupportLevel.SUPPORTED, "device_discovery": SupportLevel.BEST_EFFORT, "stable_identity": SupportLevel.SUPPORTED, + "hardware_trigger": SupportLevel.BEST_EFFORT, + "preserve_mono": SupportLevel.SUPPORTED, + "hardware_frame_timestamps": SupportLevel.BEST_EFFORT, } ) return caps @@ -121,6 +207,17 @@ def _ensure_mutable_ns(self) -> dict: self.settings.properties[self.OPTIONS_KEY] = ns return ns + def _read_camera_pixel_format(self) -> str: + pixel_format = self._feature_value(self._feature("PixelFormat"), "") + self._camera_pixel_format = str(pixel_format or "") + return self._camera_pixel_format + + def _is_camera_mono(self) -> bool: + return bool(self._camera_pixel_format and self._camera_pixel_format.startswith("Mono")) + + def _should_output_mono(self) -> bool: + return bool(self._preserve_mono and self._is_camera_mono()) + @classmethod def _enumerate_devices_cls(cls): """Enumerate DeviceInfo entries (unit-testable via monkeypatch).""" @@ -314,6 +411,118 @@ def _positive_float(value) -> float | None: except Exception: return None + def trigger_once(self) -> None: + if self._camera is None: + raise RuntimeError("Basler camera not opened") + + # pypylon commonly exposes ExecuteSoftwareTrigger on InstantCamera. + method = getattr(self._camera, "ExecuteSoftwareTrigger", None) + if method is not None: + method() + return + + command = self._feature("TriggerSoftware") + if command is not None: + try: + command.Execute() + return + except Exception as exc: + raise RuntimeError(f"Failed to execute Basler software trigger: {exc}") from exc + + raise RuntimeError("Basler software trigger command is not available") + + def _configure_frame_rate(self) -> None: + if self._camera is None: + return + + fps = self._positive_float(getattr(self.settings, "fps", 0.0)) + if fps is None: + LOG.debug("[Basler] FPS: auto/free-run, not forcing AcquisitionFrameRate") + return + + enable = self._feature("AcquisitionFrameRateEnable") + rate = self._feature("AcquisitionFrameRate") + + try: + if enable is not None: + enable.SetValue(True) + + if rate is None: + LOG.warning("[Basler] AcquisitionFrameRate node not available; cannot set FPS=%s", fps) + return + + try: + min_v = rate.GetMin() + max_v = rate.GetMax() + LOG.debug("[Basler] AcquisitionFrameRate range: min=%s max=%s requested=%s", min_v, max_v, fps) + except Exception: + pass + + rate.SetValue(float(fps)) + + except Exception as exc: + LOG.warning("[Basler] Failed to set AcquisitionFrameRate=%s: %s", fps, exc, exc_info=True) + + # Readbacks + readbacks = {} + for name in ( + "AcquisitionFrameRateEnable", + "AcquisitionFrameRate", + "ResultingFrameRate", + "ResultingAcquisitionFrameRate", + "AcquisitionResultingFrameRate", + "BslResultingAcquisitionFrameRate", + "ExposureAuto", + "ExposureTime", + "ExposureTimeAbs", + "Width", + "Height", + "PixelFormat", + "TestImageSelector", + "ImageFileMode", + ): + feature = self._feature(name) + if feature is not None: + readbacks[name] = self._feature_value(feature, None) + + LOG.debug("[Basler] Readback requested=%s values=%s", fps, readbacks) + + try: + self._actual_fps = float(readbacks.get("AcquisitionFrameRate")) + except Exception: + self._actual_fps = None + + def _configure_converter(self) -> None: + """Configure pypylon image converter. + + Default behavior remains BGR8 for compatibility. + + If preserve_mono=True and the camera PixelFormat is Mono*, + return Mono8 frames as 2D arrays to avoid 3x BGR expansion. + """ + if self._camera is None: + return + + camera_pixel_format = self._camera_pixel_format or self._read_camera_pixel_format() + + self._converter = pylon.ImageFormatConverter() + self._converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned + + if self._should_output_mono(): + self._converter.OutputPixelFormat = pylon.PixelType_Mono8 + LOG.debug( + "[Basler] Converter configured for Mono8 output (camera PixelFormat=%s preserve_mono=%s)", + camera_pixel_format, + self._preserve_mono, + ) + else: + self._converter.OutputPixelFormat = pylon.PixelType_BGR8packed + LOG.debug( + "[Basler] Converter configured for BGR8 output (camera PixelFormat=%s preserve_mono=%s)", + camera_pixel_format, + self._preserve_mono, + ) + def open(self) -> None: if pylon is None: raise RuntimeError("pypylon is required for the Basler backend but is not installed") @@ -335,8 +544,11 @@ def open(self) -> None: try: if hasattr(self._camera, "ExposureAuto"): self._camera.ExposureAuto.SetValue("Off") - self._camera.ExposureTime.SetValue(float(self.settings.exposure)) - LOG.info("[Basler] Exposure set to %s us (auto off)", self.settings.exposure) + if hasattr(self._camera, "ExposureTime"): + self._camera.ExposureTime.SetValue(float(self.settings.exposure)) + if hasattr(self._camera, "ExposureTimeAbs"): + self._camera.ExposureTimeAbs.SetValue(float(self.settings.exposure)) + LOG.debug("[Basler] Exposure set to %s us (auto off)", self.settings.exposure) except Exception as exc: LOG.warning("[Basler] Failed to set exposure: %s", exc) @@ -346,7 +558,7 @@ def open(self) -> None: if hasattr(self._camera, "GainAuto"): self._camera.GainAuto.SetValue("Off") self._camera.Gain.SetValue(float(self.settings.gain)) - LOG.info("[Basler] Gain set to %s dB (auto off)", self.settings.gain) + LOG.debug("[Basler] Gain set to %s dB (auto off)", self.settings.gain) except Exception as exc: LOG.warning("[Basler] Failed to set gain: %s", exc) @@ -360,19 +572,20 @@ def open(self) -> None: # ---------------------------- # Frame rate (0.0 = Auto → do not set) # ---------------------------- - fps = self._positive_float(getattr(self.settings, "fps", 0.0)) + self._configure_frame_rate() - if fps is not None: - try: - # Some models require enable flag to be writable - if hasattr(self._camera, "AcquisitionFrameRateEnable"): - try: - self._camera.AcquisitionFrameRateEnable.SetValue(True) - except Exception: - pass - self._camera.AcquisitionFrameRate.SetValue(fps) - except Exception: - LOG.debug("Frame rate not writable or not supported", exc_info=True) + # ---------------------------- + # Trigger configuration + # ---------------------------- + self._debug_trigger_nodes(context="before configuration") + self._configure_trigger() + self._debug_trigger_nodes(context="after configuration") + + try: + ns = self._ensure_mutable_ns() + ns["trigger_actual"] = self._trigger_to_dict(self._trigger) + except Exception: + pass # ---------------------------- # Read back actual values (telemetry for GUI / probe) @@ -398,6 +611,8 @@ def open(self) -> None: except Exception: self._actual_gain = None + self._read_camera_pixel_format() + # ---------------------------- # Start acquisition (skip for fast probe) # ---------------------------- @@ -410,9 +625,7 @@ def open(self) -> None: pass # Converter BEFORE StartGrabbing - self._converter = pylon.ImageFormatConverter() - self._converter.OutputPixelFormat = pylon.PixelType_BGR8packed - self._converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned + self._configure_converter() # Force stream configuration reset try: @@ -422,9 +635,10 @@ def open(self) -> None: pass self._camera.StartGrabbing( - pylon.GrabStrategy_LatestImageOnly, + # pylon.GrabStrategy_LatestImageOnly, + pylon.GrabStrategy_OneByOne, ) - LOG.info( + LOG.debug( "[Basler] grabbing=%s max_buffers=%s", self._camera.IsGrabbing(), self._camera.MaxNumBuffer.GetValue() if hasattr(self._camera, "MaxNumBuffer") else "N/A", @@ -432,7 +646,7 @@ def open(self) -> None: else: LOG.debug("Fast-start probe: skipping StartGrabbing and converter") - LOG.info( + LOG.debug( "[Basler] open device_id=%s index=%s fast_start=%s requested=(%sx%s @ %s fps exp=%s gain=%s)", getattr(self, "_device_id", None), getattr(self.settings, "index", None), @@ -443,9 +657,29 @@ def open(self) -> None: getattr(self.settings, "exposure", None), getattr(self.settings, "gain", None), ) - # ---------------------------- - # Persist stable identity into namespace (migration-safe) - # ---------------------------- + + # Get hardware tick frequency for timestamp conversion + try: + node = getattr(self._camera, "GevTimestampTickFrequency", None) + if node is not None and node.IsReadable(): + self._timestamp_tick_frequency_hz = float(node.GetValue()) + self._timestamp_tick_frequency_source = "GevTimestampTickFrequency" + LOG.info( + "[Basler] timestamp tick frequency: %.3f Hz from GevTimestampTickFrequency", + self._timestamp_tick_frequency_hz, + ) + except Exception: + LOG.debug("[Basler] Could not read GevTimestampTickFrequency", exc_info=True) + + if not self._timestamp_tick_frequency_hz or self._timestamp_tick_frequency_hz <= 0: + self._timestamp_tick_frequency_hz = 1_000_000_000.0 + self._timestamp_tick_frequency_source = "assumed_default_1ghz" + LOG.info( + "[Basler] timestamp tick frequency unavailable; assuming %.3f Hz", + self._timestamp_tick_frequency_hz, + ) + + # Persist stable identity into namespace try: serial = device.GetSerialNumber() if serial: @@ -458,31 +692,118 @@ def open(self) -> None: except Exception: pass - def read(self) -> tuple[np.ndarray, float]: + def _make_timestamp_metadata(self, grab_result) -> FrameTimestampMetadata | None: + try: + ticks = int(grab_result.GetTimeStamp()) + except Exception: + return None + + if ticks == 0: + # Basler returns 0 if the timestamp is not available (e.g. for some GigE cameras) + return None + + freq = getattr(self, "_timestamp_tick_frequency_hz", None) + seconds = ticks / freq if freq and freq > 0 else None + + return FrameTimestampMetadata( + source="grab_result.GetTimeStamp", + backend="basler", + default_reported="seconds" if seconds is not None else "raw_value", + seconds=seconds, + wall_clock_time=None, + raw_value=ticks, + raw_unit="ticks", + tick_frequency_hz=freq, + timebase="Basler camera timestamp counter", + kind="camera_clock", + extra={ + "tick_frequency_source": self._timestamp_tick_frequency_source, + }, + ) + + def read(self) -> CapturedFrame: if self._camera is None: raise RuntimeError("Basler camera not opened") if self._converter is None: raise RuntimeError("Basler camera opened in fast-start probe mode; cannot read frames") + + grab_result = None + try: - grab_result = self._camera.RetrieveResult(100, pylon.TimeoutHandling_ThrowException) + with self._timing.measure("Basler.retrieve"): + grab_result = self._camera.RetrieveResult( + int(getattr(self, "_retrieve_timeout_ms", 100)), + pylon.TimeoutHandling_ThrowException, + ) + + with self._timing.measure("Basler.check_result"): + if not grab_result.GrabSucceeded(): + grab_result.Release() + grab_result = None + self._timing.note_error() + self._timing.maybe_log() + raise RuntimeError("Basler camera did not return an image") + + with self._timing.measure("Basler.convert"): + image = self._converter.Convert(grab_result) + + with self._timing.measure("Basler.get_array"): + frame = image.GetArray() + + with self._timing.measure("Basler.timestamp"): + software_timestamp = time.time() + timestamp_metadata = self._make_timestamp_metadata(grab_result) + + if not self._logged_first_frame: + self._logged_first_frame = True + LOG.debug( + "[Basler] first frame device_id=%s shape=%s dtype=%s nbytes=%.2f MB " + "camera_pixel_format=%s output_format=%s preserve_mono=%s", + self._device_id, + frame.shape, + frame.dtype, + frame.nbytes / (1024 * 1024), + self._camera_pixel_format, + self.actual_output_format, + self._preserve_mono, + ) + + with self._timing.measure("Basler.release"): + grab_result.Release() + grab_result = None + + if self._actual_width is None or self._actual_height is None: + h, w = frame.shape[:2] + self._actual_width = int(w) + self._actual_height = int(h) + + self._timing.note_frame() + self._timing.maybe_log() + + return CapturedFrame( + frame=frame, + software_timestamp=software_timestamp, + timestamp_metadata=timestamp_metadata, + ) + except Exception as exc: - raise RuntimeError("Failed to retrieve image from Basler camera.") from exc - if not grab_result.GrabSucceeded(): - grab_result.Release() - raise RuntimeError("Basler camera did not return an image") - image = self._converter.Convert(grab_result) - frame = image.GetArray() - grab_result.Release() + if grab_result is not None: + try: + grab_result.Release() + except Exception: + pass - if self._actual_width is None or self._actual_height is None: - h, w = frame.shape[:2] - self._actual_width = int(w) - self._actual_height = int(h) + if self.waits_for_hardware_trigger: + self._timing.note_timeout() + self._timing.maybe_log() + raise TimeoutError(f"Basler timeout while waiting for hardware trigger: {exc}") from exc - return frame, time.time() + self._timing.note_error() + self._timing.maybe_log() + raise RuntimeError("Failed to retrieve image from Basler camera.") from exc def close(self) -> None: - LOG.info( + LOG.debug( "[Basler] close called camera_exists=%s grabbing=%s open=%s", self._camera is not None, bool(self._camera and self._camera.IsGrabbing()), @@ -494,7 +815,13 @@ def close(self) -> None: self._camera.StopGrabbing() except Exception: pass + if self._camera.IsOpen(): + try: + self._restore_trigger_idle() + except Exception: + pass + self._camera.Close() self._camera = None self._converter = None @@ -571,6 +898,368 @@ def _snap_to_node(value: int, node) -> int: return int(v) + @property + def waits_for_hardware_trigger(self) -> bool: + role = str(self._trigger_attr(getattr(self, "_trigger", None), "role", "off") or "off").lower() + return role in {"external", "follower"} + + @staticmethod + def _trigger_attr(trigger, name: str, default=None): + if isinstance(trigger, dict): + return trigger.get(name, default) + return getattr(trigger, name, default) + + @staticmethod + def _trigger_to_dict(trigger) -> dict: + if trigger is None: + return {} + if isinstance(trigger, dict): + return dict(trigger) + if hasattr(trigger, "model_dump"): + try: + return trigger.model_dump(exclude_none=True) + except Exception: + pass + return {} + + def _feature(self, name: str): + if self._camera is None: + return None + try: + return getattr(self._camera, name) + except Exception: + return None + + @staticmethod + def _feature_value(feature, default=None): + if feature is None: + return default + try: + return feature.GetValue() + except Exception: + return default + + @staticmethod + def _feature_symbolics(feature) -> list[str]: + if feature is None: + return [] + + for method_name in ("GetSymbolics", "GetEntries"): + try: + method = getattr(feature, method_name, None) + if method is None: + continue + + values = method() + out = [] + + for value in values: + try: + if hasattr(value, "GetSymbolic"): + out.append(str(value.GetSymbolic())) + else: + out.append(str(value)) + except Exception: + continue + + return [v for v in out if v] + except Exception: + continue + + return [] + + def _set_enum_feature(self, name: str, value: str, *, strict: bool = False) -> bool: + feature = self._feature(name) + + if feature is None: + if strict: + raise RuntimeError(f"Basler feature '{name}' is not available") + LOG.debug("Basler feature '%s' is not available; skipping", name) + return False + + symbolics = self._feature_symbolics(feature) + if symbolics and value not in symbolics: + if strict: + raise RuntimeError(f"Basler feature '{name}' does not support '{value}'. Available: {symbolics}") + LOG.warning("Basler feature '%s' does not support '%s'. Available: %s", name, value, symbolics) + return False + + try: + feature.SetValue(value) + return True + except Exception as exc: + if strict: + raise RuntimeError(f"Failed to set Basler feature '{name}' to '{value}': {exc}") from exc + LOG.warning("Failed to set Basler feature '%s' to '%s': %s", name, value, exc) + return False + + def _set_numeric_feature(self, name: str, value, *, strict: bool = False) -> bool: + feature = self._feature(name) + + if feature is None: + if strict: + raise RuntimeError(f"Basler feature '{name}' is not available") + LOG.debug("Basler feature '%s' is not available; skipping", name) + return False + + try: + feature.SetValue(value) + return True + except Exception as exc: + if strict: + raise RuntimeError(f"Failed to set Basler feature '{name}' to '{value}': {exc}") from exc + LOG.warning("Failed to set Basler feature '%s' to '%s': %s", name, value, exc) + return False + + def _debug_trigger_nodes(self, *, context: str = "") -> None: + if not LOG.isEnabledFor(logging.DEBUG) or not DEBUG_TRIGGER_LOGS: + return + + names = ( + "TriggerSelector", + "TriggerMode", + "TriggerSource", + "TriggerActivation", + "TriggerDelay", + "TriggerDelayAbs", + "AcquisitionMode", + "LineSelector", + "LineMode", + "LineSource", + "LineInverter", + ) + + label = f"Basler trigger debug {context}".strip() + + for name in names: + feature = self._feature(name) + if feature is None: + continue + + value = self._feature_value(feature, None) + symbolics = self._feature_symbolics(feature) + + extras = [] + if symbolics: + extras.append(f"symbolics={symbolics}") + + for method_name in ("IsReadable", "IsWritable"): + try: + method = getattr(feature, method_name, None) + if method is not None: + extras.append(f"{method_name}={method()}") + except Exception: + pass + + LOG.debug("%s: %s=%r %s", label, name, value, " ".join(extras)) + + def _resolve_trigger_source(self, requested: str, *, strict: bool) -> tuple[str, bool]: + requested = str(requested or "auto").strip() + feature = self._feature("TriggerSource") + available = self._feature_symbolics(feature) + + if not available: + if strict: + raise RuntimeError("Basler feature 'TriggerSource' is not available or has no symbolics") + LOG.warning("Basler feature 'TriggerSource' is not available; disabling trigger input.") + return requested, False + + if requested in available: + return requested, True + + if requested.lower() == "auto": + for candidate in ("Line1", "Line2", "Line3", "Line4", "Line0", "Software", "Action1"): + if candidate in available: + LOG.info("Basler TriggerSource auto-selected '%s'. Available: %s", candidate, available) + return candidate, True + + LOG.warning("Could not auto-select a Basler TriggerSource. Available: %s", available) + return requested, False + + if strict: + raise RuntimeError(f"Basler feature 'TriggerSource' does not support '{requested}'. Available: {available}") + + LOG.warning("Basler TriggerSource '%s' is not available. Available: %s", requested, available) + return requested, False + + def _configure_trigger(self) -> None: + cfg = getattr(self, "_trigger", CameraTriggerSettings()) + self._trigger = cfg + role = str(self._trigger_attr(cfg, "role", "off") or "off").strip().lower() + strict = bool(self._trigger_attr(cfg, "strict", False)) + + if role in {"off", "disabled"}: + self._configure_trigger_off(strict=strict) + return + + if role in {"external", "follower"}: + self._configure_trigger_input(cfg, strict=strict) + return + + if role == "software": + self._configure_trigger_software(cfg, strict=strict) + return + + if role == "master": + self._configure_trigger_master(cfg, strict=strict) + return + + if strict: + raise RuntimeError(f"Unsupported Basler trigger role: {role!r}") + + LOG.warning("Unsupported Basler trigger role '%s'; disabling trigger.", role) + self._configure_trigger_off(strict=False) + + def _configure_trigger_off(self, *, strict: bool = False) -> None: + # Select FrameStart first when possible so TriggerMode=Off applies to + # the frame-start trigger path. + self._set_enum_feature("TriggerSelector", "FrameStart", strict=False) + self._set_enum_feature("TriggerMode", "Off", strict=strict) + + def _configure_trigger_input(self, cfg, *, strict: bool = False) -> None: + role = str(self._trigger_attr(cfg, "role", "external") or "external").strip().lower() + selector = str(self._trigger_attr(cfg, "selector", "FrameStart") or "FrameStart") + activation = str(self._trigger_attr(cfg, "activation", "RisingEdge") or "RisingEdge") + source = str(self._trigger_attr(cfg, "source", "auto") or "auto").strip() + delay = self._trigger_attr(cfg, "delay", None) + + # Disable trigger while changing trigger-related parameters. + self._set_enum_feature("TriggerMode", "Off", strict=False) + + selector_ok = self._set_enum_feature("TriggerSelector", selector, strict=strict) + + resolved_source, source_supported = self._resolve_trigger_source(source, strict=strict) + source_ok = False + if source_supported: + source_ok = self._set_enum_feature("TriggerSource", resolved_source, strict=strict) + + activation_ok = self._set_enum_feature("TriggerActivation", activation, strict=False) + + if delay is not None: + delay_value = float(delay) + if not self._set_numeric_feature("TriggerDelay", delay_value, strict=False): + self._set_numeric_feature("TriggerDelayAbs", delay_value, strict=False) + + self._set_enum_feature("AcquisitionMode", "Continuous", strict=False) + + if not selector_ok: + LOG.warning("Could not apply Basler TriggerSelector=%s; disabling trigger.", selector) + self._configure_trigger_off(strict=False) + self._trigger = CameraTriggerSettings() + return + + if not source_ok: + LOG.warning( + "Could not apply Basler TriggerSource=%s resolved=%s; disabling trigger.", + source, + resolved_source, + ) + self._configure_trigger_off(strict=False) + self._trigger = CameraTriggerSettings() + return + + if not self._set_enum_feature("TriggerMode", "On", strict=strict): + LOG.warning("Could not enable Basler TriggerMode=On; disabling trigger.") + self._configure_trigger_off(strict=False) + self._trigger = CameraTriggerSettings() + return + + LOG.debug( + "Basler trigger input configured: role=%s selector=%s source=%s activation=%s " + "selector_ok=%s source_ok=%s activation_ok=%s", + role, + selector, + resolved_source, + activation, + selector_ok, + source_ok, + activation_ok, + ) + + def _configure_trigger_software(self, cfg, *, strict: bool = False) -> None: + selector = str(self._trigger_attr(cfg, "selector", "FrameStart") or "FrameStart") + delay = self._trigger_attr(cfg, "delay", None) + + self._set_enum_feature("TriggerMode", "Off", strict=False) + + selector_ok = self._set_enum_feature("TriggerSelector", selector, strict=strict) + source_ok = self._set_enum_feature("TriggerSource", "Software", strict=strict) + + if delay is not None: + delay_value = float(delay) + if not self._set_numeric_feature("TriggerDelay", delay_value, strict=False): + self._set_numeric_feature("TriggerDelayAbs", delay_value, strict=False) + + self._set_enum_feature("AcquisitionMode", "Continuous", strict=False) + + if not selector_ok or not source_ok: + LOG.warning( + "Could not configure Basler software trigger selector_ok=%s source_ok=%s; disabling trigger.", + selector_ok, + source_ok, + ) + self._configure_trigger_off(strict=False) + self._trigger = CameraTriggerSettings() + return + + if not self._set_enum_feature("TriggerMode", "On", strict=strict): + LOG.warning("Could not enable Basler software TriggerMode=On; disabling trigger.") + self._configure_trigger_off(strict=False) + self._trigger = CameraTriggerSettings() + return + + LOG.info("Basler software trigger configured: selector=%s source=Software", selector) + + def _configure_trigger_master(self, cfg, *, strict: bool = False) -> None: + output_line = str(self._trigger_attr(cfg, "output_line", "Line2") or "Line2") + output_source = str(self._trigger_attr(cfg, "output_source", "ExposureActive") or "ExposureActive") + + # Master camera should acquire freely. + self._configure_trigger_off(strict=False) + + selected = self._set_enum_feature("LineSelector", output_line, strict=strict) + if not selected: + msg = f"Could not select Basler output line '{output_line}'" + if strict: + raise RuntimeError(msg) + LOG.warning("%s; skipping master output configuration.", msg) + return + + mode_ok = self._set_enum_feature("LineMode", "Output", strict=strict) + source_ok = self._set_enum_feature("LineSource", output_source, strict=strict) + + if mode_ok and source_ok: + LOG.debug( + "Basler trigger master configured via Line*: output_line=%s output_source=%s", + output_line, + output_source, + ) + return + + msg = ( + "Could not configure Basler trigger master output completely " + f"(LineMode ok={mode_ok}, LineSource ok={source_ok})." + ) + + if strict: + raise RuntimeError(msg) + + LOG.warning(msg) + + def _restore_trigger_idle(self) -> None: + role = str(self._trigger_attr(getattr(self, "_trigger", None), "role", "off") or "off").lower() + + try: + if role in {"external", "follower", "software"}: + self._set_enum_feature("TriggerMode", "Off", strict=False) + + elif role == "master": + self._set_enum_feature("LineSource", "Off", strict=False) + self._set_enum_feature("LineMode", "Input", strict=False) + + except Exception: + LOG.debug("Best-effort Basler trigger restore failed", exc_info=True) + def _configure_resolution(self) -> None: """ Apply width/height only if explicitly requested (GUI or override). diff --git a/dlclivegui/cameras/backends/gentl_backend.py b/dlclivegui/cameras/backends/gentl_backend.py index eb28aea4d..f0eb6413e 100644 --- a/dlclivegui/cameras/backends/gentl_backend.py +++ b/dlclivegui/cameras/backends/gentl_backend.py @@ -1,17 +1,19 @@ """GenTL backend implemented using the Harvesters library.""" -# dlclivegui/cameras/backends/gentl_backend.py +# dlclivegui/cameras/backends/gentl_backend.py from __future__ import annotations import logging +import threading import time from pathlib import Path -from typing import ClassVar +from typing import Any, ClassVar import cv2 import numpy as np -from ..base import CameraBackend, SupportLevel, register_backend +from ...config import CameraTriggerSettings +from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend from ..factory import DetectedCamera from .utils import gentl_discovery as cti_finder @@ -31,112 +33,134 @@ @register_backend("gentl") class GenTLCameraBackend(CameraBackend): - """Capture frames from GenTL-compatible devices via Harvesters.""" + """Capture frames from GenTL-compatible devices via Harvesters. + + Notes + ----- + Multi-camera operation uses a shared Harvester per CTI set. Some GenTL + producers, including the Imaging Source USB3 Vision producer, can report no + devices if a second independent Harvester enumerates while another camera is + already open/streaming. Therefore open() acquires a shared Harvester and + never calls Harvester.update() during runtime open; initial enumeration is + handled by SharedHarvesterPool when the shared Harvester is created. + """ OPTIONS_KEY: ClassVar[str] = "gentl" - _LEGACY_DEFAULT_CTI_PATTERNS: tuple[str, ...] = ( # Windows-only, ignored on other platforms - r"C:\\Program Files\\The Imaging Source Europe GmbH\\IC4 GenTL Driver for USB3Vision Devices *\\bin\\*.cti", - r"C:\\Program Files\\The Imaging Source Europe GmbH\\TIS Grabber\\bin\\win64_x64\\*.cti", - r"C:\\Program Files\\The Imaging Source Europe GmbH\\TIS Camera SDK\\bin\\win64_x64\\*.cti", - r"C:\\Program Files (x86)\\The Imaging Source Europe GmbH\\TIS Grabber\\bin\\win64_x64\\*.cti", + _OPEN_LOCK: ClassVar[threading.RLock] = threading.RLock() + + _DEFAULT_CTI_PATTERNS: ClassVar[tuple[str, ...]] = ( + # Windows-only defaults; harmless/no-op on other platforms. + r"C:\Program Files\The Imaging Source Europe GmbH\IC4 GenTL Driver for USB3Vision Devices *\bin\*.cti", + r"C:\Program Files\The Imaging Source Europe GmbH\TIS Grabber\bin\win64_x64\*.cti", + r"C:\Program Files\The Imaging Source Europe GmbH\TIS Camera SDK\bin\win64_x64\*.cti", + r"C:\Program Files (x86)\The Imaging Source Europe GmbH\TIS Grabber\bin\win64_x64\*.cti", ) - # Source marker stored in properties["gentl"]["cti_files_source"] - # auto : persisted by auto-discovery (env vars, patterns, etc.). Cache, may be stale, re-discover if missing. - # user : explicitly set by user via properties.gentl.cti_file(s). Cache, strict raise if missing. + _COLOR_PIXEL_FORMATS: ClassVar[tuple[str, ...]] = ( + "BGR8", + "RGB8", + "BayerRG8", + "BayerGB8", + "BayerGR8", + "BayerBG8", + ) + _MONO_PIXEL_FORMATS: ClassVar[tuple[str, ...]] = ( + "Mono8", + "Mono10", + "Mono12", + "Mono16", + ) + + # Source marker stored in properties["gentl"]["cti_files_source"]. + # auto: persisted by auto-discovery; may be stale and can fall back. + # user: explicitly set by user; strict if stale/missing. _CTI_FILES_SOURCE_AUTO: ClassVar[str] = "auto" _CTI_FILES_SOURCE_USER: ClassVar[str] = "user" + # Keep individual Harvester.fetch() calls short enough that controller + # shutdown can stop worker threads promptly. Hardware-trigger waits are + # handled by repeated polling in SingleCameraWorker. + _MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT: ClassVar[float] = 1.0 + def __init__(self, settings): super().__init__(settings) - # --- Properties namespace handling (new UI stores backend options under properties["gentl"]) --- props = settings.properties if isinstance(settings.properties, dict) else {} ns = props.get(self.OPTIONS_KEY, {}) if not isinstance(ns, dict): ns = {} - # --- Fast probe mode (CameraProbeWorker sets this) --- - # When fast_start=True, open() should avoid starting acquisition if possible. self._fast_start: bool = bool(ns.get("fast_start", False)) - # --- Stable identity / serial selection --- - # New UI stores stable identity as ns["device_id"], with recommended formats: - # - "serial:" for true serials - # - "fp:" when serial is missing/ambiguous - # - # We keep legacy "serial_number"/"serial" behavior as fallback. raw_device_id = ns.get("device_id") or props.get("device_id") legacy_serial = ns.get("serial_number") or ns.get("serial") or props.get("serial_number") or props.get("serial") self._device_id: str | None = str(raw_device_id).strip() if raw_device_id else None + self._serial_number: str | None = self._serial_from_identity(self._device_id, legacy_serial) - # Decide what to use for actual device selection in open(): - # - If device_id is "serial:XXXX" -> use XXXX as serial_number - # - Otherwise, keep legacy serial if present; open() may still use index if serial is None - self._serial_number: str | None = None - if self._device_id: - did = self._device_id - if did.startswith("serial:"): - self._serial_number = did.split("serial:", 1)[1].strip() or None - elif did.startswith("fp:"): - # fingerprint: not directly usable as serial; rebind_settings should map fp -> index - self._serial_number = legacy_serial # keep legacy if any, otherwise None - else: - # If device_id is provided without prefix, treat it as a "serial-like" value for backward compatibility - self._serial_number = did - else: - self._serial_number = str(legacy_serial).strip() if legacy_serial else None + self._pixel_format: str = ns.get("pixel_format") or props.get("pixel_format", "auto") + self._pixel_format = str(self._pixel_format).strip() + self._camera_pixel_format: str | None = None + self._actual_output_format: str | None = None - # --- Pixel format / image transforms (legacy + backend options) --- - self._pixel_format: str = ns.get("pixel_format") or props.get("pixel_format", "Mono8") self._rotate: int = int(ns.get("rotate", props.get("rotate", 0))) % 360 self._crop: tuple[int, int, int, int] | None = self._parse_crop(ns.get("crop", props.get("crop"))) - # --- Exposure / Gain: 0 means Auto (do not set) --- - exp_val = getattr(settings, "exposure", 0) - gain_val = getattr(settings, "gain", 0.0) - - self._exposure: float | None = ( - float(exp_val) if isinstance(exp_val, (int, float)) and float(exp_val) > 0 else None - ) + self._exposure: float | None = self._positive_float(getattr(settings, "exposure", 0)) if self._exposure is None: - v = ns.get("exposure", props.get("exposure")) - try: - self._exposure = float(v) if v is not None and float(v) > 0 else None - except Exception: - self._exposure = None + self._exposure = self._positive_float(ns.get("exposure", props.get("exposure"))) - self._gain: float | None = ( - float(gain_val) if isinstance(gain_val, (int, float)) and float(gain_val) > 0 else None - ) + self._gain: float | None = self._positive_float(getattr(settings, "gain", 0.0)) if self._gain is None: - v = ns.get("gain", props.get("gain")) - try: - self._gain = float(v) if v is not None and float(v) > 0 else None - except Exception: - self._gain = None + self._gain = self._positive_float(ns.get("gain", props.get("gain"))) - # --- Acquisition timeout --- self._timeout: float = float(ns.get("timeout", props.get("timeout", 2.0))) + raw_trigger = ns.get("trigger", props.get("trigger")) + raw_trigger_strict = isinstance(raw_trigger, dict) and bool(raw_trigger.get("strict", False)) + + try: + self._trigger = CameraTriggerSettings.from_any(raw_trigger) + except Exception as exc: + if raw_trigger_strict: + raise ValueError(f"Strict mode failure - Invalid GenTL trigger configuration: {exc}") from exc + + LOG.warning( + "Invalid GenTL trigger config; falling back to trigger role=off: %s. " + "Enable strict mode to force this to raise.", + exc, + ) + self._trigger = CameraTriggerSettings() + + trigger_timeout = self._positive_float(self._trigger_attr(self._trigger, "timeout", None)) + if trigger_timeout is not None: + role = str(self._trigger_attr(self._trigger, "role", "off") or "off").strip().lower() + + if role in {"external", "follower"}: + # Do not let a long hardware-trigger wait block shutdown. + # SingleCameraWorker treats these fetch timeouts as expected + # polling misses while waits_for_hardware_trigger is true. + self._timeout = min(float(trigger_timeout), self._MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT) + else: + # For non-trigger-waiting modes, preserve legacy behavior. + self._timeout = float(trigger_timeout) - # --- Resolution request (None = device default / Auto) --- - # Uses settings.width/settings.height if set; falls back to legacy props["resolution"] if present. self._requested_resolution: tuple[int, int] | None = self._get_requested_resolution_or_none() - # --- Actuals for GUI --- self._actual_width: int | None = None self._actual_height: int | None = None self._actual_fps: float | None = None self._actual_gain: float | None = None self._actual_exposure: float | None = None - # --- Harvesters resources --- self._harvester = None self._acquirer = None + self._shared_entry = None self._device_label: str | None = None - self._cti_files_source_used: str | None = None + # ------------------------------------------------------------------ + # Public telemetry / capabilities + # ------------------------------------------------------------------ + @property def actual_resolution(self) -> tuple[int, int] | None: if self._actual_width and self._actual_height: @@ -155,6 +179,16 @@ def actual_exposure(self) -> float | None: def actual_gain(self) -> float | None: return self._actual_gain + @property + def actual_pixel_format(self) -> str | None: + """Camera/native pixel format selected on the GenICam PixelFormat node.""" + return self._camera_pixel_format or (self._pixel_format if self._pixel_format != "auto" else None) + + @property + def actual_output_format(self) -> str | None: + """Current GenTL backend emits OpenCV-native BGR uint8 frames.""" + return self._actual_output_format or "BGR8" + @classmethod def is_available(cls) -> bool: return Harvester is not None @@ -168,14 +202,99 @@ def static_capabilities(cls) -> dict[str, SupportLevel]: "set_gain": SupportLevel.SUPPORTED, "device_discovery": SupportLevel.SUPPORTED, "stable_identity": SupportLevel.SUPPORTED, + "hardware_trigger": SupportLevel.BEST_EFFORT, } + def _debug_trigger_nodes(self, node_map, *, context: str = "") -> None: + names = ( + "TriggerMode", + "TriggerSelector", + "TriggerSource", + "TriggerActivation", + "AcquisitionMode", + # Generic line nodes, if available. + "LineSelector", + "LineMode", + "LineSource", + # TIS 37U / DMK 37BUX287 strobe/output nodes. + "GPIn", + "GPOut", + "StrobeEnable", + "StrobePolarity", + "StrobeOperation", + "StrobeDuration", + "StrobeDelay", + ) + + label = f"GenTL trigger debug {context}".strip() + + for name in names: + node = self._node(node_map, name) + if node is None: + continue + + value = self._node_value(node_map, name, None) + + extras = [] + + symbolics = self._node_symbolics(node) + if symbolics: + extras.append(f"symbolics={symbolics}") + + for attr in ("access_mode", "is_writable", "is_readable"): + try: + extras.append(f"{attr}={getattr(node, attr)}") + except Exception: + pass + + LOG.debug("%s: %s=%r %s", label, name, value, " ".join(extras)) + + def _debug_frame_rate_nodes(self, node_map, *, context: str = "") -> None: + names = ( + "AcquisitionFrameRateEnable", + "AcquisitionFrameRateControlEnable", + "AcquisitionFrameRate", + "AcquisitionFrameRateAbs", + "AcquisitionResultingFrameRate", + "ResultingFrameRate", + "AcquisitionFrameRateResulting", + "DeviceFrameRate", + "ExposureAuto", + "ExposureTime", + "ExposureTimeAbs", + "DeviceLinkThroughputLimit", + "DeviceLinkThroughputLimitMode", + "PayloadSize", + "Width", + "Height", + "PixelFormat", + ) + + label = f"GenTL FPS debug {context}".strip() + + for name in names: + node = self._node(node_map, name) + if node is None: + continue + + value = self._node_value(node_map, name, None) + + extras = [] + for attr in ("min", "max", "inc"): + try: + extras.append(f"{attr}={getattr(node, attr)}") + except Exception: + pass + + LOG.debug("%s: %s=%r %s", label, name, value, " ".join(extras)) + + # ------------------------------------------------------------------ + # Discovery + # ------------------------------------------------------------------ + @classmethod def get_device_count(cls) -> int: - """Get the number of GenTL devices detected by Harvester. - - Returns the number of devices found, or -1 if detection fails. - """ + """Return the number of GenTL devices, or -1 if detection fails.""" if Harvester is None: return -1 @@ -184,286 +303,427 @@ def get_device_count(cls) -> int: harvester, _, _ = cls._build_harvester_for_discovery(strict_single=False) if harvester is None: return -1 - infos = harvester.device_info_list or [] - return len(infos) + return len(harvester.device_info_list or []) except Exception: return -1 finally: - if harvester is not None: - try: - harvester.reset() - except Exception: - pass - - @staticmethod - def _cti_preflight(path: str) -> tuple[bool, str | None]: - """ - Best-effort check right before calling Harvester.add_file(). - Still subject to race conditions (e.g. file deleted after this check), - but helps diagnose common issues like missing files or permission errors more gracefully and early. - Returns (ok, reason_if_not_ok). - """ - p = Path(str(path)) - try: - if not p.exists(): - return False, "missing at load time" - if not p.is_file(): - return False, "not a file at load time" - # Optional: try opening for read to detect permission/locking issues early - with p.open("rb"): - pass - return True, None - except PermissionError: - return False, "permission denied at load time" - except OSError as e: - return False, f"os error at load time: {e}" - - def _resolve_cti_files_for_settings(self) -> list[str]: - """ - Resolve CTI files to load. - - - User override (properties.gentl.cti_file/cti_files OR legacy properties.cti_file/cti_files): - * strict: must exist, otherwise raise - * source = "user" - - Auto-persisted cache (properties.gentl.cti_files_source == "auto"): - * try persisted ctis first - * if stale/missing, fall back to discovery - * source = "auto" - - Default: discovery (env + configured patterns/dirs) => source = "auto" - - NOTE : legacy properties.cti_file(s) always take strict precedence as user override if present, - even if source marker says "auto". - Never raise just because multiple CTIs exist. - Raise only when none are found (after allowed fallback). - """ - props = self.settings.properties if isinstance(self.settings.properties, dict) else {} - ns = props.get(self.OPTIONS_KEY, {}) - if not isinstance(ns, dict): - ns = {} + cls._safe_reset_harvester(harvester) - # Read source marker - source = ns.get("cti_files_source") - source = str(source).strip().lower() if source is not None else None + @classmethod + def discover_devices( + cls, + *, + max_devices: int = 10, + should_cancel: callable[[], bool] | None = None, + progress_cb: callable[[str], None] | None = None, + ): + """Rich discovery path for CameraFactory.detect_cameras().""" + if Harvester is None: + return [] - # Explicit CTIs (namespace first, then legacy top-level) - ns_cti_files = ns.get("cti_files") - ns_cti_file = ns.get("cti_file") - legacy_cti_files = props.get("cti_files") - legacy_cti_file = props.get("cti_file") + def _canceled() -> bool: + return bool(should_cancel and should_cancel()) - # ------------------------------------------------------------ - # 1) Legacy explicit CTIs: always treat as user override (strict) - # ------------------------------------------------------------ - if legacy_cti_files or legacy_cti_file: - self._cti_files_source_used = self._CTI_FILES_SOURCE_USER + harvester = None + try: + if progress_cb: + progress_cb("Initializing GenTL discovery…") - candidates, diag = cti_finder.discover_cti_files( - cti_file=str(legacy_cti_file) if legacy_cti_file else None, - cti_files=cti_finder.cti_files_as_list(legacy_cti_files) if legacy_cti_files else None, - include_env=False, - must_exist=True, - ) - if not candidates: - raise RuntimeError( - "No valid GenTL producer (.cti) found from properties.cti_file/cti_files.\n\n" - f"Discovery details:\n{diag.summarize()}" - ) - return list(candidates) + harvester, loaded, _ = cls._build_harvester_for_discovery(strict_single=False) + if harvester is None or not loaded: + if progress_cb: + progress_cb("No GenTL producers could be loaded.") + return [] - # ------------------------------------------------------------------------ - # 2) Namespace explicit CTIs: behavior depends on cti_files_source marker - # - source=="auto": treat as cache, stale => fallback to discovery - # - otherwise: strict user override - # ------------------------------------------------------------------------ - if ns_cti_files or ns_cti_file: - is_auto_cache = source == self._CTI_FILES_SOURCE_AUTO + if progress_cb: + progress_cb(f"Loaded {len(loaded)} GenTL producer(s). Scanning devices…") - # Default to "user" if the marker is missing/unknown. - self._cti_files_source_used = self._CTI_FILES_SOURCE_AUTO if is_auto_cache else self._CTI_FILES_SOURCE_USER + infos = list(harvester.device_info_list or []) + limit = min(len(infos), max_devices if max_devices > 0 else len(infos)) + out: list[DetectedCamera] = [] - candidates, diag = cti_finder.discover_cti_files( - cti_file=str(ns_cti_file) if ns_cti_file else None, - cti_files=cti_finder.cti_files_as_list(ns_cti_files) if ns_cti_files else None, - include_env=False, - must_exist=True, - ) + for idx in range(limit): + if _canceled(): + break - if candidates: - return list(candidates) + info = infos[idx] + label = cls._label_from_info(info, idx) + device_id = cls._device_id_from_info(info) - # If auto cache is stale, fall back to discovery - if is_auto_cache: - LOG.info( - "Auto-persisted GenTL CTIs appear stale/missing; falling back to discovery. " - "Persisted cti_file=%s cti_files=%s", - ns_cti_file, - ns_cti_files, - ) - # Fall through to discovery (below) - else: - # User override: strict failure - raise RuntimeError( - "No valid GenTL producer (.cti) found from properties.gentl.cti_file/cti_files.\n\n" - f"Discovery details:\n{diag.summarize()}" + out.append( + DetectedCamera( + index=idx, + label=label, + device_id=device_id, + vid=None, + pid=None, + path=None, + backend_hint=None, + ) ) - # ------------------------------------------------------------ - # 3) Discovery path: env vars + patterns/dirs (source = "auto") - # ------------------------------------------------------------ - self._cti_files_source_used = self._CTI_FILES_SOURCE_AUTO - - search_paths = ns.get("cti_search_paths", props.get("cti_search_paths")) - extra_dirs = ns.get("cti_dirs", props.get("cti_dirs")) + if progress_cb: + progress_cb(f"Found: {label}") - candidates, diag = cti_finder.discover_cti_files( - cti_search_paths=cti_finder.cti_files_as_list(search_paths) if search_paths is not None else None, - include_env=True, - extra_dirs=cti_finder.cti_files_as_list(extra_dirs) if extra_dirs is not None else None, - recursive_env_search=False, - recursive_extra_search=False, - must_exist=True, - ) + out.sort(key=lambda c: c.index) + return out + except Exception: + LOG.debug("GenTL rich discovery failed", exc_info=True) + return [] + finally: + cls._safe_reset_harvester(harvester) - if not candidates: - raise RuntimeError( - "Could not locate any GenTL producer (.cti) file.\n\n" - "Fix options:\n" - " - Set camera.properties.gentl.cti_file to the full path of a .cti file\n" - " - Or set GENICAM_GENTL64_PATH / GENICAM_GENTL32_PATH to include the producer directory\n" - " - Or provide camera.properties.gentl.cti_search_paths with glob patterns\n\n" - f"Discovery details:\n{diag.summarize()}" - ) + @classmethod + def quick_ping(cls, index: int, _unused=None) -> bool: + """Fast presence check by index using a temporary discovery Harvester.""" + if Harvester is None: + return False - return list(candidates) + harvester = None + try: + harvester, _, _ = cls._build_harvester_for_discovery(strict_single=False) + if harvester is None: + return False + infos = harvester.device_info_list or [] + return 0 <= int(index) < len(infos) + except Exception: + return False + finally: + cls._safe_reset_harvester(harvester) @classmethod - def _build_harvester_for_discovery( - cls, - *, - strict_single: bool = False, # retained for optional future use - ): - """ - Build a Harvester instance and load CTI producers for class-level operations - (discover_devices, quick_ping, get_device_count, rebind_settings). - - Default policy: try to load ALL discovered producers. - """ + def _build_harvester_for_discovery(cls, *, strict_single: bool = False): + """Build a temporary Harvester for discovery-only operations.""" if Harvester is None: return None, [], None candidates, diag = cti_finder.discover_cti_files( include_env=True, - cti_search_paths=list(cls._LEGACY_DEFAULT_CTI_PATTERNS), + cti_search_paths=list(cls._DEFAULT_CTI_PATTERNS), must_exist=True, ) - if not candidates: return None, [], diag - # Default: load all candidates cti_files = list(candidates) - - # Optional strict mode (off by default) if strict_single: - # If you ever want strict, use choose_cti_files here; otherwise ignore. cti_files = cti_finder.choose_cti_files( - cti_files, policy=cti_finder.GenTLDiscoveryPolicy.RAISE_IF_MULTIPLE, max_files=1 + cti_files, + policy=cti_finder.GenTLDiscoveryPolicy.RAISE_IF_MULTIPLE, + max_files=1, ) harvester = Harvester() loaded: list[str] = [] - failures: list[tuple[str, str]] = [] for cti in cti_files: ok, reason = cls._cti_preflight(cti) if not ok: - failures.append((str(cti), reason or "Check failed")) LOG.warning("Skipping CTI '%s' during discovery preflight: %s", cti, reason) continue - try: harvester.add_file(cti) loaded.append(cti) except Exception as exc: - failures.append((str(cti), str(exc))) LOG.warning("Failed to load CTI '%s' during discovery: %s", cti, exc) if not loaded: - try: - harvester.reset() - except Exception: - pass + cls._safe_reset_harvester(harvester) return None, [], diag try: harvester.update() except Exception as exc: - LOG.error( - "Harvester.update() failed during discovery: %s" - " Device list not usable, treating as discovery failure." - " CTIs loaded before failure : %s", - exc, - loaded, - ) - try: - harvester.reset() - except Exception: - pass - # Update failure + LOG.error("Harvester.update() failed during discovery: %s. CTIs loaded: %s", exc, loaded) + cls._safe_reset_harvester(harvester) return None, [], diag return harvester, loaded, diag - def open(self) -> None: - if Harvester is None: # pragma: no cover - raise RuntimeError( - "The 'harvesters' package is required for the GenTL backend. Install it via 'pip install harvesters'." - ) + # ------------------------------------------------------------------ + # Settings rebinding + # ------------------------------------------------------------------ - # Ensure properties namespace exists for persistence back to UI - if not isinstance(self.settings.properties, dict): - self.settings.properties = {} - props = self.settings.properties - ns = props.get(self.OPTIONS_KEY, {}) + @classmethod + def rebind_settings(cls, settings): + """Map stable identity to current index when necessary. + + Serial identities are stable enough for open() to select directly, so + they intentionally avoid extra Harvester enumeration during multi-camera + startup. + """ + if Harvester is None: + return settings + + props = settings.properties if isinstance(settings.properties, dict) else {} + ns = props.get(cls.OPTIONS_KEY, {}) if not isinstance(ns, dict): ns = {} - props[self.OPTIONS_KEY] = ns - # Resolve CTIs (may return many). This no longer raises just because there are multiple. - cti_files = self._resolve_cti_files_for_settings() - ns["cti_files_source"] = ( - self._cti_files_source_used or ns.get("cti_files_source") or self._CTI_FILES_SOURCE_AUTO - ) + target_id = ns.get("device_id") or ns.get("serial_number") or ns.get("serial") + if not target_id: + return settings - self._harvester = Harvester() + target_id_str = str(target_id).strip() + if target_id_str.startswith("serial:"): + cls._persist_serial_identity(settings, target_id_str) + return settings - loaded: list[str] = [] - failed: list[tuple[str, str]] = [] + if target_id_str.startswith("fp:"): + return settings # open() will match by fingerprint via _select_device → _match_device - for cti in cti_files: - ok, reason = self._cti_preflight(cti) - if not ok: - failed.append((str(cti), reason or "preflight failed")) - LOG.warning("Skipping CTI '%s': %s", cti, reason) - continue + # Non-serial fallback retained for older configs / fingerprint IDs. + harvester = None + try: + explicit_files = ns.get("cti_files") or props.get("cti_files") + explicit_file = ns.get("cti_file") or props.get("cti_file") + source = str(ns.get("cti_files_source", "")).strip().lower() + is_auto_cache = source == cls._CTI_FILES_SOURCE_AUTO + + if explicit_files or explicit_file: + candidates, _ = cti_finder.discover_cti_files( + cti_file=explicit_file, + cti_files=cti_finder.cti_files_as_list(explicit_files), + include_env=False, + must_exist=True, + ) + if not candidates and is_auto_cache: + harvester, _, _ = cls._build_harvester_for_discovery(strict_single=False) + elif candidates: + harvester = Harvester() + loaded = [] + for cti in candidates: + try: + harvester.add_file(cti) + loaded.append(cti) + except Exception: + continue + if not loaded: + return settings + harvester.update() + else: + harvester, _, _ = cls._build_harvester_for_discovery(strict_single=False) + + if harvester is None: + return settings + + infos = list(harvester.device_info_list or []) + match_index, match_serial = cls._match_device(infos, target_id_str) + if match_index is None: + return settings + + settings.index = int(match_index) + ns2 = cls._ensure_ns_for_settings(settings) + ns2["device_id"] = target_id_str + if match_serial: + ns2["serial_number"] = str(match_serial) + return settings + except Exception: + return settings + finally: + cls._safe_reset_harvester(harvester) + + # ------------------------------------------------------------------ + # Open / read / close + # ------------------------------------------------------------------ + + def open(self) -> None: + if Harvester is None: # pragma: no cover + raise RuntimeError( + "The 'harvesters' package is required for the GenTL backend. Install it via 'pip install harvesters'." + ) + with type(self)._OPEN_LOCK: + loaded, failed = self._resolve_and_persist_ctis() try: - self._harvester.add_file(cti) - loaded.append(cti) + infos = self._acquire_shared_harvester(loaded) + if not infos: + self._reset_harvester() + raise RuntimeError( + "No GenTL cameras detected via Harvesters after loading producers.\n\n" + f"Loaded CTIs: {loaded}\n" + f"Failed CTIs: {failed}\n" + "Fix: ensure your camera vendor's GenTL producer is installed and working." + ) + + selected_index, selected_serial, selected_info = self._select_device(infos) + self.settings.index = int(selected_index) + + with self._shared_entry.lock: + self._acquirer = self._create_image_acquirer(selected_serial, int(selected_index)) + node_map = self._acquirer.remote_device.node_map + self._device_label = self._resolve_device_label(node_map) + + self._configure_pixel_format(node_map) + self._configure_resolution(node_map) + self._configure_exposure(node_map) + self._configure_gain(node_map) + self._configure_frame_rate(node_map) + self._configure_trigger(node_map) # keep low in the list + self._debug_trigger_nodes(node_map, context="after configuration before acquisition") + self._ensure_settings_ns()["trigger_actual"] = self._trigger_to_dict(self._trigger) + self._read_telemetry(node_map) + self._persist_device_metadata(selected_info, selected_serial) + + if self._fast_start: + LOG.info("GenTL open() in fast_start probe mode: acquisition not started.") + return + + self._acquirer.start() + + try: + self._read_telemetry(node_map) + self._debug_frame_rate_nodes(node_map, context="after starting acquisition") + except Exception: + LOG.warning( + "Failed to read telemetry after starting acquisition; some 'actual' values may be missing.", + exc_info=True, + ) + + LOG.debug( + "Opened GenTL camera index=%s serial=%s label=%s", + selected_index, + selected_serial, + self._device_label, + ) except Exception as exc: - failed.append((str(cti), str(exc))) - LOG.warning("Failed to load CTI '%s': %s", cti, exc) + try: + self.close() + except Exception: + pass + raise RuntimeError( + f"Failed to open GenTL camera.\n\nLoaded CTIs: {loaded}\nFailed CTIs: {failed}\nReason: {exc}" + ) from exc - # Persist diagnostics for UI / debugging - ns["cti_files"] = [str(p) for p in cti_files] # all resolved candidates - ns["cti_files_loaded"] = [str(p) for p in loaded] # successfully added to harvester - ns["cti_files_failed"] = [{"cti": c, "error": e} for c, e in failed] # load failures + @property + def waits_for_hardware_trigger(self) -> bool: + role = str(self._trigger_attr(getattr(self, "_trigger", None), "role", "off") or "off").lower() + return role in {"external", "follower"} - # Keep single-cti convenience key for backward compatibility / display + @staticmethod + def _output_format_for_frame(frame: np.ndarray) -> str: + if frame.ndim == 2: + if frame.dtype == np.uint8: + return "Mono8" + return f"Mono{frame.dtype}" + if frame.ndim == 3: + channels = frame.shape[2] + if channels == 3 and frame.dtype == np.uint8: + return "BGR8" + if channels == 4 and frame.dtype == np.uint8: + return "BGRA8" + return f"{channels}ch-{frame.dtype}" + return str(frame.dtype) + + def read(self) -> CapturedFrame: + if self._acquirer is None: + raise RuntimeError("GenTL image acquirer not initialised") + + try: + with self._acquirer.fetch(timeout=self._timeout) as buffer: + component = buffer.payload.components[0] + channels = 3 if self._pixel_format in {"RGB8", "BGR8"} else 1 + array = np.asarray(component.data) + expected = component.height * component.width * channels + if array.size != expected: + array = np.frombuffer(bytes(component.data), dtype=array.dtype) + + try: + if channels > 1: + frame = array.reshape(component.height, component.width, channels).copy() + else: + frame = array.reshape(component.height, component.width).copy() + except ValueError: + frame = array.copy() + except HarvesterTimeoutError as exc: + if self.waits_for_hardware_trigger: + raise TimeoutError(str(exc) + " (GenTL timeout; waiting for hardware trigger?)") from exc + raise TimeoutError(str(exc) + " (GenTL timeout)") from exc + + frame = self._convert_frame(frame) + timestamp = time.time() + + if self._actual_width is None or self._actual_height is None: + h, w = frame.shape[:2] + self._actual_width = int(w) + self._actual_height = int(h) + + if self._actual_exposure is None or self._actual_gain is None: + try: + self._read_telemetry(self._acquirer.remote_device.node_map) + except Exception: + pass + self._actual_output_format = self._output_format_for_frame(frame) + + return CapturedFrame( + frame=frame, + software_timestamp=timestamp, + timestamp_metadata=None, + ) + + def stop(self) -> None: + if self._acquirer is not None: + try: + self._call_with_optional_lock(self._acquirer.stop) + except Exception: + pass + + def close(self) -> None: + if self._acquirer is not None: + try: + self._call_with_optional_lock(self._acquirer.stop) + except Exception: + pass + + try: + node_map = self._acquirer.remote_device.node_map + self._call_with_optional_lock(self._restore_trigger_idle, node_map) + except Exception: + pass + + try: + destroy = getattr(self._acquirer, "destroy", None) + if destroy is not None: + self._call_with_optional_lock(destroy) + finally: + self._acquirer = None + + if self._harvester is not None or self._shared_entry is not None: + self._reset_harvester() + + self._device_label = None + + # ------------------------------------------------------------------ + # CTI / shared Harvester helpers + # ------------------------------------------------------------------ + + def _resolve_and_persist_ctis(self) -> tuple[list[str], list[tuple[str, str]]]: + ns = self._ensure_settings_ns() + ns.setdefault("cti_search_paths", list(self._DEFAULT_CTI_PATTERNS)) + ns.setdefault("cti_files_source", self._CTI_FILES_SOURCE_AUTO) + + cti_files = self._resolve_cti_files_for_settings() + ns["cti_files_source"] = ( + self._cti_files_source_used or ns.get("cti_files_source") or self._CTI_FILES_SOURCE_AUTO + ) + + loaded: list[str] = [] + failed: list[tuple[str, str]] = [] + for cti in cti_files: + ok, reason = self._cti_preflight(cti) + if ok: + loaded.append(str(cti)) + else: + failed.append((str(cti), reason or "preflight failed")) + LOG.warning("Skipping CTI '%s': %s", cti, reason) + + ns["cti_files"] = [str(p) for p in cti_files] + ns["cti_files_loaded"] = loaded[:] + ns["cti_files_failed"] = [{"cti": c, "error": e} for c, e in failed] if loaded: - ns["cti_file"] = str(loaded[0]) + ns["cti_file"] = loaded[0] elif cti_files: - ns["cti_file"] = str(cti_files[0]) # best effort + ns["cti_file"] = str(cti_files[0]) if not loaded: self._reset_harvester() @@ -471,872 +731,1108 @@ def open(self) -> None: "No GenTL producer (.cti) could be loaded.\n\n" f"Resolved CTIs: {cti_files}\n" f"Failures: {failed}\n" - "Fix: remove/repair incompatible producers or " - "set properties.gentl.cti_file to a known working producer." + "Fix: remove/repair incompatible producers " + "or set properties.gentl.cti_file to a known working producer." ) - # Update device list after loading producers - self._harvester.update() + return loaded, failed - if not self._harvester.device_info_list: - self._reset_harvester() + def _acquire_shared_harvester(self, loaded: list[str]) -> list: + ns = self._ensure_settings_ns() + try: + self._shared_entry = cti_finder.SharedHarvesterPool.acquire(loaded) + self._harvester = self._shared_entry.harvester + + actual_loaded = list(getattr(self._shared_entry, "loaded_files", loaded)) + actual_failed = dict(getattr(self._shared_entry, "failed_files", {})) + + ns["cti_files_loaded"] = actual_loaded + if actual_failed: + existing_failed = ns.get("cti_files_failed") + merged_failed = list(existing_failed) if isinstance(existing_failed, list) else [] + merged_failed.extend({"cti": str(cti), "error": str(error)} for cti, error in actual_failed.items()) + ns["cti_files_failed"] = merged_failed + + with self._shared_entry.lock: + infos = list(self._harvester.device_info_list or []) + + LOG.debug( + "Using shared GenTL Harvester for %d device(s), refcount=%s", + len(infos), + cti_finder.SharedHarvesterPool.get_refcount(self._shared_entry), + ) + return infos + + except Exception as exc: + exc_loaded = list(getattr(exc, "loaded_files", [])) + exc_failed = dict(getattr(exc, "failed_files", {})) + + if exc_loaded or exc_failed: + ns["cti_files_loaded"] = [str(p) for p in exc_loaded] + existing_failed = ns.get("cti_files_failed") + merged_failed = list(existing_failed) if isinstance(existing_failed, list) else [] + merged_failed.extend({"cti": str(cti), "error": str(error)} for cti, error in exc_failed.items()) + ns["cti_files_failed"] = merged_failed + + if self._shared_entry is not None: + try: + cti_finder.SharedHarvesterPool.release(self._shared_entry) + except Exception: + pass + + self._shared_entry = None + self._harvester = None + + raise RuntimeError( + f"Failed to initialize shared GenTL producer state.\n\nCTIs: {loaded}\nReason: {exc}" + ) from exc + + def _reset_harvester(self) -> None: + try: + if self._shared_entry is not None: + cti_finder.SharedHarvesterPool.release(self._shared_entry) + self._shared_entry = None + else: + self._reset_select_harvester(self._harvester) + finally: + self._harvester = None + + @staticmethod + def _reset_select_harvester(harvester) -> None: + GenTLCameraBackend._safe_reset_harvester(harvester) + + @staticmethod + def _safe_reset_harvester(harvester) -> None: + if harvester is not None: + try: + harvester.reset() + except Exception: + pass + + @staticmethod + def _cti_preflight(path: str) -> tuple[bool, str | None]: + p = Path(str(path)) + try: + if not p.exists(): + return False, "missing at load time" + if not p.is_file(): + return False, "not a file at load time" + with p.open("rb"): + pass + return True, None + except PermissionError: + return False, "permission denied at load time" + except OSError as e: + return False, f"os error at load time: {e}" + + def _resolve_cti_files_for_settings(self) -> list[str]: + """Resolve CTI files using explicit user overrides, auto cache, then discovery.""" + props = self.settings.properties if isinstance(self.settings.properties, dict) else {} + ns = props.get(self.OPTIONS_KEY, {}) + if not isinstance(ns, dict): + ns = {} + + source = ns.get("cti_files_source") + source = str(source).strip().lower() if source is not None else None + + ns_cti_files = ns.get("cti_files") + ns_cti_file = ns.get("cti_file") + legacy_cti_files = props.get("cti_files") + legacy_cti_file = props.get("cti_file") + + if legacy_cti_files or legacy_cti_file: + self._cti_files_source_used = self._CTI_FILES_SOURCE_USER + candidates, diag = cti_finder.discover_cti_files( + cti_file=str(legacy_cti_file) if legacy_cti_file else None, + cti_files=cti_finder.cti_files_as_list(legacy_cti_files) if legacy_cti_files else None, + include_env=False, + must_exist=True, + ) + if not candidates: + raise RuntimeError( + "No valid GenTL producer (.cti) found from properties.cti_file/cti_files.\n\n" + f"Discovery details:\n{diag.summarize()}" + ) + return list(candidates) + + if ns_cti_files or ns_cti_file: + is_auto_cache = source == self._CTI_FILES_SOURCE_AUTO + self._cti_files_source_used = self._CTI_FILES_SOURCE_AUTO if is_auto_cache else self._CTI_FILES_SOURCE_USER + candidates, diag = cti_finder.discover_cti_files( + cti_file=str(ns_cti_file) if ns_cti_file else None, + cti_files=cti_finder.cti_files_as_list(ns_cti_files) if ns_cti_files else None, + include_env=False, + must_exist=True, + ) + if candidates: + return list(candidates) + if not is_auto_cache: + raise RuntimeError( + "No valid GenTL producer (.cti) found from properties.gentl.cti_file/cti_files.\n\n" + f"Discovery details:\n{diag.summarize()}" + ) + LOG.info("Auto-persisted GenTL CTIs stale/missing; falling back to discovery.") + + self._cti_files_source_used = self._CTI_FILES_SOURCE_AUTO + search_paths = ns.get("cti_search_paths", props.get("cti_search_paths")) + extra_dirs = ns.get("cti_dirs", props.get("cti_dirs")) + search_patterns = ( + cti_finder.cti_files_as_list(search_paths) if search_paths is not None else list(self._DEFAULT_CTI_PATTERNS) + ) + + candidates, diag = cti_finder.discover_cti_files( + cti_search_paths=search_patterns, + include_env=True, + extra_dirs=cti_finder.cti_files_as_list(extra_dirs) if extra_dirs is not None else None, + recursive_env_search=False, + recursive_extra_search=False, + must_exist=True, + ) + if not candidates: raise RuntimeError( - "No GenTL cameras detected via Harvesters after loading producers.\n\n" - f"Loaded CTIs: {loaded}\n" - f"Failed CTIs: {failed}\n" - "Fix: ensure your camera vendor's GenTL producer is installed and working." + "Could not locate any GenTL producer (.cti) file.\n\n" + "Fix options:\n" + " - Set camera.properties.gentl.cti_file to the full path of a .cti file\n" + " - Or set GENICAM_GENTL64_PATH / GENICAM_GENTL32_PATH to include the producer directory\n" + " - Or provide camera.properties.gentl.cti_search_paths with glob patterns\n\n" + f"Discovery details:\n{diag.summarize(redact_env=False)}" ) + return list(candidates) + + # ------------------------------------------------------------------ + # Device selection / identity helpers + # ------------------------------------------------------------------ + + def _select_device(self, infos: list) -> tuple[int, str | None, object]: + requested_index = int(self.settings.index or 0) + target_device_id = self._device_id or self._ensure_settings_ns().get("device_id") + + selected_index: int | None = None + selected_serial: str | None = None + + if target_device_id: + target = str(target_device_id).strip() + selected_index, selected_serial = self._match_device(infos, target) + if selected_index is None: + available = [str(self._info_get(i, "serial_number", "") or "").strip() for i in infos] + raise RuntimeError(f"GenTL device '{target}' not found. Available serials: {available}") + + elif self._serial_number: + serial = str(self._serial_number).strip() + selected_index, selected_serial = self._match_device(infos, serial) + if selected_index is None: + available = [str(self._info_get(i, "serial_number", "") or "").strip() for i in infos] + raise RuntimeError(f"GenTL camera with serial '{serial}' not found. Available serials: {available}") + + else: + if requested_index < 0 or requested_index >= len(infos): + raise RuntimeError(f"Camera index {requested_index} out of range for {len(infos)} GenTL device(s)") + selected_index = requested_index + serial = self._info_get(infos[selected_index], "serial_number", "") + selected_serial = str(serial).strip() if serial else None + + return int(selected_index), selected_serial, infos[int(selected_index)] + + @classmethod + def _match_device(cls, infos: list, target: str) -> tuple[int | None, str | None]: + if not target: + return None, None + + serial_target = target.split("serial:", 1)[1].strip() if target.startswith("serial:") else target + + for idx, info in enumerate(infos): + if cls._device_id_from_info(info) == target: + serial = cls._info_get(info, "serial_number", None) + return idx, str(serial).strip() if serial else None + + exact: list[tuple[int, str]] = [] + for idx, info in enumerate(infos): + sn = str(cls._info_get(info, "serial_number", "") or "").strip() + if sn == serial_target: + exact.append((idx, sn)) + if exact: + return exact[0] + + partial = [] + for idx, info in enumerate(infos): + sn = str(cls._info_get(info, "serial_number", "") or "").strip() + if serial_target and serial_target in sn: + partial.append((idx, sn)) + if len(partial) == 1: + return partial[0] + if len(partial) > 1: + raise RuntimeError( + f"Ambiguous GenTL serial match for '{serial_target}'. Candidates: {[sn for _, sn in partial]}" + ) + + return None, None + + @staticmethod + def _device_id_from_info(info) -> str | None: + serial = GenTLCameraBackend._first_info_value( + info, + "serial_number", + "SerialNumber", + "device_serial_number", + "sn", + "serial", + ) + if serial: + return f"serial:{serial}" + + parts = [] + for key, names in ( + ("vendor", ("vendor", "vendor_name", "manufacturer", "DeviceVendorName")), + ("model", ("model", "model_name", "DeviceModelName")), + ("user", ("user_defined_name", "user_id", "DeviceUserID", "DeviceUserId", "device_user_id")), + ("tl", ("tl_type", "transport_layer_type", "DeviceTLType")), + ("uid", ("id_", "id", "device_id", "uid", "guid", "mac_address", "interface_id", "display_name")), + ): + value = GenTLCameraBackend._first_info_value(info, *names) + if value: + parts.append(f"{key}={value}") + return "fp:" + "|".join(parts) if parts else None + + @staticmethod + def _first_info_value(info, *names: str) -> str | None: + for name in names: + value = GenTLCameraBackend._info_get(info, name, None) + if value is not None and str(value).strip(): + return str(value).strip() + return None + + @staticmethod + def _info_get(info, key: str, default=None): + try: + if hasattr(info, "get"): + value = info.get(key) + if value is not None: + return value + except Exception: + pass + try: + value = getattr(info, key, None) + if value is not None: + return value + except Exception: + pass + return default + + @staticmethod + def _label_from_info(info, index: int) -> str: + display = GenTLCameraBackend._info_get(info, "display_name", None) + if display: + return str(display).strip() + + vendor = str(GenTLCameraBackend._info_get(info, "vendor", "") or "").strip() + model = str(GenTLCameraBackend._info_get(info, "model", "") or "").strip() + serial = str(GenTLCameraBackend._info_get(info, "serial_number", "") or "").strip() + label = f"{vendor} {model}".strip() if (vendor or model) else f"GenTL device {index}" + return f"{label} ({serial})" if serial else label + + @staticmethod + def _serial_from_identity(device_id: str | None, legacy_serial) -> str | None: + if device_id: + did = str(device_id).strip() + if did.startswith("serial:"): + return did.split("serial:", 1)[1].strip() or None + if not did.startswith("fp:"): + return did + return str(legacy_serial).strip() if legacy_serial else None + + @classmethod + def _persist_serial_identity(cls, settings, device_id: str) -> None: + serial = device_id.split("serial:", 1)[1].strip() + if not serial: + return + ns = cls._ensure_ns_for_settings(settings) + ns["device_id"] = device_id + ns["serial_number"] = serial + + def _persist_device_metadata(self, selected_info, selected_serial: str | None) -> None: + ns = self._ensure_settings_ns() + computed_id = self._device_id_from_info(selected_info) - infos = list(self._harvester.device_info_list) + if computed_id: + ns["device_id"] = computed_id + elif selected_serial: + ns["device_id"] = f"serial:{selected_serial}" - # Helper: robustly read device_info fields (dict-like or attribute-like) - def _info_get(info, key: str, default=None): - try: - if hasattr(info, "get"): - v = info.get(key) - if v is not None: - return v - except Exception: - pass - try: - v = getattr(info, key, None) - if v is not None: - return v - except Exception: - pass - return default + if selected_serial: + ns["serial_number"] = str(selected_serial) + ns["device_serial_number"] = str(selected_serial) - # ------------------------------------------------------------------ - # Device selection (stable device_id > serial > index) - # ------------------------------------------------------------------ - requested_index = int(self.settings.index or 0) - selected_index: int | None = None - selected_serial: str | None = None + if self._device_label: + ns["device_name"] = str(self._device_label) - target_device_id = self._device_id or ns.get("device_id") or props.get("device_id") - if target_device_id: - target_device_id = str(target_device_id).strip() + for out_key, info_key in ( + ("device_display_name", "display_name"), + ("device_info_id", "id_"), + ("device_vendor", "vendor"), + ("device_model", "model"), + ("device_tl_type", "tl_type"), + ("device_user_defined_name", "user_defined_name"), + ("device_version", "version"), + ("device_access_status", "access_status"), + ): + value = self._info_get(selected_info, info_key, "") + ns[out_key] = value if out_key == "device_access_status" else str(value or "") - # Exact match against computed device_id - for idx, info in enumerate(infos): - try: - did = self._device_id_from_info(info) - except Exception: - did = None - if did and did == target_device_id: - selected_index = idx - selected_serial = _info_get(info, "serial_number", None) - selected_serial = str(selected_serial).strip() if selected_serial else None - break + @classmethod + def _ensure_ns_for_settings(cls, settings) -> dict: + if not isinstance(settings.properties, dict): + settings.properties = {} + ns = settings.properties.get(cls.OPTIONS_KEY, {}) + if not isinstance(ns, dict): + ns = {} + settings.properties[cls.OPTIONS_KEY] = ns + return ns - # If device_id is "serial:XXXX", match serial directly - if selected_index is None and target_device_id.startswith("serial:"): - serial_target = target_device_id.split("serial:", 1)[1].strip() - if serial_target: - exact = [] - for idx, info in enumerate(infos): - sn = _info_get(info, "serial_number", "") - sn = str(sn).strip() if sn is not None else "" - if sn == serial_target: - exact.append((idx, sn)) - if exact: - selected_index = exact[0][0] - selected_serial = exact[0][1] - else: - sub = [] - for idx, info in enumerate(infos): - sn = _info_get(info, "serial_number", "") - sn = str(sn).strip() if sn is not None else "" - if serial_target and serial_target in sn: - sub.append((idx, sn)) - if len(sub) == 1: - selected_index = sub[0][0] - selected_serial = sub[0][1] or None - elif len(sub) > 1: - candidates = [sn for _, sn in sub] - raise RuntimeError( - f"Ambiguous GenTL serial match for '{serial_target}'. Candidates: {candidates}" - ) - - # Legacy serial selection fallback - if selected_index is None: - serial = self._serial_number - if serial: - serial = str(serial).strip() - exact = [] - for idx, info in enumerate(infos): - sn = _info_get(info, "serial_number", "") - sn = str(sn).strip() if sn is not None else "" - if sn == serial: - exact.append((idx, sn)) - if exact: - selected_index = exact[0][0] - selected_serial = exact[0][1] - else: - sub = [] - for idx, info in enumerate(infos): - sn = _info_get(info, "serial_number", "") - sn = str(sn).strip() if sn is not None else "" - if serial and serial in sn: - sub.append((idx, sn)) - if len(sub) == 1: - selected_index = sub[0][0] - selected_serial = sub[0][1] or None - elif len(sub) > 1: - candidates = [sn for _, sn in sub] - raise RuntimeError(f"Ambiguous GenTL serial match for '{serial}'. Candidates: {candidates}") - else: - available = [str(_info_get(i, "serial_number", "")).strip() for i in infos] - raise RuntimeError(f"Camera with serial '{serial}' not found. Available cameras: {available}") - - # Index fallback - if selected_index is None: - device_count = len(infos) - if requested_index < 0 or requested_index >= device_count: - raise RuntimeError(f"Camera index {requested_index} out of range for {device_count} GenTL device(s)") - selected_index = requested_index - sn = _info_get(infos[selected_index], "serial_number", "") - selected_serial = str(sn).strip() if sn else None + def _ensure_settings_ns(self) -> dict: + return self._ensure_ns_for_settings(self.settings) + + # ------------------------------------------------------------------ + # Existing compatibility helpers + # ------------------------------------------------------------------ - # Update settings.index to actual selected index (UI stability) - self.settings.index = int(selected_index) - selected_info = infos[int(selected_index)] + def _call_with_optional_lock(self, func, *args, **kwargs): + if self._shared_entry is not None: + with self._shared_entry.lock: + return func(*args, **kwargs) + return func(*args, **kwargs) - # Create ImageAcquirer via Harvester.create(...) + def _create_image_acquirer(self, selected_serial: str | None, selected_index: int): + if self._harvester is None: + raise RuntimeError("Harvester is not initialized") try: if selected_serial: - self._acquirer = self._harvester.create({"serial_number": str(selected_serial)}) - else: - self._acquirer = self._harvester.create(int(selected_index)) + return self._harvester.create({"serial_number": str(selected_serial)}) + return self._harvester.create(int(selected_index)) except TypeError: if selected_serial: - self._acquirer = self._harvester.create({"serial_number": str(selected_serial)}) - else: - self._acquirer = self._harvester.create(index=int(selected_index)) + return self._harvester.create({"serial_number": str(selected_serial)}) + return self._harvester.create(index=int(selected_index)) + + def _available_serials(self) -> list[str]: + assert self._harvester is not None + return [ + str(s).strip() + for s in (self._info_get(i, "serial_number", "") for i in self._harvester.device_info_list) + if s + ] - remote = self._acquirer.remote_device - node_map = remote.node_map + def _create_acquirer(self, serial: str | None, index: int): + """Compatibility wrapper for older code/tests.""" + return self._create_image_acquirer(serial, index) + + # ------------------------------------------------------------------ + # Camera configuration helpers + # ------------------------------------------------------------------ + @staticmethod + def _node(node_map, name: str): + try: + return getattr(node_map, name) + except Exception: + return None - self._device_label = self._resolve_device_label(node_map) + @staticmethod + def _node_value(node_map, name: str, default=None): + """Best-effort read of a GenICam node value. - # Apply configuration - self._configure_pixel_format(node_map) - self._configure_resolution(node_map) - self._configure_exposure(node_map) - self._configure_gain(node_map) - self._configure_frame_rate(node_map) + Debug helpers must not make open() fail just because a value cannot be read. + Harvesters-style fake/test nodes usually expose `.value`; some SDK-style + nodes may expose `GetValue()`. + """ + node = GenTLCameraBackend._node(node_map, name) + if node is None: + return default - # Read back telemetry try: - self._actual_width = int(node_map.Width.value) - self._actual_height = int(node_map.Height.value) + return node.value except Exception: pass try: - self._actual_fps = float(node_map.ResultingFrameRate.value) + getter = getattr(node, "GetValue", None) + if getter is not None: + return getter() except Exception: - self._actual_fps = None + pass + return default + + @staticmethod + def _node_symbolics(node) -> list[str]: try: - self._actual_exposure = float(node_map.ExposureTime.value) + return list(getattr(node, "symbolics", []) or []) except Exception: - self._actual_exposure = None + return [] + @staticmethod + def _node_value(node_map, name: str, default=None): + """Best-effort read of a GenICam node value.""" try: - self._actual_gain = float(node_map.Gain.value) + node = getattr(node_map, name) except Exception: - self._actual_gain = None + return default - # Persist identity + metadata - computed_id = None try: - computed_id = self._device_id_from_info(selected_info) + return node.value except Exception: - computed_id = None - - if computed_id: - ns["device_id"] = computed_id - elif selected_serial: - ns["device_id"] = f"serial:{selected_serial}" - - if selected_serial: - ns["serial_number"] = str(selected_serial) - ns["device_serial_number"] = str(selected_serial) + return default - if self._device_label: - ns["device_name"] = str(self._device_label) + @classmethod + def _node_float(cls, node_map, *names: str, allow_zero: bool = False) -> float | None: + """Return the first positive float value from a list of GenICam node names.""" + for name in names: + value = cls._node_value(node_map, name, None) + try: + fvalue = float(value) + except Exception: + continue - ns["device_display_name"] = str(_info_get(selected_info, "display_name", "") or "") - ns["device_info_id"] = str(_info_get(selected_info, "id_", "") or "") - ns["device_vendor"] = str(_info_get(selected_info, "vendor", "") or "") - ns["device_model"] = str(_info_get(selected_info, "model", "") or "") - ns["device_tl_type"] = str(_info_get(selected_info, "tl_type", "") or "") - ns["device_user_defined_name"] = str(_info_get(selected_info, "user_defined_name", "") or "") - ns["device_version"] = str(_info_get(selected_info, "version", "") or "") - ns["device_access_status"] = _info_get(selected_info, "access_status", None) - - # Start acquisition unless fast_start - if getattr(self, "_fast_start", False): - LOG.info("GenTL open() in fast_start probe mode: acquisition not started.") - return + if fvalue > 0 or (allow_zero and fvalue == 0): + return fvalue - self._acquirer.start() + return None - @staticmethod - def _device_id_from_info(info) -> str | None: - """ - Build a stable-ish device identifier from Harvester device_info_list entries. - This helper supports both dict-like and attribute-like representations. - """ + @classmethod + def _node_str(cls, node_map, *names: str) -> str | None: + """Return the first non-empty string value from a list of GenICam node names.""" + for name in names: + value = cls._node_value(node_map, name, None) + if value is None: + continue - def _read(name: str): - # dict-like - try: - if hasattr(info, "get"): - v = info.get(name) # type: ignore[attr-defined] - if v is not None: - return v - except Exception: - pass - # attribute-like - try: - return getattr(info, name, None) - except Exception: - return None - - def _get(*names: str) -> str | None: - for n in names: - v = _read(n) - if v is None: - continue - s = str(v).strip() - if s: - return s - return None + text = str(value).strip() + if text: + return text - # Prefer serial if present (best stable key when available) - serial = _get("serial_number", "SerialNumber", "device_serial_number", "sn", "serial") - if serial: - return f"serial:{serial}" + return None - # Fallback components (best-effort; names may vary per producer) - vendor = _get("vendor", "vendor_name", "manufacturer", "DeviceVendorName") - model = _get("model", "model_name", "DeviceModelName") - user_id = _get("user_defined_name", "user_id", "DeviceUserID", "DeviceUserId", "device_user_id") - tl_type = _get("tl_type", "transport_layer_type", "DeviceTLType") + def _set_enum_node(self, node_map, name: str, value: str, *, strict: bool = False) -> bool: + node = self._node(node_map, name) + if node is None: + if strict: + raise RuntimeError(f"GenICam node '{name}' is not available") + LOG.debug("GenICam node '%s' is not available; skipping", name) + return False - unique = _get("id_", "id", "device_id", "uid", "guid", "mac_address", "interface_id", "display_name") + symbolics = self._node_symbolics(node) + if symbolics and value not in symbolics: + if strict: + raise RuntimeError(f"GenICam node '{name}' does not support '{value}'. Available: {symbolics}") + LOG.warning("GenICam node '%s' does not support '%s'. Available: %s", name, value, symbolics) + return False - parts = [] - for k, v in (("vendor", vendor), ("model", model), ("user", user_id), ("tl", tl_type), ("uid", unique)): - if v: - parts.append(f"{k}={v}") + try: + node.value = value + return True + except Exception as exc: + if strict: + raise RuntimeError(f"Failed to set GenICam node '{name}' to '{value}': {exc}") from exc + LOG.warning("Failed to set GenICam node '%s' to '%s': %s", name, value, exc) + return False - if not parts: - return None + @staticmethod + def _trigger_attr(trigger, name: str, default=None): + if isinstance(trigger, dict): + return trigger.get(name, default) + return getattr(trigger, name, default) - return "fp:" + "|".join(parts) + @staticmethod + def _trigger_to_dict(trigger) -> dict[str, Any]: + if trigger is None: + return {} + if isinstance(trigger, dict): + return dict(trigger) + if hasattr(trigger, "model_dump"): + try: + return trigger.model_dump(exclude_none=True) + except Exception: + pass + return {} - @classmethod - def discover_devices( - cls, - *, - max_devices: int = 10, - should_cancel: callable[[], bool] | None = None, - progress_cb: callable[[str], None] | None = None, - ): - """ - Rich discovery path for CameraFactory.detect_cameras(). - Returns a list of DetectedCamera with device_id filled when possible. + def _resolve_trigger_source(self, node_map, requested: str, *, strict: bool) -> tuple[str, bool]: + """Resolve TriggerSource against the camera-supported GenICam enum values. - Cross-platform CTI discovery: - - Uses GENICAM_GENTL64_PATH / GENICAM_GENTL32_PATH when available - - Falls back to built-in Windows patterns - - Best-effort loads multiple CTI producers + Model-level default is "auto"; this backend maps it to the first preferred + source supported by the actual camera. """ - if Harvester is None: - return [] + requested = str(requested or "auto").strip() + node = self._node(node_map, "TriggerSource") + available = self._node_symbolics(node) + + if not available: + if strict: + raise RuntimeError("GenICam node 'TriggerSource' is not available or has no symbolics") + LOG.warning("GenICam node 'TriggerSource' is not available; disabling trigger input.") + return requested, False + + if requested in available: + return requested, True + + if requested.lower() == "auto": + for candidate in ("Line0", "Line1", "Line2", "Any"): + if candidate in available: + LOG.debug( + "GenTL TriggerSource auto-selected '%s'. Available: %s", + candidate, + available, + ) + return candidate, True - def _canceled() -> bool: - return bool(should_cancel and should_cancel()) + LOG.warning( + "Could not auto-select a GenTL TriggerSource. Available: %s", + available, + ) + return requested, False - harvester = None - try: - if progress_cb: - progress_cb("Initializing GenTL discovery…") + if strict: + raise RuntimeError(f"GenICam node 'TriggerSource' does not support '{requested}'. Available: {available}") - harvester, loaded, _ = cls._build_harvester_for_discovery(strict_single=False) + LOG.warning( + "GenTL TriggerSource '%s' is not available. Available: %s", + requested, + available, + ) + return requested, False - if harvester is None or not loaded: - if progress_cb: - progress_cb("No GenTL producers could be loaded.") - return [] + def _configure_pixel_format(self, node_map) -> None: + try: + pixel_format_node = getattr(node_map, "PixelFormat", None) + if pixel_format_node is None: + return - if progress_cb: - progress_cb(f"Loaded {len(loaded)} GenTL producer(s). Scanning devices…") + available = list(getattr(pixel_format_node, "symbolics", []) or []) + if not available: + return - infos = list(harvester.device_info_list or []) - if not infos: - return [] + requested = str(self._pixel_format or "auto").strip() - out: list[DetectedCamera] = [] - limit = min(len(infos), max_devices if max_devices > 0 else len(infos)) + if requested.lower() == "auto": + selected = None - for idx in range(limit): - if _canceled(): - break + for fmt in self._COLOR_PIXEL_FORMATS: + if fmt in available: + selected = fmt + break - info = infos[idx] + if selected is None: + for fmt in self._MONO_PIXEL_FORMATS: + if fmt in available: + selected = fmt + break - display_name = None - try: - display_name = ( - info.get("display_name") if hasattr(info, "get") else getattr(info, "display_name", None) - ) - except Exception: - display_name = None + if selected is None: + selected = available[0] - if display_name: - label = str(display_name).strip() - else: - vendor = ( - getattr(info, "vendor", None) or (info.get("vendor") if hasattr(info, "get") else None) or "" - ) - model = getattr(info, "model", None) or (info.get("model") if hasattr(info, "get") else None) or "" - serial = ( - getattr(info, "serial_number", None) - or (info.get("serial_number") if hasattr(info, "get") else None) - or "" + else: + selected = requested + if selected not in available: + LOG.warning( + "Pixel format '%s' not available. Available formats: %s. Falling back to auto.", + selected, + available, ) - vendor, model, serial = str(vendor).strip(), str(model).strip(), str(serial).strip() - label = f"{vendor} {model}".strip() if (vendor or model) else f"GenTL device {idx}" - if serial: - label = f"{label} ({serial})" + selected = None + for fmt in self._COLOR_PIXEL_FORMATS + self._MONO_PIXEL_FORMATS: + if fmt in available: + selected = fmt + break + if selected is None: + selected = available[0] - device_id = cls._device_id_from_info(info) + pixel_format_node.value = selected + self._pixel_format = str(pixel_format_node.value) + self._camera_pixel_format = self._pixel_format - out.append( - DetectedCamera( - index=idx, - label=label, - device_id=device_id, - vid=None, - pid=None, - path=None, - backend_hint=None, - ) - ) + LOG.debug("GenTL pixel format selected: %s", self._pixel_format) - if progress_cb: - progress_cb(f"Found: {label}") + except Exception as e: + LOG.warning("Failed to configure pixel format '%s': %s", self._pixel_format, e) + if self._pixel_format and self._pixel_format.lower() != "auto": + self._camera_pixel_format = self._pixel_format - out.sort(key=lambda c: c.index) - return out + def _configure_trigger(self, node_map) -> None: + cfg = self._trigger + role = str(self._trigger_attr(cfg, "role", "off") or "off").strip().lower() + strict = bool(self._trigger_attr(cfg, "strict", False)) - except Exception: - return [] - finally: - if harvester is not None: - try: - harvester.reset() - except Exception: - pass + if role in {"off", "disabled"}: + self._configure_trigger_off(node_map, strict=strict) + return - @classmethod - def rebind_settings(cls, settings): - """ - If a stable identity exists in settings.properties['gentl'], map it to the - correct current index (and serial_number if available). - - Strategy: - - If CTIs were persisted: - * if source == "auto" and they are stale -> fall back to discovery - * otherwise use them (best stability) - - Otherwise, fall back to env-var + pattern discovery (best-effort). - """ - if Harvester is None: - return settings + if role in {"external", "follower"}: + self._configure_trigger_input(node_map, cfg, strict=strict) + return - props = settings.properties if isinstance(settings.properties, dict) else {} - ns = props.get(cls.OPTIONS_KEY, {}) - if not isinstance(ns, dict): - ns = {} + if role == "master": + self._configure_trigger_master(node_map, cfg, strict=strict) + return - target_id = ns.get("device_id") or ns.get("serial_number") or ns.get("serial") - if not target_id: - return settings + if strict: + raise RuntimeError(f"Unsupported GenTL trigger role: {role!r}") - source = ns.get("cti_files_source") - source = str(source).strip().lower() if source is not None else None - is_auto_cache = source == cls._CTI_FILES_SOURCE_AUTO + LOG.warning("Unsupported GenTL trigger role '%s'; disabling trigger.", role) + self._configure_trigger_off(node_map, strict=False) - harvester = None - try: - explicit_files = ns.get("cti_files") or props.get("cti_files") - explicit_file = ns.get("cti_file") or props.get("cti_file") + def _configure_trigger_off(self, node_map, *, strict: bool = False) -> None: + self._set_enum_node(node_map, "TriggerMode", "Off", strict=strict) - if explicit_files or explicit_file: - candidates, _diag = cti_finder.discover_cti_files( - cti_file=explicit_file, - cti_files=cti_finder.cti_files_as_list(explicit_files), - include_env=False, - must_exist=True, - ) + def _configure_trigger_input(self, node_map, cfg, *, strict: bool = False) -> None: + role = str(self._trigger_attr(cfg, "role", "external") or "external").strip().lower() + selector = str(self._trigger_attr(cfg, "selector", "FrameStart") or "FrameStart") + activation = str(self._trigger_attr(cfg, "activation", "RisingEdge") or "RisingEdge") + source = str(self._trigger_attr(cfg, "source", "auto") or "auto").strip() - if not candidates and is_auto_cache: - # Auto cache stale -> fallback to discovery - harvester, _loaded, _diag2 = cls._build_harvester_for_discovery(strict_single=False) - if harvester is None: - return settings - elif not candidates: - # User override stale or unknown -> no rebind - return settings - else: - harvester = Harvester() - loaded: list[str] = [] - for cti in candidates: - try: - harvester.add_file(cti) - loaded.append(cti) - except Exception: - continue - if not loaded: - cls._reset_select_harvester(harvester) - if is_auto_cache: - harvester, _loaded, _diag2 = cls._build_harvester_for_discovery(strict_single=False) - if harvester is None: - return settings - else: - return settings - else: - harvester.update() - else: - harvester, _loaded, _diag = cls._build_harvester_for_discovery(strict_single=False) - if harvester is None: - return settings + # Disable trigger while changing trigger-related nodes. + self._set_enum_node(node_map, "TriggerMode", "Off", strict=False) - infos = list(harvester.device_info_list or []) - if not infos: - return settings + selector_ok = self._set_enum_node(node_map, "TriggerSelector", selector, strict=strict) - target_id_str = str(target_id).strip() - match_index = None - match_serial = None + resolved_source, source_supported = self._resolve_trigger_source( + node_map, + source, + strict=strict, + ) - # 1) Exact match by computed device_id - for idx, info in enumerate(infos): - dev_id = cls._device_id_from_info(info) - if dev_id and dev_id == target_id_str: - match_index = idx - match_serial = getattr(info, "serial_number", None) - break + source_ok = False + if source_supported: + source_ok = self._set_enum_node( + node_map, + "TriggerSource", + resolved_source, + strict=strict, + ) - # 2) Fallback: treat target as serial-ish substring - if match_index is None: - for idx, info in enumerate(infos): - serial = getattr(info, "serial_number", None) - if serial and target_id_str in str(serial): - match_index = idx - match_serial = serial - break + activation_ok = self._set_enum_node( + node_map, + "TriggerActivation", + activation, + strict=False, + ) - if match_index is None: - return settings + # TriggerSelector and TriggerSource are required routing nodes. + # If either failed in non-strict mode, do not arm TriggerMode=On. + # Otherwise the camera may wait on a previous/default input line. + if not (selector_ok and source_ok): + LOG.warning( + "Could not apply GenTL trigger input routing " + "(selector_ok=%s, source_ok=%s); disabling trigger. " + "requested role=%s selector=%s source=%s resolved_source=%s activation=%s", + selector_ok, + source_ok, + role, + selector, + source, + resolved_source, + activation, + ) + self._configure_trigger_off(node_map, strict=False) + self._trigger = CameraTriggerSettings() + return - # Apply rebinding - settings.index = int(match_index) + if not activation_ok: + LOG.warning( + "Could not apply GenTL TriggerActivation=%s; using camera default/current activation.", + activation, + ) - # Ensure namespace exists - if not isinstance(settings.properties, dict): - settings.properties = {} - ns2 = settings.properties.setdefault(cls.OPTIONS_KEY, {}) - if not isinstance(ns2, dict): - ns2 = {} - settings.properties[cls.OPTIONS_KEY] = ns2 + self._set_enum_node(node_map, "AcquisitionMode", "Continuous", strict=False) - if match_serial: - ns2["serial_number"] = str(match_serial) - ns2["device_id"] = target_id_str + if not self._set_enum_node(node_map, "TriggerMode", "On", strict=strict): + LOG.warning("Could not enable GenTL TriggerMode=On; disabling trigger.") + self._configure_trigger_off(node_map, strict=False) + self._trigger = CameraTriggerSettings() + return - return settings + LOG.debug( + "GenTL trigger input configured: role=%s selector=%s source_requested=%s " + "source=%s activation=%s selector_ok=%s source_ok=%s activation_ok=%s", + role, + selector, + source, + resolved_source, + activation, + selector_ok, + source_ok, + activation_ok, + ) - except Exception: - return settings - finally: - if harvester is not None: - try: - harvester.reset() - except Exception: - pass + def _configure_trigger_master(self, node_map, cfg, *, strict: bool = False) -> None: + """Configure this camera as a free-running master that emits STROBE_OUT pulses. - @classmethod - def quick_ping(cls, index: int, _unused=None) -> bool: + For DMK 37BUX287 / TIS 37U series, the physical output is controlled by + StrobeEnable/StrobePolarity/StrobeOperation rather than SFNC LineSelector/ + LineMode/LineSource nodes. """ - Fast check: is there a device at this index according to Harvester? - Does not open/start acquisition. - """ - if Harvester is None: - return False + output_line = str(self._trigger_attr(cfg, "output_line", "Line2") or "Line2") + output_source = str(self._trigger_attr(cfg, "output_source", "ExposureActive") or "ExposureActive") - harvester = None - try: - harvester, _, _ = cls._build_harvester_for_discovery(strict_single=False) - if harvester is None: - return False - infos = harvester.device_info_list or [] - return 0 <= int(index) < len(infos) - except Exception: - return False - finally: - if harvester is not None: - try: - harvester.reset() - except Exception: - pass + # Optional extra fields if present in trigger dict/model. + strobe_polarity = str(self._trigger_attr(cfg, "strobe_polarity", "ActiveHigh") or "ActiveHigh") + strobe_operation = str(self._trigger_attr(cfg, "strobe_operation", "Exposure") or "Exposure") + strobe_duration = self._trigger_attr(cfg, "strobe_duration", None) + strobe_delay = self._trigger_attr(cfg, "strobe_delay", None) - def read(self) -> tuple[np.ndarray, float]: - if self._acquirer is None: - raise RuntimeError("GenTL image acquirer not initialised") + # Master camera should be free-running. + self._configure_trigger_off(node_map, strict=False) - try: - with self._acquirer.fetch(timeout=self._timeout) as buffer: - component = buffer.payload.components[0] - channels = 3 if self._pixel_format in {"RGB8", "BGR8"} else 1 - array = np.asarray(component.data) - expected = component.height * component.width * channels - if array.size != expected: - array = np.frombuffer(bytes(component.data), dtype=array.dtype) - try: - if channels > 1: - frame = array.reshape(component.height, component.width, channels).copy() - else: - frame = array.reshape(component.height, component.width).copy() - except ValueError: - frame = array.copy() - except HarvesterTimeoutError as exc: - raise TimeoutError(str(exc) + " (GenTL timeout)") from exc + # ------------------------------------------------------------------ + # Preferred path for The Imaging Source 37U / DMK 37BUX287: + # StrobeEnable, StrobePolarity, StrobeOperation, StrobeDuration, StrobeDelay + # ------------------------------------------------------------------ + strobe_enable_node = self._node(node_map, "StrobeEnable") - frame = self._convert_frame(frame) - timestamp = time.time() + if strobe_enable_node is not None: + # Disable first while changing parameters. + self._set_enum_node(node_map, "StrobeEnable", "Off", strict=False) - if self._actual_width is None or self._actual_height is None: - h, w = frame.shape[:2] - self._actual_width = int(w) - self._actual_height = int(h) + polarity_ok = self._set_enum_node( + node_map, + "StrobePolarity", + strobe_polarity, + strict=False, + ) - if self._actual_exposure is None: - try: - self._actual_exposure = float(self._acquirer.node_map.ExposureTime.value) - except Exception: - self._actual_exposure = None + operation_ok = self._set_enum_node( + node_map, + "StrobeOperation", + strobe_operation, + strict=False, + ) - if self._actual_gain is None: - try: - self._actual_gain = float(self._acquirer.node_map.Gain.value) - except Exception: - self._actual_gain = None + if strobe_duration is not None: + try: + node = self._node(node_map, "StrobeDuration") + if node is not None: + node.value = int(strobe_duration) + LOG.debug("Configured GenTL StrobeDuration=%s", int(strobe_duration)) + except Exception as exc: + if strict: + raise RuntimeError(f"Failed to set StrobeDuration={strobe_duration}: {exc}") from exc + LOG.warning("Failed to set StrobeDuration=%s: %s", strobe_duration, exc) - return frame, timestamp + if strobe_delay is not None: + try: + node = self._node(node_map, "StrobeDelay") + if node is not None: + node.value = int(strobe_delay) + LOG.debug("Configured GenTL StrobeDelay=%s", int(strobe_delay)) + except Exception as exc: + if strict: + raise RuntimeError(f"Failed to set StrobeDelay={strobe_delay}: {exc}") from exc + LOG.warning("Failed to set StrobeDelay=%s: %s", strobe_delay, exc) + + enable_ok = self._set_enum_node( + node_map, + "StrobeEnable", + "On", + strict=strict, + ) - def stop(self) -> None: - if self._acquirer is not None: - try: - self._acquirer.stop() - except Exception: - pass + if enable_ok: + LOG.debug( + "GenTL trigger master configured via Strobe*: " + "StrobeEnable=On StrobePolarity=%s polarity_ok=%s " + "StrobeOperation=%s operation_ok=%s", + strobe_polarity, + polarity_ok, + strobe_operation, + operation_ok, + ) + return - @staticmethod - def _reset_select_harvester(harvester) -> None: - if harvester is not None: - try: - harvester.reset() - except Exception: - pass + if strict: + raise RuntimeError("Could not enable GenTL StrobeEnable=On") - def _reset_harvester(self) -> None: - try: - self._reset_select_harvester(self._harvester) - finally: - self._harvester = None + LOG.warning( + "StrobeEnable node exists but could not be enabled; falling back to generic Line* output configuration." + ) - def close(self) -> None: - if self._acquirer is not None: - try: - self._acquirer.stop() - except Exception: - pass - try: - destroy = getattr(self._acquirer, "destroy", None) - if destroy is not None: - destroy() - finally: - self._acquirer = None + # ------------------------------------------------------------------ + # Generic SFNC fallback for cameras that expose LineSelector/LineMode/LineSource. + # ------------------------------------------------------------------ + line_selector = self._node(node_map, "LineSelector") + if line_selector is not None: + line_selected = self._set_enum_node( + node_map, + "LineSelector", + output_line, + strict=strict, + ) - if self._harvester is not None: - try: - self._harvester.reset() - finally: - self._harvester = None + if not line_selected: + LOG.warning( + "Could not select GenTL output line '%s'; skipping Line* output configuration.", + output_line, + ) + else: + mode_ok = self._set_enum_node(node_map, "LineMode", "Output", strict=strict) + source_ok = self._set_enum_node(node_map, "LineSource", output_source, strict=strict) + + if mode_ok and source_ok: + LOG.debug( + "GenTL trigger master configured via Line*: output_line=%s output_source=%s", + output_line, + output_source, + ) + return - self._device_label = None + LOG.warning( + "GenTL Line* trigger output configuration incomplete (LineMode ok=%s, LineSource ok=%s).", + mode_ok, + source_ok, + ) - # ------------------------------------------------------------------ - # Helpers - # ------------------------------------------------------------------ + msg = ( + "Could not configure GenTL trigger master output. " + "No supported Strobe* or Line* output path was successfully configured." + ) - def _parse_crop(self, crop) -> tuple[int, int, int, int] | None: - if isinstance(crop, (list, tuple)) and len(crop) == 4: - return tuple(int(v) for v in crop) - return None + if strict: + raise RuntimeError(msg) - def _get_requested_resolution_or_none(self) -> tuple[int, int] | None: - """ - Return (w, h) if user explicitly requested a resolution. - Return None to keep device defaults. - """ - props = self.settings.properties if isinstance(self.settings.properties, dict) else {} + LOG.warning(msg) - legacy = props.get("resolution") - if isinstance(legacy, (list, tuple)) and len(legacy) == 2: - try: - w, h = int(legacy[0]), int(legacy[1]) - if w > 0 and h > 0: - return (w, h) - except Exception: - pass + def _restore_trigger_idle(self, node_map) -> None: + """Best-effort restore to a safe non-triggering state after acquisition stops. + + Important: + - This should be called after acquirer.stop(), not while acquisition is active. + - It is intentionally non-strict because shutdown should not fail if a node + is missing or read-only. + """ + role = str(self._trigger_attr(getattr(self, "_trigger", None), "role", "off") or "off").lower() try: - w = int(getattr(self.settings, "width", 0) or 0) - h = int(getattr(self.settings, "height", 0) or 0) - if w > 0 and h > 0: - return (w, h) - except Exception: - pass + if role in {"external", "follower"}: + self._set_enum_node(node_map, "TriggerMode", "Off", strict=False) - return None + elif role == "master": + # Stop driving output if the camera exposes these nodes. + self._set_enum_node(node_map, "LineSource", "Off", strict=False) + self._set_enum_node(node_map, "LineMode", "Input", strict=False) + + except Exception: + LOG.debug("Best-effort GenTL trigger restore failed", exc_info=True) def _configure_resolution(self, node_map) -> None: - """ - Configure camera resolution only if explicitly requested. - If None, keep device defaults. - """ - req = self._requested_resolution - if req is None: - LOG.info("Resolution: using device default.") + if self._requested_resolution is None: return - requested_width, requested_height = req + requested_width, requested_height = self._requested_resolution actual_width, actual_height = None, None - # Width try: node = node_map.Width - min_w, max_w = node.min, node.max - inc_w = getattr(node, "inc", 1) - width = self._adjust_to_increment(requested_width, min_w, max_w, inc_w) + width = self._adjust_to_increment(requested_width, node.min, node.max, getattr(node, "inc", 1)) node.value = int(width) - actual_width = node.value + actual_width = int(node.value) except Exception as e: - LOG.warning(f"Failed to set width: {e}") + LOG.warning("Failed to set width: %s", e) - # Height try: node = node_map.Height - min_h, max_h = node.min, node.max - inc_h = getattr(node, "inc", 1) - height = self._adjust_to_increment(requested_height, min_h, max_h, inc_h) + height = self._adjust_to_increment(requested_height, node.min, node.max, getattr(node, "inc", 1)) node.value = int(height) - actual_height = node.value + actual_height = int(node.value) except Exception as e: - LOG.warning(f"Failed to set height: {e}") + LOG.warning("Failed to set height: %s", e) if actual_width is not None and actual_height is not None: - self._actual_width = int(actual_width) - self._actual_height = int(actual_height) + self._actual_width = actual_width + self._actual_height = actual_height if (actual_width, actual_height) != (requested_width, requested_height): LOG.warning( - f"Resolution mismatch: requested {requested_width}x{requested_height}, " - f"got {actual_width}x{actual_height}" - ) - else: - LOG.info(f"Resolution set to {actual_width}x{actual_height}") - - def _available_serials(self) -> list[str]: - assert self._harvester is not None - serials: list[str] = [] - for info in self._harvester.device_info_list: - serial = getattr(info, "serial_number", "") - if serial: - serials.append(serial) - return serials - - def _create_acquirer(self, serial: str | None, index: int): - assert self._harvester is not None - methods = [ - getattr(self._harvester, "create", None), - getattr(self._harvester, "create_image_acquirer", None), - ] - methods = [m for m in methods if m is not None] - errors: list[str] = [] - device_info = None - if not serial: - device_list = self._harvester.device_info_list - if 0 <= index < len(device_list): - device_info = device_list[index] - for create in methods: - try: - if serial: - return create({"serial_number": serial}) - except Exception as exc: - errors.append(f"{create.__name__} serial: {exc}") - for create in methods: - try: - return create(index=index) - except TypeError: - try: - return create(index) - except Exception as exc: - errors.append(f"{create.__name__} index positional: {exc}") - except Exception as exc: - errors.append(f"{create.__name__} index: {exc}") - if device_info is not None: - for create in methods: - try: - return create(device_info) - except Exception as exc: - errors.append(f"{create.__name__} device_info: {exc}") - if not serial and index == 0: - for create in methods: - try: - return create() - except Exception as exc: - errors.append(f"{create.__name__} default: {exc}") - joined = "; ".join(errors) or "no creation methods available" - raise RuntimeError(f"Failed to initialise GenTL image acquirer ({joined})") - - def _configure_pixel_format(self, node_map) -> None: - try: - if self._pixel_format in node_map.PixelFormat.symbolics: - node_map.PixelFormat.value = self._pixel_format - actual = node_map.PixelFormat.value - if actual != self._pixel_format: - LOG.warning(f"Pixel format mismatch: requested '{self._pixel_format}', got '{actual}'") - else: - LOG.info(f"Pixel format set to '{actual}'") - else: - LOG.warning( - f"Pixel format '{self._pixel_format}' not in available formats: {node_map.PixelFormat.symbolics}" + "Resolution mismatch: requested %sx%s, got %sx%s", + requested_width, + requested_height, + actual_width, + actual_height, ) - except Exception as e: - LOG.warning(f"Failed to set pixel format '{self._pixel_format}': {e}") def _configure_exposure(self, node_map) -> None: if self._exposure is None: return - # Try to disable auto exposure first - for attr in ("ExposureAuto",): - try: - node = getattr(node_map, attr) - node.value = "Off" - LOG.info("Auto exposure disabled") - break - except AttributeError: - continue - except Exception as e: - LOG.warning(f"Failed to disable auto exposure: {e}") + try: + node_map.ExposureAuto.value = "Off" + except Exception: + pass - # Set exposure value for attr in ("ExposureTime", "Exposure"): try: node = getattr(node_map, attr) - except AttributeError: - continue - try: node.value = float(self._exposure) - actual = node.value - if abs(actual - self._exposure) > 1.0: # Allow 1μs tolerance - LOG.warning(f"Exposure mismatch: requested {self._exposure}μs, got {actual}μs") - else: - LOG.info(f"Exposure set to {actual}μs") return - except Exception as e: - LOG.warning(f"Failed to set exposure via {attr}: {e}") + except AttributeError: continue - - LOG.warning(f"Could not set exposure to {self._exposure}μs (no compatible attribute found)") + except Exception as e: + LOG.warning("Failed to set exposure via %s: %s", attr, e) + LOG.warning("Could not set exposure to %s µs", self._exposure) def _configure_gain(self, node_map) -> None: if self._gain is None: return - # Try to disable auto gain first - for attr in ("GainAuto",): - try: - node = getattr(node_map, attr) - node.value = "Off" - LOG.info("Auto gain disabled") - break - except AttributeError: - continue - except Exception as e: - LOG.warning(f"Failed to disable auto gain: {e}") - - # Set gain value - for attr in ("Gain",): - try: - node = getattr(node_map, attr) - except AttributeError: - continue - try: - node.value = float(self._gain) - actual = node.value - if abs(actual - self._gain) > 0.1: # Allow 0.1 tolerance - LOG.warning(f"Gain mismatch: requested {self._gain}, got {actual}") - else: - LOG.info(f"Gain set to {actual}") - return - except Exception as e: - LOG.warning(f"Failed to set gain via {attr}: {e}") - continue + try: + node_map.GainAuto.value = "Off" + except Exception: + pass - LOG.warning(f"Could not set gain to {self._gain} (no compatible attribute found)") + try: + node_map.Gain.value = float(self._gain) + except Exception as e: + LOG.warning("Could not set gain to %s: %s", self._gain, e) def _configure_frame_rate(self, node_map) -> None: if not self.settings.fps: return target = float(self.settings.fps) + LOG.debug("Configuring GenTL frame rate: requested %.3f FPS", target) - # Try to enable frame rate control for attr in ("AcquisitionFrameRateEnable", "AcquisitionFrameRateControlEnable"): try: - getattr(node_map, attr).value = True - LOG.info(f"Frame rate control enabled via {attr}") + node = getattr(node_map, attr) + before = getattr(node, "value", None) + node.value = True + after = getattr(node, "value", None) + LOG.debug("Enabled GenTL %s: before=%r after=%r", attr, before, after) break except Exception: - continue + pass - # Set frame rate value - for attr in ("AcquisitionFrameRate", "ResultingFrameRate", "AcquisitionFrameRateAbs"): + for attr in ("AcquisitionFrameRate", "AcquisitionFrameRateAbs"): try: node = getattr(node_map, attr) - except AttributeError: - continue - try: + before = getattr(node, "value", None) node.value = target - actual = node.value - if abs(actual - target) > 0.1: - LOG.warning(f"FPS mismatch: requested {target:.2f}, got {actual:.2f}") - else: - LOG.info(f"Frame rate set to {actual:.2f} FPS") + after = getattr(node, "value", None) + + LOG.debug( + "Set GenTL %s: before=%r requested=%.3f after=%r", + attr, + before, + target, + after, + ) + + try: + accepted = float(after) + if accepted > 0: + self._actual_fps = accepted + except Exception: + pass + return - except Exception as e: - LOG.warning(f"Failed to set frame rate via {attr}: {e}") + + except AttributeError: continue + except Exception as e: + LOG.warning("Failed to set frame rate via %s: %s", attr, e) + + LOG.warning("Could not set frame rate to %s FPS", target) + + def _read_telemetry(self, node_map) -> None: + try: + self._actual_width = int(node_map.Width.value) + self._actual_height = int(node_map.Height.value) + except Exception: + pass + + # Prefer true/resulting frame-rate readback nodes. + resulting_fps = self._node_float( + node_map, + "AcquisitionResultingFrameRate", + "ResultingFrameRate", + "AcquisitionFrameRateResulting", + "DeviceFrameRate", + ) + + # Fallback to requested/accepted frame-rate nodes only if no resulting node exists. + requested_fps = self._node_float( + node_map, + "AcquisitionFrameRate", + "AcquisitionFrameRateAbs", + ) + + if resulting_fps is not None: + self._actual_fps = resulting_fps + elif requested_fps is not None: + self._actual_fps = requested_fps + + exposure = self._node_float( + node_map, + "ExposureTime", + "ExposureTimeAbs", + "Exposure", + allow_zero=True, + ) + if exposure is not None: + self._actual_exposure = exposure + + gain = self._node_float( + node_map, + "Gain", + "GainRaw", + allow_zero=True, + ) + if gain is not None: + self._actual_gain = gain + + # Persist useful telemetry into properties["gentl"] for GUI/debugging. + try: + ns = self._ensure_settings_ns() + + if self._actual_width and self._actual_height: + ns["actual_resolution"] = [int(self._actual_width), int(self._actual_height)] + + if self._actual_fps is not None: + ns["actual_fps"] = float(self._actual_fps) + + if resulting_fps is not None: + ns["actual_resulting_frame_rate"] = float(resulting_fps) - LOG.warning(f"Could not set frame rate to {target} FPS (no compatible attribute found)") + if requested_fps is not None: + ns["actual_acquisition_frame_rate"] = float(requested_fps) + + if self._actual_exposure is not None: + ns["actual_exposure"] = float(self._actual_exposure) + + if self._actual_gain is not None: + ns["actual_gain"] = float(self._actual_gain) + + exposure_auto = self._node_str(node_map, "ExposureAuto") + if exposure_auto is not None: + ns["actual_exposure_auto"] = exposure_auto + + throughput = self._node_float(node_map, "DeviceLinkThroughputLimit", allow_zero=True) + if throughput is not None: + ns["actual_device_link_throughput_limit"] = float(throughput) + + throughput_mode = self._node_str(node_map, "DeviceLinkThroughputLimitMode") + if throughput_mode is not None: + ns["actual_device_link_throughput_limit_mode"] = throughput_mode + + pixel_format = self._node_str(node_map, "PixelFormat") + if pixel_format is not None: + self._camera_pixel_format = pixel_format + ns["actual_pixel_format"] = pixel_format + ns["detected_pixel_format"] = pixel_format + + output_format = self.actual_output_format + if output_format is not None: + ns["actual_output_format"] = output_format + + except Exception: + pass + + # ------------------------------------------------------------------ + # Frame conversion / local helpers + # ------------------------------------------------------------------ def _convert_frame(self, frame: np.ndarray) -> np.ndarray: if frame.dtype != np.uint8: @@ -1344,10 +1840,24 @@ def _convert_frame(self, frame: np.ndarray) -> np.ndarray: scale = 255.0 / max_val if max_val > 0.0 else 1.0 frame = np.clip(frame * scale, 0, 255).astype(np.uint8) + fmt = str(self._pixel_format or "").strip() + if frame.ndim == 2: - frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR) - elif frame.ndim == 3 and frame.shape[2] == 3 and self._pixel_format == "RGB8": - frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + if fmt == "BayerRG8": + frame = cv2.cvtColor(frame, cv2.COLOR_BayerRG2BGR) + elif fmt == "BayerGB8": + frame = cv2.cvtColor(frame, cv2.COLOR_BayerGB2BGR) + elif fmt == "BayerGR8": + frame = cv2.cvtColor(frame, cv2.COLOR_BayerGR2BGR) + elif fmt == "BayerBG8": + frame = cv2.cvtColor(frame, cv2.COLOR_BayerBG2BGR) + else: + frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR) + + elif frame.ndim == 3 and frame.shape[2] == 3: + if fmt == "RGB8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + # BGR8 is already OpenCV-native. if self._crop is not None: top, bottom, left, right = (int(v) for v in self._crop) @@ -1355,9 +1865,7 @@ def _convert_frame(self, frame: np.ndarray) -> np.ndarray: left = max(0, left) bottom = bottom if bottom > 0 else frame.shape[0] right = right if right > 0 else frame.shape[1] - bottom = min(frame.shape[0], bottom) - right = min(frame.shape[1], right) - frame = frame[top:bottom, left:right] + frame = frame[top : min(frame.shape[0], bottom), left : min(frame.shape[1], right)] if self._rotate in (90, 180, 270): rotations = { @@ -1370,11 +1878,10 @@ def _convert_frame(self, frame: np.ndarray) -> np.ndarray: return frame.copy() def _resolve_device_label(self, node_map) -> str | None: - candidates = [ + for name_attr, serial_attr in ( ("DeviceModelName", "DeviceSerialNumber"), ("DeviceDisplayName", "DeviceSerialNumber"), - ] - for name_attr, serial_attr in candidates: + ): try: model = getattr(node_map, name_attr).value except AttributeError: @@ -1385,18 +1892,48 @@ def _resolve_device_label(self, node_map) -> str | None: except AttributeError: pass if model: - model_str = str(model) - serial_str = str(serial) if serial else None - return f"{model_str} ({serial_str})" if serial_str else model_str + return f"{model} ({serial})" if serial else str(model) + return None + + def _parse_crop(self, crop) -> tuple[int, int, int, int] | None: + if isinstance(crop, (list, tuple)) and len(crop) == 4: + return tuple(int(v) for v in crop) + return None + + def _get_requested_resolution_or_none(self) -> tuple[int, int] | None: + props = self.settings.properties if isinstance(self.settings.properties, dict) else {} + legacy = props.get("resolution") + if isinstance(legacy, (list, tuple)) and len(legacy) == 2: + try: + w, h = int(legacy[0]), int(legacy[1]) + if w > 0 and h > 0: + return (w, h) + except Exception: + pass + + try: + w = int(getattr(self.settings, "width", 0) or 0) + h = int(getattr(self.settings, "height", 0) or 0) + if w > 0 and h > 0: + return (w, h) + except Exception: + pass return None - def _adjust_to_increment(self, value: int, minimum: int, maximum: int, increment: int) -> int: + @staticmethod + def _adjust_to_increment(value: int, minimum: int, maximum: int, increment: int) -> int: value = max(minimum, min(maximum, int(value))) if increment <= 0: return value - offset = value - minimum - steps = offset // increment - return minimum + steps * increment + return minimum + ((value - minimum) // increment) * increment + + @staticmethod + def _positive_float(value) -> float | None: + try: + number = float(value) + return number if number > 0 else None + except Exception: + return None def device_name(self) -> str: if self._device_label: diff --git a/dlclivegui/cameras/backends/opencv_backend.py b/dlclivegui/cameras/backends/opencv_backend.py index 74fdede98..1201749b7 100644 --- a/dlclivegui/cameras/backends/opencv_backend.py +++ b/dlclivegui/cameras/backends/opencv_backend.py @@ -10,10 +10,9 @@ from typing import TYPE_CHECKING, Literal import cv2 -import numpy as np from pydantic import BaseModel, Field, model_validator -from ..base import CameraBackend, SupportLevel, register_backend +from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend from ..factory import DetectedCamera from .utils.opencv_discovery import ( ModeRequest, @@ -199,21 +198,45 @@ def open(self) -> None: self._configure_capture() - def read(self) -> tuple[np.ndarray | None, float]: - """Robust frame read: return (None, ts) on transient failures; never raises.""" + def read(self) -> CapturedFrame: + """Robust frame read: return CapturedFrame(frame=None, ...) on transient failures; never raises.""" if self._capture is None: logger.warning("OpenCVCameraBackend.read() called before open()") - return None, time.time() + return CapturedFrame( + frame=None, + software_timestamp=time.time(), + timestamp_metadata=None, + ) + try: if not self._capture.grab(): - return None, time.time() + return CapturedFrame( + frame=None, + software_timestamp=time.time(), + timestamp_metadata=None, + ) + success, frame = self._capture.retrieve() if not success or frame is None or frame.size == 0: - return None, time.time() - return frame, time.time() + return CapturedFrame( + frame=None, + software_timestamp=time.time(), + timestamp_metadata=None, + ) + + return CapturedFrame( + frame=frame, + software_timestamp=time.time(), + timestamp_metadata=None, + ) + except Exception as exc: - logger.debug(f"OpenCV read transient error: {exc}") - return None, time.time() + logger.debug("OpenCV read transient error: %s", exc) + return CapturedFrame( + frame=None, + software_timestamp=time.time(), + timestamp_metadata=None, + ) def close(self) -> None: self._release_capture() @@ -254,6 +277,16 @@ def actual_gain(self) -> None: """Not supported by OpenCV backend.""" return None + @property + def actual_pixel_format(self) -> str | None: + """OpenCV does not reliably expose native camera pixel format.""" + return None + + @property + def actual_output_format(self) -> str | None: + """OpenCV VideoCapture returns BGR frames in this backend.""" + return "BGR8" + # ---------------------------- # Internal helpers # ---------------------------- diff --git a/dlclivegui/cameras/backends/utils/gentl_discovery.py b/dlclivegui/cameras/backends/utils/gentl_discovery.py index ebce73448..3eed19975 100644 --- a/dlclivegui/cameras/backends/utils/gentl_discovery.py +++ b/dlclivegui/cameras/backends/utils/gentl_discovery.py @@ -5,7 +5,9 @@ from __future__ import annotations import glob +import logging import os +import threading from collections.abc import Iterable, Sequence from dataclasses import dataclass, field from enum import Enum, auto @@ -18,6 +20,125 @@ class GenTLDiscoveryPolicy(Enum): RAISE_IF_MULTIPLE = auto() # if > N candidates, raise an error to avoid ambiguity (forces explicit config) +try: # pragma: no cover - optional dependency + from harvesters.core import Harvester # type: ignore +except Exception: # pragma: no cover - optional dependency + Harvester = None # type: ignore + +logger = logging.getLogger(__name__) + + +class SharedHarvesterEntry: + """ + A shared Harvester instance keyed by a canonical tuple of CTI files. + """ + + def __init__(self, cti_files: list[str]): + if Harvester is None: # pragma: no cover + raise RuntimeError( + "The 'harvesters' package is required for the GenTL backend. Install it via 'pip install harvesters'." + ) + + self.lock = threading.RLock() + self.key = tuple(sorted(_normalize_path(p, casefold_windows=True) for p in cti_files)) + self.refcount = 0 + self.harvester = Harvester() + self.loaded_files: list[str] = [] + self.failed_files: dict[str, str] = {} + + for cti in self.key: + try: + self.harvester.add_file(cti) + self.loaded_files.append(cti) + except Exception as e: + logger.warning(f"Failed to load CTI file: {cti}. Skipping.") + self.failed_files[cti] = str(e) + + if not self.loaded_files: + e = RuntimeError("No GenTL producer (.cti) could be loaded by shared Harvester.") + self._raise_and_reset_harvester(e) + + # Initial device enumeration. + try: + self.harvester.update() + except Exception as e: + self._raise_and_reset_harvester(e) + + def _raise_and_reset_harvester(self, exc: Exception) -> None: + exc.loaded_files = self.loaded_files[:] + exc.failed_files = dict(self.failed_files) + try: + self.harvester.reset() + except Exception: + pass + raise exc + + +class SharedHarvesterPool: + """ + Process-local pool of shared Harvester instances. + + Keyed by the canonicalized CTI file set. + """ + + _lock = threading.RLock() + _entries: dict[tuple[str, ...], SharedHarvesterEntry] = {} + + @classmethod + def acquire(cls, cti_files: list[str]) -> SharedHarvesterEntry: + key = tuple(sorted(_normalize_path(p, casefold_windows=True) for p in cti_files)) + with cls._lock: + entry = cls._entries.get(key) + if entry is None: + entry = SharedHarvesterEntry(list(key)) + cls._entries[key] = entry + entry.refcount += 1 + return entry + + @classmethod + def release(cls, entry: SharedHarvesterEntry | None) -> None: + if entry is None: + return + + with cls._lock: + current = cls._entries.get(entry.key) + if current is None: + # Already released/reset. + return + + current.refcount -= 1 + if current.refcount > 0: + return + + try: + with current.lock: + try: + current.harvester.reset() + except Exception: + pass + finally: + cls._entries.pop(entry.key, None) + + @classmethod + def refresh(cls, entry: SharedHarvesterEntry | None) -> None: + """ + Optional helper when callers want to re-enumerate the device list + on an already-shared Harvester instance. + """ + if entry is None: + return + with entry.lock: + entry.harvester.update() + + @classmethod + def get_refcount(cls, entry: SharedHarvesterEntry | None) -> int: + if entry is None: + return 0 + with cls._lock: + current = cls._entries.get(entry.key) + return int(current.refcount) if current is not None else 0 + + @dataclass class CTIDiscoveryDiagnostics: explicit_files: list[str] = field(default_factory=list) @@ -81,18 +202,18 @@ def _expand_user_and_env(value: str) -> str: return s -def _normalize_path(p: str) -> str: - """ - Normalize a filesystem path in a cross-platform way: - - expands ~ and environment variables - - resolves to absolute where possible (without requiring existence) - """ +def _normalize_path(p: str, *, casefold_windows: bool = False) -> str: expanded = _expand_user_and_env(p) pp = Path(expanded) try: - return str(pp.resolve(strict=False)) + out = str(pp.resolve(strict=False)) except Exception: - return str(pp.absolute()) + out = str(pp.absolute()) + + if casefold_windows: + out = os.path.normcase(out) + + return out def _iter_cti_files_in_dir(directory: str, recursive: bool = False) -> Iterable[str]: diff --git a/dlclivegui/cameras/base.py b/dlclivegui/cameras/base.py index bc91ce9bf..9217ad8e1 100644 --- a/dlclivegui/cameras/base.py +++ b/dlclivegui/cameras/base.py @@ -3,6 +3,7 @@ import logging from abc import ABC, abstractmethod +from dataclasses import dataclass from enum import Enum from typing import TYPE_CHECKING, Any, ClassVar @@ -11,6 +12,7 @@ from ..config import CameraSettings if TYPE_CHECKING: + from ..utils.timestamps import FrameTimestampMetadata from .factory import DetectedCamera _BACKEND_REGISTRY: dict[str, type[CameraBackend]] = {} @@ -68,11 +70,28 @@ class SupportLevel(str, Enum): "set_fps": SupportLevel.UNSUPPORTED, "set_exposure": SupportLevel.UNSUPPORTED, "set_gain": SupportLevel.UNSUPPORTED, + "preserve_mono": SupportLevel.UNSUPPORTED, "device_discovery": SupportLevel.UNSUPPORTED, "stable_identity": SupportLevel.UNSUPPORTED, + "hardware_trigger": SupportLevel.UNSUPPORTED, + "hardware_frame_timestamps": SupportLevel.UNSUPPORTED, } +@dataclass(frozen=True) +class CapturedFrame: + """Frame plus software timestamp and optional backend timestamp metadata.""" + + frame: np.ndarray | None + software_timestamp: float + timestamp_metadata: FrameTimestampMetadata | None = None + + def __iter__(self): + """Backwards-compatible unpacking: frame, software_timestamp = backend.read()""" + yield self.frame + yield self.software_timestamp + + class CameraBackend(ABC): """Abstract base class for camera backends.""" @@ -97,6 +116,19 @@ def static_capabilities(cls) -> dict[str, SupportLevel]: """Return a dict describing supported features for UI purposes.""" return DEFAULT_CAPABILITIES + @property + def actual_pixel_format(self) -> str | None: + return None + + @property + def recommended_preserve_mono(self) -> bool | None: + return None + + @property + def last_frame_timestamp_metadata(self) -> FrameTimestampMetadata | None: + """Return backend-provided timestamp metadata for the last read frame.""" + return None + @classmethod def options_key(cls) -> str: """Return the key used to store this backend's options in CameraSettings.""" @@ -161,7 +193,7 @@ def open(self) -> None: raise NotImplementedError @abstractmethod - def read(self) -> tuple[np.ndarray, float]: + def read(self) -> CapturedFrame: """Read a frame and return the image with a timestamp.""" raise NotImplementedError diff --git a/dlclivegui/config.py b/dlclivegui/config.py index 6d9e1de76..f1347af30 100644 --- a/dlclivegui/config.py +++ b/dlclivegui/config.py @@ -12,6 +12,28 @@ TileLayout = Literal["auto", "2x2", "1x4", "4x1"] Precision = Literal["FP32", "FP16"] ModelType = Literal["pytorch", "tensorflow"] +TriggerRole = Literal["off", "external", "master", "follower"] +TriggerActivation = Literal["RisingEdge", "FallingEdge", "AnyEdge", "LevelHigh", "LevelLow"] +TriggerStrobePolarity = Literal["ActiveHigh", "ActiveLow"] +TriggerStrobeOperation = Literal["Exposure", "FixedDuration"] + +# Global settings +## GUI +GUI_MAX_DISPLAY_FPS: float = 30.0 +## Recording +ALLOWED_VIDEO_CONTAINERS: set[str] = {"mp4", "avi", "mov"} +DEFAULT_RECORDING_CONTAINER: str = "mp4" + + +## Debug +### Timing logs +SINGLE_CAMERA_WORKER_DO_LOG_TIMING: bool = False +MULTI_CAMERA_WORKER_DO_LOG_TIMING: bool = False +REC_DO_LOG_TIMING: bool = False +DLC_DO_LOG_TIMING: bool = True +# MAIN_WINDOW_DO_LOG_TIMING: bool = False +#### Backends +BASLER_DO_LOG_TIMING: bool = False class CameraSettings(BaseModel): @@ -27,6 +49,7 @@ class CameraSettings(BaseModel): exposure: int = 0 # 0=auto else µs gain: float = 0.0 # 0.0=auto else value + preserve_mono: bool = False # if True, preserve mono images as mono (not BGR) when reading crop_x0: int = 0 crop_y0: int = 0 @@ -38,6 +61,28 @@ class CameraSettings(BaseModel): enabled: bool = True properties: dict[str, Any] = Field(default_factory=dict) + def pretty(self) -> str: + crop = ( + "none" + if self.get_crop_region() is None + else f"({self.crop_x0}, {self.crop_y0}) -> ({self.crop_x1 or 'edge'}, {self.crop_y1 or 'edge'})" + ) + return ( + f"CameraSettings[\n" + f" name={self.name!r}, index={self.index}, backend={self.backend!r}, enabled={self.enabled}\n" + f" fps={self.fps}, size={self.width or 'auto'}x{self.height or 'auto'}, " + f"exposure={self.exposure or 'auto'}, gain={self.gain or 'auto'}\n" + f" rotation={self.rotation}, crop={crop}\n" + f" preserve_mono={self.preserve_mono}, max_devices={self.max_devices}\n" + f"]" + ) + + def __str__(self) -> str: + return self.pretty() + + def __repr__(self) -> str: + return self.pretty() + @field_validator("fps", mode="before") @classmethod def _coerce_fps(cls, v): @@ -168,6 +213,158 @@ def check_diff(old: CameraSettings, new: CameraSettings) -> dict: pass return out + def backend_options(self, backend: str | None = None) -> dict[str, Any]: + key = backend or self.backend + props = self.properties if isinstance(self.properties, dict) else {} + ns = props.get(str(key).lower(), {}) + return ns if isinstance(ns, dict) else {} + + def get_trigger_settings(self, backend: str | None = None) -> CameraTriggerSettings: + ns = self.backend_options(backend) + return CameraTriggerSettings.from_any(ns.get("trigger")) + + def set_trigger_settings(self, trigger: CameraTriggerSettings, backend: str | None = None) -> None: + key = backend or self.backend + if not isinstance(self.properties, dict): + self.properties = {} + ns = self.properties.setdefault(str(key).lower(), {}) + if not isinstance(ns, dict): + ns = {} + self.properties[str(key).lower()] = ns + ns["trigger"] = trigger.to_properties() + + def with_save_defaults(self) -> CameraSettings: + out = self.model_copy(deep=True) + + backend = (out.backend or "").lower() + if backend != "gentl": + return out + + if not isinstance(out.properties, dict): + out.properties = {} + + ns = out.properties.setdefault("gentl", {}) + if not isinstance(ns, dict): + ns = {} + out.properties["gentl"] = ns + + ns.setdefault("trigger", CameraTriggerSettings().to_properties()) + + return out + + +class CameraTriggerSettings(BaseModel): + """ + Generic hardware-trigger settings. + + Backend-specific code may ignore fields that are unsupported by a given + camera/SDK. + + For GenTL/TIS DMK 37BUX287: + - follower/external maps mainly to TriggerMode, TriggerSelector, + TriggerActivation. TriggerSource may be read-only and is best-effort. + - master output maps primarily to StrobeEnable, StrobePolarity, + StrobeOperation, StrobeDuration, and StrobeDelay. + """ + + role: TriggerRole = "off" + + # Input trigger config: external/follower + selector: str = "FrameStart" + source: str = "auto" + activation: TriggerActivation | str = "RisingEdge" + + # Generic/SFNC output config: master fallback for cameras exposing Line* nodes. + output_line: str = "Line2" + output_source: str = "ExposureActive" + + # Strobe output config: master path for TIS/DMK 37U cameras. + strobe_polarity: TriggerStrobePolarity | str = "ActiveHigh" + strobe_operation: TriggerStrobeOperation | str = "Exposure" + strobe_duration: int | None = None # µs, used when strobe_operation=FixedDuration + strobe_delay: int | None = None # µs + + # Runtime behavior + timeout: float | None = None + strict: bool = False + + @field_validator("role", mode="before") + @classmethod + def _coerce_role(cls, v): + if v is None: + return "off" + + s = str(v).strip().lower() + aliases = { + "": "off", + "none": "off", + "false": "off", + "disabled": "off", + "disable": "off", + "off": "off", + "true": "external", + "on": "external", + "trigger": "external", + "triggered": "external", + "external": "external", + "follower": "follower", + "slave": "follower", + "master": "master", + "main": "master", + } + return aliases.get(s, s) + + @field_validator("timeout", mode="before") + @classmethod + def _coerce_timeout(cls, v): + if v in (None, ""): + return None + try: + fv = float(v) + except Exception: + return None + return fv if fv > 0 else None + + @field_validator("strobe_duration", "strobe_delay", mode="before") + @classmethod + def _coerce_optional_nonnegative_int(cls, v): + if v in (None, ""): + return None + try: + iv = int(float(v)) + except Exception: + return None + return iv if iv >= 0 else None + + @field_validator("source", mode="before") + @classmethod + def _coerce_source(cls, v): + if v is None: + return "auto" + + s = str(v).strip() + if not s: + return "auto" + + aliases = { + "default": "auto", + "automatic": "auto", + "device": "auto", + "camera": "auto", + } + return aliases.get(s.lower(), s) + + @classmethod + def from_any(cls, value) -> CameraTriggerSettings: + if isinstance(value, cls): + return value + if isinstance(value, dict): + return cls(**value) + return cls() + + def to_properties(self) -> dict[str, Any]: + return self.model_dump(exclude_none=True) + class MultiCameraSettings(BaseModel): cameras: list[CameraSettings] = Field(default_factory=list) @@ -206,12 +403,19 @@ def from_dict(cls, data: dict[str, Any]) -> MultiCameraSettings: return cls(cameras=cameras, max_cameras=max_cameras, tile_layout=tile_layout) def to_dict(self) -> dict[str, Any]: + out = self.with_save_defaults() return { - "cameras": [cam.model_dump() for cam in self.cameras], - "max_cameras": self.max_cameras, - "tile_layout": self.tile_layout, + "cameras": [cam.model_dump() for cam in out.cameras], + "max_cameras": out.max_cameras, + "tile_layout": out.tile_layout, } + def with_save_defaults(self) -> MultiCameraSettings: + """Return a copy with save defaults applied to all cameras.""" + out = self.model_copy(deep=True) + out.cameras = [cam.with_save_defaults() for cam in out.cameras] + return out + class DynamicCropModel(BaseModel): enabled: bool = False @@ -312,9 +516,10 @@ class RecordingSettings(BaseModel): enabled: bool = False directory: str = Field(default_factory=lambda: str(Path.home() / "Videos" / "deeplabcut-live")) filename: str = "session.mp4" - container: Literal["mp4", "avi", "mov"] = "mp4" + container: Literal["mp4", "avi", "mov"] = DEFAULT_RECORDING_CONTAINER codec: str = "libx264" crf: int = Field(default=23, ge=0, le=51) + fast_encoding: bool = False def output_path(self) -> Path: """Return the absolute output path for recordings.""" @@ -328,18 +533,47 @@ def output_path(self) -> Path: filename = name.with_suffix(f".{self.container}") return directory / filename - def writegear_options(self, fps: float) -> dict[str, Any]: - """Return compression parameters for WriteGear.""" + def writegear_options(self, fps: float | None) -> dict[str, Any]: + """Return FFmpeg/WriteGear compression parameters. + + The default settings prioritize compatibility and compression quality. If + ``fast_encoding`` is enabled, additional low-latency encoder options are + added for codecs that are known to support them. + + Args: + fps: Desired input frame rate. If missing or non-positive, falls back + to 30 FPS. + + Returns: + Dictionary of WriteGear/FFmpeg options. + """ + try: + fps_value = float(fps or 0.0) + except Exception: + fps_value = 0.0 + if fps_value <= 0.0: + fps_value = 30.0 - fps_value = float(fps) if fps else 30.0 codec_value = (self.codec or "libx264").strip() or "libx264" crf_value = int(self.crf) if self.crf is not None else 23 - return { + + opts: dict[str, Any] = { "-input_framerate": f"{fps_value:.6f}", "-vcodec": codec_value, "-crf": str(crf_value), } + if self.fast_encoding: + if codec_value in {"libx264", "libx265"}: + opts.update( + { + "-preset": "ultrafast", + "-tune": "zerolatency", + } + ) + + return opts + class ApplicationSettings(BaseModel): # optional: add a semantic version for migrations @@ -377,10 +611,13 @@ def from_dict(cls, data: dict[str, Any]) -> ApplicationSettings: ) def to_dict(self) -> dict[str, Any]: + camera = self.camera.with_save_defaults() + multi_camera = self.multi_camera.with_save_defaults() + return { "version": self.version, - "camera": self.camera.model_dump(), - "multi_camera": self.multi_camera.to_dict(), + "camera": camera.model_dump(), + "multi_camera": multi_camera.to_dict(), "dlc": self.dlc.model_dump(), "recording": self.recording.model_dump(), "bbox": self.bbox.model_dump(), diff --git a/dlclivegui/gui/camera_config/camera_config_dialog.py b/dlclivegui/gui/camera_config/camera_config_dialog.py index 4c94fb701..617f80166 100644 --- a/dlclivegui/gui/camera_config/camera_config_dialog.py +++ b/dlclivegui/gui/camera_config/camera_config_dialog.py @@ -18,9 +18,10 @@ ) from ...cameras.factory import CameraFactory, DetectedCamera, apply_detected_identity, camera_identity_key -from ...config import CameraSettings, MultiCameraSettings +from ...config import CameraSettings, CameraTriggerSettings, MultiCameraSettings from .loaders import CameraLoadWorker, CameraProbeWorker, CameraScanState, DetectCamerasWorker from .preview import PreviewSession, PreviewState, apply_crop, apply_rotation, resize_to_fit, to_display_pixmap +from .trigger_config_dialog import TriggerConfigDialog from .ui_blocks import setup_camera_config_dialog_ui LOGGER = logging.getLogger(__name__) @@ -328,6 +329,7 @@ def _connect_signals(self) -> None: self.active_cameras_list.currentRowChanged.connect(self._on_active_camera_selected) self.available_cameras_list.currentRowChanged.connect(self._on_available_camera_selected) self.available_cameras_list.itemDoubleClicked.connect(self._on_available_camera_double_clicked) + self.trigger_settings_btn.clicked.connect(self._open_trigger_settings_dialog) self.apply_settings_btn.clicked.connect(self._apply_camera_settings) self.reset_settings_btn.clicked.connect(self._reset_selected_camera) self.preview_btn.clicked.connect(self._toggle_preview) @@ -357,6 +359,7 @@ def _mark_dirty(*_args): self.cam_rotation.currentIndexChanged.connect(lambda *_: _mark_dirty()) self.cam_enabled_checkbox.stateChanged.connect(lambda *_: _mark_dirty()) + self.cam_preserve_mono_checkbox.stateChanged.connect(lambda *_: _mark_dirty()) # ------------------------------- # UI state updates @@ -421,6 +424,8 @@ def _set_detected_labels(self, cam: CameraSettings) -> None: det_res = ns.get("detected_resolution") det_fps = ns.get("detected_fps") + det_output_format = ns.get("detected_output_format") + det_pixel_format = ns.get("detected_pixel_format") if isinstance(det_res, (list, tuple)) and len(det_res) == 2: try: @@ -436,6 +441,18 @@ def _set_detected_labels(self, cam: CameraSettings) -> None: else: self.detected_fps_label.setText("—") + self.detected_output_format_label.setText(str(det_output_format) if det_output_format else "—") + + tooltip_parts = [] + if det_output_format: + tooltip_parts.append(f"Backend output: {det_output_format}") + if det_pixel_format: + tooltip_parts.append(f"Camera PixelFormat: {det_pixel_format}") + + self.detected_output_format_label.setToolTip( + "\n".join(tooltip_parts) if tooltip_parts else "Backend-reported output frame format emitted to the app." + ) + def _refresh_camera_labels(self) -> None: cam_list = getattr(self, "active_cameras_list", None) if not cam_list: @@ -451,11 +468,25 @@ def _refresh_camera_labels(self) -> None: finally: cam_list.blockSignals(False) + def _trigger_role_for_label(self, cam: CameraSettings) -> str: + backend = (cam.backend or "").lower() + props = cam.properties if isinstance(cam.properties, dict) else {} + ns = props.get(backend, {}) if isinstance(props.get(backend), dict) else {} + trigger = ns.get("trigger", {}) + if not isinstance(trigger, dict): + return "off" + return str(trigger.get("role", "off") or "off").lower() + def _format_camera_label(self, cam: CameraSettings, index: int = -1) -> str: status = "✓" if cam.enabled else "○" this_id = f"{(cam.backend or '').lower()}:{cam.index}" dlc_indicator = " [DLC]" if this_id == self._dlc_camera_id and cam.enabled else "" - return f"{status} {cam.name} [{cam.backend}:{cam.index}]{dlc_indicator}" + mono_indicator = " [Mono]" if getattr(cam, "preserve_mono", False) else "" + + trigger_role = self._trigger_role_for_label(cam) + trigger_indicator = "" if trigger_role in {"off", "disabled"} else f" [{trigger_role}]" + + return f"{status} {cam.name} [{cam.backend}:{cam.index}]{trigger_indicator}{dlc_indicator}{mono_indicator}" def _selected_detected_camera(self) -> DetectedCamera | None: row = self.available_cameras_list.currentRow() @@ -514,6 +545,12 @@ def apply(widget, feature: str, label: str, *, allow_best_effort: bool = True): apply(self.cam_exposure, "set_exposure", "Exposure") apply(self.cam_gain, "set_gain", "Gain") + # Output format / preserve mono + apply(self.cam_preserve_mono_checkbox, "preserve_mono", "Preserve mono output") + + # Hardware trigger / sync + apply(self.trigger_settings_btn, "hardware_trigger", "Hardware trigger") + def _set_preview_button_loading(self, loading: bool) -> None: if loading: self.preview_btn.setText("Cancel Loading") @@ -800,6 +837,21 @@ def _on_active_camera_selected(self, row: int) -> None: self._load_camera_to_form(cam) self._start_probe_for_camera(cam, apply_to_requested=False) + def _ensure_default_trigger_config(self, cam: CameraSettings) -> None: + backend = (cam.backend or "").lower() + if backend not in {"gentl", "basler"}: + return + + if not isinstance(cam.properties, dict): + cam.properties = {} + + ns = cam.properties.setdefault(backend, {}) + if not isinstance(ns, dict): + ns = {} + cam.properties[backend] = ns + + ns.setdefault("trigger", CameraTriggerSettings().model_dump(exclude_none=True)) + def _add_selected_camera(self) -> None: if not self._commit_pending_edits(reason="before adding a new camera"): return @@ -850,6 +902,7 @@ def _add_selected_camera(self) -> None: properties={}, ) apply_detected_identity(new_cam, detected, backend) + self._ensure_default_trigger_config(new_cam) self._working_settings.cameras.append(new_cam) new_index = len(self._working_settings.cameras) - 1 new_item = QListWidgetItem(self._format_camera_label(new_cam, new_index)) @@ -925,6 +978,7 @@ def _build_model_from_form(self, base: CameraSettings) -> CameraSettings: "crop_y0": int(self.cam_crop_y0.value()), "crop_x1": int(self.cam_crop_x1.value()), "crop_y1": int(self.cam_crop_y1.value()), + "preserve_mono": bool(self.cam_preserve_mono_checkbox.isChecked()), } ) # Validate and coerce; if invalid, Pydantic will raise @@ -943,6 +997,7 @@ def _load_camera_to_form(self, cam: CameraSettings) -> None: self.cam_crop_y0, self.cam_crop_x1, self.cam_crop_y1, + self.cam_preserve_mono_checkbox, ] for widget in block: if hasattr(widget, "blockSignals"): @@ -957,6 +1012,7 @@ def _load_camera_to_form(self, cam: CameraSettings) -> None: self.cam_index_label.setText(str(cam.index)) self.cam_backend_label.setText(cam.backend) self._update_controls_for_backend(cam.backend) + self.cam_preserve_mono_checkbox.setChecked(bool(getattr(cam, "preserve_mono", False))) self.cam_width.setValue(cam.width) self.cam_height.setValue(cam.height) self.cam_fps.setValue(cam.fps) @@ -969,6 +1025,7 @@ def _load_camera_to_form(self, cam: CameraSettings) -> None: self.cam_crop_y0.setValue(cam.crop_y0) self.cam_crop_x1.setValue(cam.crop_x1) self.cam_crop_y1.setValue(cam.crop_y1) + self._ensure_default_trigger_config(cam) self.apply_settings_btn.setEnabled(True) self._set_detected_labels(cam) finally: @@ -991,6 +1048,7 @@ def _write_form_to_cam(self, cam: CameraSettings) -> None: cam.crop_y0 = int(self.cam_crop_y0.value()) cam.crop_x1 = int(self.cam_crop_x1.value()) cam.crop_y1 = int(self.cam_crop_y1.value()) + cam.preserve_mono = bool(self.cam_preserve_mono_checkbox.isChecked()) def _commit_pending_edits(self, *, reason: str = "") -> bool: """ @@ -1029,6 +1087,39 @@ def _enabled_count_with(self, row: int, new_enabled: bool) -> int: count += 1 return count + def _open_trigger_settings_dialog(self) -> None: + """Open per-camera hardware trigger settings dialog.""" + if self._current_edit_index is None: + return + + row = self._current_edit_index + if row < 0 or row >= len(self._working_settings.cameras): + return + + # Commit normal camera edits first so we do not lose pending UI changes. + if not self._commit_pending_edits(reason="before opening trigger settings"): + return + + cam = self._working_settings.cameras[row] + + dlg = TriggerConfigDialog(cam, self) + if dlg.exec() != QDialog.Accepted: + return + + updated = dlg.camera_settings + + self._working_settings.cameras[row] = updated + self._update_active_list_item(row, updated) + self._load_camera_to_form(updated) + + # Trigger changes require reopening the camera preview/backend. + if self._is_preview_live(): + self._append_status("[Trigger] Restarting preview to apply trigger settings.") + self._request_preview_restart(updated, reason="trigger-settings") + + self.apply_settings_btn.setEnabled(False) + self._set_apply_dirty(False) + def _apply_camera_settings(self) -> bool: try: for sb in ( @@ -1085,9 +1176,7 @@ def _apply_camera_settings(self) -> bool: old_settings = current_model restart = False - should_consider_restart = self._preview.state == PreviewState.ACTIVE and isinstance( - old_settings, CameraSettings - ) + should_consider_restart = self._is_preview_live() and isinstance(old_settings, CameraSettings) if should_consider_restart: restart = self._should_restart_preview(old_settings, new_model) @@ -1099,7 +1188,7 @@ def _apply_camera_settings(self) -> bool: new_model.index, ) - if self._preview.state == PreviewState.ACTIVE and restart: + if self._is_preview_live() and restart: self._append_status("[Apply] Restarting preview to apply camera settings changes.") self._request_preview_restart(new_model, reason="apply-settings") @@ -1120,6 +1209,8 @@ def _clear_settings_form(self) -> None: self.cam_backend_label.setText("") self.detected_resolution_label.setText("—") self.detected_fps_label.setText("—") + self.detected_output_format_label.setText("—") + self.detected_output_format_label.setToolTip("Backend-reported output frame format emitted to the app.") self.cam_width.setValue(0) self.cam_height.setValue(0) self.cam_fps.setValue(0.0) @@ -1130,6 +1221,7 @@ def _clear_settings_form(self) -> None: self.cam_crop_y0.setValue(0) self.cam_crop_x1.setValue(0) self.cam_crop_y1.setValue(0) + self.cam_preserve_mono_checkbox.setChecked(False) self.apply_settings_btn.setEnabled(False) self.reset_settings_btn.setEnabled(False) @@ -1226,6 +1318,8 @@ def _reset_selected_camera(self, *, clear_backend_cache: bool = False) -> None: else: ns.pop("detected_resolution", None) ns.pop("detected_fps", None) + ns.pop("detected_pixel_format", None) + ns.pop("detected_output_format", None) ns.pop("last_applied_resolution", None) # Update UI immediately to show "Auto" while probing @@ -1297,12 +1391,16 @@ def _start_probe_for_camera(self, cam: CameraSettings, *, apply_to_requested: bo ns = props.get(backend, {}) if isinstance(props.get(backend, None), dict) else {} if not apply_to_requested: det_res = ns.get("detected_resolution") + det_output = ns.get("detected_output_format") + has_res = False if isinstance(det_res, (list, tuple)) and len(det_res) == 2: try: - if int(det_res[0]) > 0 and int(det_res[1]) > 0: - return + has_res = int(det_res[0]) > 0 and int(det_res[1]) > 0 except Exception: - pass + has_res = False + + if has_res and det_output: + return # Start probe worker (settings will be opened in GUI thread for safety) self._probe_worker = CameraProbeWorker(cam, self) @@ -1328,6 +1426,9 @@ def _on_probe_success(self, payload) -> None: actual_res = getattr(be, "actual_resolution", None) actual_fps = getattr(be, "actual_fps", None) + actual_pixel_format = getattr(be, "actual_pixel_format", None) + actual_output_format = getattr(be, "actual_output_format", None) + recommended_preserve_mono = getattr(be, "recommended_preserve_mono", None) try: be.close() @@ -1350,12 +1451,33 @@ def _on_probe_success(self, payload) -> None: # Store regardless of "set_*" support. This is just "what device reports". if actual_res and isinstance(actual_res, (list, tuple)) and len(actual_res) == 2: ns["detected_resolution"] = [int(actual_res[0]), int(actual_res[1])] - elif actual_res and isinstance(actual_res, tuple) and len(actual_res) == 2: - ns["detected_resolution"] = [int(actual_res[0]), int(actual_res[1])] if isinstance(actual_fps, (int, float)) and float(actual_fps) > 0: ns["detected_fps"] = float(actual_fps) - self._append_status(f"[Probe] actual_res={actual_res}, actual_fps={actual_fps}") + + if actual_pixel_format: + ns["detected_pixel_format"] = str(actual_pixel_format) + self._append_status(f"[Probe] PixelFormat={actual_pixel_format}") + + if actual_output_format: + ns["detected_output_format"] = str(actual_output_format) + self._append_status(f"[Probe] OutputFormat={actual_output_format}") + + if recommended_preserve_mono is not None: + ns["recommended_preserve_mono"] = bool(recommended_preserve_mono) + + # ---- Generic capability-driven recommendation ---- + caps = CameraFactory.backend_capabilities(backend) + preserve_mono_cap = caps.get("preserve_mono") + preserve_mono_supported = preserve_mono_cap is not None and preserve_mono_cap.value != "unsupported" + + if preserve_mono_supported and recommended_preserve_mono is True: + if not bool(getattr(c, "preserve_mono", False)): + c.preserve_mono = True + self._append_status("[Probe] Mono pixel format detected; enabled Preserve mono frames.") + + if actual_pixel_format and str(actual_pixel_format).startswith("Mono"): + ns["detected_output_format"] = "Mono8" # ---- Apply detected -> requested (Reset behavior) ---- if self._probe_apply_to_requested and self._probe_target_row == i: @@ -1384,7 +1506,9 @@ def _on_probe_success(self, payload) -> None: # Always refresh detected labels if currently selected if self._current_edit_index == i: + self._load_camera_to_form(c) self._set_detected_labels(c) + break except Exception as exc: @@ -1597,6 +1721,13 @@ def _bump_epoch(self) -> int: self._preview.epoch += 1 return self._preview.epoch + def _trigger_dict_for_cam(self, cam: CameraSettings) -> dict: + backend = (cam.backend or "").lower() + props = cam.properties if isinstance(cam.properties, dict) else {} + ns = props.get(backend, {}) if isinstance(props.get(backend), dict) else {} + trigger = ns.get("trigger", {}) + return trigger if isinstance(trigger, dict) else {} + def _should_restart_preview(self, old: CameraSettings, new: CameraSettings) -> bool: """ Fast UX policy: @@ -1605,13 +1736,16 @@ def _should_restart_preview(self, old: CameraSettings, new: CameraSettings) -> b Backend-agnostic for now (no OpenCV special casing). """ # Restart on these changes - for key in ("width", "height", "fps", "exposure", "gain"): + for key in ("width", "height", "fps", "exposure", "gain", "preserve_mono"): try: if getattr(old, key, None) != getattr(new, key, None): return True except Exception: return True # safest: restart + if self._trigger_dict_for_cam(old) != self._trigger_dict_for_cam(new): + return True + # No restart needed if only rotation/crop/enabled changed return False @@ -1756,9 +1890,10 @@ def _on_loader_finished(self, e: int) -> None: self._preview.restart_scheduled = False self._preview.loader = None - if pending and self._preview.state == PreviewState.IDLE: + if pending and self._preview.state in (PreviewState.IDLE, PreviewState.ACTIVE): LOGGER.debug("[Loader] finished with pending restart for backend=%s idx=%s", pending.backend, pending.index) self._begin_preview_load(pending, reason="pending-restart-after-finish") + return # UI sync is already handled in _begin_preview_load self._sync_preview_ui() diff --git a/dlclivegui/gui/camera_config/trigger_config_dialog.py b/dlclivegui/gui/camera_config/trigger_config_dialog.py new file mode 100644 index 000000000..bda9caebe --- /dev/null +++ b/dlclivegui/gui/camera_config/trigger_config_dialog.py @@ -0,0 +1,460 @@ +# dlclivegui/gui/camera_config/trigger_config_dialog.py +from __future__ import annotations + +from dataclasses import dataclass + +from PySide6.QtWidgets import ( + QCheckBox, + QComboBox, + QDialog, + QDialogButtonBox, + QDoubleSpinBox, + QFormLayout, + QGroupBox, + QLabel, + QLineEdit, + QMessageBox, + QSpinBox, + QVBoxLayout, + QWidget, +) + +from ...config import CameraSettings, CameraTriggerSettings + + +def _backend_namespace(cam: CameraSettings) -> dict: + backend = (cam.backend or "").lower() + if not isinstance(cam.properties, dict): + cam.properties = {} + ns = cam.properties.setdefault(backend, {}) + if not isinstance(ns, dict): + ns = {} + cam.properties[backend] = ns + return ns + + +@dataclass(frozen=True) +class TriggerUiProfile: + supports_input: bool = True + supports_master: bool = False + supports_software: bool = False + + show_strobe_fields: bool = False + show_line_output_fields: bool = False + + source_suggestions: tuple[str, ...] = ("auto",) + default_source: str = "auto" + + default_output_line: str = "Line2" + default_output_source: str = "ExposureActive" + + help_text: str = "" + + +def trigger_ui_profile_for_backend(backend: str) -> TriggerUiProfile: + """Return GUI-only trigger presentation profile for a backend. + + This intentionally does not perform backend/runtime validation. + Backends still own actual GenICam/pypylon/Harvesters configuration. + """ + backend = (backend or "").lower() + + if backend == "gentl": + return TriggerUiProfile( + supports_input=True, + supports_master=True, + supports_software=False, + show_strobe_fields=True, + show_line_output_fields=True, + source_suggestions=("auto", "Line0", "Line1", "Line2", "Any", "Software"), + default_source="auto", + default_output_line="Line2", + default_output_source="ExposureActive", + help_text=( + "GenTL trigger support is best-effort and depends on the camera's GenICam nodes. " + "Some cameras expose generic Line* output nodes; TIS/DMK 37U cameras may expose Strobe* nodes." + ), + ) + + if backend == "basler": + return TriggerUiProfile( + supports_input=True, + supports_master=True, + supports_software=False, # enable later when controller supports trigger_once() + show_strobe_fields=False, + show_line_output_fields=True, + source_suggestions=("auto", "Line1", "Line2", "Line3", "Line4", "Software"), + default_source="auto", + default_output_line="Line2", + default_output_source="ExposureActive", + help_text=( + "Basler trigger support uses pylon camera features when available. " + "The available trigger sources and output lines depend on the camera model." + ), + ) + + return TriggerUiProfile( + supports_input=False, + supports_master=False, + supports_software=False, + show_strobe_fields=False, + show_line_output_fields=False, + source_suggestions=("auto",), + help_text="This backend does not expose trigger configuration.", + ) + + +class TriggerConfigDialog(QDialog): + """Dialog for editing per-camera trigger settings. + + The dialog is backend-aware only for presentation. + Actual trigger configuration remains backend-owned. + """ + + def __init__(self, cam: CameraSettings, parent: QWidget | None = None): + super().__init__(parent) + self.setWindowTitle("Configure trigger mode") + self.setMinimumWidth(460) + + self._cam = cam.model_copy(deep=True) + self._backend = (self._cam.backend or "").lower() + self._profile = trigger_ui_profile_for_backend(self._backend) + + ns = _backend_namespace(self._cam) + try: + self._trigger = CameraTriggerSettings.from_any(ns.get("trigger")) + except Exception: + self._trigger = CameraTriggerSettings() + + self._setup_ui() + self._load_from_trigger(self._trigger) + self._sync_role_ui() + + @property + def camera_settings(self) -> CameraSettings: + return self._cam + + def _setup_ui(self) -> None: + root = QVBoxLayout(self) + + info_text = ( + "Configure per-camera trigger settings.\n" + "External/follower mode arms the camera and waits for trigger pulses on a selected input source.\n" + "Master mode configures an output signal if the backend/camera exposes compatible output-line features.\n" + "Some fields are backend- or camera-model-specific and may be ignored unless strict mode is enabled.\n" + "In strict mode, unsupported trigger nodes fail camera open." + ) + if self._profile.help_text: + info_text += f"\n\n{self._profile.help_text}" + + self.info_label = QLabel(info_text) + self.info_label.setWordWrap(True) + root.addWidget(self.info_label) + + group_title = f"Trigger Settings ({self._backend or 'unknown'})" + group = QGroupBox(group_title) + self.form = QFormLayout(group) + + # ---------------------------- + # Role + # ---------------------------- + self.role_combo = QComboBox() + self.role_combo.addItem("Off / Free-run", "off") + + if self._profile.supports_input: + self.role_combo.addItem("External trigger", "external") + self.role_combo.addItem("Follower", "follower") + + if self._profile.supports_master: + self.role_combo.addItem("Master output", "master") + + if self._profile.supports_software: + self.role_combo.addItem("Software trigger", "software") + + self.form.addRow("Role:", self.role_combo) + + # ---------------------------- + # Input trigger fields + # ---------------------------- + self.selector_edit = QLineEdit() + self.selector_edit.setPlaceholderText("FrameStart") + self.selector_edit.setToolTip("TriggerSelector value. Most area-scan cameras use FrameStart.") + self.form.addRow("Trigger selector:", self.selector_edit) + + self.source_combo = QComboBox() + self.source_combo.setEditable(True) + for value in self._profile.source_suggestions: + self.source_combo.addItem(value, value) + self.source_combo.setToolTip( + "TriggerSource value. Suggestions are backend defaults only; " + "the backend validates the actual camera-supported values when opening." + ) + if self.source_combo.lineEdit() is not None: + self.source_combo.lineEdit().setPlaceholderText("auto, Line1, Software, ...") + self.form.addRow("Trigger source:", self.source_combo) + + self.activation_combo = QComboBox() + for value in ("RisingEdge", "FallingEdge", "AnyEdge", "LevelHigh", "LevelLow"): + self.activation_combo.addItem(value, value) + self.activation_combo.setToolTip( + "TriggerActivation value. Some software/internal trigger sources may ignore this." + ) + self.form.addRow("Activation:", self.activation_combo) + + # ---------------------------- + # Generic output line fields + # ---------------------------- + self.output_line_edit = QLineEdit() + self.output_line_edit.setPlaceholderText(self._profile.default_output_line) + self.output_line_edit.setToolTip( + "Generic LineSelector value for cameras exposing LineSelector/LineSource. " + "Ignored if the backend/camera does not support generic line output." + ) + self.form.addRow("Output line:", self.output_line_edit) + + self.output_source_edit = QLineEdit() + self.output_source_edit.setPlaceholderText(self._profile.default_output_source) + self.output_source_edit.setToolTip( + "Generic LineSource value for cameras exposing LineSource, e.g. ExposureActive." + ) + self.form.addRow("Output source:", self.output_source_edit) + + # ---------------------------- + # Strobe fields, mainly useful for specific GenTL/TIS devices + # ---------------------------- + self.strobe_polarity_combo = QComboBox() + self.strobe_polarity_combo.addItem("Active high", "ActiveHigh") + self.strobe_polarity_combo.addItem("Active low", "ActiveLow") + self.strobe_polarity_combo.setToolTip( + "Strobe output polarity. Only used by backends/cameras exposing compatible Strobe* nodes." + ) + self.form.addRow("Strobe polarity:", self.strobe_polarity_combo) + + self.strobe_operation_combo = QComboBox() + self.strobe_operation_combo.addItem("Exposure duration", "Exposure") + self.strobe_operation_combo.addItem("Fixed duration", "FixedDuration") + self.strobe_operation_combo.setToolTip( + "Strobe operation. Only used by backends/cameras exposing compatible Strobe* nodes." + ) + self.form.addRow("Strobe operation:", self.strobe_operation_combo) + + self.strobe_duration_spin = QSpinBox() + self.strobe_duration_spin.setRange(0, 32767) + self.strobe_duration_spin.setSingleStep(100) + self.strobe_duration_spin.setSuffix(" µs") + self.strobe_duration_spin.setSpecialValueText("Default") + self.strobe_duration_spin.setToolTip( + "Used only when strobe operation is FixedDuration. 0 means backend/device default." + ) + self.form.addRow("Strobe duration:", self.strobe_duration_spin) + + self.strobe_delay_spin = QSpinBox() + self.strobe_delay_spin.setRange(0, 32767) + self.strobe_delay_spin.setSingleStep(100) + self.strobe_delay_spin.setSuffix(" µs") + self.strobe_delay_spin.setSpecialValueText("Default") + self.strobe_delay_spin.setToolTip("Delay before strobe output. 0 means no explicit delay/device default.") + self.form.addRow("Strobe delay:", self.strobe_delay_spin) + + # ---------------------------- + # Common options + # ---------------------------- + self.timeout_spin = QDoubleSpinBox() + self.timeout_spin.setRange(0.0, 3600.0) + self.timeout_spin.setDecimals(3) + self.timeout_spin.setSingleStep(0.1) + self.timeout_spin.setSpecialValueText("Default") + self.timeout_spin.setToolTip( + "Read/fetch timeout in seconds. The backend may cap individual waits to keep preview shutdown responsive." + ) + self.form.addRow("Read timeout:", self.timeout_spin) + + self.strict_checkbox = QCheckBox("Strict mode") + self.strict_checkbox.setToolTip("If enabled, missing/unsupported trigger features fail camera open.") + self.form.addRow(self.strict_checkbox) + + root.addWidget(group) + + buttons = QDialogButtonBox(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) + buttons.accepted.connect(self._accept) + buttons.rejected.connect(self.reject) + root.addWidget(buttons) + + self.role_combo.currentIndexChanged.connect(self._sync_role_ui) + self.strobe_operation_combo.currentIndexChanged.connect(self._sync_role_ui) + + # Hide backend-irrelevant rows immediately. + self._apply_profile_visibility() + + # ------------------------------------------------------------------ + # UI helpers + # ------------------------------------------------------------------ + + def _set_form_row_visible(self, widget: QWidget, visible: bool) -> None: + """Hide/show a QFormLayout field and its label.""" + widget.setVisible(visible) + try: + label = self.form.labelForField(widget) + if label is not None: + label.setVisible(visible) + except Exception: + pass + + def _set_combo_text(self, combo: QComboBox, text: str) -> None: + text = str(text or "") + idx = combo.findText(text) + if idx >= 0: + combo.setCurrentIndex(idx) + else: + combo.setCurrentText(text) + + def _combo_text(self, combo: QComboBox, fallback: str) -> str: + text = str(combo.currentText() or "").strip() + return text or fallback + + def _apply_profile_visibility(self) -> None: + """Apply static backend-profile visibility. + + Role-specific enablement is handled separately by _sync_role_ui(). + """ + # Input trigger fields are only meaningful for input/software roles. + self._set_form_row_visible(self.selector_edit, self._profile.supports_input or self._profile.supports_software) + self._set_form_row_visible(self.source_combo, self._profile.supports_input or self._profile.supports_software) + self._set_form_row_visible( + self.activation_combo, + self._profile.supports_input, + ) + + # Output fields depend on backend presentation profile. + self._set_form_row_visible(self.output_line_edit, self._profile.show_line_output_fields) + self._set_form_row_visible(self.output_source_edit, self._profile.show_line_output_fields) + + # Strobe fields should not appear for Basler. + self._set_form_row_visible(self.strobe_polarity_combo, self._profile.show_strobe_fields) + self._set_form_row_visible(self.strobe_operation_combo, self._profile.show_strobe_fields) + self._set_form_row_visible(self.strobe_duration_spin, self._profile.show_strobe_fields) + self._set_form_row_visible(self.strobe_delay_spin, self._profile.show_strobe_fields) + + # ------------------------------------------------------------------ + # Model <-> UI + # ------------------------------------------------------------------ + + def _load_from_trigger(self, trigger: CameraTriggerSettings) -> None: + role = str(getattr(trigger, "role", "off") or "off").lower() + idx = self.role_combo.findData(role) + self.role_combo.setCurrentIndex(idx if idx >= 0 else 0) + + self.selector_edit.setText(str(getattr(trigger, "selector", "FrameStart") or "FrameStart")) + + source = str(getattr(trigger, "source", self._profile.default_source) or self._profile.default_source) + self._set_combo_text(self.source_combo, source) + + activation = str(getattr(trigger, "activation", "RisingEdge") or "RisingEdge") + idx = self.activation_combo.findData(activation) + self.activation_combo.setCurrentIndex(idx if idx >= 0 else 0) + + output_line = str( + getattr(trigger, "output_line", self._profile.default_output_line) or self._profile.default_output_line + ) + self.output_line_edit.setText(output_line) + + output_source = str( + getattr(trigger, "output_source", self._profile.default_output_source) + or self._profile.default_output_source + ) + self.output_source_edit.setText(output_source) + + strobe_polarity = str(getattr(trigger, "strobe_polarity", "ActiveHigh") or "ActiveHigh") + idx = self.strobe_polarity_combo.findData(strobe_polarity) + self.strobe_polarity_combo.setCurrentIndex(idx if idx >= 0 else 0) + + strobe_operation = str(getattr(trigger, "strobe_operation", "Exposure") or "Exposure") + idx = self.strobe_operation_combo.findData(strobe_operation) + self.strobe_operation_combo.setCurrentIndex(idx if idx >= 0 else 0) + + strobe_duration = getattr(trigger, "strobe_duration", None) + self.strobe_duration_spin.setValue(int(strobe_duration) if strobe_duration is not None else 0) + + strobe_delay = getattr(trigger, "strobe_delay", None) + self.strobe_delay_spin.setValue(int(strobe_delay) if strobe_delay is not None else 0) + + timeout = getattr(trigger, "timeout", None) + self.timeout_spin.setValue(float(timeout) if timeout else 0.0) + + self.strict_checkbox.setChecked(bool(getattr(trigger, "strict", False))) + + def _sync_role_ui(self) -> None: + role = str(self.role_combo.currentData() or "off") + + input_enabled = role in {"external", "follower", "software"} + hw_input_enabled = role in {"external", "follower"} + output_enabled = role == "master" + + # Input fields. + self.selector_edit.setEnabled(input_enabled) + self.source_combo.setEnabled(input_enabled) + self.activation_combo.setEnabled(hw_input_enabled) + + # Generic Line* output fields. + line_output_active = output_enabled and self._profile.show_line_output_fields + self.output_line_edit.setEnabled(line_output_active) + self.output_source_edit.setEnabled(line_output_active) + + # Strobe fields. + strobe_active = output_enabled and self._profile.show_strobe_fields + self.strobe_polarity_combo.setEnabled(strobe_active) + self.strobe_operation_combo.setEnabled(strobe_active) + + fixed_duration = ( + strobe_active and str(self.strobe_operation_combo.currentData() or "Exposure") == "FixedDuration" + ) + self.strobe_duration_spin.setEnabled(fixed_duration) + self.strobe_delay_spin.setEnabled(strobe_active) + + # Timeout is useful for trigger-waiting modes. Keep it available for + # software too if software support is later enabled. + self.timeout_spin.setEnabled(role in {"external", "follower", "software"}) + + def _accept(self) -> None: + role = str(self.role_combo.currentData() or "off") + + payload = { + "role": role, + "selector": self.selector_edit.text().strip() or "FrameStart", + "source": self._combo_text(self.source_combo, self._profile.default_source), + "activation": str(self.activation_combo.currentData() or "RisingEdge"), + "output_line": self.output_line_edit.text().strip() or self._profile.default_output_line, + "output_source": self.output_source_edit.text().strip() or self._profile.default_output_source, + "strict": bool(self.strict_checkbox.isChecked()), + } + + timeout = float(self.timeout_spin.value()) + if role in {"external", "follower", "software"} and timeout > 0: + payload["timeout"] = timeout + elif role == "off": + payload["timeout"] = None + + # Only include strobe-specific settings for profiles that expose them. + # This avoids cluttering Basler trigger configs with TIS-specific fields. + if self._profile.show_strobe_fields: + payload["strobe_polarity"] = str(self.strobe_polarity_combo.currentData() or "ActiveHigh") + payload["strobe_operation"] = str(self.strobe_operation_combo.currentData() or "Exposure") + + strobe_duration = int(self.strobe_duration_spin.value()) + if role == "master" and strobe_duration > 0: + payload["strobe_duration"] = strobe_duration + + strobe_delay = int(self.strobe_delay_spin.value()) + if role == "master" and strobe_delay > 0: + payload["strobe_delay"] = strobe_delay + + try: + trigger = CameraTriggerSettings.from_any(payload) + except Exception as exc: + QMessageBox.critical(self, "Error", f"Failed to apply trigger settings: {exc}") + return + + ns = _backend_namespace(self._cam) + ns["trigger"] = trigger.to_properties() + + self.accept() diff --git a/dlclivegui/gui/camera_config/ui_blocks.py b/dlclivegui/gui/camera_config/ui_blocks.py index 86e4f19d6..4c912753b 100644 --- a/dlclivegui/gui/camera_config/ui_blocks.py +++ b/dlclivegui/gui/camera_config/ui_blocks.py @@ -276,7 +276,7 @@ def build_settings_group(dlg: CameraConfigDialog) -> QGroupBox: ) dlg.settings_form.addRow(detected_row) - # --- Requested resolution controls (Auto = 0) --- + # --- Requested resolution/output format controls (Auto = 0) --- dlg.cam_width = QSpinBox() dlg.cam_width.setRange(0, 10000) dlg.cam_width.setValue(0) @@ -290,6 +290,24 @@ def build_settings_group(dlg: CameraConfigDialog) -> QGroupBox: res_row = make_two_field_row("W", dlg.cam_width, "H", dlg.cam_height, key_width=30) dlg.settings_form.addRow("Resolution:", res_row) + # --- Output format controls --- + dlg.cam_preserve_mono_checkbox = QCheckBox("Preserve mono output") + dlg.cam_preserve_mono_checkbox.setToolTip( + "For monochrome cameras, keep frames as single-channel Mono8 instead of converting to BGR. " + "This reduces memory bandwidth and recording overhead. Display/overlay/DLC may convert later if needed." + ) + + dlg.detected_output_format_label = QLabel("—") + dlg.detected_output_format_label.setTextInteractionFlags(Qt.TextSelectableByMouse) + dlg.detected_output_format_label.setToolTip( + "Backend-reported output frame format emitted to the app, for example Mono8 or BGR8." + ) + + output_row = make_two_field_row( + None, dlg.cam_preserve_mono_checkbox, "Detected:", dlg.detected_output_format_label, key_width=60, gap=40 + ) + dlg.settings_form.addRow("Output:", output_row) + # --- FPS + Rotation grouped --- dlg.cam_fps = QDoubleSpinBox() dlg.cam_fps.setRange(0.0, 240.0) @@ -354,6 +372,13 @@ def build_settings_group(dlg: CameraConfigDialog) -> QGroupBox: dlg.settings_form.addRow("Crop:", crop_widget) + # --- Trigger settings button --- + dlg.trigger_settings_btn = QPushButton("Trigger Settings…") + dlg.trigger_settings_btn.setIcon(dlg.style().standardIcon(QStyle.StandardPixmap.SP_FileDialogDetailedView)) + dlg.trigger_settings_btn.setEnabled(False) + dlg.trigger_settings_btn.setToolTip("Configure hardware trigger / GPIO sync settings for this camera.") + dlg.settings_form.addRow("Sync:", dlg.trigger_settings_btn) + # Apply/Reset buttons row dlg.apply_settings_btn = QPushButton("Apply Settings") dlg.apply_settings_btn.setIcon(dlg.style().standardIcon(QStyle.StandardPixmap.SP_DialogApplyButton)) diff --git a/dlclivegui/gui/main_window.py b/dlclivegui/gui/main_window.py index caf0937e2..2d6c3e0d1 100644 --- a/dlclivegui/gui/main_window.py +++ b/dlclivegui/gui/main_window.py @@ -9,10 +9,6 @@ import time from pathlib import Path -# NOTE @C-Achard: his could be added in settings eventually -# Forces pypylon to create 2 emulation virtual cameras, -# mostly for testing. This shold not be enabled for release. -# os.environ["PYLON_CAMEMU"] = "2" import cv2 import numpy as np from PySide6.QtCore import QRect, QSettings, Qt, QTimer, QUrl @@ -52,7 +48,10 @@ from dlclivegui.cameras import CameraFactory from dlclivegui.config import ( + ALLOWED_VIDEO_CONTAINERS, DEFAULT_CONFIG, + DEFAULT_RECORDING_CONTAINER, + DLC_DO_LOG_TIMING, ApplicationSettings, BoundingBoxSettings, CameraSettings, @@ -69,10 +68,10 @@ scan_processor_package, ) from ..services.dlc_processor import DLCLiveProcessor, PoseResult -from ..services.multi_camera_controller import MultiCameraController, MultiFrameData, get_camera_id +from ..services.multi_camera_controller import MultiCameraController, MultiFrameData, get_camera_id, get_display_id from ..utils.display import BBoxColors, compute_tile_info, create_tiled_frame, draw_bbox, draw_pose from ..utils.settings_store import DLCLiveGUISettingsStore, ModelPathStore -from ..utils.stats import format_dlc_stats +from ..utils.stats import WorkerTimingStats, format_dlc_stats from ..utils.utils import FPSTracker from .camera_config.camera_config_dialog import CameraConfigDialog from .misc import color_dropdowns as color_ui @@ -133,6 +132,10 @@ def __init__(self, config: ApplicationSettings | None = None): self._rec_manager = RecordingManager() self._dlc = DLCLiveProcessor() self.multi_camera_controller = MultiCameraController() + ### Time debug + self._dlc_timing = WorkerTimingStats( + "GUI - DLC Worker", logger=logger, log_interval=2.0, enabled=DLC_DO_LOG_TIMING + ) self._config = config self._inference_camera_id: str | None = None # Camera ID used for inference @@ -141,6 +144,7 @@ def __init__(self, config: ApplicationSettings | None = None): self._raw_frame: np.ndarray | None = None self._last_pose: PoseResult | None = None self._dlc_active: bool = False + self._pending_recording_after_preview = False self._active_camera_settings: CameraSettings | None = None self._last_drop_warning = 0.0 self._last_recorder_summary = "Recorder idle" @@ -168,6 +172,7 @@ def __init__(self, config: ApplicationSettings | None = None): # Multi-camera state self._multi_camera_mode = False self._multi_camera_frames: dict[str, np.ndarray] = {} + self._multi_camera_display_ids: dict[str, str] = {} # camera_id -> display_id (for labeling) # DLC pose rendering info for tiled view self._dlc_tile_offset: tuple[int, int] = (0, 0) # (x, y) offset in tiled frame self._dlc_tile_scale: tuple[float, float] = (1.0, 1.0) # (scale_x, scale_y) @@ -447,7 +452,7 @@ def _build_dlc_group(self) -> QGroupBox: # Processor selection processor_path_layout = QHBoxLayout() self.processor_folder_edit = QLineEdit() - self.processor_folder_edit.setText(default_processors_dir()) + self.processor_folder_edit.setText(self._settings_store.get_processor_folder(default=default_processors_dir())) processor_path_layout.addWidget(self.processor_folder_edit) self.browse_processor_folder_button = QPushButton("Browse...") @@ -595,7 +600,7 @@ def _build_recording_group(self) -> QGroupBox: self.container_combo.setToolTip("Select the video container/format") self.container_combo.setSizePolicy(QSizePolicy.MinimumExpanding, QSizePolicy.Preferred) self.container_combo.setEditable(True) - self.container_combo.addItems(["mp4", "avi", "mov"]) + self.container_combo.addItems(sorted(ALLOWED_VIDEO_CONTAINERS)) # Ensure it never becomes unreadable: self.container_combo.setMinimumContentsLength(8) self.container_combo.setSizeAdjustPolicy(QComboBox.SizeAdjustPolicy.AdjustToMinimumContentsLengthWithIcon) @@ -635,13 +640,29 @@ def _build_recording_group(self) -> QGroupBox: form.addRow(grid) - # Record with overlays + # Recording options self.record_with_overlays_checkbox = QCheckBox("Record video with overlays") self.record_with_overlays_checkbox.setToolTip( "Enable to include pose overlays in recorded video (keypoints & bounding boxes)" ) self.record_with_overlays_checkbox.setChecked(False) - form.addRow(self.record_with_overlays_checkbox) + + self.fast_encoding_checkbox = QCheckBox("Use faster encoding parameters") + self.fast_encoding_checkbox.setToolTip( + "Use faster FFmpeg parameters for supported codecs.\n" + "For libx264/libx265 this uses preset=ultrafast and tune=zerolatency.\n" + "This can improve recording throughput but may increase file size." + ) + self.fast_encoding_checkbox.setChecked(False) + + recording_options = QWidget() + recording_options_layout = QHBoxLayout(recording_options) + recording_options_layout.setContentsMargins(0, 0, 0, 0) + recording_options_layout.addWidget(self.record_with_overlays_checkbox) + recording_options_layout.addWidget(self.fast_encoding_checkbox) + recording_options_layout.addStretch(1) + + form.addRow(recording_options) # Wrap recording buttons in a widget to prevent shifting recording_button_widget = QWidget() @@ -772,7 +793,9 @@ def _connect_signals(self) -> None: self.bbox_color_combo.currentIndexChanged.connect(self._on_bbox_color_changed) # Multi-camera controller signals (used for both single and multi-camera modes) - self.multi_camera_controller.frame_ready.connect(self._on_multi_frame_ready) + self.multi_camera_controller.frame_ready.connect(self._on_multi_frame_processing_ready) + self.multi_camera_controller.display_ready.connect(self._on_multi_frame_display_ready) + self.multi_camera_controller.recording_frame_ready.connect(self._on_recording_frame_ready) self.multi_camera_controller.all_started.connect(self._on_multi_camera_started) self.multi_camera_controller.all_stopped.connect(self._on_multi_camera_stopped) self.multi_camera_controller.camera_error.connect(self._on_multi_camera_error) @@ -784,19 +807,17 @@ def _connect_signals(self) -> None: self._dlc.initialized.connect(self._on_dlc_initialised) self.dlc_camera_combo.currentIndexChanged.connect(self._on_dlc_camera_changed) self.dlc_camera_combo.currentTextChanged.connect(self.dlc_camera_combo.update_shrink_width) + self.allow_processor_ctrl_checkbox.stateChanged.connect(lambda _s: self._update_dlc_controls_enabled()) + self.allow_processor_ctrl_checkbox.stateChanged.connect(lambda _s: self._update_processor_status()) # Recording settings ## Session name persistence + preview updates - if hasattr(self, "session_name_edit"): - self.session_name_edit.editingFinished.connect(self._on_session_name_editing_finished) - if hasattr(self, "use_timestamp_checkbox"): - self.use_timestamp_checkbox.stateChanged.connect(self._on_use_timestamp_changed) - if hasattr(self, "output_directory_edit"): - self.output_directory_edit.textChanged.connect(lambda _t: self._update_recording_path_preview()) - if hasattr(self, "filename_edit"): - self.filename_edit.textChanged.connect(lambda _t: self._update_recording_path_preview()) - if hasattr(self, "container_combo"): - self.container_combo.currentTextChanged.connect(lambda _t: self._update_recording_path_preview()) + self.session_name_edit.editingFinished.connect(self._on_session_name_editing_finished) + self.use_timestamp_checkbox.stateChanged.connect(self._on_use_timestamp_changed) + self.output_directory_edit.textChanged.connect(lambda _t: self._update_recording_path_preview()) + self.filename_edit.textChanged.connect(lambda _t: self._update_recording_path_preview()) + self.container_combo.currentTextChanged.connect(self._on_container_changed) + self.fast_encoding_checkbox.stateChanged.connect(self._on_fast_encoding_changed) # ------------------------------------------------------------------ # Config @@ -823,6 +844,11 @@ def _apply_config(self, config: ApplicationSettings) -> None: self.codec_combo.addItem(recording.codec) self.codec_combo.setCurrentIndex(self.codec_combo.count() - 1) self.crf_spin.setValue(int(recording.crf)) + + if hasattr(self, "fast_encoding_checkbox"): + config_fast_encoding = bool(getattr(recording, "fast_encoding", False)) + self.fast_encoding_checkbox.setChecked(self._settings_store.get_fast_encoding(default=config_fast_encoding)) + ## Restore persisted session name if empty if hasattr(self, "session_name_edit"): if not self.session_name_edit.text().strip(): @@ -857,15 +883,23 @@ def _apply_config(self, config: ApplicationSettings) -> None: # Update recording path preview self._update_recording_path_preview() - def _current_config(self) -> ApplicationSettings: - # Get the first camera from multi-camera config for backward compatibility - active_cameras = self._config.multi_camera.get_active_cameras() - camera = active_cameras[0] if active_cameras else CameraSettings() + def _current_config(self, *, allow_empty_model_path=False) -> ApplicationSettings: + multi_camera = self._config.multi_camera + active_cameras = multi_camera.get_active_cameras() + camera = ( + active_cameras[0].model_copy(deep=True) + if active_cameras + else ( + multi_camera.cameras[0].model_copy(deep=True) + if multi_camera.cameras + else self._config.camera.model_copy(deep=True) + ) + ) return ApplicationSettings( camera=camera, - multi_camera=self._config.multi_camera, - dlc=self._dlc_settings_from_ui(), + multi_camera=multi_camera, + dlc=self._dlc_settings_from_ui(allow_empty_model_path=allow_empty_model_path), recording=self._recording_settings_from_ui(), bbox=self._bbox_settings_from_ui(), visualization=self._visualization_settings_from_ui(), @@ -877,14 +911,29 @@ def _parse_json(self, value: str) -> dict: return {} return json.loads(text) - def _dlc_settings_from_ui(self) -> DLCProcessorSettings: + def _dlc_settings_from_ui(self, *, allow_empty_model_path=False) -> DLCProcessorSettings: model_path = self.model_path_edit.text().strip() if Path(model_path).exists() and Path(model_path).suffix == ".pb": # IMPORTANT NOTE: DLClive expects a directory for TensorFlow models, # so if user selects a .pb file, we should pass the parent directory to DLCLive model_path = str(Path(model_path).parent) - if model_path == "": + + existing_dlc = ( # explicitly init from default if unset + self._config.dlc.model_copy(deep=True) + if getattr(self._config, "dlc", None) is not None + else DEFAULT_CONFIG.dlc.model_copy(deep=True) + ) + if not model_path: + if allow_empty_model_path: + # Preserve all existing DLC settings and only clear the model path. + return existing_dlc.model_copy( + update={ + "model_path": "", + } + ) + raise ValueError("Model path cannot be empty. Please enter a valid path to a DLCLive model file.") + try: model_bknd = DLCLiveProcessor.get_model_backend(model_path) except Exception as e: @@ -893,25 +942,28 @@ def _dlc_settings_from_ui(self) -> DLCProcessorSettings: "Please ensure the model file is valid and has an appropriate extension " "(.pt, .pth for PyTorch or model directory for TensorFlow)." ) from e - return DLCProcessorSettings( - model_path=model_path, - model_directory=self._config.dlc.model_directory, # Preserve from config - device=self._config.dlc.device, # Preserve from config - dynamic=self._config.dlc.dynamic, # Preserve from config - resize=self._config.dlc.resize, # Preserve from config - precision=self._config.dlc.precision, # Preserve from config - model_type=model_bknd, - # additional_options=self._parse_json(self.additional_options_edit.toPlainText()), + + # Preserve all unchanged DLC settings and only update values derived from the UI. + return existing_dlc.model_copy( + update={ + "model_path": model_path, + "model_type": model_bknd, + } ) def _recording_settings_from_ui(self) -> RecordingSettings: + container = self.container_combo.currentText().strip() or DEFAULT_RECORDING_CONTAINER + filename = self._filename_matching_container(self.filename_edit.text().strip(), container) return RecordingSettings( enabled=True, # Always enabled - recording controlled by button directory=self.output_directory_edit.text().strip(), - filename=self.filename_edit.text().strip() or "session.mp4", - container=self.container_combo.currentText().strip() or "mp4", + filename=filename, + container=container, codec=self.codec_combo.currentText().strip() or "libx264", crf=int(self.crf_spin.value()), + fast_encoding=bool( + getattr(self, "fast_encoding_checkbox", None) and self.fast_encoding_checkbox.isChecked() + ), ) def _bbox_settings_from_ui(self) -> BoundingBoxSettings: @@ -968,7 +1020,7 @@ def _action_save_config_as(self) -> None: def _save_config_to_path(self, path: Path) -> None: try: - config = self._current_config() + config = self._current_config(allow_empty_model_path=True) config.save(path) self._settings_store.set_last_config_path(str(path)) self._settings_store.save_full_config_snapshot(config) @@ -1038,10 +1090,11 @@ def _action_browse_directory(self) -> None: def _action_browse_processor_folder(self) -> None: """Browse for processor folder.""" - current_path = self.processor_folder_edit.text() or default_processors_dir() + current_path = self.processor_folder_edit.text().strip() or default_processors_dir() directory = QFileDialog.getExistingDirectory(self, "Select processor folder", current_path) if directory: self.processor_folder_edit.setText(directory) + self._settings_store.set_processor_folder(directory) self._refresh_processors() def _action_open_recording_folder(self) -> None: @@ -1095,10 +1148,17 @@ def _refresh_processors(self) -> None: self.processor_combo.addItem("No Processor", None) selected_folder = self.processor_folder_edit.text().strip() - if Path(selected_folder).exists(): - self._scanned_processors = scan_processor_folder(selected_folder) + selected_path = Path(selected_folder).expanduser() if selected_folder else None + + if selected_path is not None and selected_path.is_dir(): + resolved_folder = str(selected_path.resolve()) + self._settings_store.set_processor_folder(resolved_folder) + self._scanned_processors = scan_processor_folder(resolved_folder) + source_text = resolved_folder else: self._scanned_processors = scan_processor_package("dlclivegui.processors") + source_text = "package dlclivegui.processors" + self._processor_keys = list(self._scanned_processors.keys()) for key in self._processor_keys: @@ -1107,37 +1167,56 @@ def _refresh_processors(self) -> None: self.processor_combo.addItem(display_name, key) self.processor_combo.update_shrink_width() - self.statusBar().showMessage( - f"Found {len(self._processor_keys)} processor(s) in package dlclivegui.processors", 3000 - ) + self.statusBar().showMessage(f"Found {len(self._processor_keys)} processor(s) in {source_text}", 3000) # ------------------------------------------------------------------ # Recording path preview and session name persistence + def _known_recording_extensions(self) -> set[str]: + """Return known recording container extensions without leading dots.""" + known = ALLOWED_VIDEO_CONTAINERS.copy() + if hasattr(self, "container_combo"): + known.update( + self.container_combo.itemText(i).strip().lower().lstrip(".") + for i in range(self.container_combo.count()) + if self.container_combo.itemText(i).strip() + ) + return known + + def _filename_matching_container(self, filename: str, container: str) -> str: + """ + Adjust filename extension to match selected container, but only when + the existing extension is another known recording container. + """ + name = filename.strip() or "recording" + selected_ext = container.strip().lower().lstrip(".") + suffix = Path(name).suffix + + if not suffix or not selected_ext: + return name + + current_ext = suffix.lower().lstrip(".") + if current_ext in self._known_recording_extensions() and current_ext != selected_ext: + return str(Path(name).with_suffix(f".{selected_ext}")) + + return name + + def _on_container_changed(self, text: str) -> None: + """Keep filename extension aligned with selected container when safe.""" + if hasattr(self, "filename_edit"): + current = self.filename_edit.text() + updated = self._filename_matching_container(current, text) + if updated != current: + self.filename_edit.blockSignals(True) + self.filename_edit.setText(updated) + self.filename_edit.blockSignals(False) + + self._update_recording_path_preview() + def _on_session_name_editing_finished(self) -> None: name = self.session_name_edit.text().strip() self._settings_store.set_session_name(name) self._update_recording_path_preview() - # def _update_recording_path_preview(self) -> None: - # """Update the label showing where files will go (best-effort).""" - # if not hasattr(self, "recording_path_preview"): - # return - # out_dir = self.output_directory_edit.text().strip() - # sess = self.session_name_edit.text().strip() if hasattr(self, "session_name_edit") else "" - # base = self.filename_edit.text().strip() - # container = self.container_combo.currentText().strip() if hasattr(self, "container_combo") else "mp4" - # use_ts = self.use_timestamp_checkbox.isChecked() if hasattr(self, "use_timestamp_checkbox") else True - - # # Preview is approximate (since run index/time is decided at start). - # sess_safe = sess.strip() or "session" - # run_hint = "run_" if use_ts else "run_" - # stem_hint = Path(base).stem if base.strip() else "recording" # shows user-provided stem or default - # full_hint = str(Path(out_dir).expanduser() / sess_safe / run_hint / f"{stem_hint}_.{container}") - # self.recording_path_preview.setText(f"{full_hint}") - # self.recording_path_preview.setToolTip( - # f"Click to copy to clipboard :
{full_hint.replace('', '*')}" - # ) - def _update_recording_path_preview(self) -> None: """Update the label showing where files will go (best-effort).""" if not hasattr(self, "recording_path_preview"): @@ -1145,8 +1224,12 @@ def _update_recording_path_preview(self) -> None: out_dir = self.output_directory_edit.text().strip() sess = self.session_name_edit.text().strip() if hasattr(self, "session_name_edit") else "" - base = self.filename_edit.text().strip() - container = self.container_combo.currentText().strip() if hasattr(self, "container_combo") else "mp4" + container = ( + self.container_combo.currentText().strip() + if hasattr(self, "container_combo") + else DEFAULT_RECORDING_CONTAINER + ) + base = self._filename_matching_container(self.filename_edit.text(), container) use_ts = self.use_timestamp_checkbox.isChecked() if hasattr(self, "use_timestamp_checkbox") else True # Preview is approximate (since run index/time is decided at start). @@ -1170,6 +1253,9 @@ def _on_use_timestamp_changed(self, _state: int) -> None: self._settings_store.set_use_timestamp(self.use_timestamp_checkbox.isChecked()) self._update_recording_path_preview() + def _on_fast_encoding_changed(self, _state: int) -> None: + self._settings_store.set_fast_encoding(self.fast_encoding_checkbox.isChecked()) + def _on_colormap_changed(self, _index: int) -> None: self._colormap = color_ui.get_cmap_name_from_combo(self.cmap_combo, fallback=self._colormap) if self._current_frame is not None: @@ -1268,8 +1354,10 @@ def _refresh_dlc_camera_list_running(self) -> None: """Populate the inference camera dropdown from currently running cameras.""" self.dlc_camera_combo.blockSignals(True) self.dlc_camera_combo.clear() - for cam_id in sorted(self._running_cams_ids): - self.dlc_camera_combo.addItem(self._label_for_cam_id(cam_id), cam_id) + for cam in self._config.multi_camera.get_active_cameras(): + cam_id = get_camera_id(cam) + if cam_id in self._running_cams_ids: + self.dlc_camera_combo.addItem(self._label_for_cam_id(cam_id), cam_id) # Keep current selection if still present, else select first running if self._inference_camera_id in self._running_cams_ids: @@ -1351,15 +1439,35 @@ def _render_overlays_for_recording(self, cam_id, frame): ) return output - def _on_multi_frame_ready(self, frame_data: MultiFrameData) -> None: + def _on_recording_frame_ready( + self, camera_id: str, frame: np.ndarray, timestamp: float, timestamp_metadata: object | None = None + ) -> None: + """Handle full-rate per-camera frames for recording only. + + Intentionally lean: + - no MultiFrameData processing + - no DLC routing + - no display state updates + - no FPS tracker + - optional overlays only if user requested recording overlays + """ + if not self._rec_manager.is_active: + return + + if self.record_with_overlays_checkbox.isChecked(): + frame = self._render_overlays_for_recording(camera_id, frame) + + self._rec_manager.write_frame(camera_id, frame, timestamp, timestamp_metadata=timestamp_metadata) + + def _on_multi_frame_processing_ready(self, frame_data: MultiFrameData) -> None: """Handle frames from multiple cameras. - Priority order for performance: - 1. DLC processing (highest priority - enqueue immediately, only for DLC camera) - 2. Recording (queued writes, non-blocking) - 3. Display (lowest priority - tiled and updated on separate timer) + Priority: + - DLC processing (highest priority - enqueue immediately, only for DLC camera) """ self._multi_camera_frames = frame_data.frames + self._multi_camera_display_ids = frame_data.display_ids or {} + self._try_start_pending_recording() src_id = frame_data.source_camera_id if src_id: self._fps_tracker.note_frame(src_id) # Track FPS @@ -1371,7 +1479,7 @@ def _on_multi_frame_ready(self, frame_data: MultiFrameData) -> None: # Determine DLC camera (first active camera) selected_id = self._inference_camera_id - available_ids = sorted(frame_data.frames.keys()) + available_ids = list(frame_data.frames.keys()) if selected_id in frame_data.frames: dlc_cam_id = selected_id else: @@ -1397,24 +1505,23 @@ def _on_multi_frame_ready(self, frame_data: MultiFrameData) -> None: self._raw_frame = frame self._dlc_tile_offset, self._dlc_tile_scale = compute_tile_info(dlc_cam_id, frame, frame_data.frames) - # PRIORITY 1: DLC processing - only enqueue when DLC camera frame arrives! + # PRIORITY: DLC processing - only enqueue when DLC camera frame arrives! if self._dlc_active and is_dlc_camera_frame and dlc_cam_id in frame_data.frames: frame = frame_data.frames[dlc_cam_id] timestamp = frame_data.timestamps.get(dlc_cam_id, time.time()) - self._dlc.enqueue_frame(frame, timestamp) - - # PRIORITY 2: Recording (queued, non-blocking) - if self._rec_manager.is_active and src_id in frame_data.frames: - frame = frame_data.frames[src_id] + with self._dlc_timing.measure("enqueue_frame"): + self._dlc.enqueue_frame(frame, timestamp) - if self.record_with_overlays_checkbox.isChecked(): - # Draw overlays for recording - frame = self._render_overlays_for_recording(src_id, frame) + self._dlc_timing.note_frame() + self._dlc_timing.maybe_log() - ts = frame_data.timestamps.get(src_id, time.time()) - self._rec_manager.write_frame(src_id, frame, ts) + def _on_multi_frame_display_ready(self, frame_data: MultiFrameData) -> None: + """Throttled UI/display path. - # PRIORITY 3: Mark display dirty (tiling done in display timer) + Called at GUI_MAX_DISPLAY_FPS, not at camera capture FPS for performance reasons. + """ + self._multi_camera_frames = frame_data.frames + self._multi_camera_display_ids = frame_data.display_ids or {} self._display_dirty = True def _on_multi_camera_started(self) -> None: @@ -1425,24 +1532,29 @@ def _on_multi_camera_started(self) -> None: self.statusBar().showMessage(f"Multi-camera preview started: {active_count} camera(s)", 5000) self._update_inference_buttons() self._update_camera_controls_enabled() + self._update_dlc_controls_enabled() def _on_multi_camera_stopped(self) -> None: """Handle all cameras stopped event.""" # Stop all multi-camera recorders self._stop_multi_camera_recording() + self._pending_recording_after_preview = False self.preview_button.setEnabled(True) self.stop_preview_button.setEnabled(False) self._current_frame = None self._multi_camera_frames.clear() + self._multi_camera_display_ids.clear() self.video_label.setPixmap(QPixmap()) self.video_label.setText("Camera preview not started") self.statusBar().showMessage("Multi-camera preview stopped", 3000) self._update_inference_buttons() self._update_camera_controls_enabled() + self._update_dlc_controls_enabled() def _on_multi_camera_error(self, camera_id: str, message: str) -> None: """Handle error from a camera in multi-camera mode.""" + self._pending_recording_after_preview = False self._show_warning(f"Camera {camera_id} error: {message}\nRecording stopped.") self._refresh_dlc_camera_list_running() if self.dlc_camera_combo.count() <= 1: @@ -1451,6 +1563,7 @@ def _on_multi_camera_error(self, camera_id: str, message: str) -> None: def _on_multi_camera_initialization_failed(self, failures: list) -> None: """Handle complete failure to initialize cameras.""" + self._pending_recording_after_preview = False # Build error message with details for each failed camera error_lines = ["Failed to initialize camera(s):"] for camera_id, error_msg in failures: @@ -1472,11 +1585,13 @@ def _start_multi_camera_recording(self) -> None: session_name = self.session_name_edit.text().strip() if hasattr(self, "session_name_edit") else "" use_ts = self.use_timestamp_checkbox.isChecked() if hasattr(self, "use_timestamp_checkbox") else True + actual_fps_by_camera = self.multi_camera_controller.actual_fps_by_camera_id() run_dir = self._rec_manager.start_all( recording, active_cams, self._multi_camera_frames, + frame_rates=actual_fps_by_camera, session_name=session_name, use_timestamp=use_ts, all_or_nothing=False, @@ -1484,6 +1599,7 @@ def _start_multi_camera_recording(self) -> None: if run_dir is None: self._show_error("Failed to start recording.") return + self.multi_camera_controller.set_recording_frame_do_emit(True) self._settings_store.set_session_name(session_name) self.start_record_button.setEnabled(False) @@ -1494,6 +1610,9 @@ def _start_multi_camera_recording(self) -> None: def _stop_multi_camera_recording(self) -> None: if not self._rec_manager.is_active: return + + self.multi_camera_controller.set_recording_frame_do_emit(False) + self._rec_manager.stop_all() self.start_record_button.setEnabled(True) self.stop_record_button.setEnabled(False) @@ -1569,6 +1688,7 @@ def _start_preview(self) -> None: self._raw_frame = None self._last_pose = None self._multi_camera_frames.clear() + self._multi_camera_display_ids.clear() self._fps_tracker.clear() self._last_display_time = 0.0 @@ -1603,8 +1723,9 @@ def _stop_preview(self) -> None: # Stop any active recording first self._stop_multi_camera_recording() - self.multi_camera_controller.stop() + self._pending_recording_after_preview = False self._stop_inference(show_message=False) + self.multi_camera_controller.stop() self._fps_tracker.clear() self._last_display_time = 0.0 if hasattr(self, "camera_stats_label"): @@ -1614,7 +1735,7 @@ def _stop_preview(self) -> None: def _configure_dlc(self) -> bool: try: settings = self._dlc_settings_from_ui() - except (ValueError, json.JSONDecodeError) as exc: + except (ValueError, RuntimeError, json.JSONDecodeError) as exc: self._show_error(f"Invalid DLCLive settings: {exc}") return False if not settings.model_path: @@ -1653,24 +1774,28 @@ def _update_inference_buttons(self) -> None: def _update_dlc_controls_enabled(self) -> None: """Enable/disable DLC settings based on inference state.""" allow_changes = not self._dlc_active - processor_controls = allow_changes and self._processor_control_enabled() widgets = [ self.model_path_edit, self.browse_model_button, self.dlc_camera_combo, - # self.additional_options_edit, ] + processor_widgets = [ self.processor_folder_edit, self.browse_processor_folder_button, self.refresh_processors_button, self.processor_combo, ] + for widget in widgets: widget.setEnabled(allow_changes) + for widget in processor_widgets: - widget.setEnabled(processor_controls) + widget.setEnabled(allow_changes) + + if hasattr(self, "allow_processor_ctrl_checkbox"): + self.allow_processor_ctrl_checkbox.setEnabled(allow_changes) def _update_camera_controls_enabled(self) -> None: multi_cam_recording = self._rec_manager.is_active @@ -1684,6 +1809,8 @@ def _update_camera_controls_enabled(self) -> None: recording_editable = not multi_cam_recording self.codec_combo.setEnabled(recording_editable) self.crf_spin.setEnabled(recording_editable) + if hasattr(self, "fast_encoding_checkbox"): + self.fast_encoding_checkbox.setEnabled(recording_editable) # Config cameras button should be available when not in preview/recording self.config_cameras_button.setEnabled(allow_changes) @@ -1711,7 +1838,7 @@ def _update_display_from_pending(self) -> None: self._display_dirty = False # Create tiled frame on demand (moved from camera thread for performance) - tiled = create_tiled_frame(self._multi_camera_frames) + tiled = create_tiled_frame(self._multi_camera_frames, labels=self._multi_camera_display_ids) if tiled is not None: self._current_frame = tiled self._update_video_display(tiled) @@ -1727,10 +1854,11 @@ def _update_metrics(self) -> None: active_cams = self._config.multi_camera.get_active_cameras() lines = [] for cam in active_cams: - cam_id = get_camera_id(cam) # e.g., "opencv:0" or "pylon:1" + cam_id = get_camera_id(cam) + display_id = get_display_id(cam) fps = self._fps_tracker.fps(cam_id) # Make a compact label: name [backend:index] @ fps - label = f"{cam.name or cam_id} [{cam.backend}:{cam.index}]" + label = f"{display_id} [{cam.backend}:{cam.index}]" if fps > 0: lines.append(f"{label} @ {fps:.1f} fps") else: @@ -1884,17 +2012,44 @@ def _start_recording(self) -> None: """Start recording from all active cameras.""" # Auto-start preview if not running if not self.multi_camera_controller.is_running(): + self._pending_recording_after_preview = True self._start_preview() # Wait a moment for cameras to initialize before recording # The recording will start after preview is confirmed running self.statusBar().showMessage("Starting preview before recording...", 3000) # Use a single-shot timer to start recording after preview starts - QTimer.singleShot(500, self._start_multi_camera_recording) + # QTimer.singleShot(500, self._start_multi_camera_recording) return # Preview already running, start recording immediately self._start_multi_camera_recording() + def _try_start_pending_recording(self) -> None: + if not self._pending_recording_after_preview: + return + + if self._rec_manager.is_active: + self._pending_recording_after_preview = False + return + + if not self.multi_camera_controller.is_running(): + return + + active_cams = self._config.multi_camera.get_active_cameras() + expected_ids = {get_camera_id(cam) for cam in active_cams} + + if not expected_ids: + self._pending_recording_after_preview = False + return + + available_ids = set(self._multi_camera_frames.keys()) + + if not expected_ids.issubset(available_ids): + return + + self._pending_recording_after_preview = False + self._start_multi_camera_recording() + def _stop_recording(self) -> None: """Stop recording from all cameras.""" self._stop_multi_camera_recording() @@ -1902,10 +2057,23 @@ def _stop_recording(self) -> None: def _on_pose_ready(self, result: PoseResult) -> None: if not self._dlc_active: return - self._last_pose = result - # logger.debug(f"Pose result: {result.pose}, Timestamp: {result.timestamp}") - if self._current_frame is not None: - self._display_frame(self._current_frame, force=True) + + with self._dlc_timing.measure("DLC.pose_ready_callback"): + self._last_pose = result + + # try: + # latency_ms = (time.time() - float(result.timestamp)) * 1000.0 + # if logger.isEnabledFor(logging.DEBUG): + # logger.debug("DLC pose latency camera_timestamp_to_gui=%.2f ms", latency_ms) + # except Exception: + # pass + + if self._current_frame is not None: + self._display_dirty = True + # with self._dlc_timing.measure("DLC.display_after_pose"): + # self._display_frame(self._current_frame, force=True) + + self._dlc_timing.maybe_log() def _on_dlc_error(self, message: str) -> None: self._stop_inference(show_message=False) @@ -2046,6 +2214,9 @@ def closeEvent(self, event: QCloseEvent) -> None: # pragma: no cover - GUI beha # Remember model path on exit self._model_path_store.save_if_valid(self.model_path_edit.text().strip()) + # Remember processor folder on exit + if hasattr(self, "processor_folder_edit"): + self._settings_store.set_processor_folder(self.processor_folder_edit.text().strip()) # Close the window super().closeEvent(event) diff --git a/dlclivegui/gui/recording_manager.py b/dlclivegui/gui/recording_manager.py index 49ac9934b..ddcef47be 100644 --- a/dlclivegui/gui/recording_manager.py +++ b/dlclivegui/gui/recording_manager.py @@ -8,7 +8,8 @@ from dlclivegui.config import CameraSettings, RecordingSettings from dlclivegui.services.multi_camera_controller import get_camera_id -from dlclivegui.services.video_recorder import RecorderStats, VideoRecorder +from dlclivegui.services.video_recorder import VideoRecorder +from dlclivegui.utils.stats import RecorderStats from dlclivegui.utils.utils import build_run_dir, sanitize_name log = logging.getLogger(__name__) @@ -38,6 +39,55 @@ def session_dir(self) -> Path | None: def run_dir(self) -> Path | None: return self._run_dir + @staticmethod + def _backend_ns(cam: CameraSettings) -> dict: + backend = (cam.backend or "").lower() + props = cam.properties if isinstance(cam.properties, dict) else {} + ns = props.get(backend, {}) + return ns if isinstance(ns, dict) else {} + + @classmethod + def _resolve_recording_fps( + cls, + cam: CameraSettings, + cam_id: str, + frame_rates: dict[str, float] | None, + ) -> float | None: + """Resolve writer FPS. + + Prefer runtime measured FPS, then backend-probed detected_fps, + then explicit requested cam.fps. Auto/unknown returns None. + """ + measured_fps = 0.0 + if frame_rates: + try: + measured_fps = float(frame_rates.get(cam_id, 0.0) or 0.0) + except Exception: + measured_fps = 0.0 + + if measured_fps > 0.0: + return measured_fps + + ns = cls._backend_ns(cam) + + try: + detected_fps = float(ns.get("detected_fps", 0.0) or 0.0) + except Exception: + detected_fps = 0.0 + + if detected_fps > 0.0: + return detected_fps + + try: + requested_fps = float(getattr(cam, "fps", 0.0) or 0.0) + except Exception: + requested_fps = 0.0 + + if requested_fps > 0.0: + return requested_fps + + return None + def pop(self, cam_id: str, default=None) -> VideoRecorder | None: return self._recorders.pop(cam_id, default) @@ -47,6 +97,7 @@ def start_all( active_cams: list[CameraSettings], current_frames: dict[str, np.ndarray], *, + frame_rates: dict[str, float] | None = None, session_name: str = "session", use_timestamp: bool = True, all_or_nothing: bool = False, @@ -96,13 +147,30 @@ def start_all( frame = current_frames.get(cam_id) frame_size = (frame.shape[0], frame.shape[1]) if frame is not None else None + recorder_fps = self._resolve_recording_fps(cam, cam_id, frame_rates) + writer_options = recording.writegear_options(recorder_fps) + + log.debug( + "Starting recorder %s -> %s frame_size=%s requested_fps=%s detected_fps=%s " + "recorder_fps=%s fast_encoding=%s writer_options=%s", + cam_id, + cam_path, + frame_size, + getattr(cam, "fps", None), + self._backend_ns(cam).get("detected_fps"), + f"{recorder_fps:.3f}" if recorder_fps else "auto/fallback", + bool(getattr(recording, "fast_encoding", False)), + writer_options, + ) recorder = VideoRecorder( cam_path, frame_size=frame_size, - frame_rate=float(cam.fps), + frame_rate=recorder_fps, codec=recording.codec, crf=recording.crf, + convert_grayscale_to_rgb=not bool(getattr(cam, "preserve_mono", False)), + writer_options=writer_options, ) try: recorder.start() @@ -134,14 +202,27 @@ def stop_all(self) -> None: self._session_dir = None self._run_dir = None - def write_frame(self, cam_id: str, frame: np.ndarray, timestamp: float | None = None) -> None: + def write_frame( + self, cam_id: str, frame: np.ndarray, timestamp: float | None = None, timestamp_metadata: object | None = None + ) -> None: rec = self._recorders.get(cam_id) if not rec or not rec.is_running: return try: - rec.write(frame, timestamp=timestamp if timestamp is not None else time.time()) + rec.write( + frame, + timestamp=timestamp if timestamp is not None else time.time(), + timestamp_metadata=timestamp_metadata, + ) except Exception as exc: - log.warning("Failed to write frame for %s: %s", cam_id, exc) + log.warning( + "Failed to write frame for %s: %s: %s frame_shape=%s dtype=%s", + cam_id, + type(exc).__name__, + str(exc) or repr(exc), + getattr(frame, "shape", None), + getattr(frame, "dtype", None), + ) try: rec.stop() except Exception: @@ -150,9 +231,13 @@ def write_frame(self, cam_id: str, frame: np.ndarray, timestamp: float | None = def get_stats_summary(self) -> str: totals = { + "enqueued": 0, "written": 0, "dropped": 0, "queue": 0, + "buffer": 0, + "backlog": 0, + "write_fps": 0.0, "max_latency": 0.0, "avg_latencies": [], } @@ -160,9 +245,13 @@ def get_stats_summary(self) -> str: stats: RecorderStats | None = rec.get_stats() if not stats: continue + totals["enqueued"] += stats.frames_enqueued totals["written"] += stats.frames_written totals["dropped"] += stats.dropped_frames totals["queue"] += stats.queue_size + totals["buffer"] += stats.buffer_size + totals["backlog"] += stats.backlog_frames + totals["write_fps"] += stats.write_fps totals["max_latency"] = max(totals["max_latency"], stats.last_latency) totals["avg_latencies"].append(stats.average_latency) @@ -176,8 +265,16 @@ def get_stats_summary(self) -> str: return "Recording..." else: avg = sum(totals["avg_latencies"]) / len(totals["avg_latencies"]) if totals["avg_latencies"] else 0.0 + + buffer = totals["buffer"] + queue_text = f"{totals['queue']}/{buffer}" if buffer > 0 else str(totals["queue"]) + fill_pct = (100.0 * totals["queue"] / buffer) if buffer > 0 else 0.0 + return ( - f"{len(self._recorders)} cams | {totals['written']} frames | " + f"{len(self._recorders)} cams | {totals['written']}/{totals['enqueued']} frames | " + f"writer {totals['write_fps']:.1f} fps | " f"latency {totals['max_latency'] * 1000:.1f}ms (avg {avg * 1000:.1f}ms) | " - f"queue {totals['queue']} | dropped {totals['dropped']}" + f"queue {queue_text} ({fill_pct:.0f}%) | " + f"backlog {totals['backlog']} | " + f"dropped {totals['dropped']}" ) diff --git a/dlclivegui/main.py b/dlclivegui/main.py index eb444aa08..9e38a08cf 100644 --- a/dlclivegui/main.py +++ b/dlclivegui/main.py @@ -3,6 +3,7 @@ import argparse import logging +import os import signal import sys @@ -26,32 +27,96 @@ def _maybe_allow_keyboard_interrupt(app: QApplication) -> None: """ - Gracefully handle Ctrl+C (SIGINT) by closing the main window and quitting Qt. + Gracefully handle Ctrl+C/SIGTERM by closing the main window and quitting Qt. + + Notes: + - The small timer keeps Python signal handling responsive while Qt owns the event loop. + - First Ctrl+C tries graceful cleanup via closeEvent(). + - Second Ctrl+C exits immediately with code 130. """ + quitting = {"requested": False} def _request_quit() -> None: + if quitting["requested"]: + return + + quitting["requested"] = True logging.info("Keyboard interrupt received, closing application...") + win = getattr(app, "_main_window", None) + if win is not None: - # Trigger your existing closeEvent cleanup (camera stop, threads, timers, etc.) - win.close() - else: - app.quit() + try: + # Trigger existing closeEvent cleanup: + # camera stop, controller shutdown, timers, DLC shutdown, etc. + win.close() + except Exception: + logging.exception("Error while closing main window after Ctrl+C") + + # Explicitly ask Qt to leave app.exec(). + # Do this even after win.close(), because closeEvent cleanup can be async + # and relying only on quitOnLastWindowClosed can be fragile. + QTimer.singleShot(0, app.quit) + + def _force_exit() -> None: + logging.warning("Second interrupt received, forcing process exit.") + os._exit(130) def _sigint_handler(_signum, _frame) -> None: + if quitting["requested"]: + _force_exit() QTimer.singleShot(0, _request_quit) signal.signal(signal.SIGINT, _sigint_handler) - # Keepalive timer to allow Python to handle signals while Qt is running. - sig_timer = QTimer() - sig_timer.setInterval(100) # 50–200ms typical; keep low overhead + # Ctrl+Break on Windows. + if hasattr(signal, "SIGBREAK"): + signal.signal(signal.SIGBREAK, _sigint_handler) + + # Useful when process is terminated from shells/process managers. + if hasattr(signal, "SIGTERM"): + signal.signal(signal.SIGTERM, _sigint_handler) + + # Parent the timer to app so Qt owns its lifetime. + sig_timer = QTimer(app) + sig_timer.setInterval(100) sig_timer.timeout.connect(lambda: None) sig_timer.start() - if hasattr(app, "_sig_timer"): - app._sig_timer.stop() # Stop any existing timer to avoid duplicates - app._sig_timer = sig_timer # Store on app to keep it alive and allow cleanup on exit + old_timer = getattr(app, "_sig_timer", None) + if old_timer is not None: + try: + old_timer.stop() + except Exception: + pass + + app._sig_timer = sig_timer + + +def configure_logging(debug: bool = False) -> None: + """Configure local application logging.""" + env_debug = os.environ.get("DLCLIVEGUI_DEBUG_LOGGING", "").strip().lower() in ( + "1", + "true", + "yes", + "on", + "debug", + ) + + enabled = bool(debug or env_debug) + level = logging.DEBUG if enabled else logging.INFO + + logging.basicConfig( + level=level, + format="%(asctime)s.%(msecs)03d %(levelname)-8s [%(threadName)s] %(name)s:%(lineno)d - %(message)s", + datefmt="%H:%M:%S", + force=True, + ) + + logging.getLogger("dlclivegui").setLevel(level) + + if enabled: + logging.debug("Debug logging enabled.") def parse_args(argv=None): @@ -77,12 +142,13 @@ def parse_args(argv=None): formatter_class=argparse.RawDescriptionHelpFormatter, ) parser.add_argument("--no-art", action="store_true", help="Disable ASCII art in help and when launching.") + parser.add_argument("--debug-log", action="store_true", help="Enable debug logging.") return parser.parse_known_args(argv) def main() -> None: args, _unknown = parse_args() - + configure_logging(debug=args.debug_log) logging.info("Starting DeepLabCut-Live GUI...") # If you want a startup banner, PRINT it (not log), and only in TTY contexts. diff --git a/dlclivegui/processors/PLUGIN_SYSTEM.md b/dlclivegui/processors/PLUGIN_SYSTEM.md index 9e975e01c..e6a143626 100644 --- a/dlclivegui/processors/PLUGIN_SYSTEM.md +++ b/dlclivegui/processors/PLUGIN_SYSTEM.md @@ -16,7 +16,8 @@ Processors are Python classes (typically subclasses of `dlclive.Processor`) that ### Useful files -- `dlclivegui/processors/dlc_processor_socket.py` — Example socket-based processor base class + examples +- `dlclivegui/processors/dlc_processor_socket.py` — Example socket-based processor base class +- `dlclivegui/processors/examples.py` — Example processor implementations (e.g., One-Euro filter) - `dlclivegui/processors/processor_utils.py` — Scanning + instantiation helpers used by the GUI --- @@ -204,12 +205,7 @@ The built-in `BaseProcessorSocket` (in `dlc_processor_socket.py`) demonstrates a ```python from dlclive import Processor - -PROCESSOR_REGISTRY = {} - -def register_processor(cls): - PROCESSOR_REGISTRY[getattr(cls, "PROCESSOR_ID", cls.__name__)] = cls - return cls +from dlclivegui.processors import register_processor, PROCESSOR_REGISTRY @register_processor class MyNewProcessor(Processor): diff --git a/dlclivegui/processors/__init__.py b/dlclivegui/processors/__init__.py new file mode 100644 index 000000000..8e7717155 --- /dev/null +++ b/dlclivegui/processors/__init__.py @@ -0,0 +1,3 @@ +from .registry import PROCESSOR_REGISTRY, register_processor + +__all__ = ["register_processor", "PROCESSOR_REGISTRY"] diff --git a/dlclivegui/processors/dlc_processor_socket.py b/dlclivegui/processors/dlc_processor_socket.py index 8ded01069..594512c24 100644 --- a/dlclivegui/processors/dlc_processor_socket.py +++ b/dlclivegui/processors/dlc_processor_socket.py @@ -7,14 +7,17 @@ import sys import time from collections import deque -from math import acos, atan2, copysign, degrees, pi, sqrt from multiprocessing.connection import Client, Listener from pathlib import Path from threading import Event, Thread import numpy as np import pandas as pd -from dlclive import Processor # type: ignore + +try: + from dlclive.processor import Processor # type: ignore +except ImportError: + Processor = object # Fallback for type checking if dlclive is not installed logger = logging.getLogger("dlc_processor_socket") @@ -24,59 +27,6 @@ _handler.setFormatter(logging.Formatter("%(asctime)s [%(levelname)s] %(message)s")) logger.addHandler(_handler) -# Registry for GUI discovery -PROCESSOR_REGISTRY = {} - - -def register_processor(cls): - registry_key = getattr(cls, "PROCESSOR_ID", cls.__name__) - if registry_key in PROCESSOR_REGISTRY: - raise ValueError( - f"Duplicate processor registration key '{registry_key}': " - f"{PROCESSOR_REGISTRY[registry_key].__name__} vs {cls.__name__}" - ) - PROCESSOR_REGISTRY[registry_key] = cls - return cls - - -class OneEuroFilter: # pragma: no cover - def __init__(self, t0, x0, dx0=None, min_cutoff=1.0, beta=0.0, d_cutoff=1.0): - self.min_cutoff = min_cutoff - self.beta = beta - self.d_cutoff = d_cutoff - self.x_prev = x0 - if dx0 is None: - dx0 = np.zeros_like(x0) - self.dx_prev = dx0 - self.t_prev = t0 - - @staticmethod - def smoothing_factor(t_e, cutoff): - r = 2 * pi * cutoff * t_e - return r / (r + 1) - - @staticmethod - def exponential_smoothing(alpha, x, x_prev): - return alpha * x + (1 - alpha) * x_prev - - def __call__(self, t, x): - t_e = t - self.t_prev - if t_e <= 0: - return x - a_d = self.smoothing_factor(t_e, self.d_cutoff) - dx = (x - self.x_prev) / t_e - dx_hat = self.exponential_smoothing(a_d, dx, self.dx_prev) - - cutoff = self.min_cutoff + self.beta * abs(dx_hat) - a = self.smoothing_factor(t_e, cutoff) - x_hat = self.exponential_smoothing(a, x, self.x_prev) - - self.x_prev = x_hat - self.dx_prev = dx_hat - self.t_prev = t - - return x_hat - # pragma: cover class BaseProcessorSocket(Processor): @@ -474,375 +424,3 @@ def get_data(self): if self.dlc_cfg is not None: save_dict["dlc_cfg"] = self.dlc_cfg return save_dict - - -@register_processor -class ExampleProcessorSocketCalculateMousePose(BaseProcessorSocket): # pragma: no cover - """ - DLC Processor with pose calculations (center, heading, head angle) and optional filtering. - - Calculates: - - center: Weighted average of head keypoints - - heading: Body orientation (degrees) - - head_angle: Head rotation relative to body (radians) - - Broadcasts: [timestamp, center_x, center_y, heading, head_angle] - """ - - PROCESSOR_NAME = "Example Experiment Pose Processor" - PROCESSOR_DESCRIPTION = "Calculates mouse center, heading, and head angle with optional One-Euro filtering" - PROCESSOR_PARAMS = { - "bind": { - "type": "tuple", - "default": ("127.0.0.1", 6000), - "description": "Server address (host, port)", - }, - "authkey": { - "type": "bytes", - "default": b"secret password", - "description": "Authentication key for clients", - }, - "use_perf_counter": { - "type": "bool", - "default": False, - "description": "Use time.perf_counter() instead of time.time()", - }, - "use_filter": { - "type": "bool", - "default": False, - "description": "Apply One-Euro filter to calculated values", - }, - "filter_kwargs": { - "type": "dict", - "default": {"min_cutoff": 1.0, "beta": 0.02, "d_cutoff": 1.0}, - "description": "One-Euro filter parameters (min_cutoff, beta, d_cutoff)", - }, - "save_original": { - "type": "bool", - "default": False, - "description": "Save raw pose arrays for analysis", - }, - } - - def __init__( - self, - bind=("127.0.0.1", 6000), - authkey=b"secret password", - use_perf_counter=False, - use_filter=False, - filter_kwargs: dict | None = None, - save_original=False, - ): - super().__init__( - bind=bind, - authkey=authkey, - use_perf_counter=use_perf_counter, - save_original=save_original, - ) - - self.center_x = deque() - self.center_y = deque() - self.heading_direction = deque() - self.head_angle = deque() - - self.use_filter = use_filter - self.filter_kwargs = filter_kwargs if filter_kwargs is not None else {} - self.filters = None - - def _clear_data_queues(self): - super()._clear_data_queues() - self.center_x.clear() - self.center_y.clear() - self.heading_direction.clear() - self.head_angle.clear() - - def _initialize_filters(self, vals): - t0 = self.timing_func() - self.filters = { - "center_x": OneEuroFilter(t0, vals[0], **self.filter_kwargs), - "center_y": OneEuroFilter(t0, vals[1], **self.filter_kwargs), - "heading": OneEuroFilter(t0, vals[2], **self.filter_kwargs), - "head_angle": OneEuroFilter(t0, vals[3], **self.filter_kwargs), - } - logger.debug(f"Initialized One-Euro filters with parameters: {self.filter_kwargs}") - - def process(self, pose, **kwargs): - # Extract keypoints and confidence - xy = pose[:, :2] - conf = pose[:, 2] - - # Calculate weighted center from head keypoints - head_xy = xy[[0, 1, 2, 3, 4, 5, 6, 26], :] - head_conf = conf[[0, 1, 2, 3, 4, 5, 6, 26]] - center = np.average(head_xy, axis=0, weights=head_conf) - - # Calculate body axis (tail_base -> neck) - body_axis = xy[7] - xy[13] - body_axis /= sqrt(np.sum(body_axis**2)) - - # Calculate head axis (neck -> nose) - head_axis = xy[0] - xy[7] - head_axis /= sqrt(np.sum(head_axis**2)) - - # Calculate head angle relative to body - cross = body_axis[0] * head_axis[1] - head_axis[0] * body_axis[1] - sign = copysign(1, cross) # Positive when looking left - sign = copysign(1, cross) - try: - head_angle = acos(body_axis @ head_axis) * sign - except ValueError: - head_angle = 0 - - # Calculate heading (body orientation) - heading = degrees(atan2(body_axis[1], body_axis[0])) - - # Raw values (heading unwrapped for filtering) - vals = [center[0], center[1], heading, head_angle] - - # Apply filtering if enabled - curr_time = self.timing_func() - if self.use_filter: - if self.filters is None: - self._initialize_filters(vals) - - vals = [ - self.filters["center_x"](curr_time, vals[0]), - self.filters["center_y"](curr_time, vals[1]), - self.filters["heading"](curr_time, vals[2]), - self.filters["head_angle"](curr_time, vals[3]), - ] - - # Wrap heading to [0, 360) after filtering - vals[2] = vals[2] % 360 - # Update step counter - self.curr_step = self.curr_step + 1 - - # Store processed data (only if recording) - if self.recording: - if self.save_original and self.original_pose is not None: - self.original_pose.append(pose.copy()) - self.center_x.append(vals[0]) - self.center_y.append(vals[1]) - self.heading_direction.append(vals[2]) - self.head_angle.append(vals[3]) - self.time_stamp.append(curr_time) - self.step.append(self.curr_step) - self.frame_time.append(kwargs.get("frame_time", -1)) - if "pose_time" in kwargs: - self.pose_time.append(kwargs["pose_time"]) - - payload = [curr_time, vals[0], vals[1], vals[2], vals[3]] - self.broadcast(payload) - return pose - - def get_data(self): - save_dict = super().get_data() - save_dict["x_pos"] = np.array(self.center_x) - save_dict["y_pos"] = np.array(self.center_y) - save_dict["heading_direction"] = np.array(self.heading_direction) - save_dict["head_angle"] = np.array(self.head_angle) - save_dict["use_filter"] = self.use_filter - save_dict["filter_kwargs"] = self.filter_kwargs - return save_dict - - -@register_processor -class ExampleProcessorSocketFilterKeypoints(BaseProcessorSocket): # pragma: no cover - PROCESSOR_NAME = "Mouse Pose with less keypoints" - PROCESSOR_DESCRIPTION = "Calculates mouse center, heading, and head angle with optional One-Euro filtering" - PROCESSOR_PARAMS = { - "bind": { - "type": "tuple", - "default": ("127.0.0.1", 6000), - "description": "Server address (host, port)", - }, - "authkey": { - "type": "bytes", - "default": b"secret password", - "description": "Authentication key for clients", - }, - "use_perf_counter": { - "type": "bool", - "default": False, - "description": "Use time.perf_counter() instead of time.time()", - }, - "use_filter": { - "type": "bool", - "default": False, - "description": "Apply One-Euro filter to calculated values", - }, - "filter_kwargs": { - "type": "dict", - "default": {"min_cutoff": 1.0, "beta": 0.02, "d_cutoff": 1.0}, - "description": "One-Euro filter parameters (min_cutoff, beta, d_cutoff)", - }, - "save_original": { - "type": "bool", - "default": True, - "description": "Save raw pose arrays for analysis", - }, - } - - def __init__( - self, - bind=("127.0.0.1", 6000), - authkey=b"secret password", - use_perf_counter=False, - use_filter=False, - filter_kwargs: dict | None = None, - save_original=True, - p_cutoff=0.4, - ): - super().__init__( - bind=bind, - authkey=authkey, - use_perf_counter=use_perf_counter, - save_original=save_original, - ) - - self.center_x = deque() - self.center_y = deque() - self.heading_direction = deque() - self.head_angle = deque() - - self.p_cutoff = p_cutoff - - self.use_filter = use_filter - self.filter_kwargs = filter_kwargs if filter_kwargs is not None else {} - self.filters = None - - def _clear_data_queues(self): - super()._clear_data_queues() - self.center_x.clear() - self.center_y.clear() - self.heading_direction.clear() - self.head_angle.clear() - - def _initialize_filters(self, vals): - t0 = self.timing_func() - self.filters = { - "center_x": OneEuroFilter(t0, vals[0], **self.filter_kwargs), - "center_y": OneEuroFilter(t0, vals[1], **self.filter_kwargs), - "heading": OneEuroFilter(t0, vals[2], **self.filter_kwargs), - "head_angle": OneEuroFilter(t0, vals[3], **self.filter_kwargs), - } - logger.debug(f"Initialized One-Euro filters with parameters: {self.filter_kwargs}") - - def process(self, pose, **kwargs): - # Extract keypoints and confidence - xy = pose[:, :2] - conf = pose[:, 2] - - # Calculate weighted center from head keypoints - head_xy = xy[[0, 1, 2, 3, 5, 6, 7], :] - head_conf = conf[[0, 1, 2, 3, 5, 6, 7]] - # set low confidence keypoints to zero weight - head_conf = np.where(head_conf < self.p_cutoff, 0, head_conf) - try: - center = np.average(head_xy, axis=0, weights=head_conf) - except ZeroDivisionError: - # If all keypoints have zero weight, return without processing - return pose - - neck = np.average(xy[[2, 3, 6, 7], :], axis=0, weights=conf[[2, 3, 6, 7]]) - - # Calculate body axis (tail_base -> neck) - body_axis = neck - xy[9] - body_axis /= sqrt(np.sum(body_axis**2)) - - # Calculate head axis (neck -> nose) - head_axis = xy[0] - neck - head_axis /= sqrt(np.sum(head_axis**2)) - - # Calculate head angle relative to body - cross = body_axis[0] * head_axis[1] - head_axis[0] * body_axis[1] - sign = copysign(1, cross) # Positive when looking left - sign = copysign(1, cross) - try: - head_angle = acos(body_axis @ head_axis) * sign - except ValueError: - head_angle = 0 - - # Calculate heading (body orientation) - heading = degrees(atan2(body_axis[1], body_axis[0])) - vals = [center[0], center[1], heading, head_angle] - - curr_time = self.timing_func() - if self.use_filter: - if self.filters is None: - self._initialize_filters(vals) - - vals = [ - self.filters["center_x"](curr_time, vals[0]), - self.filters["center_y"](curr_time, vals[1]), - self.filters["heading"](curr_time, vals[2]), - self.filters["head_angle"](curr_time, vals[3]), - ] - - # Wrap heading to [0, 360) after filtering - vals[2] = vals[2] % 360 - # Update step counter - self.curr_step = self.curr_step + 1 - - # Store processed data (only if recording) - if self.recording: - if self.save_original and self.original_pose is not None: - self.original_pose.append(pose.copy()) - self.center_x.append(vals[0]) - self.center_y.append(vals[1]) - self.heading_direction.append(vals[2]) - self.head_angle.append(vals[3]) - self.time_stamp.append(curr_time) - self.step.append(self.curr_step) - self.frame_time.append(kwargs.get("frame_time", -1)) - if "pose_time" in kwargs: - self.pose_time.append(kwargs["pose_time"]) - - payload = [curr_time, vals[0], vals[1], vals[2], vals[3]] - self.broadcast(payload) - return pose - - def get_data(self): - save_dict = super().get_data() - save_dict["x_pos"] = np.array(self.center_x) - save_dict["y_pos"] = np.array(self.center_y) - save_dict["heading_direction"] = np.array(self.heading_direction) - save_dict["head_angle"] = np.array(self.head_angle) - save_dict["use_filter"] = self.use_filter - save_dict["filter_kwargs"] = self.filter_kwargs - return save_dict - - -def get_available_processors(): - """ - Get list of available processor classes. - - Returns: - dict: Dictionary mapping registry keys to processor info. - """ - return { - name: { - "class": cls, - "name": getattr(cls, "PROCESSOR_NAME", name), - "description": getattr(cls, "PROCESSOR_DESCRIPTION", ""), - "params": getattr(cls, "PROCESSOR_PARAMS", {}), - } - for name, cls in PROCESSOR_REGISTRY.items() - } - - -def instantiate_processor(class_name, **kwargs): - """ - Instantiate a processor by class name with given parameters. - - Args: - class_name: Registry key (e.g., "MyProcessorSocket") - **kwargs: Constructor kwargs - - Raises: - ValueError: If class_name is not in registry - """ - if class_name not in PROCESSOR_REGISTRY: - available = ", ".join(PROCESSOR_REGISTRY.keys()) - raise ValueError(f"Unknown processor '{class_name}'. Available: {available}") - return PROCESSOR_REGISTRY[class_name](**kwargs) diff --git a/dlclivegui/processors/examples.py b/dlclivegui/processors/examples.py new file mode 100644 index 000000000..7ed769198 --- /dev/null +++ b/dlclivegui/processors/examples.py @@ -0,0 +1,391 @@ +from __future__ import annotations + +import logging +from collections import deque +from math import acos, atan2, copysign, degrees, pi, sqrt + +import numpy as np + +from dlclivegui.processors import register_processor +from dlclivegui.processors.dlc_processor_socket import BaseProcessorSocket + +logger = logging.getLogger(__name__) + + +class OneEuroFilter: # pragma: no cover + def __init__(self, t0, x0, dx0=None, min_cutoff=1.0, beta=0.0, d_cutoff=1.0): + self.min_cutoff = min_cutoff + self.beta = beta + self.d_cutoff = d_cutoff + self.x_prev = x0 + if dx0 is None: + dx0 = np.zeros_like(x0) + self.dx_prev = dx0 + self.t_prev = t0 + + @staticmethod + def smoothing_factor(t_e, cutoff): + r = 2 * pi * cutoff * t_e + return r / (r + 1) + + @staticmethod + def exponential_smoothing(alpha, x, x_prev): + return alpha * x + (1 - alpha) * x_prev + + def __call__(self, t, x): + t_e = t - self.t_prev + if t_e <= 0: + return x + a_d = self.smoothing_factor(t_e, self.d_cutoff) + dx = (x - self.x_prev) / t_e + dx_hat = self.exponential_smoothing(a_d, dx, self.dx_prev) + + cutoff = self.min_cutoff + self.beta * abs(dx_hat) + a = self.smoothing_factor(t_e, cutoff) + x_hat = self.exponential_smoothing(a, x, self.x_prev) + + self.x_prev = x_hat + self.dx_prev = dx_hat + self.t_prev = t + + return x_hat + + +@register_processor +class ExampleProcessorSocketCalculateMousePose(BaseProcessorSocket): # pragma: no cover + """ + DLC Processor with pose calculations (center, heading, head angle) and optional filtering. + + Calculates: + - center: Weighted average of head keypoints + - heading: Body orientation (degrees) + - head_angle: Head rotation relative to body (radians) + + Broadcasts: [timestamp, center_x, center_y, heading, head_angle] + """ + + PROCESSOR_NAME = "Example Experiment Pose Processor" + PROCESSOR_DESCRIPTION = "Calculates mouse center, heading, and head angle with optional One-Euro filtering" + PROCESSOR_PARAMS = { + "bind": { + "type": "tuple", + "default": ("127.0.0.1", 6000), + "description": "Server address (host, port)", + }, + "authkey": { + "type": "bytes", + "default": b"secret password", + "description": "Authentication key for clients", + }, + "use_perf_counter": { + "type": "bool", + "default": False, + "description": "Use time.perf_counter() instead of time.time()", + }, + "use_filter": { + "type": "bool", + "default": False, + "description": "Apply One-Euro filter to calculated values", + }, + "filter_kwargs": { + "type": "dict", + "default": {"min_cutoff": 1.0, "beta": 0.02, "d_cutoff": 1.0}, + "description": "One-Euro filter parameters (min_cutoff, beta, d_cutoff)", + }, + "save_original": { + "type": "bool", + "default": False, + "description": "Save raw pose arrays for analysis", + }, + } + + def __init__( + self, + bind=("127.0.0.1", 6000), + authkey=b"secret password", + use_perf_counter=False, + use_filter=False, + filter_kwargs: dict | None = None, + save_original=False, + ): + super().__init__( + bind=bind, + authkey=authkey, + use_perf_counter=use_perf_counter, + save_original=save_original, + ) + + self.center_x = deque() + self.center_y = deque() + self.heading_direction = deque() + self.head_angle = deque() + + self.use_filter = use_filter + self.filter_kwargs = filter_kwargs if filter_kwargs is not None else {} + self.filters = None + + def _clear_data_queues(self): + super()._clear_data_queues() + self.center_x.clear() + self.center_y.clear() + self.heading_direction.clear() + self.head_angle.clear() + + def _initialize_filters(self, vals): + t0 = self.timing_func() + self.filters = { + "center_x": OneEuroFilter(t0, vals[0], **self.filter_kwargs), + "center_y": OneEuroFilter(t0, vals[1], **self.filter_kwargs), + "heading": OneEuroFilter(t0, vals[2], **self.filter_kwargs), + "head_angle": OneEuroFilter(t0, vals[3], **self.filter_kwargs), + } + logger.debug(f"Initialized One-Euro filters with parameters: {self.filter_kwargs}") + + def process(self, pose, **kwargs): + # Extract keypoints and confidence + xy = pose[:, :2] + conf = pose[:, 2] + + # Calculate weighted center from head keypoints + head_xy = xy[[0, 1, 2, 3, 4, 5, 6, 26], :] + head_conf = conf[[0, 1, 2, 3, 4, 5, 6, 26]] + try: + center = np.average(head_xy, axis=0, weights=head_conf) + except ZeroDivisionError: + center = np.zeros(2) + + # Calculate body axis (tail_base -> neck) + body_axis = xy[7] - xy[13] + body_axis /= sqrt(np.sum(body_axis**2)) + + # Calculate head axis (neck -> nose) + head_axis = xy[0] - xy[7] + head_axis /= sqrt(np.sum(head_axis**2)) + + # Calculate head angle relative to body + cross = body_axis[0] * head_axis[1] - head_axis[0] * body_axis[1] + sign = copysign(1, cross) # Positive when looking left + + try: + head_angle = acos(body_axis @ head_axis) * sign + except ValueError: + head_angle = 0 + + # Calculate heading (body orientation) + heading = degrees(atan2(body_axis[1], body_axis[0])) + + # Raw values (heading unwrapped for filtering) + vals = [center[0], center[1], heading, head_angle] + + # Apply filtering if enabled + curr_time = self.timing_func() + if self.use_filter: + if self.filters is None: + self._initialize_filters(vals) + + vals = [ + self.filters["center_x"](curr_time, vals[0]), + self.filters["center_y"](curr_time, vals[1]), + self.filters["heading"](curr_time, vals[2]), + self.filters["head_angle"](curr_time, vals[3]), + ] + + # Wrap heading to [0, 360) after filtering + vals[2] = vals[2] % 360 + # Update step counter + self.curr_step = self.curr_step + 1 + + # Store processed data (only if recording) + if self.recording: + if self.save_original and self.original_pose is not None: + self.original_pose.append(pose.copy()) + self.center_x.append(vals[0]) + self.center_y.append(vals[1]) + self.heading_direction.append(vals[2]) + self.head_angle.append(vals[3]) + self.time_stamp.append(curr_time) + self.step.append(self.curr_step) + self.frame_time.append(kwargs.get("frame_time", -1)) + if "pose_time" in kwargs: + self.pose_time.append(kwargs["pose_time"]) + + payload = [curr_time, vals[0], vals[1], vals[2], vals[3]] + self.broadcast(payload) + return pose + + def get_data(self): + save_dict = super().get_data() + save_dict["x_pos"] = np.array(self.center_x) + save_dict["y_pos"] = np.array(self.center_y) + save_dict["heading_direction"] = np.array(self.heading_direction) + save_dict["head_angle"] = np.array(self.head_angle) + save_dict["use_filter"] = self.use_filter + save_dict["filter_kwargs"] = self.filter_kwargs + return save_dict + + +@register_processor +class ExampleProcessorSocketFilterKeypoints(BaseProcessorSocket): # pragma: no cover + PROCESSOR_NAME = "Mouse Pose with less keypoints" + PROCESSOR_DESCRIPTION = "Calculates mouse center, heading, and head angle with optional One-Euro filtering" + PROCESSOR_PARAMS = { + "bind": { + "type": "tuple", + "default": ("127.0.0.1", 6000), + "description": "Server address (host, port)", + }, + "authkey": { + "type": "bytes", + "default": b"secret password", + "description": "Authentication key for clients", + }, + "use_perf_counter": { + "type": "bool", + "default": False, + "description": "Use time.perf_counter() instead of time.time()", + }, + "use_filter": { + "type": "bool", + "default": False, + "description": "Apply One-Euro filter to calculated values", + }, + "filter_kwargs": { + "type": "dict", + "default": {"min_cutoff": 1.0, "beta": 0.02, "d_cutoff": 1.0}, + "description": "One-Euro filter parameters (min_cutoff, beta, d_cutoff)", + }, + "save_original": { + "type": "bool", + "default": True, + "description": "Save raw pose arrays for analysis", + }, + } + + def __init__( + self, + bind=("127.0.0.1", 6000), + authkey=b"secret password", + use_perf_counter=False, + use_filter=False, + filter_kwargs: dict | None = None, + save_original=True, + p_cutoff=0.4, + ): + super().__init__( + bind=bind, + authkey=authkey, + use_perf_counter=use_perf_counter, + save_original=save_original, + ) + + self.center_x = deque() + self.center_y = deque() + self.heading_direction = deque() + self.head_angle = deque() + + self.p_cutoff = p_cutoff + + self.use_filter = use_filter + self.filter_kwargs = filter_kwargs if filter_kwargs is not None else {} + self.filters = None + + def _clear_data_queues(self): + super()._clear_data_queues() + self.center_x.clear() + self.center_y.clear() + self.heading_direction.clear() + self.head_angle.clear() + + def _initialize_filters(self, vals): + t0 = self.timing_func() + self.filters = { + "center_x": OneEuroFilter(t0, vals[0], **self.filter_kwargs), + "center_y": OneEuroFilter(t0, vals[1], **self.filter_kwargs), + "heading": OneEuroFilter(t0, vals[2], **self.filter_kwargs), + "head_angle": OneEuroFilter(t0, vals[3], **self.filter_kwargs), + } + logger.debug(f"Initialized One-Euro filters with parameters: {self.filter_kwargs}") + + def process(self, pose, **kwargs): + # Extract keypoints and confidence + xy = pose[:, :2] + conf = pose[:, 2] + + # Calculate weighted center from head keypoints + head_xy = xy[[0, 1, 2, 3, 5, 6, 7], :] + head_conf = conf[[0, 1, 2, 3, 5, 6, 7]] + # set low confidence keypoints to zero weight + head_conf = np.where(head_conf < self.p_cutoff, 0, head_conf) + try: + center = np.average(head_xy, axis=0, weights=head_conf) + except ZeroDivisionError: + # If all keypoints have zero weight, return without processing + return pose + + neck = np.average(xy[[2, 3, 6, 7], :], axis=0, weights=conf[[2, 3, 6, 7]]) + + # Calculate body axis (tail_base -> neck) + body_axis = neck - xy[9] + body_axis /= sqrt(np.sum(body_axis**2)) + + # Calculate head axis (neck -> nose) + head_axis = xy[0] - neck + head_axis /= sqrt(np.sum(head_axis**2)) + + # Calculate head angle relative to body + cross = body_axis[0] * head_axis[1] - head_axis[0] * body_axis[1] + sign = copysign(1, cross) # Positive when looking left + + try: + head_angle = acos(body_axis @ head_axis) * sign + except ValueError: + head_angle = 0 + + # Calculate heading (body orientation) + heading = degrees(atan2(body_axis[1], body_axis[0])) + vals = [center[0], center[1], heading, head_angle] + + curr_time = self.timing_func() + if self.use_filter: + if self.filters is None: + self._initialize_filters(vals) + + vals = [ + self.filters["center_x"](curr_time, vals[0]), + self.filters["center_y"](curr_time, vals[1]), + self.filters["heading"](curr_time, vals[2]), + self.filters["head_angle"](curr_time, vals[3]), + ] + + # Wrap heading to [0, 360) after filtering + vals[2] = vals[2] % 360 + # Update step counter + self.curr_step = self.curr_step + 1 + + # Store processed data (only if recording) + if self.recording: + if self.save_original and self.original_pose is not None: + self.original_pose.append(pose.copy()) + self.center_x.append(vals[0]) + self.center_y.append(vals[1]) + self.heading_direction.append(vals[2]) + self.head_angle.append(vals[3]) + self.time_stamp.append(curr_time) + self.step.append(self.curr_step) + self.frame_time.append(kwargs.get("frame_time", -1)) + if "pose_time" in kwargs: + self.pose_time.append(kwargs["pose_time"]) + + payload = [curr_time, vals[0], vals[1], vals[2], vals[3]] + self.broadcast(payload) + return pose + + def get_data(self): + save_dict = super().get_data() + save_dict["x_pos"] = np.array(self.center_x) + save_dict["y_pos"] = np.array(self.center_y) + save_dict["heading_direction"] = np.array(self.heading_direction) + save_dict["head_angle"] = np.array(self.head_angle) + save_dict["use_filter"] = self.use_filter + save_dict["filter_kwargs"] = self.filter_kwargs + return save_dict diff --git a/dlclivegui/processors/processor_utils.py b/dlclivegui/processors/processor_utils.py index b32445c38..467792b03 100644 --- a/dlclivegui/processors/processor_utils.py +++ b/dlclivegui/processors/processor_utils.py @@ -17,6 +17,65 @@ def default_processors_dir() -> str: return str(path) +def _processor_base_class(): + from dlclive.processor import Processor + + return Processor + + +def _is_processor_subclass(obj, *, include_base: bool = False) -> bool: + """Return True for dlclive.Processor subclasses, including indirect subclasses.""" + if not inspect.isclass(obj): + return False + + try: + processor_base = _processor_base_class() + except Exception: + logger.exception("Could not import dlclive.Processor") + return False + + try: + if obj is processor_base: + return bool(include_base) + return issubclass(obj, processor_base) + except Exception: + logger.exception(f"Error checking if {obj} is a subclass of dlclive.Processor") + return False + + +def _processor_info_from_class(cls, fallback_name: str) -> dict: + return { + "class": cls, + "name": getattr(cls, "PROCESSOR_NAME", fallback_name), + "description": getattr(cls, "PROCESSOR_DESCRIPTION", ""), + "params": getattr(cls, "PROCESSOR_PARAMS", {}), + } + + +def discover_processor_classes(module, *, only_defined_in_module: bool = True) -> dict[str, dict]: + """Discover dlclive.Processor subclasses in a module. + + Includes indirect subclasses of Processor. + + Args: + module: Imported Python module. + only_defined_in_module: If True, ignore Processor subclasses imported + from other modules to avoid duplicate registry entries. + """ + processors: dict[str, dict] = {} + + for name, obj in inspect.getmembers(module, inspect.isclass): + if only_defined_in_module and getattr(obj, "__module__", None) != module.__name__: + continue + + if not _is_processor_subclass(obj): + continue + + processors[name] = _processor_info_from_class(obj, name) + + return processors + + def scan_processor_folder(folder_path): all_processors = {} folder = Path(folder_path) @@ -39,11 +98,9 @@ def scan_processor_folder(folder_path): return all_processors -def scan_processor_package(package_name: str = "dlclivegui.processors") -> dict[str | dict]: +def scan_processor_package(package_name: str = "dlclivegui.processors") -> dict[str, dict]: """ Discover and load processor classes from a package namespace. - Returns a dict keyed as 'module.py::ClassName' with the same - structure you use today. """ all_processors: dict[str, dict] = {} @@ -59,28 +116,16 @@ def scan_processor_package(package_name: str = "dlclivegui.processors") -> dict[ continue try: mod = import_module(mod_name) + # Skip dlc_processor_socket.py as it's the base class and registry + if mod.__name__.endswith("dlc_processor_socket"): + continue # Prefer module-level registry function if present if hasattr(mod, "get_available_processors"): processors = mod.get_available_processors() else: # Fallback: scan for dlclive.Processor subclasses - from dlclive import Processor - - processors = {} - for attr_name in dir(mod): - obj = getattr(mod, attr_name) - try: - if isinstance(obj, type) and obj is not Processor and issubclass(obj, Processor): - processors[attr_name] = { - "class": obj, - "name": getattr(obj, "PROCESSOR_NAME", attr_name), - "description": getattr(obj, "PROCESSOR_DESCRIPTION", ""), - "params": getattr(obj, "PROCESSOR_PARAMS", {}), - } - except Exception: - # Non-class or weird metaclass; ignore - pass + processors = discover_processor_classes(mod) # Normalize into your “file::class” shape module_file = mod.__name__.split(".")[-1] + ".py" @@ -131,26 +176,7 @@ def load_processors_from_file(file_path: str | Path): return processors # Fallback path: discover subclasses of dlclive.Processor - from dlclive import Processor - - processors: dict[str, dict] = {} - for name, obj in inspect.getmembers(module, inspect.isclass): - if obj is Processor: - continue - # Guard: module might define other classes; only include Processor subclasses - try: - if issubclass(obj, Processor): - processors[name] = { - "class": obj, - "name": getattr(obj, "PROCESSOR_NAME", name), - "description": getattr(obj, "PROCESSOR_DESCRIPTION", ""), - "params": getattr(obj, "PROCESSOR_PARAMS", {}), - } - except Exception: - # Some "classes" can fail issubclass checks; ignore safely - continue - - return processors + return discover_processor_classes(module) except Exception: # Full traceback helps a ton when a plugin fails to import diff --git a/dlclivegui/processors/registry.py b/dlclivegui/processors/registry.py new file mode 100644 index 000000000..28892975e --- /dev/null +++ b/dlclivegui/processors/registry.py @@ -0,0 +1,53 @@ +import logging + +logger = logging.getLogger(__name__) + +# Registry for GUI discovery +PROCESSOR_REGISTRY = {} + + +def register_processor(cls): + registry_key = getattr(cls, "PROCESSOR_ID", cls.__name__) + if registry_key in PROCESSOR_REGISTRY: + msg = ( + f"Duplicate processor registration key '{registry_key}': " + f"{PROCESSOR_REGISTRY[registry_key].__name__} vs {cls.__name__}" + ) + logger.warning(msg) + PROCESSOR_REGISTRY[registry_key] = cls + return cls + + +def get_available_processors(): + """ + Get list of available processor classes. + + Returns: + dict: Dictionary mapping registry keys to processor info. + """ + return { + name: { + "class": cls, + "name": getattr(cls, "PROCESSOR_NAME", name), + "description": getattr(cls, "PROCESSOR_DESCRIPTION", ""), + "params": getattr(cls, "PROCESSOR_PARAMS", {}), + } + for name, cls in PROCESSOR_REGISTRY.items() + } + + +def instantiate_processor(class_name, **kwargs): + """ + Instantiate a processor by class name with given parameters. + + Args: + class_name: Registry key (e.g., "MyProcessorSocket") + **kwargs: Constructor kwargs + + Raises: + ValueError: If class_name is not in registry + """ + if class_name not in PROCESSOR_REGISTRY: + available = ", ".join(PROCESSOR_REGISTRY.keys()) + raise ValueError(f"Unknown processor '{class_name}'. Available: {available}") + return PROCESSOR_REGISTRY[class_name](**kwargs) diff --git a/dlclivegui/services/dlc_processor.py b/dlclivegui/services/dlc_processor.py index b4476e116..4d4df7584 100644 --- a/dlclivegui/services/dlc_processor.py +++ b/dlclivegui/services/dlc_processor.py @@ -16,9 +16,11 @@ import numpy as np from PySide6.QtCore import QObject, Signal -from dlclivegui.config import DLCProcessorSettings, ModelType +from dlclivegui.config import DLC_DO_LOG_TIMING, DLCProcessorSettings, ModelType from dlclivegui.processors.processor_utils import instantiate_from_scan from dlclivegui.temp import Engine # type: ignore # TODO use main package enum when released +from dlclivegui.utils.stats import WorkerTimingStats +from dlclivegui.utils.utils import format_thread_stack logger = logging.getLogger(__name__) STOP_WORKER_TIMEOUT = 10.0 # # seconds to wait in STOPPING state before scheduling background reaping @@ -181,6 +183,13 @@ def __init__(self) -> None: self._gpu_inference_times: deque[float] = deque(maxlen=60) self._processor_overhead_times: deque[float] = deque(maxlen=60) + self._timing = WorkerTimingStats( + "DLCLiveProcessor", + logger=logger, + log_interval=1.0, + enabled=bool(DLC_DO_LOG_TIMING or ENABLE_PROFILING), + ) + @staticmethod def get_model_backend(model_path: str) -> Engine: return Engine.from_model_path(model_path) @@ -232,24 +241,40 @@ def shutdown(self) -> None: def enqueue_frame(self, frame: np.ndarray, timestamp: float) -> None: # Keep lifecycle lock held only for quick state checks and snapshots. with self._lifecycle_lock: - if self._state in (WorkerState.STOPPING, WorkerState.FAULTED) or self._stop_event.is_set(): + if ( + self._state in (WorkerState.STOPPING, WorkerState.FAULTED, WorkerState.STARTING) + or self._stop_event.is_set() + ): return t = self._worker_thread q = self._queue should_start = t is None or not t.is_alive() - frame_c = frame.copy() + with self._timing.measure("DLC.enqueue.copy_frame"): + frame_c = frame.copy() enq_time = time.perf_counter() if should_start: # Re-acquire the lifecycle lock to safely (re)start the worker if needed. with self._lifecycle_lock: # Re-check state in case it changed while we were copying the frame. - if self._state in (WorkerState.STOPPING, WorkerState.FAULTED) or self._stop_event.is_set(): + if ( + self._state in (WorkerState.STOPPING, WorkerState.FAULTED, WorkerState.STARTING) + or self._stop_event.is_set() + ): return t = self._worker_thread if t is None or not t.is_alive(): - # _start_worker_locked expects the lifecycle lock to be held. + if logger.isEnabledFor(logging.DEBUG): + logger.debug( + "Starting DLC worker from first frame: " + "shape=%s dtype=%s contiguous=%s strides=%s timestamp=%.6f", + frame_c.shape, + frame_c.dtype, + frame_c.flags["C_CONTIGUOUS"], + frame_c.strides, + timestamp, + ) self._start_worker_locked(frame_c, timestamp) return # Worker is now running; refresh queue snapshot. @@ -258,13 +283,30 @@ def enqueue_frame(self, frame: np.ndarray, timestamp: float) -> None: if q is None: return - try: - q.put_nowait((frame_c, timestamp, enq_time)) - with self._stats_lock: - self._frames_enqueued += 1 - except queue.Full: - with self._stats_lock: - self._frames_dropped += 1 + item = (frame_c, timestamp, enq_time) + + while True: + try: + with self._timing.measure("DLC.enqueue.put"): + q.put_nowait(item) + with self._stats_lock: + self._frames_enqueued += 1 + return + + except queue.Full: + try: + with self._timing.measure("DLC.enqueue.drop_stale"): + q.get_nowait() + try: + q.task_done() + except ValueError: + pass + + with self._stats_lock: + self._frames_dropped += 1 + + except queue.Empty: + continue def get_stats(self) -> ProcessorStats: """Get current processing statistics.""" @@ -317,11 +359,91 @@ def get_stats(self) -> ProcessorStats: avg_processor_overhead=avg_proc_overhead, ) + def _debug_log_dlc_runner_device(self) -> None: + if not logger.isEnabledFor(logging.DEBUG): + return + + try: + import torch + + logger.debug( + "Torch CUDA state: available=%s built=%s device_count=%s current_device=%s device_name=%s " + "allocated=%.2fMB reserved=%.2fMB", + torch.cuda.is_available(), + torch.backends.cuda.is_built(), + torch.cuda.device_count(), + torch.cuda.current_device() if torch.cuda.is_available() else None, + torch.cuda.get_device_name(0) if torch.cuda.is_available() and torch.cuda.device_count() else None, + torch.cuda.memory_allocated(0) / (1024 * 1024) if torch.cuda.is_available() else 0.0, + torch.cuda.memory_reserved(0) / (1024 * 1024) if torch.cuda.is_available() else 0.0, + ) + except Exception: + logger.debug("Could not query torch CUDA state", exc_info=True) + + dlc = self._dlc + runner = getattr(dlc, "runner", None) + + logger.debug( + "DLCLive runner: type=%s runner.device=%r runner.model=%r runner.net=%r", + type(runner).__name__ if runner is not None else None, + getattr(runner, "device", None), + type(getattr(runner, "model", None)).__name__ if getattr(runner, "model", None) is not None else None, + type(getattr(runner, "net", None)).__name__ if getattr(runner, "net", None) is not None else None, + ) + + seen: set[int] = set() + + def walk(obj, path: str, depth: int = 0) -> None: + if obj is None or depth > 7: + return + + oid = id(obj) + if oid in seen: + return + seen.add(oid) + + try: + params = getattr(obj, "parameters", None) + if callable(params): + first_param = next(iter(params()), None) + if first_param is not None: + logger.debug( + "Torch module at %s: parameter device=%s is_cuda=%s dtype=%s shape=%s", + path, + first_param.device, + first_param.is_cuda, + first_param.dtype, + tuple(first_param.shape), + ) + except Exception: + pass + + for name in ( + "runner", + "model", + "net", + "pose_model", + "dlc_model", + "module", + "engine", + "predictor", + "detector", + "backbone", + ): + try: + child = getattr(obj, name, None) + except Exception: + child = None + if child is not None: + walk(child, f"{path}.{name}", depth + 1) + + walk(self._dlc, "self._dlc") + def _start_worker_locked(self, init_frame: np.ndarray, init_timestamp: float) -> None: # lifecycle_lock must already be held if self._worker_thread is not None and self._worker_thread.is_alive(): return - self._queue = queue.Queue(maxsize=1) + self._queue = None self._stop_event.clear() self._state = WorkerState.STARTING self._worker_thread = threading.Thread( @@ -349,7 +471,7 @@ def _stop_worker(self) -> bool: t.join(timeout=STOP_WORKER_TIMEOUT) if t.is_alive(): qsize = self._queue.qsize() if self._queue is not None else -1 - logger.warning("DLC worker thread did not terminate cleanly (qsize=%s)", qsize) + logger.warning("DLC worker thread did not terminate cleanly (qsize=%s)\n%s", qsize, format_thread_stack(t)) self._schedule_reap(t) return False @@ -412,7 +534,8 @@ def _timed_processor(self): def timed_process(pose, _op=original, _holder=holder, **kwargs): start = time.perf_counter() try: - return _op(pose, **kwargs) + with self._timing.measure("DLC.processor.process"): + return _op(pose, **kwargs) finally: _holder[0] = time.perf_counter() - start @@ -423,6 +546,24 @@ def timed_process(pose, _op=original, _holder=holder, **kwargs): # Restore even if inference/errors occur self._processor.process = original + @staticmethod + def _prepare_input_frame(frame: np.ndarray) -> np.ndarray: + """Normalize camera frames for DLCLive inference.""" + arr = np.asarray(frame) + + if arr.ndim == 2: + # Mono8 / grayscale -> 3-channel + arr = np.repeat(arr[:, :, None], 3, axis=2) + elif arr.ndim == 3 and arr.shape[2] == 4: + arr = arr[:, :, :3] + elif arr.ndim != 3 or arr.shape[2] != 3: + raise ValueError(f"Unsupported DLCLive input frame shape: {arr.shape}") + + if arr.dtype != np.uint8: + arr = np.clip(arr, 0, 255).astype(np.uint8, copy=False) + + return np.ascontiguousarray(arr) + def _process_frame( self, frame: np.ndarray, @@ -438,11 +579,23 @@ def _process_frame( if self._dlc is None: raise RuntimeError("DLCLive instance is not initialized.") # Time GPU inference (and processor overhead when present) + with self._timing.measure("DLC.prepare_frame"): + frame = self._prepare_input_frame(frame) with self._timed_processor() as proc_holder: inference_start = time.perf_counter() - raw_pose: Any = self._dlc.get_pose(frame, frame_time=timestamp) + + with self._timing.measure("DLC.process_frame"): + processed_frame = self._dlc.process_frame(frame) + + with self._timing.measure("DLC.runner.get_pose"): + self._dlc.pose = self._dlc.runner.get_pose(processed_frame) + + with self._timing.measure("DLC.post_process_pose"): + raw_pose: Any = self._dlc._post_process_pose(processed_frame, frame_time=timestamp) + inference_time = time.perf_counter() - inference_start - pose_arr: np.ndarray = validate_pose_array(raw_pose, source_backend=PoseBackends.DLC_LIVE) + with self._timing.measure("DLC.validate_pose"): + pose_arr: np.ndarray = validate_pose_array(raw_pose, source_backend=PoseBackends.DLC_LIVE) pose_packet = PosePacket( schema_version=0, keypoints=pose_arr, @@ -460,7 +613,8 @@ def _process_frame( # Emit pose (measure signal overhead) signal_start = time.perf_counter() - self.pose_ready.emit(PoseResult(pose=pose_packet.keypoints, timestamp=timestamp, packet=pose_packet)) + with self._timing.measure("DLC.emit.pose_ready"): + self.pose_ready.emit(PoseResult(pose=pose_packet.keypoints, timestamp=timestamp, packet=pose_packet)) signal_time = time.perf_counter() - signal_start end_ts = time.perf_counter() @@ -481,6 +635,8 @@ def _process_frame( self._gpu_inference_times.append(gpu_inference_time) self._processor_overhead_times.append(processor_overhead) + self._timing.note_frame() + self._timing.maybe_log() self.frame_processed.emit() def _worker_loop(self, init_frame: np.ndarray, init_timestamp: float) -> None: @@ -489,60 +645,98 @@ def _worker_loop(self, init_frame: np.ndarray, init_timestamp: float) -> None: if not self._settings.model_path: raise RuntimeError("No DLCLive model path configured.") - init_start = time.perf_counter() - dyn = self._settings.dynamic - if not isinstance(dyn, (list, tuple)) or len(dyn) != 3: - try: - dyn = dyn.to_tuple() - except Exception as e: - raise RuntimeError("Invalid dynamic crop settings format.") from e - enabled, margin, max_missing = dyn - - options = { - "model_path": self._settings.model_path, - "model_type": self._settings.model_type, - "processor": self._processor, - "dynamic": [enabled, margin, max_missing], - "resize": self._settings.resize, - "precision": self._settings.precision, - "single_animal": self._settings.single_animal, - } - if self._settings.device is not None: - options["device"] = self._settings.device + with self._timing.measure("DLC.build_options"): + dyn = self._settings.dynamic + if not isinstance(dyn, (list, tuple)) or len(dyn) != 3: + try: + dyn = dyn.to_tuple() + except Exception as e: + raise RuntimeError("Invalid dynamic crop settings format.") from e + enabled, margin, max_missing = dyn + + options = { + "model_path": self._settings.model_path, + "model_type": self._settings.model_type, + "processor": self._processor, + "dynamic": [enabled, margin, max_missing], + "resize": self._settings.resize, + "precision": self._settings.precision, + "single_animal": self._settings.single_animal, + } + if self._settings.device is not None: + options["device"] = self._settings.device + + if logger.isEnabledFor(logging.DEBUG): + logger.debug( + "DLC worker starting: model_path=%s model_type=%s device=%s " + "init_frame_shape=%s dtype=%s contiguous=%s", + self._settings.model_path, + self._settings.model_type, + self._settings.device, + init_frame.shape, + init_frame.dtype, + init_frame.flags["C_CONTIGUOUS"], + ) try: if DLCLive is None: raise RuntimeError( "DLCLive class is not available. Ensure the dlclive package is installed and can be imported." ) - self._dlc = DLCLive(**options) + with self._timing.measure("DLC.construct"): + self._dlc = DLCLive(**options) + self._timing.maybe_log() except Exception as exc: + self._timing.note_error() + self._timing.maybe_log() with self._lifecycle_lock: self._state = WorkerState.FAULTED raise RuntimeError( f"Failed to initialize DLCLive with model '{self._settings.model_path}': {exc}" ) from exc + if self._stop_event.is_set(): + logger.debug("DLC worker stop requested during construction; exiting before init_inference.") + return + + with self._timing.measure("DLC.prepare_init_frame"): + init_frame = self._prepare_input_frame(init_frame) + + if logger.isEnabledFor(logging.DEBUG): + logger.debug( + "Calling DLCLive.init_inference with frame shape=%s dtype=%s contiguous=%s", + init_frame.shape, + init_frame.dtype, + init_frame.flags["C_CONTIGUOUS"], + ) # First inference to initialize - init_inference_start = time.perf_counter() - self._dlc.init_inference(init_frame) - init_inference_time = time.perf_counter() - init_inference_start + with self._timing.measure("DLC.init_inference"): + self._dlc.init_inference(init_frame) + + self._debug_log_dlc_runner_device() + self._timing.note_frame() + self._timing.maybe_log() + + if self._stop_event.is_set(): + logger.debug("DLC worker stop requested after init_inference; exiting before RUNNING state.") + return # Pass DLCLive cfg to processor if available if hasattr(self._dlc, "processor") and hasattr(self._dlc.processor, "set_dlc_cfg"): - self._dlc.processor.set_dlc_cfg(getattr(self._dlc, "cfg", None)) + with self._timing.measure("DLC.processor.set_dlc_cfg"): + self._dlc.processor.set_dlc_cfg(getattr(self._dlc, "cfg", None)) self._initialized = True self.initialized.emit(True) with self._lifecycle_lock: + if self._stop_event.is_set(): + logger.debug("DLC worker stop requested before RUNNING state; exiting.") + return + + self._queue = queue.Queue(maxsize=1) self._state = WorkerState.RUNNING - total_init_time = time.perf_counter() - init_start - logger.info( - "DLCLive model initialized successfully (total: %.3fs, init_inference: %.3fs)", - total_init_time, - init_inference_time, - ) + logger.info("DLCLive model initialized successfully") # Emit pose for init frame & update stats (not dequeued) self._process_frame(init_frame, init_timestamp, time.perf_counter(), queue_wait_time=0.0) @@ -583,6 +777,8 @@ def _worker_loop(self, init_frame: np.ndarray, init_timestamp: float) -> None: try: self._process_frame(frame, ts, enq, queue_wait_time=0.0) except Exception as exc: + self._timing.note_error() + self._timing.maybe_log() logger.exception("Pose inference failed", exc_info=exc) self.error.emit(str(exc)) finally: @@ -595,11 +791,14 @@ def _worker_loop(self, init_frame: np.ndarray, init_timestamp: float) -> None: # Normal operation: timed get try: wait_start = time.perf_counter() - item = q.get(timeout=0.05) + with self._timing.measure("DLC.queue_get"): + item = q.get(timeout=0.05) queue_wait_time = time.perf_counter() - wait_start except queue.Empty: continue except Exception as exc: + self._timing.note_error() + self._timing.maybe_log() logger.exception("Error getting item from queue", exc_info=exc) with self._lifecycle_lock: self._state = WorkerState.FAULTED @@ -610,6 +809,8 @@ def _worker_loop(self, init_frame: np.ndarray, init_timestamp: float) -> None: frame, ts, enq = item self._process_frame(frame, ts, enq, queue_wait_time=queue_wait_time) except Exception as exc: + self._timing.note_error() + self._timing.maybe_log() logger.exception("Pose inference failed", exc_info=exc) self.error.emit(str(exc)) finally: @@ -620,6 +821,8 @@ def _worker_loop(self, init_frame: np.ndarray, init_timestamp: float) -> None: logger.info("DLC worker thread exiting") + self._timing.maybe_log() + class DLCService: """Wrap DLCLiveProcessor lifecycle & configuration.""" diff --git a/dlclivegui/services/multi_camera_controller.py b/dlclivegui/services/multi_camera_controller.py index 18b2883a6..97c53dc76 100644 --- a/dlclivegui/services/multi_camera_controller.py +++ b/dlclivegui/services/multi_camera_controller.py @@ -2,6 +2,7 @@ from __future__ import annotations +import copy import logging import time from dataclasses import dataclass @@ -15,9 +16,16 @@ from dlclivegui.cameras import CameraFactory from dlclivegui.cameras.base import CameraBackend +from dlclivegui.cameras.factory import camera_identity_key # from dlclivegui.config import CameraSettings -from dlclivegui.config import CameraSettings +from dlclivegui.config import ( + GUI_MAX_DISPLAY_FPS, + MULTI_CAMERA_WORKER_DO_LOG_TIMING, + SINGLE_CAMERA_WORKER_DO_LOG_TIMING, + CameraSettings, +) +from dlclivegui.utils.stats import WorkerTimingStats LOGGER = logging.getLogger(__name__) @@ -33,32 +41,70 @@ class MultiFrameData: timestamps: dict[str, float] # camera_id -> timestamp source_camera_id: str = "" # ID of camera that triggered this emission tiled_frame: np.ndarray | None = None # Combined tiled frame (deprecated, done in GUI) + display_ids: dict[str, str] = None # camera_id -> display_id (for labeling) class SingleCameraWorker(QObject): """Worker for a single camera in multi-camera mode.""" - frame_captured = Signal(str, object, float) # camera_id, frame, timestamp + frame_captured = Signal(str, object, float, object) # camera_id, frame, timestamp, timestamp_metadata error_occurred = Signal(str, str) # camera_id, error_message + runtime_info = Signal(str, object) # camera_id, dict of runtime info started = Signal(str) # camera_id stopped = Signal(str) # camera_id def __init__(self, camera_id: str, settings: CameraSettings): super().__init__() self._camera_id = camera_id - self._settings = settings + self._settings = copy.deepcopy(settings) self._stop_event = Event() self._backend: CameraBackend | None = None self._max_consecutive_errors = 5 self._retry_delay = 0.1 + self._trigger_timeout_delay = 0.05 + + self._trigger_wait_log_interval = 2.0 + self._last_trigger_wait_log = 0.0 + self._trigger_wait_suppressed_count = 0 + + # Performance logs + self._timing = WorkerTimingStats( + camera_id, logger=LOGGER, log_interval=1.0, enabled=SINGLE_CAMERA_WORKER_DO_LOG_TIMING + ) @Slot() def run(self) -> None: self._stop_event.clear() try: + LOGGER.debug( + "[Worker %s] before create: backend=%s index=%s properties=%s", + self._camera_id, + self._settings.backend, + self._settings.index, + self._settings.properties, + ) + self._backend = CameraFactory.create(self._settings) + + LOGGER.debug( + "[Worker %s] after create: backend=%s index=%s properties=%s", + self._camera_id, + self._backend.settings.backend, + self._backend.settings.index, + self._backend.settings.properties, + ) + self._backend.open() + self.runtime_info.emit( + self._camera_id, + { + "actual_fps": getattr(self._backend, "actual_fps", None), + "actual_resolution": getattr(self._backend, "actual_resolution", None), + "actual_pixel_format": getattr(self._backend, "actual_pixel_format", None), + "actual_output_format": getattr(self._backend, "actual_output_format", None), + }, + ) except Exception as exc: LOGGER.exception(f"Failed to initialize camera {self._camera_id}", exc_info=exc) self.error_occurred.emit(self._camera_id, f"Failed to initialize camera: {exc}") @@ -70,7 +116,11 @@ def run(self) -> None: while not self._stop_event.is_set(): try: - frame, timestamp = self._backend.read() + with self._timing.measure("Single.read"): + captured = self._backend.read() + frame = captured.frame + timestamp = captured.software_timestamp + timestamp_metadata = captured.timestamp_metadata if frame is None or frame.size == 0: consecutive_errors += 1 if consecutive_errors >= self._max_consecutive_errors: @@ -78,20 +128,53 @@ def run(self) -> None: self._camera_id, "Too many empty frames.\nWas the device disconnected ?" ) break - time.sleep(self._retry_delay) + if self._stop_event.wait(self._retry_delay): + break continue consecutive_errors = 0 - self.frame_captured.emit(self._camera_id, frame, timestamp) + with self._timing.measure("Single.emit.frame_captured"): + self.frame_captured.emit(self._camera_id, frame, timestamp, timestamp_metadata) + + self._timing.note_frame() + self._timing.maybe_log() + + except TimeoutError as exc: + self._timing.note_timeout() + self._timing.maybe_log() + if self._stop_event.is_set(): + break + + # In hardware-trigger mode, a timeout usually means: + # "no trigger pulse arrived during this poll interval". + # This is expected and should not count as a camera failure. + if bool(getattr(self._backend, "waits_for_hardware_trigger", False)): + self._log_trigger_wait_throttled(exc) + consecutive_errors = 0 + + if self._stop_event.wait(self._trigger_timeout_delay): + break # Stop event set during wait + continue + + consecutive_errors += 1 + if consecutive_errors >= self._max_consecutive_errors: + self.error_occurred.emit(self._camera_id, f"Camera read timeout: {exc}") + break + if self._stop_event.wait(self._retry_delay): + break + continue except Exception as exc: + self._timing.note_error() + self._timing.maybe_log() consecutive_errors += 1 if self._stop_event.is_set(): break if consecutive_errors >= self._max_consecutive_errors: self.error_occurred.emit(self._camera_id, f"Camera read error: {exc}") break - time.sleep(self._retry_delay) + if self._stop_event.wait(self._retry_delay): + break continue # Cleanup @@ -105,17 +188,123 @@ def run(self) -> None: def stop(self) -> None: self._stop_event.set() + def _log_trigger_wait_throttled(self, exc: BaseException) -> None: + """Log hardware-trigger wait timeouts at a controlled rate. + + In trigger-waiting modes, read timeouts are expected polling misses. + Without throttling, the log can be flooded at ~10-20 messages/sec/camera. + """ + now = time.monotonic() + + if now - self._last_trigger_wait_log < self._trigger_wait_log_interval: + self._trigger_wait_suppressed_count += 1 + return + + suppressed = self._trigger_wait_suppressed_count + self._trigger_wait_suppressed_count = 0 + self._last_trigger_wait_log = now + + if suppressed: + LOGGER.debug( + "[Worker %s] waiting for hardware trigger: %s (suppressed %d repeated timeout logs)", + self._camera_id, + exc, + suppressed, + ) + else: + LOGGER.debug( + "[Worker %s] waiting for hardware trigger: %s", + self._camera_id, + exc, + ) + + +def get_display_id(settings: CameraSettings) -> str: + """Return the human-friendly camera label used for GUI display. + Intentionally different from get_camera_id(), which should return a stable + internal, reliable and unambiguous identity and may contain serials or machine paths. + """ + name = str(getattr(settings, "name", "") or "").strip() + if name: + return name + + backend = (settings.backend or "").lower() + props = settings.properties if isinstance(settings.properties, dict) else {} + ns = props.get(backend, {}) if isinstance(props.get(backend), dict) else {} + + device_name = str(ns.get("device_name", "") or "").strip() + if device_name: + return device_name -def get_camera_id(settings: CameraSettings) -> str: - """Generate a unique camera ID from settings.""" return f"{settings.backend}:{settings.index}" +def get_camera_id(settings: CameraSettings) -> str: + """Generate a unique camera ID from stable backend identity.""" + backend = (settings.backend or "").lower() + props = settings.properties if isinstance(settings.properties, dict) else {} + ns = props.get(backend, {}) if isinstance(props.get(backend), dict) else {} + + device_id = ns.get("device_id") + if device_id: + return f"{backend}:{device_id}" + + serial = ns.get("serial_number") or ns.get("device_serial_number") or ns.get("serial") + if serial: + return f"{backend}:serial:{serial}" + + return f"{backend}:index:{int(settings.index)}" + + +def _trigger_role_from_settings(settings: CameraSettings) -> str: + backend = (settings.backend or "").lower() + props = settings.properties if isinstance(settings.properties, dict) else {} + ns = props.get(backend, {}) if isinstance(props.get(backend), dict) else {} + + trigger = ns.get("trigger", {}) + if not isinstance(trigger, dict): + return "off" + + role = str(trigger.get("role", "off") or "off").strip().lower() + + # Match CameraTriggerSettings aliases enough for controller ordering. + if role in {"true", "on", "trigger", "triggered"}: + return "external" + if role in {"slave"}: + return "follower" + if role in {"main"}: + return "master" + if role in {"false", "none", "disabled", "disable", ""}: + return "off" + + return role + + +def _camera_start_priority(settings: CameraSettings) -> int: + """Start trigger-waiting cameras before trigger-generating cameras. + + Priority: + 0: external/follower cameras, which should be armed first + 1: normal/free-run cameras + 2: master cameras, which may generate trigger pulses + """ + role = _trigger_role_from_settings(settings) + if role in {"external", "follower"}: + return 0 + if role == "master": + return 2 + return 1 + + class MultiCameraController(QObject): """Controller for managing multiple cameras simultaneously.""" # Signals - frame_ready = Signal(object) # MultiFrameData + frame_ready = Signal(object) # MultiFrameData (full cam FPS; inference only) + recording_frame_ready = Signal( + str, object, float, object + ) # camera_id, frame, timestamp, timestamp_metadata (full cam FPS; for recording) + display_ready = Signal(object) # MultiFrameData for GUI display (throttled to GUI_MAX_DISPLAY_FPS) camera_started = Signal(str, object) # camera_id, settings camera_stopped = Signal(str) # camera_id camera_error = Signal(str, str) # camera_id, error_message @@ -130,14 +319,24 @@ def __init__(self): self._workers: dict[str, SingleCameraWorker] = {} self._threads: dict[str, QThread] = {} self._settings: dict[str, CameraSettings] = {} + self._runtime_info: dict[str, dict] = {} self._frames: dict[str, np.ndarray] = {} self._timestamps: dict[str, float] = {} self._frame_lock = Lock() self._running = False + self._recording_frame_emission_enabled: bool = False self._started_cameras: set = set() + self._camera_display_order: list[str] = [] + self._display_ids: dict[str, str] = {} # camera_id -> display_id (for labeling) self._failed_cameras: dict[str, str] = {} # camera_id -> error message self._expected_cameras: int = 0 # Number of cameras we're trying to start + # GUI display max FPS (for throttling display updates when many cameras are active) + self._gui_display_max_fps: float = GUI_MAX_DISPLAY_FPS + self._gui_display_last_emit: float = 0.0 + # Performance logs + self._timing_per_cam: dict[str, WorkerTimingStats] = {} + def is_running(self) -> bool: """Check if any camera is currently running.""" return self._running and len(self._started_cameras) > 0 @@ -146,42 +345,118 @@ def get_active_count(self) -> int: """Get the number of active cameras.""" return len(self._started_cameras) + def _timing_for_camera(self, camera_id: str) -> WorkerTimingStats: + timing = self._timing_per_cam.get(camera_id) + if timing is None: + timing = WorkerTimingStats( + f"Controller {camera_id}", + logger=LOGGER, + log_interval=1.0, + enabled=MULTI_CAMERA_WORKER_DO_LOG_TIMING, + ) + self._timing_per_cam[camera_id] = timing + return timing + + def set_recording_frame_do_emit(self, enabled: bool) -> None: + """Enable/disable the lightweight per-camera recording frame signal. + + This avoids sending recording-only traffic when the user is only previewing + or running DLC. + """ + self._recording_frame_emission_enabled = bool(enabled) + + def _should_emit_display_ready(self) -> bool: + """Return True when the UI/display path should be updated. + + This only throttles display_ready. It must not throttle frame_ready, + because frame_ready is used for full-rate consumers such as recording. + """ + if self._gui_display_max_fps <= 0: + return True + + now = time.perf_counter() + min_interval = 1.0 / max(self._gui_display_max_fps, 1e-9) + + if now - self._gui_display_last_emit < min_interval: + return False + + self._gui_display_last_emit = now + return True + def start(self, camera_settings: list[CameraSettings]) -> None: """Start multiple cameras.""" if self._running: LOGGER.warning("Multi-camera controller already running") return - active_settings = [s for s in camera_settings if s.enabled][: self.MAX_CAMERAS] + active_settings_user_order = [s for s in camera_settings if s.enabled][: self.MAX_CAMERAS] + if not active_settings_user_order: + LOGGER.warning("No active cameras to start") + return + + # Display/tile order follows the user-configured camera order. + self._camera_display_order = [get_camera_id(s) for s in active_settings_user_order] + + # Startup order may differ for trigger safety: + # followers/external first, master last. + active_settings = sorted(active_settings_user_order, key=_camera_start_priority) if not active_settings: LOGGER.warning("No active cameras to start") return + # Check for dupes + seen = {} + for s in active_settings: + camera_id = get_camera_id(s) + try: + key = camera_identity_key(s) + except Exception: + LOGGER.exception( + "Failed to compute camera identity key for %s; falling back to camera_id", + camera_id, + ) + key = camera_id + + if key in seen: + self.initialization_failed.emit( + [ + ( + camera_id, + f"Duplicate camera configuration. Conflicts with {seen[key]}", + ) + ] + ) + return + + seen[key] = camera_id + self._running = True + self._recording_frame_emission_enabled = False self._frames.clear() self._timestamps.clear() self._started_cameras.clear() self._failed_cameras.clear() - - unique_ids = {get_camera_id(s) for s in active_settings} - self._expected_cameras = len(unique_ids) + self._display_ids.clear() + self._expected_cameras = len(active_settings) for settings in active_settings: self._start_camera(settings) def _start_camera(self, settings: CameraSettings) -> None: """Start a single camera.""" - cam_id = get_camera_id(settings) - existing_thread = self._threads.get(cam_id) - if cam_id in self._workers and (existing_thread is None or not existing_thread.isRunning()): - LOGGER.warning(f"Stale camera worker/thread found for {cam_id}, cleaning up") - self._cleanup_camera(cam_id) + settings_copy = copy.deepcopy(settings) + cam_id = get_camera_id(settings_copy) + display_id = get_display_id(settings_copy) + if cam_id in self._workers: LOGGER.warning(f"Camera {cam_id} is already running, skipping start") return + LOGGER.info(f"[MultiCameraController] Starting {cam_id} with settings: {settings_copy}") + # Normalize and store the dataclass once - self._settings[cam_id] = settings + self._settings[cam_id] = settings_copy + self._display_ids[cam_id] = display_id dc = self._settings[cam_id] worker = SingleCameraWorker(cam_id, dc) thread = QThread() @@ -189,6 +464,7 @@ def _start_camera(self, settings: CameraSettings) -> None: # Connections unchanged thread.started.connect(worker.run) + worker.runtime_info.connect(self._on_camera_runtime_info) worker.frame_captured.connect(self._on_frame_captured) worker.started.connect(self._on_camera_started) worker.stopped.connect(self._on_camera_stopped) @@ -221,6 +497,7 @@ def stop(self, wait: bool = True) -> None: return self._running = False + self._recording_frame_emission_enabled = False # Signal all workers to stop for worker in self._workers.values(): @@ -280,8 +557,15 @@ def stop(self, wait: bool = True) -> None: self.all_stopped.emit() return + self._timing_per_cam.clear() + self._gui_display_last_emit = 0.0 + self._workers.clear() + self._threads.clear() + self._settings.clear() self._started_cameras.clear() self._failed_cameras.clear() + self._camera_display_order.clear() + self._display_ids.clear() with self._frame_lock: self._frames.clear() self._timestamps.clear() @@ -289,32 +573,102 @@ def stop(self, wait: bool = True) -> None: self.all_stopped.emit() - def _on_frame_captured(self, camera_id: str, frame: np.ndarray, timestamp: float) -> None: + def _on_frame_captured( + self, camera_id: str, frame: np.ndarray, timestamp: float, timestamp_metadata: object | None = None + ) -> None: """Handle a frame from one camera.""" - # Apply rotation if configured - settings = self._settings.get(camera_id) - if settings and settings.rotation: - frame = MultiCameraController.apply_rotation(frame, settings.rotation) + timing = self._timing_for_camera(camera_id) + frame_data: MultiFrameData | None = None + + with timing.measure("Multi.slot.total"): + settings = self._settings.get(camera_id) + + with timing.measure("Multi.apply_transforms"): + if settings and settings.rotation: + frame = MultiCameraController.apply_rotation(frame, settings.rotation) + + if settings: + crop_region = settings.get_crop_region() + if crop_region: + frame = MultiCameraController.apply_crop(frame, crop_region) + + if self._recording_frame_emission_enabled: + with timing.measure("Multi.emit.recording_frame_ready"): + self.recording_frame_ready.emit(camera_id, frame, timestamp, timestamp_metadata) + + with self._frame_lock: + with timing.measure("Multi.store_latest"): + self._frames[camera_id] = frame + self._timestamps[camera_id] = timestamp + + with timing.measure("Multi.build_ordered"): + ordered_frames: dict[str, np.ndarray] = {} + ordered_timestamps: dict[str, float] = {} + + for cam_id in self._camera_display_order: + if cam_id in self._frames: + ordered_frames[cam_id] = self._frames[cam_id] + if cam_id in self._timestamps: + ordered_timestamps[cam_id] = self._timestamps[cam_id] + + # Any unexpected/legacy IDs, appended deterministically. + for cam_id in self._frames: + if cam_id not in ordered_frames: + ordered_frames[cam_id] = self._frames[cam_id] + for cam_id in self._timestamps: + if cam_id not in ordered_timestamps: + ordered_timestamps[cam_id] = self._timestamps[cam_id] + + with timing.measure("Multi.construct_frame_data"): + frame_data = MultiFrameData( + frames=ordered_frames, + timestamps=ordered_timestamps, + source_camera_id=camera_id, + tiled_frame=None, + display_ids=dict(self._display_ids), + ) + + if frame_data is not None: + with timing.measure("Multi.emit.frame_ready"): + self.frame_ready.emit(frame_data) + + # GUI-only path: throttled display updates + if self._should_emit_display_ready(): + with timing.measure("Multi.emit.display_ready"): + self.display_ready.emit(frame_data) + + timing.note_frame() + timing.maybe_log() + + def _on_camera_runtime_info(self, camera_id: str, info: object) -> None: + if not isinstance(info, dict): + return - # Apply cropping if configured - if settings: - crop_region = settings.get_crop_region() - if crop_region: - frame = MultiCameraController.apply_crop(frame, crop_region) + self._runtime_info[camera_id] = dict(info) - with self._frame_lock: - self._frames[camera_id] = frame - self._timestamps[camera_id] = timestamp - - # Emit frame data without tiling (tiling done in GUI for performance) - if self._frames: - frame_data = MultiFrameData( - frames=dict(self._frames), - timestamps=dict(self._timestamps), - source_camera_id=camera_id, # Track which camera triggered this - tiled_frame=None, - ) - self.frame_ready.emit(frame_data) + actual_fps = info.get("actual_fps") + LOGGER.info( + "Camera %s runtime info: actual_fps=%s actual_resolution=%s pixel_format=%s output_format=%s", + camera_id, + actual_fps, + info.get("actual_resolution"), + info.get("actual_pixel_format"), + info.get("actual_output_format"), + ) + + def actual_fps_by_camera_id(self) -> dict[str, float]: + out: dict[str, float] = {} + + for camera_id, info in self._runtime_info.items(): + try: + fps = float(info.get("actual_fps") or 0.0) + except Exception: + fps = 0.0 + + if fps > 0.0: + out[camera_id] = fps + + return out @staticmethod def apply_rotation(frame: np.ndarray, degrees: int) -> np.ndarray: @@ -388,98 +742,6 @@ def to_display_pixmap(frame: np.ndarray) -> QPixmap: q_img = QImage(frame.data, w, h, bytes_per_line, QImage.Format.Format_RGB888).copy() return QPixmap.fromImage(q_img) - def _create_tiled_frame(self) -> np.ndarray: - """Create a tiled frame from all camera frames. - - The tiled frame is scaled to fit within a maximum canvas size - while maintaining aspect ratio of individual camera frames. - """ - if not self._frames: - return np.zeros((480, 640, 3), dtype=np.uint8) - - frames_list = [self._frames[idx] for idx in sorted(self._frames.keys())] - num_frames = len(frames_list) - - if num_frames == 0: - return np.zeros((480, 640, 3), dtype=np.uint8) - - # Determine grid layout - if num_frames == 1: - rows, cols = 1, 1 - elif num_frames == 2: - rows, cols = 1, 2 - elif num_frames <= 4: - rows, cols = 2, 2 - else: - rows, cols = 2, 2 # Limit to 4 - - # Maximum canvas size to fit on screen (leaving room for UI elements) - max_canvas_width = 1200 - max_canvas_height = 800 - - # Calculate tile size based on frame aspect ratio and available space - first_frame = frames_list[0] - frame_h, frame_w = first_frame.shape[:2] - frame_aspect = frame_w / frame_h if frame_h > 0 else 1.0 - - # Calculate tile dimensions that fit within the canvas - tile_w = max_canvas_width // cols - tile_h = max_canvas_height // rows - - # Maintain aspect ratio of original frames - tile_aspect = tile_w / tile_h if tile_h > 0 else 1.0 - - if frame_aspect > tile_aspect: - # Frame is wider than tile slot - constrain by width - tile_h = int(tile_w / frame_aspect) - else: - # Frame is taller than tile slot - constrain by height - tile_w = int(tile_h * frame_aspect) - - # Ensure minimum size - tile_w = max(160, tile_w) - tile_h = max(120, tile_h) - - # Create canvas - canvas = np.zeros((rows * tile_h, cols * tile_w, 3), dtype=np.uint8) - - # Get sorted camera IDs for consistent ordering - cam_ids = sorted(self._frames.keys()) - frames_list = [self._frames[cam_id] for cam_id in cam_ids] - - # Place each frame in the grid - for idx, frame in enumerate(frames_list[: rows * cols]): - row = idx // cols - col = idx % cols - - # Ensure frame is 3-channel - frame = MultiCameraController.ensure_color_bgr(frame) - - # Resize to tile size - resized = MultiCameraController.apply_resize(frame, tile_w, tile_h, allow_upscale=True) - - # Add camera ID label - if idx < len(cam_ids): - label = cam_ids[idx] - cv2.putText( - resized, - label, - (10, 30), - cv2.FONT_HERSHEY_SIMPLEX, - 0.7, - (0, 255, 0), - 2, - ) - - # Place in canvas - y_start = row * tile_h - y_end = y_start + tile_h - x_start = col * tile_w - x_end = x_start + tile_w - canvas[y_start:y_end, x_start:x_end] = resized - - return canvas - def _on_camera_started(self, camera_id: str) -> None: """Handle camera start event.""" self._started_cameras.add(camera_id) @@ -500,6 +762,7 @@ def _on_camera_stopped(self, camera_id: str) -> None: # Check if this camera never started (initialization failure) was_started = camera_id in self._started_cameras self._started_cameras.discard(camera_id) + self._display_ids.pop(camera_id, None) self.camera_stopped.emit(camera_id) LOGGER.info(f"Camera {camera_id} stopped (was_started={was_started})") @@ -541,20 +804,3 @@ def _on_camera_error(self, camera_id: str, message: str) -> None: if camera_id not in self._started_cameras: self._failed_cameras[camera_id] = message self.camera_error.emit(camera_id, message) - - def get_frame(self, camera_id: str) -> np.ndarray | None: - """Get the latest frame from a specific camera.""" - with self._frame_lock: - return self._frames.get(camera_id) - - def get_all_frames(self) -> dict[str, np.ndarray]: - """Get the latest frames from all cameras.""" - with self._frame_lock: - return dict(self._frames) - - def get_tiled_frame(self) -> np.ndarray | None: - """Get a tiled view of all camera frames.""" - with self._frame_lock: - if self._frames: - return self._create_tiled_frame() - return None diff --git a/dlclivegui/services/video_recorder.py b/dlclivegui/services/video_recorder.py index e2ae15c9e..44369a548 100644 --- a/dlclivegui/services/video_recorder.py +++ b/dlclivegui/services/video_recorder.py @@ -9,12 +9,14 @@ import threading import time from collections import deque -from dataclasses import dataclass from pathlib import Path from typing import Any import numpy as np +from dlclivegui.config import REC_DO_LOG_TIMING +from dlclivegui.utils.stats import RecorderStats, WorkerTimingStats + try: from vidgear.gears import WriteGear except ImportError: # pragma: no cover - handled at runtime @@ -26,25 +28,55 @@ STOP_JOIN_TIMEOUT = 5.0 # seconds -@dataclass -class RecorderStats: - """Snapshot of recorder throughput metrics.""" - - frames_enqueued: int = 0 - frames_written: int = 0 - dropped_frames: int = 0 - queue_size: int = 0 - average_latency: float = 0.0 - last_latency: float = 0.0 - write_fps: float = 0.0 - buffer_seconds: float = 0.0 - - _SENTINEL = object() class VideoRecorder: - """Thin wrapper around :class:`vidgear.gears.WriteGear`.""" + """Asynchronous video recorder backed by VidGear/FFmpeg. + + `VideoRecorder` wraps VidGear's `WriteGear` writer with a bounded in-memory + queue and a dedicated writer thread. Calls to `write()` perform minimal frame + validation/preprocessing, enqueue accepted frames without blocking, and return + immediately. The writer thread consumes queued frames and writes them to disk, + while also recording timestamps for successfully written frames. + + The recorder is intended for high-throughput camera pipelines where frame + acquisition should not block on video encoding. If the internal queue fills, + incoming frames are dropped and counted in recorder statistics. Timestamp + sidecar files are written on `stop()` for frames that were actually written. + + Args: + output: Output video path. + frame_size: Expected frame size as `(height, width)`. If provided, + incoming frames with different dimensions are rejected and the + recorder enters an error state. + frame_rate: Output video frame rate. If missing or non-positive, the + recorder falls back to 30 FPS and logs a warning. + codec: FFmpeg video codec name passed to WriteGear, for example + `"libx264"`. + crf: Constant Rate Factor passed to compatible FFmpeg encoders. Lower + values generally increase quality and file size. + buffer_size: Maximum number of frames that may wait in the recorder + queue before new frames are dropped. + convert_grayscale_to_rgb: Whether 2D grayscale frames should be expanded + to 3-channel RGB before writing. Set to `False` to preserve mono + frames when supported by the chosen writer/codec path. + writer_options: Optional dictionary of additional keyword arguments passed + to `WriteGear`. If provided, this overrides the default options. + + Attributes: + is_running: Whether the writer thread is currently alive. + + Raises: + RuntimeError: If VidGear is unavailable, if the recorder is abandoned + after a failed stop, or if a previous encoding error is detected + during `write()`. + + Notes: + This class does not guarantee that every submitted frame is written. + Frames may be dropped when the queue is full, and timestamps are only + saved for frames successfully consumed by the writer thread. + """ def __init__( self, @@ -54,15 +86,20 @@ def __init__( codec: str = "libx264", crf: int = 23, buffer_size: int = 240, + convert_grayscale_to_rgb: bool = True, + writer_options: dict[str, Any] | None = None, ): # Config self._output = Path(output) self._writer: Any | None = None self._frame_size = frame_size self._frame_rate = frame_rate + self._hardware_timestamp_source: dict[str, Any] | None = None self._codec = codec self._crf = int(crf) self._buffer_size = max(1, int(buffer_size)) + self._convert_grayscale_to_rgb = bool(convert_grayscale_to_rgb) + self._writer_options = dict(writer_options) if writer_options is not None else None # Worker state self._queue: queue.Queue[Any] | None = None self._writer_thread: threading.Thread | None = None @@ -79,7 +116,15 @@ def __init__( self._written_times: deque[float] = deque(maxlen=600) self._encode_error: Exception | None = None self._last_log_time = 0.0 - self._frame_timestamps: list[float] = [] + self._frame_timestamps: list[dict[str, Any]] = [] + # Timing + self._process_timing = WorkerTimingStats( + f"RecorderProcess[{self._output.name}]", logger=logger, log_interval=1.0, enabled=REC_DO_LOG_TIMING + ) + self._writer_timing = WorkerTimingStats( + f"RecorderWriter[{self._output.name}]", logger=logger, log_interval=1.0, enabled=REC_DO_LOG_TIMING + ) + self._logged_first_frame = False @property def is_running(self) -> bool: @@ -111,16 +156,51 @@ def start(self) -> None: self._queue = None self._writer_thread = None - fps_value = float(self._frame_rate) if self._frame_rate else 30.0 + if self._frame_rate and float(self._frame_rate) > 0.0: + fps_value = float(self._frame_rate) + else: + fps_value = 30.0 + logger.warning( + "VideoRecorder frame_rate missing/zero for %s; falling back to %.3f FPS. " + "Video playback duration may not match capture timestamps.", + self._output.name, + fps_value, + ) + + logger.info( + "Starting VideoRecorder output=%s frame_size=%s frame_rate=%.3f " + "codec=%s crf=%s buffer_size=%s convert_grayscale_to_rgb=%s writer_options=%s", + self._output, + self._frame_size, + fps_value, + self._codec, + self._crf, + self._buffer_size, + self._convert_grayscale_to_rgb, + self._writer_options, + ) + codec_value = (self._codec or "libx264").strip() or "libx264" writer_kwargs: dict[str, Any] = { "compression_mode": True, "logging": False, "-input_framerate": fps_value, - "-vcodec": (self._codec or "libx264").strip() or "libx264", + "-vcodec": codec_value, "-crf": int(self._crf), } - # TODO deal with pixel format + + if self._writer_options is not None: + writer_kwargs.update(self._writer_options) + + # if not self._convert_grayscale_to_rgb: + # writer_kwargs.update( + # { + # "-pix_fmt": "yuv420p", + # } + # ) + # if self._frame_size is not None: + # h, w = self._frame_size + # writer_kwargs["-output_dimensions"] = (int(w), int(h)) self._output.parent.mkdir(parents=True, exist_ok=True) self._writer = WriteGear(output=str(self._output), **writer_kwargs) @@ -132,6 +212,7 @@ def start(self) -> None: self._last_latency = 0.0 self._written_times.clear() self._frame_timestamps.clear() + self._hardware_timestamp_source = None self._encode_error = None self._stop_event.clear() self._writer_thread = threading.Thread( @@ -145,7 +226,9 @@ def configure_stream(self, frame_size: tuple[int, int], frame_rate: float | None self._frame_size = frame_size self._frame_rate = frame_rate - def write(self, frame: np.ndarray, timestamp: float | None = None) -> bool: + def write( + self, frame: np.ndarray, timestamp: float | None = None, timestamp_metadata: object | None = None + ) -> bool: error = self._current_error() if error is not None: raise RuntimeError(f"Video encoding failed: {error}") from error @@ -160,41 +243,58 @@ def write(self, frame: np.ndarray, timestamp: float | None = None) -> bool: if timestamp is None: timestamp = time.time() - # Convert frame to uint8 if needed - if frame.dtype != np.uint8: - frame_float = frame.astype(np.float32, copy=False) - max_val = float(frame_float.max()) if frame_float.size else 0.0 - scale = 1.0 - if max_val > 0: - scale = 255.0 / max_val if max_val > 255.0 else (255.0 if max_val <= 1.0 else 1.0) - frame = np.clip(frame_float * scale, 0.0, 255.0).astype(np.uint8) - - # Convert grayscale to RGB if needed - if frame.ndim == 2: - frame = np.repeat(frame[:, :, None], 3, axis=2) - - # Ensure contiguous array - frame = np.ascontiguousarray(frame) - - # Check if frame size matches expected size - if self._frame_size is not None: - expected_h, expected_w = self._frame_size - actual_h, actual_w = frame.shape[:2] - if (actual_h, actual_w) != (expected_h, expected_w): - logger.warning( - f"Frame size mismatch: expected (h={expected_h}, w={expected_w}), " - f"got (h={actual_h}, w={actual_w}). " - "Stopping recorder to prevent encoding errors." + with self._process_timing.measure("Recorder.preprocess"): + # Convert frame to uint8 if needed + if frame.dtype != np.uint8: + frame_float = frame.astype(np.float32, copy=False) + max_val = float(frame_float.max()) if frame_float.size else 0.0 + scale = 1.0 + if max_val > 0: + scale = 255.0 / max_val if max_val > 255.0 else (255.0 if max_val <= 1.0 else 1.0) + frame = np.clip(frame_float * scale, 0.0, 255.0).astype(np.uint8) + + # Convert grayscale to RGB if needed + if self._convert_grayscale_to_rgb and frame.ndim == 2: + frame = np.repeat(frame[:, :, None], 3, axis=2) + + # Ensure contiguous array + frame = np.ascontiguousarray(frame) + + if not self._logged_first_frame: + self._logged_first_frame = True + logger.info( + "Recorder %s first frame: shape=%s dtype=%s " + "contiguous=%s nbytes=%.2f MB convert_grayscale_to_rgb=%s", + self._output.name, + frame.shape, + frame.dtype, + frame.flags.c_contiguous, + frame.nbytes / (1024 * 1024), + self._convert_grayscale_to_rgb, ) - # Set error to stop recording gracefully - with self._stats_lock: - self._encode_error = ValueError( - f"Frame size changed from (h={expected_h}, w={expected_w}) to (h={actual_h}, w={actual_w})" + + # Check if frame size matches expected size + if self._frame_size is not None: + expected_h, expected_w = self._frame_size + actual_h, actual_w = frame.shape[:2] + if (actual_h, actual_w) != (expected_h, expected_w): + message = ( + f"Frame size mismatch for recorder {self._output.name}: " + f"expected_hw=({expected_h}, {expected_w}) " + f"actual_hw=({actual_h}, {actual_w}) " + f"{self._describe_frame(frame)}. " + "Stopping recorder to prevent FFmpeg pipe errors." ) - return False + + logger.warning(message) + self._set_encode_error(message) + self._process_timing.note_error() + self._process_timing.maybe_log() + return False try: - q.put((frame, timestamp), block=False) + with self._process_timing.measure("Recorder.queue_put"): + q.put((frame, timestamp, timestamp_metadata), block=False) except queue.Full: with self._stats_lock: self._dropped_frames += 1 @@ -204,9 +304,16 @@ def write(self, frame: np.ndarray, timestamp: float | None = None) -> bool: queue_size, self._buffer_size, ) + self._process_timing.note_error() + self._process_timing.maybe_log() return False + with self._stats_lock: self._frames_enqueued += 1 + + self._process_timing.note_frame() + self._process_timing.maybe_log() + return True def stop(self) -> None: @@ -282,12 +389,21 @@ def get_stats(self) -> RecorderStats | None: avg_latency = self._total_latency / self._frames_written if self._frames_written else 0.0 last_latency = self._last_latency write_fps = self._compute_write_fps_locked() - buffer_seconds = queue_size * avg_latency if avg_latency > 0 else 0.0 + + if write_fps > 0: + buffer_seconds = queue_size / write_fps + elif avg_latency > 0: + buffer_seconds = queue_size * avg_latency + elif last_latency > 0: + buffer_seconds = queue_size * last_latency + else: + buffer_seconds = 0.0 return RecorderStats( frames_enqueued=frames_enqueued, frames_written=frames_written, dropped_frames=dropped, queue_size=queue_size, + buffer_size=self._buffer_size, average_latency=avg_latency, last_latency=last_latency, write_fps=write_fps, @@ -311,9 +427,12 @@ def _writer_loop(self) -> None: break continue except Exception as exc: - with self._stats_lock: - self._encode_error = exc - logger.exception("Could not retrieve item from queue", exc_info=exc) + message = ( + f"Could not retrieve frame from recorder queue for {self._output.name}: " + f"{type(exc).__name__}: {exc!s}" + ) + self._set_encode_error(message, exc) + logger.exception(message) self._stop_event.set() break @@ -321,19 +440,68 @@ def _writer_loop(self) -> None: if item is _SENTINEL: break else: - frame, timestamp = item + frame, timestamp, timestamp_metadata = item start = time.perf_counter() try: writer = self._writer if writer is None: raise RuntimeError("WriteGear writer is not initialized") - writer.write(frame) + + with self._writer_timing.measure("Recorder.writer_write"): + writer.write(frame) + + record: dict[str, Any] = { + "frame_index": self._frames_written, + "software_timestamp": float(timestamp), + } + + if timestamp_metadata is not None: + if ( + hasattr(timestamp_metadata, "to_source_dict") + and self._hardware_timestamp_source is None + ): + self._hardware_timestamp_source = timestamp_metadata.to_source_dict() + + if hasattr(timestamp_metadata, "to_frame_dict"): + record["hardware_timestamp"] = timestamp_metadata.to_frame_dict() + if hasattr(timestamp_metadata, "get_default_reported"): + default_value = timestamp_metadata.get_default_reported() + if default_value is not None: + record["hardware_timestamp_default"] = default_value + elif isinstance(timestamp_metadata, dict): + record["hardware_timestamp"] = dict(timestamp_metadata) + else: + record["hardware_timestamp"] = repr(timestamp_metadata) + + self._frame_timestamps.append(record) + except Exception as exc: + queue_size = q.qsize() if q is not None else -1 + with self._stats_lock: - self._encode_error = exc - logger.exception("Video encoding failed while writing frame", exc_info=exc) + frames_enqueued = self._frames_enqueued + frames_written = self._frames_written + dropped_frames = self._dropped_frames + + message = ( + f"Video encoding failed for recorder {self._output.name}: " + f"{type(exc).__name__}: {exc!s}. " + f"{self._describe_frame(frame)} " + f"expected_frame_size={self._frame_size} " + f"frames_written={frames_written} " + f"frames_enqueued={frames_enqueued} " + f"dropped={dropped_frames} " + f"queue_size={queue_size}. " + "The FFmpeg/WriteGear pipe is no longer usable; stopping this recorder." + ) + + self._set_encode_error(message, exc) + + logger.exception(message) self._stop_event.set() + self._writer_timing.note_error() + self._writer_timing.maybe_log() break else: elapsed = time.perf_counter() - start @@ -343,11 +511,13 @@ def _writer_loop(self) -> None: self._total_latency += elapsed self._last_latency = elapsed self._written_times.append(now) - self._frame_timestamps.append(timestamp) if now - self._last_log_time >= 1.0: self._compute_write_fps_locked() self._last_log_time = now + self._writer_timing.note_frame() + self._writer_timing.maybe_log() + finally: # Ensure queue accounting is correct for every item pulled from q try: @@ -377,37 +547,80 @@ def _compute_write_fps_locked(self) -> float: return 0.0 return (len(self._written_times) - 1) / duration + def _describe_frame(self, frame: np.ndarray | None) -> str: + if frame is None: + return "frame=None" + + try: + return ( + f"shape={frame.shape} " + f"dtype={frame.dtype} " + f"contiguous={frame.flags.c_contiguous} " + f"nbytes={frame.nbytes / (1024 * 1024):.2f}MB" + ) + except Exception: + return f"frame=" + def _current_error(self) -> Exception | None: with self._stats_lock: return self._encode_error + def _set_encode_error(self, message: str, exc: Exception | None = None) -> Exception: + error = RuntimeError(message) + if exc is not None: + error.__cause__ = exc + + with self._stats_lock: + self._encode_error = error + + return error + def _save_timestamps(self) -> None: """Save frame timestamps to a JSON file alongside the video.""" if not self._frame_timestamps: logger.info("No timestamps to save") return - # Create timestamps file path timestamp_file = self._output.with_suffix("").with_suffix(self._output.suffix + "_timestamps.json") try: with self._stats_lock: - timestamps = self._frame_timestamps.copy() + frame_timestamps = self._frame_timestamps.copy() + hardware_timestamp_source = ( + dict(self._hardware_timestamp_source) if self._hardware_timestamp_source is not None else None + ) + + software_timestamps = [ + float(rec["software_timestamp"]) for rec in frame_timestamps if "software_timestamp" in rec + ] - # Prepare metadata data = { + "schema_version": 2, "video_file": str(self._output.name), - "num_frames": len(timestamps), - "timestamps": timestamps, - "start_time": timestamps[0] if timestamps else None, - "end_time": timestamps[-1] if timestamps else None, - "duration_seconds": timestamps[-1] - timestamps[0] if len(timestamps) > 1 else 0.0, + "num_frames": len(frame_timestamps), + # "timestamps": software_timestamps, + "timestamp_sources": { + "software_timestamp": { + "source": "host_time.time", + "backend": "host", + "kind": "software_wall_clock", + "timebase": "Unix epoch", + "unit": "seconds", + "description": "Host-side software timestamp captured during acquisition.", + }, + "hardware_timestamp": hardware_timestamp_source, + }, + "frame_timestamps": frame_timestamps, + "start_time": software_timestamps[0] if software_timestamps else None, + "end_time": software_timestamps[-1] if software_timestamps else None, + "duration_seconds": ( + software_timestamps[-1] - software_timestamps[0] if len(software_timestamps) > 1 else 0.0 + ), } - # Write to JSON with open(timestamp_file, "w") as f: json.dump(data, f, indent=2) - logger.info(f"Saved {len(timestamps)} frame timestamps to {timestamp_file}") + logger.info("Saved %d frame timestamps to %s", len(frame_timestamps), timestamp_file) except Exception as exc: - logger.exception(f"Failed to save timestamps to {timestamp_file}: {exc}") + logger.exception("Failed to save timestamps to %s: %s", timestamp_file, exc) diff --git a/dlclivegui/temp/engine.py b/dlclivegui/temp/engine.py index a6bb225eb..85c4755f7 100644 --- a/dlclivegui/temp/engine.py +++ b/dlclivegui/temp/engine.py @@ -6,7 +6,7 @@ # or if we update dlclive.Engine to have these methods and use that instead of a separate enum here. # The latter would be more cohesive but also creates a dependency from utils to dlclive, # pending release of dlclive -class Engine(Enum): +class Engine(str, Enum): TENSORFLOW = "tensorflow" PYTORCH = "pytorch" @@ -26,6 +26,12 @@ def is_tensorflow_model_dir_path(model_path: str | Path) -> bool: @classmethod def from_model_type(cls, model_type: str) -> "Engine": + if not isinstance(model_type, str): + try: + model_type = getattr(model_type, "value", str(model_type)) + except Exception as e: + raise ValueError(f"Could not convert model_type to string: {model_type}") from e + if model_type.lower() == "pytorch": return cls.PYTORCH elif model_type.lower() in ("tensorflow", "base", "tensorrt", "lite"): diff --git a/dlclivegui/utils/display.py b/dlclivegui/utils/display.py index 0eac657cc..5cd297449 100644 --- a/dlclivegui/utils/display.py +++ b/dlclivegui/utils/display.py @@ -38,10 +38,10 @@ def compute_tiling_geometry( """Compute consistent tiling geometry for both tiling and overlay transforms. Returns: - (sorted_cam_ids, rows, cols, tile_w, tile_h) + (cam_ids, rows, cols, tile_w, tile_h) Notes: - - We intentionally base tile aspect on the first frame in sorted_cam_ids, + - We intentionally base tile aspect on the first frame in cam_ids, because create_tiled_frame uses the same ordering. This guarantees that compute_tile_info() and create_tiled_frame() agree on tile_w/tile_h. - If frames have different aspect ratios, they will be resized (possibly distorted) @@ -50,7 +50,7 @@ def compute_tiling_geometry( if not frames: return ([], 1, 1, 640, 480) - cam_ids = sorted(frames.keys()) + cam_ids = list(frames.keys()) frames_list = [frames[cid] for cid in cam_ids] num_frames = len(frames_list) @@ -63,7 +63,7 @@ def compute_tiling_geometry( max_w, max_h = max_canvas - # Reference aspect is based on the first frame in sorted order (matches tiler). + # Reference aspect is based on the first frame in display order (matches tiler). h0, w0 = frames_list[0].shape[:2] frame_aspect = (w0 / h0) if h0 > 0 else 1.0 @@ -83,7 +83,9 @@ def compute_tiling_geometry( return cam_ids, rows, cols, tile_w, tile_h -def create_tiled_frame(frames: dict[str, np.ndarray], max_canvas: tuple[int, int] = (1200, 800)) -> np.ndarray: +def create_tiled_frame( + frames: dict[str, np.ndarray], max_canvas: tuple[int, int] = (1200, 800), labels: dict[str, str] = None +) -> np.ndarray: """Create a tiled canvas (1x1, 1x2, or 2x2) with camera-id labels. Uses compute_tiling_geometry() so tile_w/tile_h are consistent with compute_tile_info(). @@ -105,10 +107,11 @@ def create_tiled_frame(frames: dict[str, np.ndarray], max_canvas: tuple[int, int frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR) resized = cv2.resize(frame, (tile_w, tile_h), interpolation=cv2.INTER_AREA) + label = labels.get(cam_id, cam_id) if labels else cam_id cv2.putText( resized, - cam_id, + label, (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, @@ -135,7 +138,7 @@ def compute_tile_info( Critical robustness fix: - Tile dimensions are computed from the same reference used by create_tiled_frame() - (first frame in sorted order), so offsets/scales match the actual tiling. + (first frame in display order), so offsets/scales match the actual tiling. """ if not frames: return (0, 0), (1.0, 1.0) diff --git a/dlclivegui/utils/settings_store.py b/dlclivegui/utils/settings_store.py index fcf36fdd3..0107afb1c 100644 --- a/dlclivegui/utils/settings_store.py +++ b/dlclivegui/utils/settings_store.py @@ -51,6 +51,51 @@ def get_use_timestamp(self, default: bool = True) -> bool: def set_use_timestamp(self, value: bool) -> None: self._s.setValue("recording/use_timestamp", bool(value)) + def get_fast_encoding(self, default: bool = False) -> bool: + value = self._s.value("recording/fast_encoding", default) + if isinstance(value, bool): + return value + return str(value).strip().lower() in {"1", "true", "yes", "on"} + + def get_processor_folder(self, default: str = "") -> str: + """ + Return the persisted processor folder if it still exists and is a directory. + Otherwise return default. + """ + value = self._s.value("dlc/processor_folder", default) + value = str(value).strip() if value is not None else "" + + if not value: + return default + + try: + path = Path(value).expanduser() + if path.is_dir(): + return str(path.resolve()) + except Exception: + logger.debug("Persisted processor folder is invalid: %s", value, exc_info=True) + + return default + + def set_processor_folder(self, folder: str) -> None: + """ + Persist processor folder only if it exists and is a directory. + Invalid folders are ignored. + """ + folder = str(folder).strip() if folder is not None else "" + if not folder: + return + + try: + path = Path(folder).expanduser() + if path.is_dir(): + self._s.setValue("dlc/processor_folder", str(path.resolve())) + except Exception: + logger.debug("Failed to persist processor folder: %s", folder, exc_info=True) + + def set_fast_encoding(self, enabled: bool) -> None: + self._s.setValue("recording/fast_encoding", bool(enabled)) + # --- optional: snapshot full config as JSON in QSettings --- def save_full_config_snapshot(self, cfg: ApplicationSettings) -> None: self._s.setValue("app/config_json", cfg.model_dump_json()) diff --git a/dlclivegui/utils/stats.py b/dlclivegui/utils/stats.py index 23e9d57f0..0ef0528e2 100644 --- a/dlclivegui/utils/stats.py +++ b/dlclivegui/utils/stats.py @@ -1,19 +1,160 @@ # dlclivegui/utils/stats.py from __future__ import annotations -from dlclivegui.services.dlc_processor import ProcessorStats -from dlclivegui.services.video_recorder import RecorderStats +import logging +import time +from dataclasses import dataclass +from typing import TYPE_CHECKING + +if TYPE_CHECKING: + from dlclivegui.services.dlc_processor import ProcessorStats + + +@dataclass +class RecorderStats: + """Snapshot of recorder throughput metrics.""" + + frames_enqueued: int = 0 + frames_written: int = 0 + dropped_frames: int = 0 + queue_size: int = 0 + buffer_size: int = 0 + average_latency: float = 0.0 + last_latency: float = 0.0 + write_fps: float = 0.0 + buffer_seconds: float = 0.0 + + @property + def backlog_frames(self) -> int: + """Frames accepted by recorder but not yet written.""" + return max(0, self.frames_enqueued - self.frames_written) + + @property + def queue_fill_ratio(self) -> float: + """Queue fill ratio in [0, 1], or 0 when capacity is unknown.""" + if self.buffer_size <= 0: + return 0.0 + return min(1.0, max(0.0, self.queue_size / self.buffer_size)) + + +class WorkerTimingStats: + """Tiny timing accumulator for camera worker performance diagnostics. + + Usage: + with stats.measure("read"): + frame, ts = backend.read() + + Logs aggregate timings once per log_interval seconds. + """ + + def __init__( + self, camera_id: str, *, logger: logging.Logger | None = None, log_interval: float = 1.0, enabled: bool = True + ): + self.camera_id = camera_id + self.log_interval = float(log_interval) + self.enabled = bool(enabled) + self.logger = logger or logging.getLogger(__name__) + if self.enabled: # force logger to proper level + if not self.logger.isEnabledFor(logging.DEBUG): + self.logger.setLevel(logging.DEBUG) + + self._last_log = time.perf_counter() + self._frames = 0 + self._timeouts = 0 + self._errors = 0 + self._totals: dict[str, float] = {} + self._counts: dict[str, int] = {} + + class _Measure: + def __init__(self, parent: WorkerTimingStats, name: str): + self.parent = parent + self.name = name + self.t0 = 0.0 + self.elapsed = 0.0 + + def __enter__(self): + if self.parent.enabled: + self.t0 = time.perf_counter() + return self + + def __exit__(self, exc_type, exc, tb): + if not self.parent.enabled: + return False + + self.elapsed = time.perf_counter() - self.t0 + self.parent._totals[self.name] = self.parent._totals.get(self.name, 0.0) + self.elapsed + self.parent._counts[self.name] = self.parent._counts.get(self.name, 0) + 1 + return False + + def measure(self, name: str): + return self._Measure(self, name) + + def note_frame(self) -> None: + if self.enabled: + self._frames += 1 + + def note_timeout(self) -> None: + if self.enabled: + self._timeouts += 1 + + def note_error(self) -> None: + if self.enabled: + self._errors += 1 + + def maybe_log(self) -> None: + if not self.enabled: + return + + now = time.perf_counter() + elapsed = now - self._last_log + if elapsed < self.log_interval: + return + + fps = self._frames / max(elapsed, 1e-9) + + parts = [ + f"[Worker {self.camera_id}]", + f"fps={fps:.1f}", + f"frames={self._frames}", + ] + + if self._timeouts: + parts.append(f"timeouts={self._timeouts}") + if self._errors: + parts.append(f"errors={self._errors}") + + for name in sorted(self._totals): + count = max(self._counts.get(name, 0), 1) + avg_ms = 1000.0 * self._totals[name] / count + parts.append(f"avg_{name}_ms={avg_ms:.3f}") + + self.logger.debug(" ".join(parts)) + + self._last_log = now + self._frames = 0 + self._timeouts = 0 + self._errors = 0 + self._totals.clear() + self._counts.clear() def format_recorder_stats(stats: RecorderStats) -> str: latency_ms = stats.last_latency * 1000.0 avg_ms = stats.average_latency * 1000.0 buffer_ms = stats.buffer_seconds * 1000.0 + + if stats.buffer_size > 0: + fill_pct = stats.queue_fill_ratio * 100.0 + queue_text = f"{stats.queue_size}/{stats.buffer_size} ({fill_pct:.0f}%, ~{buffer_ms:.0f} ms)" + else: + queue_text = f"{stats.queue_size} (~{buffer_ms:.0f} ms)" + return ( f"{stats.frames_written}/{stats.frames_enqueued} frames | " f"write {stats.write_fps:.1f} fps | " f"latency {latency_ms:.1f} ms (avg {avg_ms:.1f} ms) | " - f"queue {stats.queue_size} (~{buffer_ms:.0f} ms) | " + f"queue {queue_text} | " + f"backlog {stats.backlog_frames} | " f"dropped {stats.dropped_frames}" ) diff --git a/dlclivegui/utils/timestamps.py b/dlclivegui/utils/timestamps.py new file mode 100644 index 000000000..dea14ed2d --- /dev/null +++ b/dlclivegui/utils/timestamps.py @@ -0,0 +1,82 @@ +# dlclivegui/utils/timestamps.py +from __future__ import annotations + +from dataclasses import dataclass +from typing import Any + + +@dataclass(frozen=True) +class FrameTimestampMetadata: + """Optional backend-provided timestamp metadata for a captured frame. + + This supplements, but does not replace, the software timestamp. + + Notes: + - `seconds` is in the backend/hardware timebase. + - `wall_clock_time` should only be set if the backend can confidently + provide Unix/wall-clock seconds. + - `raw_value` preserves the original device-specific timestamp. + """ + + source: str + backend: str + + # Which value should downstream consumers use by default, if any. + # Expected values: "seconds", "wall_clock_time", or "raw_value". + default_reported: str | None = None + + # Device/hardware timebase value, if convertible to seconds + seconds: float | None = None + + # True Unix/wall-clock timestamp, if available + wall_clock_time: float | None = None + + # Raw backend value, e.g. device clock ticks + raw_value: int | float | str | None = None + raw_unit: str | None = None + + # Conversion metadata. + tick_frequency_hz: float | None = None + timebase: str | None = None + + # e.g. "camera_clock", "ptp_camera_clock", "hardware_wall_clock", + # "frame_counter", "unknown" + kind: str = "unknown" + + # Backend-specific extras. + extra: dict[str, Any] | None = None + + def to_source_dict(self) -> dict[str, Any]: + """Return metadata that should be written once per recording stream.""" + return { + "source": self.source, + "backend": self.backend, + "default_reported": self.default_reported, + "raw_unit": self.raw_unit, + "tick_frequency_hz": self.tick_frequency_hz, + "timebase": self.timebase, + "kind": self.kind, + "extra": self.extra or {}, + } + + def to_frame_dict(self) -> dict[str, Any]: + """Return defined per-frame timestamp values only.""" + ts = {} + for k in ["seconds", "wall_clock_time", "raw_value"]: + v = getattr(self, k) + if v is not None: + ts[k] = v + return ts + + def to_dict(self) -> dict[str, Any]: + """Return full representation, useful for logging/debugging.""" + return { + **self.to_source_dict(), + **self.to_frame_dict(), + } + + def get_default_reported(self) -> int | float | str | None: + """Return the value selected by `default_reported`, if configured.""" + if not self.default_reported: + return None + return self.to_frame_dict().get(self.default_reported) diff --git a/dlclivegui/utils/utils.py b/dlclivegui/utils/utils.py index 6af003dad..bd72958cd 100644 --- a/dlclivegui/utils/utils.py +++ b/dlclivegui/utils/utils.py @@ -1,13 +1,18 @@ from __future__ import annotations import re +import sys +import threading import time +import traceback from collections import deque from collections.abc import Iterable from dataclasses import dataclass from datetime import datetime from pathlib import Path +from dlclivegui.config import DEFAULT_RECORDING_CONTAINER + _INVALID_CHARS = re.compile(r"[^A-Za-z0-9._-]+") @@ -36,7 +41,7 @@ def split_stem_ext(base_filename: str, container: str) -> tuple[str, str]: If user typed an extension, keep it. Else use container. """ base = (base_filename or "").strip() - container = (container or "mp4").strip().lstrip(".") or "mp4" + container = (container or DEFAULT_RECORDING_CONTAINER).strip().lstrip(".") or DEFAULT_RECORDING_CONTAINER if not base: base = "recording" @@ -85,6 +90,19 @@ def build_run_dir(session_dir: Path, *, use_timestamp: bool) -> Path: return run_dir +def format_thread_stack(thread: threading.Thread) -> str: + ident = thread.ident + if ident is None: + return f"Thread {thread.name!r} has no ident." + + frame = sys._current_frames().get(ident) + if frame is None: + return f"No Python stack frame found for thread {thread.name!r} ident={ident}." + + stack = "".join(traceback.format_stack(frame)) + return f"Stack for thread {thread.name!r} ident={ident}:\n{stack}" + + @dataclass(frozen=True) class RecordingPlan: session_dir: Path diff --git a/pyproject.toml b/pyproject.toml index 265d9530c..da48c7820 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -63,6 +63,9 @@ test = [ "tox", "tox-gh-actions", ] +profiling = [ + "scalene", +] tf = [ "deeplabcut-live[tf]>=1.1", ] diff --git a/tests/cameras/backends/conftest.py b/tests/cameras/backends/conftest.py index 2d965a2e0..a74a0eec0 100644 --- a/tests/cameras/backends/conftest.py +++ b/tests/cameras/backends/conftest.py @@ -4,6 +4,7 @@ import importlib import logging import os +import threading from dataclasses import dataclass from typing import Any @@ -380,32 +381,116 @@ def _make(buffers): # ----------------------------------------------------------------------------- +class FakePylonTimeoutException(RuntimeError): + pass + + class FakePylon: - """Minimal fake for 'from pypylon import pylon' usage in basler_backend.""" + """Fake for 'from pypylon import pylon' used by BaslerCameraBackend.""" - # Constants used by Basler backend GrabStrategy_LatestImageOnly = 1 + GrabStrategy_OneByOne = 2 TimeoutHandling_ThrowException = 1 - PixelType_BGR8packed = 0x02180014 # arbitrary token + PixelType_BGR8packed = 0x02180014 OutputBitAlignment_MsbAligned = 1 + class _EnumEntry: + def __init__(self, symbolic: str): + self._symbolic = symbolic + + def GetSymbolic(self): + return self._symbolic + class _Feature: - def __init__(self, value=0): + def __init__( + self, + value=0, + *, + symbolics: list[str] | None = None, + minimum=None, + maximum=None, + increment=1, + writable=True, + readable=True, + ): self._value = value + self._symbolics = list(symbolics or []) + self._min = minimum + self._max = maximum + self._inc = increment + self._writable = writable + self._readable = readable + self.set_calls: list[object] = [] def SetValue(self, v): + if not self._writable: + raise RuntimeError("feature is not writable") + if self._symbolics and v not in self._symbolics: + raise RuntimeError(f"unsupported symbolic {v!r}; available={self._symbolics}") self._value = v + self.set_calls.append(v) def GetValue(self): + if not self._readable: + raise RuntimeError("feature is not readable") return self._value + def GetSymbolics(self): + return list(self._symbolics) + + def GetEntries(self): + return [FakePylon._EnumEntry(s) for s in self._symbolics] + + def IsWritable(self): + return bool(self._writable) + + def IsReadable(self): + return bool(self._readable) + + def GetMin(self): + if self._min is None: + raise RuntimeError("no min") + return self._min + + def GetMax(self): + if self._max is None: + raise RuntimeError("no max") + return self._max + + def GetInc(self): + return self._inc + class _DeviceInfo: - def __init__(self, serial: str): + def __init__( + self, + serial: str, + *, + vendor: str = "Basler", + model: str = "FakeBasler", + friendly: str | None = None, + full_name: str | None = None, + ): self._serial = serial + self._vendor = vendor + self._model = model + self._friendly = friendly or f"{vendor} {model} ({serial})" + self._full_name = full_name or f"FakeFullName-{serial}" def GetSerialNumber(self): return self._serial + def GetVendorName(self): + return self._vendor + + def GetModelName(self): + return self._model + + def GetFriendlyName(self): + return self._friendly + + def GetFullName(self): + return self._full_name + class _Device: def __init__(self, info): self.info = info @@ -432,12 +517,16 @@ class _GrabResult: def __init__(self, ok=True, array=None): self._ok = ok self._array = array + self.released = False def GrabSucceeded(self): return bool(self._ok) def Release(self): - return None + self.released = True + + def GetTimeStamp(self): + return 123456789 class InstantCamera: def __init__(self, device): @@ -445,36 +534,107 @@ def __init__(self, device): self._open = False self._grabbing = False - # Feature nodes the backend uses + self.retrieve_calls: list[int] = [] + self.start_calls = 0 + self.stop_calls = 0 + self.close_calls = 0 + self.software_trigger_calls = 0 + self._software_trigger_pending = 0 + + # General camera controls. + self.ExposureAuto = FakePylon._Feature("Off", symbolics=["Off", "Once", "Continuous"]) self.ExposureTime = FakePylon._Feature(1000.0) + self.GainAuto = FakePylon._Feature("Off", symbolics=["Off", "Once", "Continuous"]) self.Gain = FakePylon._Feature(0.0) - self.Width = FakePylon._Feature(1920) - self.Height = FakePylon._Feature(1080) + + self.Width = FakePylon._Feature(1920, minimum=64, maximum=4096, increment=2) + self.Height = FakePylon._Feature(1080, minimum=64, maximum=4096, increment=2) self.AcquisitionFrameRateEnable = FakePylon._Feature(False) self.AcquisitionFrameRate = FakePylon._Feature(30.0) + self.GevTimestampTickFrequency = FakePylon._Feature(1_000_000_000.0) + + self.MaxNumBuffer = FakePylon._Feature(10) + + # Basler/pypylon trigger features. + self.AcquisitionMode = FakePylon._Feature("Continuous", symbolics=["Continuous", "SingleFrame"]) + self.TriggerSelector = FakePylon._Feature("FrameStart", symbolics=["FrameStart"]) + self.TriggerMode = FakePylon._Feature("Off", symbolics=["Off", "On"]) + self.TriggerSource = FakePylon._Feature( + "Software", + symbolics=[ + "Software", + "Line1", + "Line2", + "Line3", + "PeriodicSignal1", + "Action1", + ], + ) + self.TriggerActivation = FakePylon._Feature( + "RisingEdge", + symbolics=["RisingEdge", "FallingEdge", "AnyEdge", "LevelHigh", "LevelLow"], + ) + self.TriggerDelay = FakePylon._Feature(0.0) + + # Generic output line features. + self.LineSelector = FakePylon._Feature("Line1", symbolics=["Line1", "Line2", "Line3"]) + self.LineMode = FakePylon._Feature("Input", symbolics=["Input", "Output"]) + self.LineSource = FakePylon._Feature( + "Off", + symbolics=["Off", "ExposureActive", "AcquisitionActive"], + ) + self.LineInverter = FakePylon._Feature(False) + + # Test knobs. + self.allow_hardware_trigger_frame = False + self.force_failed_grab = False def Open(self): self._open = True def Close(self): + self.close_calls += 1 self._open = False def IsOpen(self): return bool(self._open) def StartGrabbing(self, *_args, **_kwargs): + self.start_calls += 1 self._grabbing = True def StopGrabbing(self): + self.stop_calls += 1 self._grabbing = False def IsGrabbing(self): return bool(self._grabbing) - def RetrieveResult(self, *_args, **_kwargs): - # Always succeed with a small dummy image (BGR) - import numpy as np + def ExecuteSoftwareTrigger(self): + self.software_trigger_calls += 1 + self._software_trigger_pending += 1 + + def RetrieveResult(self, timeout_ms, *_args, **_kwargs): + self.retrieve_calls.append(int(timeout_ms)) + + if not self._grabbing: + raise FakePylonTimeoutException("Grab timed out: acquisition not started") + + if self.force_failed_grab: + return FakePylon._GrabResult(ok=False, array=None) + + trigger_on = self.TriggerMode.GetValue() == "On" + source = self.TriggerSource.GetValue() + + if trigger_on: + if source == "Software": + if self._software_trigger_pending <= 0: + raise FakePylonTimeoutException("Grab timed out: waiting for software trigger") + self._software_trigger_pending -= 1 + else: + if not self.allow_hardware_trigger_frame: + raise FakePylonTimeoutException("Grab timed out: waiting for hardware trigger") frame = np.zeros((10, 10, 3), dtype=np.uint8) return FakePylon._GrabResult(ok=True, array=frame) @@ -497,25 +657,61 @@ def Convert(self, grab_result): @pytest.fixture() def fake_pylon_module(): - """ - Returns the FakePylon 'module' and resets singleton devices for isolation. - """ - # reset singleton factory so devices list resets per test + """Returns fake pylon module and resets fake device inventory.""" FakePylon.TlFactory._instance = None + factory = FakePylon.TlFactory.GetInstance() + factory._devices = [ + FakePylon._DeviceInfo("FAKE-BASLER-0"), + FakePylon._DeviceInfo("FAKE-BASLER-1"), + ] return FakePylon @pytest.fixture() def patch_basler_sdk(monkeypatch, fake_pylon_module): - """ - Patch Basler backend to behave as if pypylon is installed, using FakePylon. - """ + """Patch Basler backend to use FakePylon.""" import dlclivegui.cameras.backends.basler_backend as bb monkeypatch.setattr(bb, "pylon", fake_pylon_module, raising=False) return fake_pylon_module +@pytest.fixture() +def basler_settings_factory(): + from dlclivegui.config import CameraSettings + + def _make( + *, + index=0, + name="BaslerTestCam", + width=0, + height=0, + fps=0.0, + exposure=0, + gain=0.0, + enabled=True, + properties=None, + ): + props = properties if isinstance(properties, dict) else {} + props.setdefault("basler", {}) + props["basler"] = dict(props["basler"]) + + return CameraSettings( + name=name, + index=index, + backend="basler", + width=width, + height=height, + fps=fps, + exposure=exposure, + gain=gain, + enabled=enabled, + properties=props, + ) + + return _make + + # ----------------------------------------------------------------------------- # Fake GenTL / harvesters SDK (SDK-free) + fixtures for strict lifecycle tests # ----------------------------------------------------------------------------- @@ -598,6 +794,18 @@ def __init__( self.GainAuto = _FakeNode("Off") self.Gain = _FakeNode(float(gain)) + # Trigger input nodes + self.AcquisitionMode = _FakeNode("Continuous", symbolics=["Continuous", "SingleFrame"]) + self.TriggerSelector = _FakeNode("FrameStart", symbolics=["FrameStart"]) + self.TriggerMode = _FakeNode("Off", symbolics=["Off", "On"]) + self.TriggerSource = _FakeNode("Line1", symbolics=["Line0", "Line1", "Software"]) + self.TriggerActivation = _FakeNode("RisingEdge", symbolics=["RisingEdge", "FallingEdge"]) + + # GPIO output nodes for master/follower setups + self.LineSelector = _FakeNode("Line0", symbolics=["Line0", "Line1", "Line2"]) + self.LineMode = _FakeNode("Input", symbolics=["Input", "Output"]) + self.LineSource = _FakeNode("Off", symbolics=["Off", "ExposureActive", "AcquisitionActive"]) + class _FakeRemoteDevice: def __init__(self, node_map: _FakeNodeMap): @@ -641,6 +849,122 @@ def __exit__(self, exc_type, exc, tb): return False +class FakeSharedHarvesterPoolAcquireError(RuntimeError): + """Raised by the fake shared pool when no CTI can be loaded.""" + + def __init__(self, message: str, *, loaded_files=None, failed_files=None): + super().__init__(message) + self.loaded_files = list(loaded_files or []) + self.failed_files = list(failed_files or []) + + +class FakeSharedEntry: + def __init__(self, harvester, loaded_files, failed_files=None): + self.harvester = harvester + self.loaded_files = list(loaded_files or []) + self.failed_files = list(failed_files or []) + self.lock = threading.RLock() + + +class FakeSharedHarvesterPool: + """ + Test double for cti_finder.SharedHarvesterPool. + + Important behavior: + - Reuses one Harvester per normalized CTI set. + - Calls update() only when creating the shared Harvester. + - Does not call update() when reusing an existing shared Harvester. + - Tracks loaded_files/failed_files so backend diagnostics can be tested. + """ + + _entries: dict[tuple[str, ...], FakeSharedEntry] = {} + _refcounts: dict[tuple[str, ...], int] = {} + _harvester_factory = None + + @classmethod + def configure(cls, harvester_factory): + cls.reset() + cls._harvester_factory = harvester_factory + + @staticmethod + def _key(cti_files) -> tuple[str, ...]: + # Stable across case/path spelling on Windows while preserving loaded_files separately. + return tuple(sorted(os.path.normcase(os.path.abspath(str(p))) for p in cti_files)) + + @classmethod + def acquire(cls, cti_files): + key = cls._key(cti_files) + + if key in cls._entries: + cls._refcounts[key] += 1 + return cls._entries[key] + + if cls._harvester_factory is None: + raise RuntimeError("FakeSharedHarvesterPool is not configured") + + h = cls._harvester_factory() + + loaded: list[str] = [] + failed: list[tuple[str, str]] = [] + + for cti in cti_files: + cti_str = str(cti) + try: + h.add_file(cti_str) + loaded.append(cti_str) + except Exception as exc: + failed.append((cti_str, str(exc))) + + if not loaded: + try: + h.reset() + except Exception: + pass + raise FakeSharedHarvesterPoolAcquireError( + "No fake CTIs could be loaded", + loaded_files=[], + failed_files=failed, + ) + + h.update() + + entry = FakeSharedEntry(h, loaded_files=loaded, failed_files=failed) + cls._entries[key] = entry + cls._refcounts[key] = 1 + return entry + + @classmethod + def release(cls, entry): + for key, value in list(cls._entries.items()): + if value is entry: + cls._refcounts[key] -= 1 + if cls._refcounts[key] <= 0: + try: + entry.harvester.reset() + except Exception: + pass + del cls._entries[key] + del cls._refcounts[key] + return + + @classmethod + def get_refcount(cls, entry): + for key, value in cls._entries.items(): + if value is entry: + return cls._refcounts[key] + return 0 + + @classmethod + def reset(cls): + for entry in list(cls._entries.values()): + try: + entry.harvester.reset() + except Exception: + pass + cls._entries.clear() + cls._refcounts.clear() + + @dataclass class FakeImageAcquirer: """ @@ -691,6 +1015,7 @@ def _enqueue_default_frame(self): def start(self): self.start_calls += 1 self._started = True + self._queue.clear() def stop(self): self.stop_calls += 1 @@ -707,10 +1032,28 @@ def fetch(self, timeout: float = 2.0): if not self._started: raise FakeGenTLTimeoutException("fetch called while not started") - if not self._queue: - raise FakeGenTLTimeoutException(f"timeout after {timeout}s") + if self._queue: + payload = self._queue.pop(0) + else: + # Generate from the current node map, because backend may have changed + # PixelFormat/Width/Height during open(). + pf = str(self.node_map.PixelFormat.value or "Mono8") + if pf in ("RGB8", "BGR8"): + channels, dtype = 3, np.uint8 + elif pf in ("Mono16", "Mono12", "Mono10"): + channels, dtype = 1, np.uint16 + else: + # Mono8 and Bayer*8 are single-channel uint8 + channels, dtype = 1, np.uint8 + + comp = _FakeComponent( + int(self.node_map.Width.value), + int(self.node_map.Height.value), + channels, + dtype=dtype, + ) + payload = _FakePayload(comp) - payload = self._queue.pop(0) return _FakeFetchedBufferCtx(payload) @@ -854,18 +1197,37 @@ def gentl_fail_add_file_for(): def patch_gentl_sdk(monkeypatch, fake_harvester_factory, gentl_fail_add_file_for, tmp_path): """ Patch dlclivegui.cameras.backends.gentl_backend to use FakeHarvester + Fake timeout. - Ensure CTI discovery succeeds for classmethods by creating a real dummy .cti and - exposing it via GENICAM_GENTL64_PATH. + + Important: + The production backend now uses cti_finder.SharedHarvesterPool.acquire() + during open(), so tests must patch that pool too. """ import dlclivegui.cameras.backends.gentl_backend as gb - # Patch Harvester symbol (the backend calls Harvester() directly) + # Reset and expose test counters/state. + gb.update_count = 0 + gb.fail_add_file_for = gentl_fail_add_file_for + + # Patch Harvester symbol for discovery/rebind paths. monkeypatch.setattr(gb, "Harvester", lambda: fake_harvester_factory(), raising=False) - # Keep timeout contract + # Count all fake update() calls. + original_update = FakeHarvester.update + + def update_with_count(self): + gb.update_count += 1 + return original_update(self) + + monkeypatch.setattr(FakeHarvester, "update", update_with_count, raising=True) + + # Keep timeout contract. monkeypatch.setattr(gb, "HarvesterTimeoutError", FakeGenTLTimeoutException, raising=False) - # Create a real CTI file and advertise it via env var + # Patch the shared pool used by open(). + FakeSharedHarvesterPool.configure(fake_harvester_factory) + monkeypatch.setattr(gb.cti_finder, "SharedHarvesterPool", FakeSharedHarvesterPool, raising=False) + + # Create a real CTI file and advertise it via env var. cti_file = tmp_path / "dummy.cti" if not cti_file.exists(): cti_file.write_text("fake", encoding="utf-8") @@ -873,10 +1235,11 @@ def patch_gentl_sdk(monkeypatch, fake_harvester_factory, gentl_fail_add_file_for monkeypatch.setenv("GENICAM_GENTL64_PATH", str(tmp_path)) monkeypatch.delenv("GENICAM_GENTL32_PATH", raising=False) - # OPTIONAL: expose failure control so tests can do gb.fail_add_file_for.add(...) - gb.fail_add_file_for = gentl_fail_add_file_for - - return gb + try: + yield gb + finally: + FakeSharedHarvesterPool.reset() + gb.fail_add_file_for = set() @pytest.fixture() diff --git a/tests/cameras/backends/test_aravis_backend.py b/tests/cameras/backends/test_aravis_backend.py index 797fd11cb..4f7ac55e8 100644 --- a/tests/cameras/backends/test_aravis_backend.py +++ b/tests/cameras/backends/test_aravis_backend.py @@ -243,7 +243,7 @@ def make_backend(settings, buffers): @pytest.mark.unit def test_device_name(): - be, cam, s = make_backend(Settings(), []) + be, _cam, s = make_backend(Settings(), []) assert be.device_name() == "FakeVendor FakeModel (12345)" @@ -253,9 +253,9 @@ def test_read_mono8(): data = (np.arange(w * h) % 256).astype(np.uint8).tobytes() buf = FakeAravis.Buffer(data, w, h, FakeAravis.PIXEL_FORMAT_MONO_8) - be, cam, s = make_backend(Settings(), [buf]) + be, _cam, s = make_backend(Settings(), [buf]) - frame, ts = be.read() + frame = be.read().frame assert frame.shape == (h, w, 3) assert frame.dtype == np.uint8 # Ensure grayscale expanded to 3 channels @@ -272,9 +272,9 @@ def test_read_rgb8_converts_to_bgr(): data = np.array([255, 0, 0, 0, 255, 0], dtype=np.uint8).tobytes() buf = FakeAravis.Buffer(data, w, h, FakeAravis.PIXEL_FORMAT_RGB_8_PACKED) - be, cam, s = make_backend(Settings(), [buf]) + be, _cam, s = make_backend(Settings(), [buf]) - frame, _ = be.read() + frame = be.read().frame assert frame.shape == (1, 2, 3) # BGR conversion: red → [0,0,255], green → [0,255,0] assert (frame[0, 0] == np.array([0, 0, 255])).all() @@ -288,9 +288,9 @@ def test_read_bgr8_passthrough(): data = np.array([10, 20, 30, 40, 50, 60], dtype=np.uint8).tobytes() buf = FakeAravis.Buffer(data, w, h, FakeAravis.PIXEL_FORMAT_BGR_8_PACKED) - be, cam, s = make_backend(Settings(), [buf]) + be, _cam, s = make_backend(Settings(), [buf]) - frame, _ = be.read() + frame = be.read().frame assert frame.shape == (1, 2, 3) assert (frame.flatten() == np.array([10, 20, 30, 40, 50, 60])).all() assert s.pushed >= 1 @@ -302,9 +302,9 @@ def test_read_mono16_scaling(): raw = np.array([0, 32768, 65535], dtype=np.uint16) buf = FakeAravis.Buffer(raw.tobytes(), w, h, FakeAravis.PIXEL_FORMAT_MONO_16) - be, cam, s = make_backend(Settings(), [buf]) + be, _cam, s = make_backend(Settings(), [buf]) - frame, _ = be.read() + frame = be.read().frame assert frame.shape == (1, 3, 3) # scaling: 0 → 0, max → 255, mid → ~128 @@ -320,9 +320,9 @@ def test_read_unknown_format_fallback_to_mono8(): data = (np.arange(w * h) % 256).astype(np.uint8).tobytes() # Unknown token buf = FakeAravis.Buffer(data, w, h, "SOME_UNKNOWN_FMT") - be, cam, s = make_backend(Settings(), [buf]) + be, _cam, s = make_backend(Settings(), [buf]) - frame, _ = be.read() + frame = be.read().frame assert frame.shape == (h, w, 3) assert np.all(frame[..., 0] == frame[..., 1]) assert np.all(frame[..., 1] == frame[..., 2]) @@ -331,7 +331,7 @@ def test_read_unknown_format_fallback_to_mono8(): @pytest.mark.unit def test_read_timeout_raises(): - be, cam, s = make_backend(Settings(), []) + be, _cam, s = make_backend(Settings(), []) with pytest.raises(TimeoutError): be.read() @@ -341,7 +341,7 @@ def test_read_status_error_raises_and_pushes_back(): w, h = 1, 1 data = b"\x00" buf = FakeAravis.Buffer(data, w, h, FakeAravis.PIXEL_FORMAT_MONO_8, status="ERROR") - be, cam, s = make_backend(Settings(), [buf]) + be, _cam, s = make_backend(Settings(), [buf]) with pytest.raises(TimeoutError): be.read() @@ -350,7 +350,7 @@ def test_read_status_error_raises_and_pushes_back(): @pytest.mark.unit def test_close_is_idempotent(): - be, cam, s = make_backend(Settings(), []) + be, _cam, s = make_backend(Settings(), []) be.close() be.close() # should not raise diff --git a/tests/cameras/backends/test_basler_backend.py b/tests/cameras/backends/test_basler_backend.py new file mode 100644 index 000000000..48b8a2989 --- /dev/null +++ b/tests/cameras/backends/test_basler_backend.py @@ -0,0 +1,513 @@ +from __future__ import annotations + +import numpy as np +import pytest + +from dlclivegui.cameras.base import CapturedFrame +from dlclivegui.utils.timestamps import FrameTimestampMetadata + +# --------------------------------------------------------------------- +# Core lifecycle +# --------------------------------------------------------------------- + + +def test_basler_open_starts_grabbing_and_read_returns_frame(patch_basler_sdk, basler_settings_factory): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory() + be = bb.BaslerCameraBackend(settings) + + be.open() + + assert be._camera is not None + assert be._camera.IsOpen() + assert be._camera.IsGrabbing() + assert be._converter is not None + + payload = be.read() + frame, ts = payload.frame, payload.software_timestamp + assert isinstance(ts, float) + assert isinstance(frame, np.ndarray) + assert frame.shape == (10, 10, 3) + + be.close() + assert be._camera is None + assert be._converter is None + + +def test_basler_fast_start_does_not_start_grabbing_and_read_raises( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory(properties={"basler": {"fast_start": True}}) + be = bb.BaslerCameraBackend(settings) + + be.open() + + assert be._camera is not None + assert be._camera.IsOpen() + assert not be._camera.IsGrabbing() + assert be._converter is None + + with pytest.raises(RuntimeError, match="fast-start"): + be.read() + + be.close() + + +def test_basler_close_is_idempotent(patch_basler_sdk, basler_settings_factory): + import dlclivegui.cameras.backends.basler_backend as bb + + be = bb.BaslerCameraBackend(basler_settings_factory()) + be.open() + be.close() + be.close() + + +def test_basler_stop_before_open_and_after_close_is_safe(patch_basler_sdk, basler_settings_factory): + import dlclivegui.cameras.backends.basler_backend as bb + + be = bb.BaslerCameraBackend(basler_settings_factory()) + + be.stop() + + be.open() + be.stop() + + assert be._camera is not None + assert not be._camera.IsGrabbing() + + be.close() + be.stop() + + +def test_basler_read_before_open_raises_runtimeerror(patch_basler_sdk, basler_settings_factory): + import dlclivegui.cameras.backends.basler_backend as bb + + be = bb.BaslerCameraBackend(basler_settings_factory()) + + with pytest.raises(RuntimeError, match="not opened"): + be.read() + + +# --------------------------------------------------------------------- +# Discovery / identity / rebind +# --------------------------------------------------------------------- + + +def test_basler_discover_devices_returns_serial_identity_and_label( + patch_basler_sdk, +): + import dlclivegui.cameras.backends.basler_backend as bb + + cams = bb.BaslerCameraBackend.discover_devices(max_devices=10) + + assert len(cams) == 2 + assert cams[0].device_id == "FAKE-BASLER-0" + assert "Basler" in cams[0].label + assert "FAKE-BASLER-0" in cams[0].label + assert cams[0].path + + +def test_basler_quick_ping_true_for_existing_false_for_missing(patch_basler_sdk): + import dlclivegui.cameras.backends.basler_backend as bb + + assert bb.BaslerCameraBackend.quick_ping(0) is True + assert bb.BaslerCameraBackend.quick_ping(1) is True + assert bb.BaslerCameraBackend.quick_ping(2) is False + + +def test_basler_rebind_settings_uses_serial_device_id( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + index=0, + properties={"basler": {"device_id": "FAKE-BASLER-1"}}, + ) + + out = bb.BaslerCameraBackend.rebind_settings(settings) + + assert int(out.index) == 1 + ns = out.properties["basler"] + assert ns["device_id"] == "FAKE-BASLER-1" + assert ns["device_name"] + + +def test_basler_open_selects_device_id_and_persists_identity( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + index=0, + properties={"basler": {"device_id": "FAKE-BASLER-1"}}, + ) + + be = bb.BaslerCameraBackend(settings) + be.open() + + ns = settings.properties["basler"] + assert ns["device_id"] == "FAKE-BASLER-1" + assert ns["device_name"] + + be.close() + + +def test_basler_open_index_out_of_range_raises(patch_basler_sdk, basler_settings_factory): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory(index=99) + be = bb.BaslerCameraBackend(settings) + + with pytest.raises(RuntimeError, match="out of range"): + be.open() + + +# --------------------------------------------------------------------- +# Camera controls +# --------------------------------------------------------------------- + + +def test_basler_resolution_auto_does_not_modify_dimensions( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory(width=0, height=0) + be = bb.BaslerCameraBackend(settings) + + be.open() + + assert be._camera.Width.GetValue() == 1920 + assert be._camera.Height.GetValue() == 1080 + assert be.actual_resolution == (1920, 1080) + + be.close() + + +def test_basler_resolution_request_snaps_to_increment( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory(width=641, height=481) + be = bb.BaslerCameraBackend(settings) + + be.open() + + assert be._camera.Width.GetValue() == 640 + assert be._camera.Height.GetValue() == 480 + assert be.actual_resolution == (640, 480) + + be.close() + + +def test_basler_exposure_gain_fps_are_applied_when_nonzero( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory(exposure=20000, gain=2.5, fps=50.0) + be = bb.BaslerCameraBackend(settings) + + be.open() + + assert be._camera.ExposureAuto.GetValue() == "Off" + assert be._camera.ExposureTime.GetValue() == pytest.approx(20000.0) + assert be._camera.GainAuto.GetValue() == "Off" + assert be._camera.Gain.GetValue() == pytest.approx(2.5) + assert be._camera.AcquisitionFrameRateEnable.GetValue() is True + assert be._camera.AcquisitionFrameRate.GetValue() == pytest.approx(50.0) + + be.close() + + +# --------------------------------------------------------------------- +# Basler trigger behavior +# --------------------------------------------------------------------- + + +def test_basler_static_capabilities_advertises_hardware_trigger_best_effort_and_mono( + patch_basler_sdk, +): + import dlclivegui.cameras.backends.basler_backend as bb + from dlclivegui.cameras.base import SupportLevel + + caps = bb.BaslerCameraBackend.static_capabilities() + assert caps["hardware_trigger"] == SupportLevel.BEST_EFFORT + assert caps["preserve_mono"] == SupportLevel.SUPPORTED + + +def test_basler_default_trigger_is_off_and_free_runs( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory() + be = bb.BaslerCameraBackend(settings) + + be.open() + + assert be._camera.TriggerMode.GetValue() == "Off" + assert be.waits_for_hardware_trigger is False + + payload = be.read() + frame = payload.frame + assert frame.shape == (10, 10, 3) + + be.close() + + +def test_basler_follower_auto_selects_line1_and_times_out_waiting_for_trigger( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + properties={ + "basler": { + "trigger": { + "role": "follower", + "selector": "FrameStart", + "source": "auto", + "activation": "RisingEdge", + "timeout": 5.0, + "strict": False, + } + } + } + ) + + be = bb.BaslerCameraBackend(settings) + + # Timeout is configured in seconds but pypylon RetrieveResult uses ms; + # hardware-trigger waits should be capped for responsive shutdown. + assert be._retrieve_timeout_ms == 1000 + + be.open() + + assert be.waits_for_hardware_trigger is True + assert be._camera.TriggerSelector.GetValue() == "FrameStart" + assert be._camera.TriggerSource.GetValue() == "Line1" + assert be._camera.TriggerActivation.GetValue() == "RisingEdge" + assert be._camera.TriggerMode.GetValue() == "On" + + with pytest.raises(TimeoutError, match="waiting for hardware trigger"): + be.read() + + assert be._camera.retrieve_calls[-1] == 1000 + + be.close() + + +def test_basler_follower_strict_invalid_source_raises( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + properties={ + "basler": { + "trigger": { + "role": "follower", + "selector": "FrameStart", + "source": "NotARealSource", + "activation": "RisingEdge", + "strict": True, + } + } + } + ) + + be = bb.BaslerCameraBackend(settings) + + with pytest.raises(RuntimeError, match="TriggerSource"): + be.open() + + +def test_basler_follower_non_strict_invalid_source_disables_trigger( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + properties={ + "basler": { + "trigger": { + "role": "follower", + "source": "NotARealSource", + "strict": False, + } + } + } + ) + + be = bb.BaslerCameraBackend(settings) + be.open() + + assert be._camera.TriggerMode.GetValue() == "Off" + assert be.waits_for_hardware_trigger is False + + payload = be.read() + frame = payload.frame + assert frame.shape == (10, 10, 3) + + be.close() + + +def test_basler_master_configures_generic_line_output_and_restores_on_close( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + properties={ + "basler": { + "trigger": { + "role": "master", + "output_line": "Line2", + "output_source": "ExposureActive", + "strict": False, + } + } + } + ) + + be = bb.BaslerCameraBackend(settings) + be.open() + + cam = be._camera + assert cam.LineSelector.GetValue() == "Line2" + assert cam.LineMode.GetValue() == "Output" + assert cam.LineSource.GetValue() == "ExposureActive" + assert be.waits_for_hardware_trigger is False + + be.close() + + # Local reference remains valid after backend clears self._camera. + assert cam.LineSource.GetValue() == "Off" + assert cam.LineMode.GetValue() == "Input" + + +@pytest.mark.xfail(reason="Software trigger support is not implemented yet.") +def test_basler_software_trigger_requires_trigger_once_before_read( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + properties={ + "basler": { + "trigger": { + "role": "software", + "selector": "FrameStart", + "strict": False, + } + } + } + ) + + be = bb.BaslerCameraBackend(settings) + be.open() + + assert be._camera.TriggerMode.GetValue() == "On" + assert be._camera.TriggerSource.GetValue() == "Software" + assert be.waits_for_hardware_trigger is False + + # No software trigger has been fired yet. + with pytest.raises(RuntimeError, match="Failed to retrieve image"): + be.read() + + be.trigger_once() + assert be._camera.software_trigger_calls == 1 + + frame = be.read().frame + assert frame.shape == (10, 10, 3) + + be.close() + + +def test_basler_close_turns_input_trigger_off( + patch_basler_sdk, + basler_settings_factory, +): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory( + properties={ + "basler": { + "trigger": { + "role": "external", + "source": "Line1", + "activation": "RisingEdge", + } + } + } + ) + + be = bb.BaslerCameraBackend(settings) + be.open() + + cam = be._camera + assert cam.TriggerMode.GetValue() == "On" + + be.close() + + assert cam.TriggerMode.GetValue() == "Off" + + +class TestBaslerFrameTimestamps: + @pytest.mark.unit + def test_read_returns_captured_frame_with_hardware_timestamp_metadata( + self, + patch_basler_sdk, + basler_settings_factory, + ): + import dlclivegui.cameras.backends.basler_backend as bb + + settings = basler_settings_factory() + be = bb.BaslerCameraBackend(settings) + be.open() + + captured = be.read() + + assert isinstance(captured, CapturedFrame) + assert captured.frame is not None + assert isinstance(captured.software_timestamp, float) + + meta = captured.timestamp_metadata + assert isinstance(meta, FrameTimestampMetadata) + + assert meta.backend == "basler" + assert meta.source == "grab_result.GetTimeStamp" + assert meta.kind == "camera_clock" + assert meta.raw_unit == "ticks" + assert meta.raw_value == 123456789 + assert meta.tick_frequency_hz == pytest.approx(1_000_000_000.0) + assert meta.seconds == pytest.approx(0.123456789) + assert meta.default_reported == "seconds" + + source_dict = meta.to_source_dict() + assert source_dict["backend"] == "basler" + assert source_dict["source"] == "grab_result.GetTimeStamp" + + frame_dict = meta.to_frame_dict() + assert frame_dict["seconds"] == pytest.approx(0.123456789) + assert frame_dict["raw_value"] == 123456789 + + be.close() diff --git a/tests/cameras/backends/test_gentl_backend.py b/tests/cameras/backends/test_gentl_backend.py index ecef1b7af..3cb7d9ea2 100644 --- a/tests/cameras/backends/test_gentl_backend.py +++ b/tests/cameras/backends/test_gentl_backend.py @@ -54,12 +54,12 @@ def test_open_starts_stream_and_read_returns_frame(patch_gentl_sdk, gentl_settin assert be._acquirer is not None # Strict model validated via behavior: read must succeed after normal open() - frame, ts = be.read() - assert isinstance(ts, float) - assert isinstance(frame, np.ndarray) - assert frame.size > 0 + captured = be.read() + assert isinstance(captured.software_timestamp, float) + assert isinstance(captured.frame, np.ndarray) + assert captured.frame.size > 0 # Backend converts to BGR; ensure 3-channel output - assert frame.ndim == 3 and frame.shape[2] == 3 + assert captured.frame.ndim == 3 and captured.frame.shape[2] == 3 be.close() assert be._harvester is None @@ -318,11 +318,12 @@ def test_quick_ping_true_for_existing_false_for_missing(patch_gentl_sdk, gentl_i assert gb.GenTLCameraBackend.quick_ping(1) is False -def test_rebind_settings_updates_index_using_device_id_with_attribute_entries( +def test_rebind_settings_serial_device_id_persists_serial_without_enumeration( patch_gentl_sdk, gentl_settings_factory, gentl_inventory ): """ - rebind_settings has some getattr(...) usage; feed attribute-like entries to match that path. + Serial GenTL IDs are handled directly by open(), so rebind_settings() + intentionally avoids Harvester enumeration and leaves index unchanged. """ gb = patch_gentl_sdk @@ -338,9 +339,12 @@ def test_rebind_settings_updates_index_using_device_id_with_attribute_entries( settings = gentl_settings_factory(index=0, properties={"gentl": {"device_id": "serial:SER1"}}) out = gb.GenTLCameraBackend.rebind_settings(settings) - assert int(out.index) == 1 + # New behavior: no enumeration/rebind for serial IDs. + assert int(out.index) == 0 + ns = out.properties.get("gentl", {}) assert ns.get("device_id") == "serial:SER1" + assert ns.get("serial_number") == "SER1" def test_rebind_settings_no_device_id_no_change(patch_gentl_sdk, gentl_settings_factory, gentl_inventory): @@ -418,7 +422,7 @@ def test_pixel_format_unavailable_does_not_crash_open_and_streams(patch_gentl_sd be.open() # No fake-internal checks; just verify it can read - frame, _ = be.read() + frame = be.read().frame assert frame is not None and frame.size > 0 be.close() @@ -470,102 +474,6 @@ def create(self, *args, **kwargs): assert acq == "ACQ_POS_INDEX" -def test__create_acquirer_falls_back_to_create_image_acquirer_when_create_fails( - patch_gentl_sdk, gentl_settings_factory -): - gb = patch_gentl_sdk - - settings = gentl_settings_factory() - be = gb.GenTLCameraBackend(settings) - - class H: - device_info_list = [{"serial_number": "SER0"}] - - def create(self, *args, **kwargs): - raise RuntimeError("create fails") - - def create_image_acquirer(self, selector=None, index=None): - # Succeeds here - if isinstance(selector, dict) and selector.get("serial_number") == "SERX": - return "ACQ_CIA_SERIAL" - if index == 1: - return "ACQ_CIA_INDEX" - return "ACQ_CIA_OTHER" - - be._harvester = H() - acq = be._create_acquirer("SERX", 1) - assert acq == "ACQ_CIA_SERIAL" - - -def test__create_acquirer_uses_device_info_fallback_when_available(patch_gentl_sdk, gentl_settings_factory): - gb = patch_gentl_sdk - - settings = gentl_settings_factory() - be = gb.GenTLCameraBackend(settings) - - device_info_obj = {"serial_number": "SER0", "id_": "ID0"} - - class H: - device_info_list = [device_info_obj] - - def create(self, *args, **kwargs): - # Fail index, succeed if given device_info object - if "index" in kwargs or (len(args) == 1 and isinstance(args[0], int)): - raise RuntimeError("index path fails") - if len(args) == 1 and args[0] is device_info_obj: - return "ACQ_DEVICE_INFO" - raise RuntimeError("unexpected call") - - be._harvester = H() - acq = be._create_acquirer(None, 0) - assert acq == "ACQ_DEVICE_INFO" - - -def test__create_acquirer_tries_default_create_when_index0_and_no_serial(patch_gentl_sdk, gentl_settings_factory): - gb = patch_gentl_sdk - - settings = gentl_settings_factory() - be = gb.GenTLCameraBackend(settings) - - class H: - device_info_list = [{"serial_number": "SER0"}] - - def create(self, *args, **kwargs): - # Fail index attempts; succeed only on no-arg create() - if args or kwargs: - raise RuntimeError("only no-arg create works") - return "ACQ_DEFAULT" - - be._harvester = H() - acq = be._create_acquirer(None, 0) - assert acq == "ACQ_DEFAULT" - - -def test__create_acquirer_raises_runtimeerror_with_joined_errors(patch_gentl_sdk, gentl_settings_factory): - gb = patch_gentl_sdk - - settings = gentl_settings_factory() - be = gb.GenTLCameraBackend(settings) - - class H: - device_info_list = [{"serial_number": "SER0"}] - - def create(self, *args, **kwargs): - raise RuntimeError("create boom") - - def create_image_acquirer(self, *args, **kwargs): - raise RuntimeError("cia boom") - - be._harvester = H() - - with pytest.raises(RuntimeError) as ei: - be._create_acquirer("SERX", 0) - - # Error message should include some context about attempted creation methods - msg = str(ei.value).lower() - assert "failed to initialise gentl image acquirer" in msg - - # ---------------------------------- # CTI discovery and selection logic # ---------------------------------- @@ -767,3 +675,128 @@ def test_open_persists_cti_load_diagnostics_complete_failure(patch_gentl_sdk, ge assert sorted(d["cti"] for d in failed) == sorted([str(b1), str(b2)]) for d in failed: assert isinstance(d.get("error"), str) and d["error"] + + +def test_two_gentl_backends_share_same_harvester(patch_gentl_sdk, gentl_settings_factory, gentl_inventory): + gb = patch_gentl_sdk + + gentl_inventory[:] = [ + {"display_name": "Dev0", "serial_number": "SER0"}, + {"display_name": "Dev1", "serial_number": "SER1"}, + ] + + s0 = gentl_settings_factory(index=0, properties={"gentl": {"device_id": "serial:SER0"}}) + s1 = gentl_settings_factory(index=1, properties={"gentl": {"device_id": "serial:SER1"}}) + + b0 = gb.GenTLCameraBackend(s0) + b1 = gb.GenTLCameraBackend(s1) + + b0.open() + b1.open() + + assert b0._harvester is b1._harvester + assert b0._shared_entry is b1._shared_entry + + b1.close() + b0.close() + + +def test_second_open_reuses_shared_harvester_without_update(patch_gentl_sdk, gentl_settings_factory, gentl_inventory): + gb = patch_gentl_sdk + + gentl_inventory[:] = [ + {"display_name": "Dev0", "serial_number": "SER0"}, + {"display_name": "Dev1", "serial_number": "SER1"}, + ] + + s0 = gentl_settings_factory(index=0, properties={"gentl": {"device_id": "serial:SER0"}}) + s1 = gentl_settings_factory(index=1, properties={"gentl": {"device_id": "serial:SER1"}}) + + b0 = gb.GenTLCameraBackend(s0) + b1 = gb.GenTLCameraBackend(s1) + + b0.open() + update_count_after_first = gb.update_count + + b1.open() + + assert gb.update_count == update_count_after_first + + b1.close() + b0.close() + + +def test_open_failure_releases_shared_harvester(patch_gentl_sdk, gentl_settings_factory, gentl_inventory): + gb = patch_gentl_sdk + + gentl_inventory[:] = [{"display_name": "Dev0", "serial_number": "SER0"}] + + settings = gentl_settings_factory(properties={"gentl": {"device_id": "serial:DOES_NOT_EXIST"}}) + be = gb.GenTLCameraBackend(settings) + + with pytest.raises(RuntimeError): + be.open() + + assert be._harvester is None + assert be._shared_entry is None + assert be._acquirer is None + + +def test__create_acquirer_serial_create_runtimeerror_propagates(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + be = gb.GenTLCameraBackend(gentl_settings_factory()) + + class H: + device_info_list = [{"serial_number": "SER0"}] + + def create(self, *args, **kwargs): + raise RuntimeError("create fails") + + def create_image_acquirer(self, *args, **kwargs): + return "SHOULD_NOT_BE_USED" + + be._harvester = H() + + with pytest.raises(RuntimeError, match="create fails"): + be._create_acquirer("SERX", 1) + + +def test__create_acquirer_index_runtimeerror_propagates(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + be = gb.GenTLCameraBackend(gentl_settings_factory()) + + class H: + device_info_list = [{"serial_number": "SER0"}] + + def create(self, *args, **kwargs): + if len(args) == 1 and args[0] == 0: + raise RuntimeError("index path fails") + return "UNEXPECTED" + + be._harvester = H() + + with pytest.raises(RuntimeError, match="index path fails"): + be._create_acquirer(None, 0) + + +def test__create_acquirer_positional_typeerror_falls_back_to_index_keyword(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + be = gb.GenTLCameraBackend(gentl_settings_factory()) + + class H: + device_info_list = [{"serial_number": "SER0"}] + + def create(self, *args, **kwargs): + if args: + raise TypeError("positional index not supported") + if kwargs.get("index") == 2: + return "ACQ_KW_INDEX" + raise RuntimeError("unexpected call") + + be._harvester = H() + + acq = be._create_acquirer(None, 2) + assert acq == "ACQ_KW_INDEX" diff --git a/tests/cameras/backends/test_gentl_trigger.py b/tests/cameras/backends/test_gentl_trigger.py new file mode 100644 index 000000000..b445f4ea8 --- /dev/null +++ b/tests/cameras/backends/test_gentl_trigger.py @@ -0,0 +1,460 @@ +# tests/cameras/backends/test_gentl_trigger.py +from __future__ import annotations + +import pytest + +# --------------------------------------------------------------------- +# GenTL hardware trigger configuration +# --------------------------------------------------------------------- + + +def _gentl_trigger_settings(gentl_settings_factory, trigger: dict, **kwargs): + """Build CameraSettings with a GenTL trigger block.""" + return gentl_settings_factory(properties={"gentl": {"trigger": trigger}}, **kwargs) + + +def test_gentl_capabilities_advertise_hardware_trigger_best_effort(patch_gentl_sdk): + gb = patch_gentl_sdk + + caps = gb.GenTLCameraBackend.static_capabilities() + + assert caps.get("hardware_trigger") == gb.SupportLevel.BEST_EFFORT + + +def test_trigger_default_off_configures_trigger_mode_off(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = gentl_settings_factory() + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerMode.value == "Off" + + ns = settings.properties.get("gentl", {}) + assert ns.get("trigger_actual", {}).get("role") == "off" + + be.close() + + +def test_trigger_explicit_off_configures_trigger_mode_off(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings(gentl_settings_factory, {"role": "off"}) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerMode.value == "Off" + assert settings.properties["gentl"]["trigger_actual"]["role"] == "off" + + be.close() + + +def test_trigger_external_configures_input_line_and_timeout(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "external", + "selector": "FrameStart", + "source": "Line0", + "activation": "RisingEdge", + "timeout": gb.GenTLCameraBackend._MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT, + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerSelector.value == "FrameStart" + assert nm.TriggerSource.value == "Line0" + assert nm.TriggerActivation.value == "RisingEdge" + assert nm.TriggerMode.value == "On" + assert be.waits_for_hardware_trigger is True + assert be._timeout == pytest.approx(gb.GenTLCameraBackend._MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT) + + ns = settings.properties["gentl"] + assert ns["trigger_actual"]["role"] == "external" + assert ns["trigger_actual"]["source"] == "Line0" + + be.close() + + +def test_trigger_follower_configures_input_line(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "follower", + "selector": "FrameStart", + "source": "Line1", + "activation": "FallingEdge", + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerSelector.value == "FrameStart" + assert nm.TriggerSource.value == "Line1" + assert nm.TriggerActivation.value == "FallingEdge" + assert nm.TriggerMode.value == "On" + + ns = settings.properties["gentl"] + assert ns["trigger_actual"]["role"] == "follower" + + be.close() + + +def test_trigger_master_configures_output_line_and_keeps_trigger_off(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "master", + "output_line": "Line2", + "output_source": "ExposureActive", + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerMode.value == "Off" + assert nm.LineSelector.value == "Line2" + assert nm.LineMode.value == "Output" + assert nm.LineSource.value == "ExposureActive" + + ns = settings.properties["gentl"] + assert ns["trigger_actual"]["role"] == "master" + assert ns["trigger_actual"]["output_line"] == "Line2" + + be.close() + + +def test_trigger_invalid_source_non_strict_disables_trigger(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "external", + "source": "LineDoesNotExist", + "strict": False, + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + # Source was unsupported, so the fake node should retain its default. + assert nm.TriggerSource.value == "Line1" + + # Safety behavior: do not arm TriggerMode on the previous/default source. + assert nm.TriggerMode.value == "Off" + + # Controller should not treat timeouts as expected trigger waits. + assert be.waits_for_hardware_trigger is False + + # trigger_actual is persisted after _configure_trigger(); since we reset + # self._trigger to off, the effective trigger state is off. + actual = settings.properties["gentl"]["trigger_actual"] + assert actual["role"] == "off" + + be.close() + + +def test_trigger_invalid_source_strict_raises_and_cleans_up(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "external", + "source": "LineDoesNotExist", + "strict": True, + }, + ) + be = gb.GenTLCameraBackend(settings) + + with pytest.raises(RuntimeError): + be.open() + + assert be._harvester is None + assert be._shared_entry is None + assert be._acquirer is None + + +def test_trigger_invalid_master_output_source_non_strict_does_not_crash(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "master", + "output_line": "Line2", + "output_source": "NotARealLineSource", + "strict": False, + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerMode.value == "Off" + assert nm.LineSelector.value == "Line2" + assert nm.LineMode.value == "Output" + # Unsupported source should not be applied in non-strict mode. + assert nm.LineSource.value == "Off" + + be.close() + + +def test_trigger_invalid_master_output_source_strict_raises_and_cleans_up(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "master", + "output_line": "Line2", + "output_source": "NotARealLineSource", + "strict": True, + }, + ) + be = gb.GenTLCameraBackend(settings) + + with pytest.raises(RuntimeError): + be.open() + + assert be._harvester is None + assert be._shared_entry is None + assert be._acquirer is None + + +def test_trigger_alias_on_maps_to_external(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "on", + "source": "Line1", + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + assert nm.TriggerMode.value == "On" + assert nm.TriggerSource.value == "Line1" + assert settings.properties["gentl"]["trigger_actual"]["role"] == "external" + + be.close() + + +def test_trigger_timeout_is_capped_for_hardware_trigger_fetch_polling( + patch_gentl_sdk, + gentl_settings_factory, +): + gb = patch_gentl_sdk + expected_fetch_timeout = gb.GenTLCameraBackend._MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "external", + "timeout": 7.5, + }, + ) + be = gb.GenTLCameraBackend(settings) + + try: + be.open() + + # Hardware-trigger fetch calls are intentionally capped so stop(wait=True) + # is not blocked by a long user trigger timeout. + assert be._timeout == pytest.approx(expected_fetch_timeout) + + # Fake acquisition is started, so read should pass and record the capped timeout. + frame = be.read().frame + assert frame is not None + assert be._acquirer.fetch_calls[-1] == pytest.approx(expected_fetch_timeout) + + # The requested trigger timeout is still preserved in persisted trigger_actual. + actual = settings.properties["gentl"]["trigger_actual"] + assert actual["timeout"] == pytest.approx(7.5) + + finally: + be.close() + + +def test_trigger_timeout_error_mentions_hardware_trigger_when_waiting( + patch_gentl_sdk, + gentl_settings_factory, +): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "external", + "timeout": 3.0, + }, + ) + # fast_start keeps acquisition stopped; fake fetch then raises timeout. + # This lets us assert the backend timeout message without hardware. + settings.properties["gentl"]["fast_start"] = True + + be = gb.GenTLCameraBackend(settings) + + try: + be.open() + + assert be._timeout == pytest.approx(gb.GenTLCameraBackend._MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT) + + with pytest.raises(TimeoutError) as ei: + be.read() + + msg = str(ei.value).lower() + assert "gentl timeout" in msg + assert "hardware trigger" in msg or "trigger" in msg + + finally: + be.close() + + +def test_trigger_actual_is_persisted_for_debugging(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "follower", + "source": "Line1", + "activation": "FallingEdge", + "timeout": 9.0, + "strict": False, + }, + ) + be = gb.GenTLCameraBackend(settings) + + try: + be.open() + + # Requested timeout remains in trigger_actual for debugging/config visibility. + actual = settings.properties["gentl"].get("trigger_actual") + assert isinstance(actual, dict) + assert actual["role"] == "follower" + assert actual["source"] == "Line1" + assert actual["activation"] == "FallingEdge" + assert actual["timeout"] == pytest.approx(9.0) + + # But each blocking Harvester.fetch() call is capped for responsive shutdown. + assert be._timeout == pytest.approx(gb.GenTLCameraBackend._MAX_HARDWARE_TRIGGER_FETCH_TIMEOUT) + + finally: + be.close() + + +def test_trigger_invalid_selector_non_strict_disables_trigger(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "external", + "selector": "NotARealSelector", + "source": "Line1", + "strict": False, + }, + ) + be = gb.GenTLCameraBackend(settings) + + be.open() + nm = be._acquirer.remote_device.node_map + + # Selector was unsupported, so the fake node should retain its default. + assert nm.TriggerSelector.value == "FrameStart" + + # Source may have been applied, but trigger must not be armed because + # the required selector routing failed. + assert nm.TriggerSource.value == "Line1" + assert nm.TriggerMode.value == "Off" + assert be.waits_for_hardware_trigger is False + + actual = settings.properties["gentl"]["trigger_actual"] + assert actual["role"] == "off" + + be.close() + + +def test_trigger_timeout_not_capped_for_master_mode(patch_gentl_sdk, gentl_settings_factory): + gb = patch_gentl_sdk + + settings = _gentl_trigger_settings( + gentl_settings_factory, + { + "role": "master", + "timeout": 7.5, + }, + ) + be = gb.GenTLCameraBackend(settings) + + try: + be.open() + + # Master is free-running / trigger-generating, not waiting for hardware input. + assert be.waits_for_hardware_trigger is False + assert be._timeout == pytest.approx(7.5) + + finally: + be.close() + + +def test_resolve_trigger_source_auto_selects_supported_line( + patch_gentl_sdk, + gentl_settings_factory, +): + gb = patch_gentl_sdk + be = gb.GenTLCameraBackend(gentl_settings_factory()) + + class Node: + symbolics = ["Line1", "Software", "Any"] + + class NodeMap: + TriggerSource = Node() + + source, ok = be._resolve_trigger_source(NodeMap(), "auto", strict=False) + + assert ok is True + assert source == "Line1" + + +def test_resolve_trigger_source_strict_raises_for_unsupported_explicit_line( + patch_gentl_sdk, + gentl_settings_factory, +): + gb = patch_gentl_sdk + be = gb.GenTLCameraBackend(gentl_settings_factory()) + + class Node: + symbolics = ["Line1", "Software", "Any"] + + class NodeMap: + TriggerSource = Node() + + with pytest.raises(RuntimeError, match="TriggerSource.*Line0"): + be._resolve_trigger_source(NodeMap(), "Line0", strict=True) diff --git a/tests/cameras/backends/test_opencv_backend.py b/tests/cameras/backends/test_opencv_backend.py index 2f1557824..5fff09910 100644 --- a/tests/cameras/backends/test_opencv_backend.py +++ b/tests/cameras/backends/test_opencv_backend.py @@ -124,7 +124,8 @@ def test_read_returns_none_on_grab_failure(fake_capture_factory): cap.grab_ok = False backend._capture = cap - frame, ts = backend.read() + payload = backend.read() + frame, ts = payload.frame, payload.software_timestamp assert frame is None assert isinstance(ts, float) @@ -135,7 +136,8 @@ def test_read_returns_none_on_retrieve_failure(fake_capture_factory): cap.retrieve_ok = False backend._capture = cap - frame, ts = backend.read() + payload = backend.read() + frame, ts = payload.frame, payload.software_timestamp assert frame is None assert isinstance(ts, float) @@ -150,7 +152,8 @@ def boom(): cap.grab = boom backend._capture = cap - frame, ts = backend.read() + payload = backend.read() + frame, ts = payload.frame, payload.software_timestamp assert frame is None assert isinstance(ts, float) diff --git a/tests/conftest.py b/tests/conftest.py index 7d12a70a1..f04941e6e 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -13,6 +13,7 @@ from dlclivegui.cameras import CameraFactory from dlclivegui.cameras.base import ( CameraBackend, + CapturedFrame, SupportLevel, register_backend_direct, unregister_backend, @@ -86,7 +87,7 @@ def read(self): raise RuntimeError("not opened") self._counter += 1 frame = np.zeros(frame_shape, dtype=np.uint8) - return frame, float(timestamp_fn()) + return CapturedFrame(frame=frame, software_timestamp=float(timestamp_fn()), timestamp_metadata=None) _TestBackend.__name__ = f"TestBackend_{name}" return _TestBackend @@ -349,12 +350,28 @@ def fake_processor(): class FakeVideoRecorder: """Lightweight test double for VideoRecorder (no threads/ffmpeg).""" - def __init__(self, output, frame_size=None, frame_rate=None, codec="libx264", crf=23, **kwargs): + def __init__( + self, + output, + frame_size=None, + frame_rate=None, + codec="libx264", + crf=23, + buffer_size=240, + convert_grayscale_to_rgb=True, + writer_options=None, + **kwargs, + ): self.output = Path(output) self.frame_size = frame_size self.frame_rate = frame_rate self.codec = codec self.crf = crf + self.buffer_size = buffer_size + self.convert_grayscale_to_rgb = convert_grayscale_to_rgb + self.writer_options = dict(writer_options) if writer_options is not None else None + self.extra_kwargs = dict(kwargs) + self.started = False self.stopped = False self.write_calls = [] @@ -370,14 +387,15 @@ def start(self): if self.raise_on_start: raise RuntimeError("start failed") self.started = True + self.stopped = False def stop(self): self.stopped = True - def write(self, frame, timestamp=None): + def write(self, frame, timestamp=None, timestamp_metadata=None): if self.raise_on_write: raise RuntimeError("write failed") - self.write_calls.append((frame, timestamp)) + self.write_calls.append((frame, timestamp, timestamp_metadata)) return True def get_stats(self): @@ -401,7 +419,7 @@ def patch_video_recorder(monkeypatch): def recording_frame_spy(monkeypatch, window): captured = {} - def _fake_write_frame(cam_id, frame, timestamp=None): + def _fake_write_frame(cam_id, frame, timestamp=None, timestamp_metadata=None): captured[cam_id] = frame.copy() monkeypatch.setattr(window._rec_manager, "write_frame", _fake_write_frame) diff --git a/tests/custom_processors/test_base_processor.py b/tests/custom_processors/test_base_processor.py index d38749b34..94dabab89 100644 --- a/tests/custom_processors/test_base_processor.py +++ b/tests/custom_processors/test_base_processor.py @@ -13,15 +13,21 @@ def _mock_dlclive(monkeypatch): - """Provide a dummy dlclive.Processor so the module can import in tests.""" - fake = types.ModuleType("dlclive") - class Processor: def __init__(self, *args, **kwargs): pass - fake.Processor = Processor - monkeypatch.setitem(sys.modules, "dlclive", fake) + def process(self, pose, **kwargs): + return pose + + dlclive_mod = types.ModuleType("dlclive") + processor_mod = types.ModuleType("dlclive.processor") + + dlclive_mod.Processor = Processor + processor_mod.Processor = Processor + + monkeypatch.setitem(sys.modules, "dlclive", dlclive_mod) + monkeypatch.setitem(sys.modules, "dlclive.processor", processor_mod) @pytest.fixture @@ -37,6 +43,19 @@ def socket_mod(monkeypatch): return importlib.import_module(mod_name) +@pytest.fixture +def example_processor_mod(monkeypatch): + """ + Import the example processor module with dlclive mocked. + Adjust module name if your file lives elsewhere. + """ + _mock_dlclive(monkeypatch) + mod_name = "dlclivegui.processors.examples" + if mod_name in sys.modules: + del sys.modules[mod_name] + return importlib.import_module(mod_name) + + def _module_data_dir(socket_mod) -> Path: """Compute the data/ directory where save() writes artifacts.""" return Path(socket_mod.__file__).parent.parent.parent / "data" @@ -233,12 +252,14 @@ def test_save_ignores_pre_recording_original_pose_frames(socket_mod): ("ExampleProcessorSocketFilterKeypoints", 10), ], ) -def test_subclass_save_ignores_pre_recording_original_pose_frames(socket_mod, class_name, n_keypoints): +def test_subclass_save_ignores_pre_recording_original_pose_frames( + socket_mod, example_processor_mod, class_name, n_keypoints +): """ Concrete processors must keep original_pose aligned with recorded metadata even when process() is called before recording starts. """ - processor_class = getattr(socket_mod, class_name) + processor_class = getattr(example_processor_mod, class_name) proc = processor_class(bind=("127.0.0.1", 0), save_original=True) try: diff --git a/tests/gui/test_app_entrypoint.py b/tests/gui/test_app_entrypoint.py index 0a68bb2ef..b6b1c6051 100644 --- a/tests/gui/test_app_entrypoint.py +++ b/tests/gui/test_app_entrypoint.py @@ -31,6 +31,7 @@ def set_use_splash_false(monkeypatch): @pytest.mark.gui def test_main_with_splash(monkeypatch, set_use_splash_true): appmod = _import_fresh() + monkeypatch.setattr(appmod, "_maybe_allow_keyboard_interrupt", MagicMock(name="_maybe_allow_keyboard_interrupt")) # --- Patch Qt app & icon in the entry module's namespace --- QApplication_cls = MagicMock(name="QApplication") @@ -101,6 +102,7 @@ def immediate_single_shot(ms, fn): @pytest.mark.gui def test_main_without_splash(monkeypatch, set_use_splash_false): appmod = _import_fresh() + monkeypatch.setattr(appmod, "_maybe_allow_keyboard_interrupt", MagicMock(name="_maybe_allow_keyboard_interrupt")) # Patch Qt app creation & window icon QApplication_cls = MagicMock(name="QApplication") diff --git a/tests/gui/test_pose_overlay.py b/tests/gui/test_pose_overlay.py index 369baf846..511d44552 100644 --- a/tests/gui/test_pose_overlay.py +++ b/tests/gui/test_pose_overlay.py @@ -65,18 +65,9 @@ def test_record_overlay_toggle_affects_frames_sent_to_recorder(window, recording # Provide a frame raw = np.zeros((100, 100, 3), dtype=np.uint8) - # Build minimal frame_data to call _on_multi_frame_ready - from dlclivegui.services.multi_camera_controller import MultiFrameData - - frame_data = MultiFrameData( - frames={cam_id: raw}, - timestamps={cam_id: 1.0}, - source_camera_id=cam_id, - ) - # 1) toggle OFF: should record raw window.record_with_overlays_checkbox.setChecked(False) - window._on_multi_frame_ready(frame_data) + window._on_recording_frame_ready(cam_id, raw, 1.0) assert cam_id in recording_frame_spy recorded_off = recording_frame_spy[cam_id] @@ -84,7 +75,7 @@ def test_record_overlay_toggle_affects_frames_sent_to_recorder(window, recording # 2) toggle ON: should record overlay frame (different) window.record_with_overlays_checkbox.setChecked(True) - window._on_multi_frame_ready(frame_data) + window._on_recording_frame_ready(cam_id, raw, 2.0) recorded_on = recording_frame_spy[cam_id] assert not np.array_equal(recorded_on, raw) diff --git a/tests/gui/test_rec_manager.py b/tests/gui/test_rec_manager.py index 6a75d456d..cf4bca299 100644 --- a/tests/gui/test_rec_manager.py +++ b/tests/gui/test_rec_manager.py @@ -3,9 +3,11 @@ import numpy as np import pytest +from dlclivegui.config import CameraSettings from dlclivegui.gui.recording_manager import RecordingManager -from dlclivegui.services.multi_camera_controller import get_camera_id -from dlclivegui.services.video_recorder import RecorderStats +from dlclivegui.services.multi_camera_controller import get_camera_id, get_display_id +from dlclivegui.utils.stats import RecorderStats +from dlclivegui.utils.timestamps import FrameTimestampMetadata @pytest.fixture @@ -265,15 +267,197 @@ def test_get_stats_summary_multi_aggregates( mgr.start_all(recording_settings, _active_cams_two, current_frames, session_name="Sess") ids = [get_camera_id(c) for c in _active_cams_two] + mgr.recorders[ids[0]]._stats = RecorderStats( - frames_written=10, dropped_frames=1, queue_size=2, average_latency=0.01, last_latency=0.02 + frames_enqueued=12, + frames_written=10, + dropped_frames=1, + queue_size=2, + buffer_size=10, + average_latency=0.01, + last_latency=0.02, + write_fps=25.0, ) mgr.recorders[ids[1]]._stats = RecorderStats( - frames_written=20, dropped_frames=3, queue_size=4, average_latency=0.03, last_latency=0.05 + frames_enqueued=24, + frames_written=20, + dropped_frames=3, + queue_size=4, + buffer_size=10, + average_latency=0.03, + last_latency=0.05, + write_fps=30.0, ) summary = mgr.get_stats_summary() + assert "2 cams" in summary - assert "30 frames" in summary # 10 + 20 - assert "dropped 4" in summary # 1 + 3 - assert "queue 6" in summary # 2 + 4 + assert "30/36 frames" in summary + assert "writer 55.0 fps" in summary + assert "dropped 4" in summary + assert "queue 6/20" in summary + assert "backlog 6" in summary + + +@pytest.mark.unit +def test_recording_manager_uses_stable_camera_id_not_display_id( + recording_settings, + patch_video_recorder, + patch_build_run_dir, +): + mgr = RecordingManager() + + cam = CameraSettings( + name="GenTL cam", + backend="gentl", + index=0, + fps=30.0, + enabled=True, + properties={ + "gentl": { + "device_id": "serial:SER0", + "serial_number": "SER0", + } + }, + ).apply_defaults() + + stable_id = get_camera_id(cam) + display_id = get_display_id(cam) + + assert stable_id == "gentl:serial:SER0" + assert display_id == "GenTL cam" + assert stable_id != display_id + + frame = np.zeros((480, 640, 3), dtype=np.uint8) + current_frames = {stable_id: frame} + + run_dir = mgr.start_all( + recording_settings, + [cam], + current_frames, + session_name="Sess", + ) + + assert run_dir is not None + assert stable_id in mgr.recorders + assert display_id not in mgr.recorders + + rec = mgr.recorders[stable_id] + assert rec.frame_size == (480, 640) + + mgr.write_frame(stable_id, frame, timestamp=123.0) + assert len(rec.write_calls) == 1 + assert rec.write_calls[-1][1] == 123.0 + + # Display ID is GUI-only and must not route frames internally. + mgr.write_frame(display_id, frame, timestamp=456.0) + assert len(rec.write_calls) == 1 + + +@pytest.mark.unit +def test_start_all_does_not_infer_frame_size_from_display_id( + recording_settings, + patch_video_recorder, + patch_build_run_dir, +): + mgr = RecordingManager() + + cam = CameraSettings( + name="GenTL cam", + backend="gentl", + index=0, + fps=30.0, + enabled=True, + properties={ + "gentl": { + "device_id": "serial:SER0", + "serial_number": "SER0", + } + }, + ).apply_defaults() + + stable_id = get_camera_id(cam) + display_id = get_display_id(cam) + + frame = np.zeros((480, 640, 3), dtype=np.uint8) + + # Simulate the buggy situation: frames are keyed by display ID. + current_frames = {display_id: frame} + + mgr.start_all( + recording_settings, + [cam], + current_frames, + session_name="Sess", + ) + + assert stable_id in mgr.recorders + assert display_id not in mgr.recorders + + # Since RecordingManager uses stable IDs internally, it should not find this frame. + rec = mgr.recorders[stable_id] + assert rec.frame_size is None + + +@pytest.mark.unit +def test_start_all_passes_writegear_options( + recording_settings, + _active_cams_two, + current_frames, + patch_video_recorder, + patch_build_run_dir, +): + recording_settings.codec = "libx264" + recording_settings.crf = 23 + recording_settings.fast_encoding = True + + mgr = RecordingManager() + mgr.start_all(recording_settings, _active_cams_two, current_frames, session_name="Sess") + + for cam in _active_cams_two: + cam_id = get_camera_id(cam) + rec = mgr.recorders[cam_id] + + assert rec.writer_options is not None + assert rec.writer_options["-vcodec"] == "libx264" + assert rec.writer_options["-crf"] == "23" + assert rec.writer_options["-preset"] == "ultrafast" + assert rec.writer_options["-tune"] == "zerolatency" + + +class TestRecordingManagerTimestampMetadata: + @pytest.mark.unit + def test_write_frame_passes_timestamp_metadata( + self, + recording_settings, + _active_cams_two, + current_frames, + patch_video_recorder, + patch_build_run_dir, + ): + mgr = RecordingManager() + mgr.start_all(recording_settings, _active_cams_two, current_frames, session_name="Sess") + + cam0_id = get_camera_id(_active_cams_two[0]) + frame = current_frames[cam0_id] + + meta = FrameTimestampMetadata( + source="grab_result.GetTimeStamp", + backend="basler", + default_reported="seconds", + seconds=0.001, + raw_value=1_000_000, + raw_unit="ticks", + tick_frequency_hz=1_000_000_000.0, + kind="camera_clock", + ) + + mgr.write_frame(cam0_id, frame, timestamp=123.0, timestamp_metadata=meta) + + rec = mgr.recorders[cam0_id] + assert len(rec.write_calls) == 1 + + written_frame, written_timestamp, written_metadata = rec.write_calls[0] + assert written_frame is frame + assert written_timestamp == 123.0 + assert written_metadata is meta diff --git a/tests/gui/test_recording_gui.py b/tests/gui/test_recording_gui.py new file mode 100644 index 000000000..9ef4c4c32 --- /dev/null +++ b/tests/gui/test_recording_gui.py @@ -0,0 +1,173 @@ +import numpy as np +import pytest + +from dlclivegui.services.multi_camera_controller import MultiFrameData, get_camera_id + + +@pytest.mark.gui +class TestPendingRecordingAfterPreview: + def test_start_recording_when_preview_stopped_defers_until_preview_frames( + self, + window, + monkeypatch, + ): + calls = { + "start_preview": 0, + "start_recording": 0, + } + + monkeypatch.setattr( + window.multi_camera_controller, + "is_running", + lambda: False, + ) + + def fake_start_preview(): + calls["start_preview"] += 1 + + def fake_start_multi_camera_recording(): + calls["start_recording"] += 1 + + monkeypatch.setattr(window, "_start_preview", fake_start_preview) + monkeypatch.setattr(window, "_start_multi_camera_recording", fake_start_multi_camera_recording) + + window._pending_recording_after_preview = False + + window._start_recording() + + assert calls["start_preview"] == 1 + assert calls["start_recording"] == 0 + assert window._pending_recording_after_preview is True + + def test_pending_recording_waits_until_all_active_cameras_have_frames( + self, + window, + monkeypatch, + ): + active_cams = window._config.multi_camera.get_active_cameras() + assert len(active_cams) >= 2 + + cam0_id = get_camera_id(active_cams[0]) + cam1_id = get_camera_id(active_cams[1]) + + calls = { + "start_recording": 0, + } + + monkeypatch.setattr( + window.multi_camera_controller, + "is_running", + lambda: True, + ) + + def fake_start_multi_camera_recording(): + calls["start_recording"] += 1 + + monkeypatch.setattr(window, "_start_multi_camera_recording", fake_start_multi_camera_recording) + + window._pending_recording_after_preview = True + window._multi_camera_frames = { + cam0_id: np.zeros((10, 10, 3), dtype=np.uint8), + } + + window._try_start_pending_recording() + + assert calls["start_recording"] == 0 + assert window._pending_recording_after_preview is True + + window._multi_camera_frames[cam1_id] = np.zeros((10, 10, 3), dtype=np.uint8) + + window._try_start_pending_recording() + + assert calls["start_recording"] == 1 + assert window._pending_recording_after_preview is False + + def test_pending_recording_is_triggered_from_multi_frame_processing_ready( + self, + window, + monkeypatch, + ): + active_cams = window._config.multi_camera.get_active_cameras() + assert len(active_cams) >= 2 + + cam0_id = get_camera_id(active_cams[0]) + cam1_id = get_camera_id(active_cams[1]) + + calls = { + "start_recording": 0, + } + + monkeypatch.setattr( + window.multi_camera_controller, + "is_running", + lambda: True, + ) + + def fake_start_multi_camera_recording(): + calls["start_recording"] += 1 + + monkeypatch.setattr(window, "_start_multi_camera_recording", fake_start_multi_camera_recording) + + window._pending_recording_after_preview = True + + frame0 = np.zeros((10, 10, 3), dtype=np.uint8) + frame1 = np.zeros((10, 10, 3), dtype=np.uint8) + + frame_data = MultiFrameData( + frames={ + cam0_id: frame0, + cam1_id: frame1, + }, + timestamps={ + cam0_id: 1.0, + cam1_id: 1.0, + }, + source_camera_id=cam0_id, + display_ids={ + cam0_id: "Cam0", + cam1_id: "Cam1", + }, + ) + + window._on_multi_frame_processing_ready(frame_data) + + assert calls["start_recording"] == 1 + assert window._pending_recording_after_preview is False + + def test_pending_recording_does_not_start_twice( + self, + window, + monkeypatch, + ): + active_cams = window._config.multi_camera.get_active_cameras() + assert len(active_cams) >= 2 + + cam0_id = get_camera_id(active_cams[0]) + cam1_id = get_camera_id(active_cams[1]) + + calls = { + "start_recording": 0, + } + + monkeypatch.setattr( + window.multi_camera_controller, + "is_running", + lambda: True, + ) + + def fake_start_multi_camera_recording(): + calls["start_recording"] += 1 + + monkeypatch.setattr(window, "_start_multi_camera_recording", fake_start_multi_camera_recording) + + window._pending_recording_after_preview = True + window._multi_camera_frames = { + cam0_id: np.zeros((10, 10, 3), dtype=np.uint8), + cam1_id: np.zeros((10, 10, 3), dtype=np.uint8), + } + + window._try_start_pending_recording() + window._try_start_pending_recording() + + assert calls["start_recording"] == 1 + assert window._pending_recording_after_preview is False diff --git a/tests/services/test_multicam_controller.py b/tests/services/test_multicam_controller.py index eca502187..4eafbdaee 100644 --- a/tests/services/test_multicam_controller.py +++ b/tests/services/test_multicam_controller.py @@ -1,22 +1,32 @@ -# tests/services/test_multicam_controller.py +import numpy as np import pytest from dlclivegui.cameras.factory import CameraFactory - -# from dlclivegui.config import CameraSettings from dlclivegui.config import CameraSettings -from dlclivegui.services.multi_camera_controller import MultiCameraController, get_camera_id +from dlclivegui.services.multi_camera_controller import ( + MultiCameraController, + _camera_start_priority, + _trigger_role_from_settings, + get_camera_id, + get_display_id, +) +from dlclivegui.utils.timestamps import FrameTimestampMetadata @pytest.mark.unit def test_start_and_frames(qtbot, patch_factory): mc = MultiCameraController() - # One dataclass + one dict (simulate mixed inputs) cam1 = CameraSettings(name="C1", backend="opencv", index=0, fps=25.0).apply_defaults() cam2 = {"name": "C2", "backend": "opencv", "index": 1, "fps": 30.0, "enabled": True} cam2 = CameraSettings.from_dict(cam2).apply_defaults() + cam1_id = get_camera_id(cam1) + cam2_id = get_camera_id(cam2) + + cam1_display = get_display_id(cam1) + cam2_display = get_display_id(cam2) + frames_seen = [] def on_ready(mfd): @@ -28,11 +38,24 @@ def on_ready(mfd): with qtbot.waitSignal(mc.all_started, timeout=1500): mc.start([cam1, cam2]) - # Wait for at least one composite emission qtbot.waitUntil(lambda: len(frames_seen) >= 1, timeout=2000) assert mc.is_running() - # We should have at least one entry with 1 or 2 frames (depending on timing) + + # Internal stable IDs should be used as frame keys and source IDs. + seen_keys = set() + seen_sources = set() + for source_id, shape_map in frames_seen: + seen_sources.add(source_id) + seen_keys.update(shape_map.keys()) + + assert seen_keys <= {cam1_id, cam2_id} + assert seen_sources <= {cam1_id, cam2_id} + + # Human/display IDs should not be used as internal frame keys. + assert cam1_display not in seen_keys + assert cam2_display not in seen_keys + assert any(len(shape_map) >= 1 for _, shape_map in frames_seen) finally: @@ -70,10 +93,8 @@ def on_ready(mfd): with qtbot.waitSignal(mc.all_started, timeout=1500): mc.start([cam]) - # Wait until a rotated+cropped frame arrives qtbot.waitUntil(lambda: last_shape["shape"] is not None, timeout=2000) - # Expect height=32, width=32, 3 channels assert last_shape["shape"] == (32, 32, 3) finally: @@ -83,7 +104,6 @@ def on_ready(mfd): @pytest.mark.unit def test_initialization_failure(qtbot, monkeypatch): - # Make factory.create raise def _create(_settings): raise RuntimeError("no device") @@ -92,6 +112,488 @@ def _create(_settings): mc = MultiCameraController() cam = CameraSettings(name="C", backend="opencv", index=0, enabled=True).apply_defaults() - # Expect initialization_failed with the camera id - with qtbot.waitSignals([mc.initialization_failed, mc.all_stopped], timeout=2000) as _: + with qtbot.waitSignals([mc.initialization_failed, mc.all_stopped], timeout=2000): + mc.start([cam]) + + +@pytest.mark.unit +def test_get_camera_id_prefers_stable_device_id(): + cam = CameraSettings( + name="GenTL Cam", + backend="gentl", + index=0, + properties={ + "gentl": { + "device_id": "serial:30220469", + "serial_number": "30220469", + } + }, + ).apply_defaults() + + assert get_camera_id(cam) == "gentl:serial:30220469" + + +@pytest.mark.unit +def test_get_camera_id_falls_back_to_index_without_stable_identity(): + cam = CameraSettings( + name="Cam", + backend="opencv", + index=2, + ).apply_defaults() + + assert get_camera_id(cam) == "opencv:index:2" + + +@pytest.mark.unit +def test_get_display_id_is_human_index_label(): + cam = CameraSettings( + name="GenTL Cam", + backend="gentl", + index=3, + properties={ + "gentl": { + "device_id": "serial:30220469", + "serial_number": "30220469", + } + }, + ).apply_defaults() + + assert get_camera_id(cam) == "gentl:serial:30220469" + assert get_display_id(cam) == "GenTL Cam" + assert get_camera_id(cam) != get_display_id(cam) + + +@pytest.mark.unit +@pytest.mark.parametrize( + ("role", "expected"), + [ + ("off", "off"), + ("disabled", "off"), + ("on", "external"), + ("triggered", "external"), + ("external", "external"), + ("follower", "follower"), + ("slave", "follower"), + ("master", "master"), + ("main", "master"), + ], +) +def test_trigger_role_from_settings_aliases(role, expected): + cam = CameraSettings( + name="C", + backend="gentl", + index=0, + properties={ + "gentl": { + "trigger": { + "role": role, + } + } + }, + ).apply_defaults() + + assert _trigger_role_from_settings(cam) == expected + + +@pytest.mark.unit +def test_get_display_id_falls_back_to_backend_index_without_name(): + cam = CameraSettings( + name="", + backend="gentl", + index=3, + properties={ + "gentl": { + "device_id": "serial:30220469", + "serial_number": "30220469", + } + }, + ).apply_defaults() + + assert get_display_id(cam) == "gentl:3" + + +@pytest.mark.unit +def test_camera_start_priority_orders_trigger_roles(): + external = CameraSettings( + name="External", + backend="gentl", + index=0, + properties={"gentl": {"trigger": {"role": "external"}}}, + ).apply_defaults() + + normal = CameraSettings( + name="Normal", + backend="gentl", + index=1, + properties={"gentl": {"trigger": {"role": "off"}}}, + ).apply_defaults() + + master = CameraSettings( + name="Master", + backend="gentl", + index=2, + properties={"gentl": {"trigger": {"role": "master"}}}, + ).apply_defaults() + + assert _camera_start_priority(external) == 0 + assert _camera_start_priority(normal) == 1 + assert _camera_start_priority(master) == 2 + + +@pytest.mark.unit +def test_start_preserves_user_display_order_even_when_trigger_start_order_differs(qtbot, patch_factory): + mc = MultiCameraController() + + # User wants master first in display/tile order, follower second. + # Startup order should still be follower first internally. + master = CameraSettings( + name="Master", + backend="opencv", + index=0, + enabled=True, + properties={ + "opencv": { + "device_id": "master-cam", + "trigger": {"role": "master"}, + } + }, + ).apply_defaults() + + follower = CameraSettings( + name="Follower", + backend="opencv", + index=1, + enabled=True, + properties={ + "opencv": { + "device_id": "follower-cam", + "trigger": {"role": "follower"}, + } + }, + ).apply_defaults() + + expected_display_order = [get_camera_id(master), get_camera_id(follower)] + + try: + with qtbot.waitSignal(mc.all_started, timeout=1500): + mc.start([master, follower]) + + assert mc._camera_display_order == expected_display_order + + finally: + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + +@pytest.mark.unit +def test_frame_ready_emits_frames_in_user_configured_order(qtbot, patch_factory): + mc = MultiCameraController() + + cam_a = CameraSettings( + name="A", + backend="opencv", + index=0, + enabled=True, + properties={"opencv": {"device_id": "cam-a"}}, + ).apply_defaults() + + cam_b = CameraSettings( + name="B", + backend="opencv", + index=1, + enabled=True, + properties={"opencv": {"device_id": "cam-b"}}, + ).apply_defaults() + + expected_order = [get_camera_id(cam_a), get_camera_id(cam_b)] + seen_orders: list[list[str]] = [] + + def on_ready(mfd): + if len(mfd.frames) >= 2: + seen_orders.append(list(mfd.frames.keys())) + + mc.frame_ready.connect(on_ready) + + try: + with qtbot.waitSignal(mc.all_started, timeout=1500): + mc.start([cam_a, cam_b]) + + qtbot.waitUntil(lambda: bool(seen_orders), timeout=2500) + + assert seen_orders[-1] == expected_order + + finally: + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + +@pytest.mark.unit +def test_controller_uses_stable_camera_id_not_display_id(qtbot, patch_factory): + mc = MultiCameraController() + + cam = CameraSettings( + name="C1", + backend="gentl", + index=0, + fps=30.0, + enabled=True, + properties={ + "gentl": { + "device_id": "serial:SER0", + "serial_number": "SER0", + } + }, + ).apply_defaults() + + stable_id = get_camera_id(cam) + display_id = get_display_id(cam) + + assert stable_id == "gentl:serial:SER0" + assert display_id == "C1" + assert stable_id != display_id + seen = [] + + def on_ready(mfd): + seen.append(mfd) + + mc.frame_ready.connect(on_ready) + + try: + with qtbot.waitSignal(mc.all_started, timeout=1500): + mc.start([cam]) + + qtbot.waitUntil(lambda: bool(seen), timeout=2000) + + mfd = seen[-1] + + assert stable_id in mfd.frames + assert mfd.display_ids[stable_id] == "C1" + assert mfd.source_camera_id == stable_id + assert stable_id in mfd.frames + assert stable_id in mfd.timestamps + + assert display_id not in mfd.frames + assert display_id not in mfd.timestamps + + assert mfd.display_ids is not None + assert mfd.display_ids[stable_id] == display_id + + finally: + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + +@pytest.mark.unit +def test_display_order_is_cleared_on_stop(qtbot, patch_factory): + mc = MultiCameraController() + + cam = CameraSettings( + name="C", + backend="opencv", + index=0, + enabled=True, + properties={"opencv": {"device_id": "cam-0"}}, + ).apply_defaults() + + try: + with qtbot.waitSignal(mc.all_started, timeout=1500): + mc.start([cam]) + + assert mc._camera_display_order == [get_camera_id(cam)] + + finally: + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + assert mc._camera_display_order == [] + + +@pytest.mark.unit +def test_hardware_trigger_timeouts_are_not_fatal(qtbot, monkeypatch): + class WaitingTriggerBackend: + waits_for_hardware_trigger = True + + def __init__(self, settings): + self.settings = settings + self.opened = False + self.closed = False + + def open(self): + self.opened = True + + def read(self): + raise TimeoutError("waiting for hardware trigger") + + def close(self): + self.closed = True + + def _create(settings): + return WaitingTriggerBackend(settings) + + monkeypatch.setattr(CameraFactory, "create", staticmethod(_create)) + + mc = MultiCameraController() + cam = CameraSettings( + name="Triggered", + backend="gentl", + index=0, + enabled=True, + properties={ + "gentl": { + "device_id": "serial:30220469", + "trigger": {"role": "external", "timeout": 0.1}, + } + }, + ).apply_defaults() + + errors: list[tuple[str, str]] = [] + mc.camera_error.connect(lambda cam_id, msg: errors.append((cam_id, msg))) + + try: + with qtbot.waitSignal(mc.all_started, timeout=1500): + mc.start([cam]) + + # Let several timeout cycles happen. + qtbot.wait(500) + + assert mc.is_running() + assert errors == [] + + finally: + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + +@pytest.mark.unit +def test_non_trigger_timeouts_are_fatal_after_retries(qtbot, monkeypatch): + class TimeoutBackend: + waits_for_hardware_trigger = False + + def __init__(self, settings): + self.settings = settings + + def open(self): + pass + + def read(self): + raise TimeoutError("camera timeout") + + def close(self): + pass + + def _create(settings): + return TimeoutBackend(settings) + + monkeypatch.setattr(CameraFactory, "create", staticmethod(_create)) + + mc = MultiCameraController() + cam = CameraSettings(name="TimeoutCam", backend="opencv", index=0, enabled=True).apply_defaults() + + expected_id = get_camera_id(cam) + + with qtbot.waitSignal(mc.camera_error, timeout=3000) as blocker: mc.start([cam]) + + cam_id, msg = blocker.args + assert cam_id == expected_id + assert "Camera read timeout" in msg + + # Cleanup if still running. + if mc.is_running(): + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + +@pytest.mark.unit +def test_recording_frame_ready_only_emits_when_enabled(qtbot, patch_factory): + mc = MultiCameraController() + + cam = CameraSettings( + name="C", + backend="opencv", + index=0, + enabled=True, + properties={"opencv": {"device_id": "cam-0"}}, + ).apply_defaults() + + cam_id = get_camera_id(cam) + seen: list[tuple[str, tuple, float]] = [] + + def on_recording_frame(camera_id, frame, timestamp, timestamp_metadata=None): + seen.append((camera_id, frame.shape, timestamp)) + + mc.recording_frame_ready.connect(on_recording_frame) + + try: + with qtbot.waitSignal(mc.all_started, timeout=1500): + mc.start([cam]) + + # Disabled by default: should not emit recording frames. + qtbot.wait(300) + assert seen == [] + + mc.set_recording_frame_do_emit(True) + + qtbot.waitUntil(lambda: bool(seen), timeout=2000) + + camera_id, shape, timestamp = seen[-1] + assert camera_id == cam_id + assert isinstance(timestamp, float) + assert len(shape) in (2, 3) + + mc.set_recording_frame_do_emit(False) + count_after_disable = len(seen) + + qtbot.wait(300) + assert len(seen) == count_after_disable + + finally: + with qtbot.waitSignal(mc.all_stopped, timeout=2000): + mc.stop(wait=True) + + +class TestRecordingFrameTimestamps: + @pytest.mark.unit + def test_recording_frame_ready_forwards_timestamp_metadata(self, qtbot): + mc = MultiCameraController() + mc._running = True + mc._recording_frame_emission_enabled = True + + cam_id = "basler:0815-0000" + mc._settings[cam_id] = CameraSettings( + name="C", + backend="basler", + index=0, + enabled=True, + ).apply_defaults() + mc._camera_display_order = [cam_id] + mc._display_ids[cam_id] = "C" + + frame = np.zeros((10, 10), dtype=np.uint8) + meta = FrameTimestampMetadata( + source="grab_result.GetTimeStamp", + backend="basler", + default_reported="seconds", + seconds=0.001, + raw_value=1_000_000, + raw_unit="ticks", + tick_frequency_hz=1_000_000_000.0, + kind="camera_clock", + ) + + seen = [] + + def on_recording_frame(camera_id, emitted_frame, timestamp, timestamp_metadata): + seen.append((camera_id, emitted_frame, timestamp, timestamp_metadata)) + + mc.recording_frame_ready.connect(on_recording_frame) + + mc._on_frame_captured(cam_id, frame, 123.0, meta) + + assert len(seen) == 1 + + camera_id, emitted_frame, timestamp, timestamp_metadata = seen[0] + assert camera_id == cam_id + assert emitted_frame is frame + assert timestamp == 123.0 + assert timestamp_metadata is meta diff --git a/tests/services/test_video_recorder.py b/tests/services/test_video_recorder.py index 28bb85646..8389fbbb4 100644 --- a/tests/services/test_video_recorder.py +++ b/tests/services/test_video_recorder.py @@ -9,6 +9,7 @@ import pytest import dlclivegui.services.video_recorder as vr_mod +from dlclivegui.utils.timestamps import FrameTimestampMetadata # ---------------------------- # Helpers @@ -228,10 +229,13 @@ def test_stop_writes_timestamps_sidecar_json(patch_writegear, output_path, rgb_f data = json.loads(ts_path.read_text()) assert data["video_file"] == output_path.name assert data["num_frames"] == 2 - assert data["timestamps"] == [10.0, 12.0] assert data["start_time"] == 10.0 assert data["end_time"] == 12.0 assert data["duration_seconds"] == 2.0 + assert data["schema_version"] == 2 + assert data["timestamp_sources"]["hardware_timestamp"] is None + assert data["frame_timestamps"][0]["software_timestamp"] == 10.0 + assert data["frame_timestamps"][1]["software_timestamp"] == 12.0 def test_encoder_write_error_sets_encode_error_and_future_writes_raise(patch_writegear, output_path, rgb_frame): @@ -372,3 +376,155 @@ def test_stop_timeout_marks_abandoned_and_prevents_restart( assert rec._abandoned is False rec.start() rec.stop() + + +def test_video_recorder_preserves_gray_when_requested(monkeypatch, tmp_path): + written = [] + + class FakeWriter: + def write(self, frame): + written.append(frame) + + def close(self): + pass + + monkeypatch.setattr("dlclivegui.services.video_recorder.WriteGear", lambda *a, **k: FakeWriter()) + + rec = vr_mod.VideoRecorder( + tmp_path / "out.mp4", + frame_size=(10, 20), + frame_rate=100, + convert_grayscale_to_rgb=False, + ) + rec.start() + rec.write(np.zeros((10, 20), dtype=np.uint8)) + rec.stop() + + assert written + assert written[0].shape == (10, 20) + + +def test_video_recorder_expands_gray_by_default(monkeypatch, tmp_path): + written = [] + + class FakeWriter: + def write(self, frame): + written.append(frame) + + def close(self): + pass + + monkeypatch.setattr("dlclivegui.services.video_recorder.WriteGear", lambda *a, **k: FakeWriter()) + + rec = vr_mod.VideoRecorder(tmp_path / "out.mp4", frame_size=(10, 20), frame_rate=100) + rec.start() + rec.write(np.zeros((10, 20), dtype=np.uint8)) + rec.stop() + + assert written[0].shape == (10, 20, 3) + + +class TestVideoRecorderTimestampSidecar: + def test_stop_writes_software_only_timestamp_sidecar_json( + self, + patch_writegear, + output_path, + rgb_frame, + ): + rec = vr_mod.VideoRecorder(output_path, buffer_size=10) + rec.start() + + rec.write(rgb_frame, timestamp=10.0) + rec.write(rgb_frame, timestamp=12.0) + + wait_until(lambda: len(FakeWriteGear.instances[0].frames) >= 2) + rec.stop() + + ts_path = output_path.with_suffix("").with_suffix(output_path.suffix + "_timestamps.json") + assert ts_path.exists() + + data = json.loads(ts_path.read_text()) + + assert data["schema_version"] == 2 + assert data["video_file"] == output_path.name + assert data["num_frames"] == 2 + + assert data["timestamp_sources"]["software_timestamp"]["kind"] == "software_wall_clock" + assert data["timestamp_sources"]["hardware_timestamp"] is None + + assert data["frame_timestamps"] == [ + { + "frame_index": 0, + "software_timestamp": 10.0, + }, + { + "frame_index": 1, + "software_timestamp": 12.0, + }, + ] + + def test_stop_writes_hardware_timestamp_metadata_sidecar_json( + self, + patch_writegear, + output_path, + rgb_frame, + ): + rec = vr_mod.VideoRecorder(output_path, buffer_size=10) + rec.start() + + meta = FrameTimestampMetadata( + source="grab_result.GetTimeStamp", + backend="basler", + default_reported="seconds", + seconds=0.001, + raw_value=1_000_000, + raw_unit="ticks", + tick_frequency_hz=1_000_000_000.0, + timebase="Basler camera timestamp counter", + kind="camera_clock", + ) + + rec.write(rgb_frame, timestamp=10.0, timestamp_metadata=meta) + + wait_until(lambda: len(FakeWriteGear.instances[0].frames) >= 1) + rec.stop() + + ts_path = output_path.with_suffix("").with_suffix(output_path.suffix + "_timestamps.json") + assert ts_path.exists() + + data = json.loads(ts_path.read_text()) + + assert data["schema_version"] == 2 + assert data["video_file"] == output_path.name + assert data["num_frames"] == 1 + + # Backward-compatible software timestamp list. + assert data["start_time"] == 10.0 + assert data["end_time"] == 10.0 + assert data["duration_seconds"] == 0.0 + + # Static hardware source metadata is written once. + hw_source = data["timestamp_sources"]["hardware_timestamp"] + assert hw_source == { + "source": "grab_result.GetTimeStamp", + "backend": "basler", + "default_reported": "seconds", + "raw_unit": "ticks", + "tick_frequency_hz": 1_000_000_000.0, + "timebase": "Basler camera timestamp counter", + "kind": "camera_clock", + "extra": {}, + } + + # Per-frame records contain only per-frame values. + frame_ts = data["frame_timestamps"] + assert len(frame_ts) == 1 + + rec0 = frame_ts[0] + assert rec0["frame_index"] == 0 + assert rec0["software_timestamp"] == 10.0 + assert rec0["hardware_timestamp"] == { + "seconds": 0.001, + "raw_value": 1_000_000, + } + assert rec0["hardware_timestamp_default"] == 0.001 diff --git a/tests/test_config.py b/tests/test_config.py new file mode 100644 index 000000000..63b387bfb --- /dev/null +++ b/tests/test_config.py @@ -0,0 +1,91 @@ +import pytest + +from dlclivegui.config import ( + ApplicationSettings, + CameraSettings, + CameraTriggerSettings, + MultiCameraSettings, + RecordingSettings, +) + + +@pytest.mark.unit +def test_save_applies_gentl_trigger_defaults_to_top_level_camera(): + cam = CameraSettings( + backend="gentl", + properties={"gentl": {}}, + ) + + settings = ApplicationSettings( + camera=cam, + multi_camera=MultiCameraSettings(cameras=[cam]), + ) + + data = settings.to_dict() + + assert "trigger" in data["camera"]["properties"]["gentl"] + + +@pytest.mark.unit +def test_save_applies_gentl_trigger_defaults_to_multi_camera(): + cam = CameraSettings( + backend="gentl", + properties={"gentl": {}}, + ) + + settings = ApplicationSettings( + multi_camera=MultiCameraSettings(cameras=[cam]), + ) + + data = settings.to_dict() + + assert "trigger" in data["multi_camera"]["cameras"][0]["properties"]["gentl"] + + +@pytest.mark.unit +def test_trigger_source_defaults_to_auto(): + trigger = CameraTriggerSettings() + + assert trigger.source == "auto" + + +def test_recording_settings_writegear_options_default(): + settings = RecordingSettings(codec="libx264", crf=23, fast_encoding=False) + + opts = settings.writegear_options(100.0) + + assert opts["-input_framerate"] == "100.000000" + assert opts["-vcodec"] == "libx264" + assert opts["-crf"] == "23" + assert "-preset" not in opts + assert "-tune" not in opts + + +def test_recording_settings_writegear_options_fast_encoding_x264(): + settings = RecordingSettings(codec="libx264", crf=23, fast_encoding=True) + + opts = settings.writegear_options(100.0) + + assert opts["-input_framerate"] == "100.000000" + assert opts["-vcodec"] == "libx264" + assert opts["-crf"] == "23" + assert opts["-preset"] == "ultrafast" + assert opts["-tune"] == "zerolatency" + + +def test_recording_settings_writegear_options_fast_encoding_nvenc_no_x264_options(): + settings = RecordingSettings(codec="h264_nvenc", crf=23, fast_encoding=True) + + opts = settings.writegear_options(100.0) + + assert opts["-vcodec"] == "h264_nvenc" + assert "-preset" not in opts + assert "-tune" not in opts + + +def test_recording_settings_writegear_options_invalid_fps_falls_back_to_30(): + settings = RecordingSettings(codec="libx264", crf=23) + + opts = settings.writegear_options(None) + + assert opts["-input_framerate"] == "30.000000" diff --git a/tests/utils/test_display.py b/tests/utils/test_display.py index 9ce8d49e7..559aa1522 100644 --- a/tests/utils/test_display.py +++ b/tests/utils/test_display.py @@ -41,7 +41,9 @@ def test_compute_tiling_geometry_single_frame_respects_max_canvas_and_min_tile() def test_compute_tiling_geometry_two_frames_is_1x2(): frames = {"camB": _frame(480, 640, 3), "camA": _frame(480, 640, 3)} cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames, max_canvas=(1200, 800)) - assert cam_ids == ["camA", "camB"] # sorted + + # Preserve insertion/display order, do not sort by camera ID. + assert cam_ids == ["camB", "camA"] assert (rows, cols) == (1, 2) assert tile_w >= 160 and tile_h >= 120 @@ -49,25 +51,106 @@ def test_compute_tiling_geometry_two_frames_is_1x2(): def test_compute_tiling_geometry_three_frames_is_2x2(): frames = {"c3": _frame(480, 640, 3), "c1": _frame(480, 640, 3), "c2": _frame(480, 640, 3)} cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames, max_canvas=(1200, 800)) - assert cam_ids == ["c1", "c2", "c3"] + + # Preserve insertion/display order. + assert cam_ids == ["c3", "c1", "c2"] assert (rows, cols) == (2, 2) assert tile_w >= 160 and tile_h >= 120 -def test_compute_tiling_geometry_reference_aspect_is_first_sorted_cam(): - # camA has aspect 2.0 (w/h), camB has aspect 0.5 +def test_compute_tiling_geometry_reference_aspect_is_first_display_order_cam(): + # camB is first in insertion/display order and has aspect 0.5. + # camA has aspect 2.0. frames = { - "camB": _frame(400, 200, 3), - "camA": _frame(200, 400, 3), + "camB": _frame(400, 200, 3), # aspect = 200 / 400 = 0.5 + "camA": _frame(200, 400, 3), # aspect = 400 / 200 = 2.0 } + cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames, max_canvas=(1200, 800)) - assert cam_ids == ["camA", "camB"] + + assert cam_ids == ["camB", "camA"] # For 2 cams, rows=1 cols=2 => initial tile_w=600 tile_h=800 => tile_aspect=0.75 - # frame_aspect for camA = 400/200 = 2.0 > 0.75 => tile_h adjusted to tile_w/frame_aspect = 600/2 = 300 + # frame_aspect for camB = 0.5 <= 0.75 => tile_w adjusted to tile_h * frame_aspect = 800 * 0.5 = 400 + assert (rows, cols) == (1, 2) + assert tile_w == 400 + assert tile_h == 800 + + +def test_compute_tiling_geometry_preserves_frame_insertion_order(): + frames = { + "gentl:serial:30220469": np.zeros((10, 20, 3), dtype=np.uint8), + "gentl:serial:10620051": np.zeros((10, 20, 3), dtype=np.uint8), + } + + cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames) + + assert cam_ids == ["gentl:serial:30220469", "gentl:serial:10620051"] + assert rows == 1 + assert cols == 2 + assert tile_w > 0 + assert tile_h > 0 + + +def test_compute_tiling_geometry_preserves_reversed_insertion_order(): + frames = { + "gentl:serial:10620051": np.zeros((10, 20, 3), dtype=np.uint8), + "gentl:serial:30220469": np.zeros((10, 20, 3), dtype=np.uint8), + } + + cam_ids, *_ = compute_tiling_geometry(frames) + + assert cam_ids == ["gentl:serial:10620051", "gentl:serial:30220469"] + + +def test_compute_tile_info_uses_display_order_for_offsets(): + cam0 = "gentl:serial:30220469" + cam1 = "gentl:serial:10620051" + + frames = { + cam0: np.zeros((100, 200, 3), dtype=np.uint8), + cam1: np.zeros((100, 200, 3), dtype=np.uint8), + } + + cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames) + + offset0, scale0 = compute_tile_info(cam0, frames[cam0], frames) + offset1, scale1 = compute_tile_info(cam1, frames[cam1], frames) + + assert cam_ids == [cam0, cam1] + assert offset0 == (0, 0) + assert offset1 == (tile_w, 0) + assert scale0[0] > 0 + assert scale0[1] > 0 + assert scale1[0] > 0 + assert scale1[1] > 0 + + +def test_create_tiled_frame_preserves_display_order_by_tile_content(): + # First frame is blue-ish, second is red-ish. + first = np.zeros((100, 100, 3), dtype=np.uint8) + first[:, :] = (255, 0, 0) # BGR blue + + second = np.zeros((100, 100, 3), dtype=np.uint8) + second[:, :] = (0, 0, 255) # BGR red + + frames = { + "gentl:serial:30220469": first, + "gentl:serial:10620051": second, + } + + cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames, max_canvas=(400, 200)) + out = create_tiled_frame(frames, max_canvas=(400, 200)) + + assert cam_ids == ["gentl:serial:30220469", "gentl:serial:10620051"] assert (rows, cols) == (1, 2) - assert tile_w == 600 - assert tile_h == 300 + + # Sample away from text label area. + left_sample = out[tile_h // 2, tile_w // 2] + right_sample = out[tile_h // 2, tile_w + tile_w // 2] + + assert left_sample[0] > left_sample[2] # blue tile first + assert right_sample[2] > right_sample[0] # red tile second def test_create_tiled_frame_empty_returns_default_canvas(): @@ -110,16 +193,18 @@ def test_create_tiled_frame_canvas_shape_matches_geometry(): def test_compute_tile_info_offset_and_scale_matches_tiling(): - # 2 frames => 1x2 tiling, cam ids sorted: ["cam1", "cam2"] + # 2 frames => 1x2 tiling, preserving insertion/display order: ["cam2", "cam1"] frames = {"cam2": _frame(200, 400, 3), "cam1": _frame(200, 400, 3)} cam_ids, rows, cols, tile_w, tile_h = compute_tiling_geometry(frames, max_canvas=(1200, 800)) original = _frame(200, 400, 3) (ox, oy), (sx, sy) = compute_tile_info("cam2", original, frames, max_canvas=(1200, 800)) - # cam2 is index 1 -> row 0 col 1 + assert cam_ids == ["cam2", "cam1"] assert (rows, cols) == (1, 2) - assert ox == tile_w + + # cam2 is first in display order => row 0 col 0 + assert ox == 0 assert oy == 0 assert sx == pytest.approx(tile_w / 400) assert sy == pytest.approx(tile_h / 200) diff --git a/tests/utils/test_settings_store.py b/tests/utils/test_settings_store.py index 7eba56aef..318dc49cd 100644 --- a/tests/utils/test_settings_store.py +++ b/tests/utils/test_settings_store.py @@ -95,6 +95,17 @@ def model_validate_json(raw: str): assert settstore.load_full_config_snapshot() is None +def test_qt_settings_store_fast_encoding_roundtrip(): + s = InMemoryQSettings() + settstore = store.DLCLiveGUISettingsStore(qsettings=s) + + settstore.set_fast_encoding(True) + assert settstore.get_fast_encoding(default=False) is True + + settstore.set_fast_encoding(False) + assert settstore.get_fast_encoding(default=True) is False + + # ----------------------------- # ModelPathStore helpers # ----------------------------- diff --git a/tests/utils/test_stats.py b/tests/utils/test_stats.py index 1fa12400f..bc1ae31f2 100644 --- a/tests/utils/test_stats.py +++ b/tests/utils/test_stats.py @@ -4,7 +4,7 @@ from hypothesis import given, settings from hypothesis import strategies as st -from dlclivegui.utils.stats import format_dlc_stats, format_recorder_stats +from dlclivegui.utils.stats import RecorderStats, format_dlc_stats, format_recorder_stats pytestmark = pytest.mark.unit @@ -14,19 +14,20 @@ def test_format_recorder_stats_exact(): - stats = SimpleNamespace( + stats = RecorderStats( frames_written=10, frames_enqueued=12, write_fps=29.94, - last_latency=0.01234, # 12.34 ms -> 12.3 - average_latency=0.05678, # 56.78 ms -> 56.8 - buffer_seconds=0.4321, # 432.1 ms -> 432 + last_latency=0.01234, + average_latency=0.05678, + buffer_seconds=0.4321, queue_size=3, + buffer_size=0, dropped_frames=2, ) assert format_recorder_stats(stats) == ( - "10/12 frames | write 29.9 fps | latency 12.3 ms (avg 56.8 ms) | queue 3 (~432 ms) | dropped 2" + "10/12 frames | write 29.9 fps | latency 12.3 ms (avg 56.8 ms) | queue 3 (~432 ms) | backlog 2 | dropped 2" ) @@ -115,6 +116,7 @@ def _fmt0(x: float) -> str: average_latency=finite_seconds_small, buffer_seconds=finite_seconds, queue_size=queue_size_int, + buffer_size=queue_size_int, dropped_frames=nonneg_int, ) def test_format_recorder_stats_properties( @@ -125,9 +127,10 @@ def test_format_recorder_stats_properties( average_latency, buffer_seconds, queue_size, + buffer_size, dropped_frames, ): - stats = SimpleNamespace( + stats = RecorderStats( frames_written=frames_written, frames_enqueued=frames_enqueued, write_fps=write_fps, @@ -135,28 +138,17 @@ def test_format_recorder_stats_properties( average_latency=average_latency, buffer_seconds=buffer_seconds, queue_size=queue_size, + buffer_size=buffer_size, dropped_frames=dropped_frames, ) s = format_recorder_stats(stats) - # Required structural tokens - assert " frames | write " in s - assert " fps | latency " in s - assert " ms (avg " in s - assert " ms) | queue " in s - assert " (~" in s - assert " ms) | dropped " in s - - # Exact numeric formatting expectations (substrings) - latency_ms = last_latency * 1000.0 - avg_ms = average_latency * 1000.0 - buffer_ms = buffer_seconds * 1000.0 - assert f"{frames_written}/{frames_enqueued} frames" in s - assert f"write {_fmt1(write_fps)} fps" in s - assert f"latency {_fmt1(latency_ms)} ms (avg {_fmt1(avg_ms)} ms)" in s - assert f"queue {queue_size} (~{_fmt0(buffer_ms)} ms)" in s + assert "write " in s + assert "latency " in s + assert "queue " in s + assert "backlog " in s assert f"dropped {dropped_frames}" in s @@ -251,3 +243,26 @@ def test_format_dlc_stats_profile_properties(stats): assert f"(GPU:{_fmt1(gpu_ms)}ms+proc:{_fmt1(proc_ms)}ms)" in s else: assert "GPU:" not in s + + +def test_format_recorder_stats_exact_with_buffer_capacity(): + stats = RecorderStats( + frames_written=10, + frames_enqueued=12, + write_fps=29.94, + last_latency=0.01234, + average_latency=0.05678, + buffer_seconds=0.4321, + queue_size=3, + buffer_size=10, + dropped_frames=2, + ) + + assert format_recorder_stats(stats) == ( + "10/12 frames | " + "write 29.9 fps | " + "latency 12.3 ms (avg 56.8 ms) | " + "queue 3/10 (30%, ~432 ms) | " + "backlog 2 | " + "dropped 2" + ) diff --git a/tests/utils/test_timestamps.py b/tests/utils/test_timestamps.py new file mode 100644 index 000000000..560872930 --- /dev/null +++ b/tests/utils/test_timestamps.py @@ -0,0 +1,63 @@ +import pytest + +from dlclivegui.utils.timestamps import FrameTimestampMetadata + + +class TestFrameTimestampMetadata: + def test_splits_source_and_frame_values(self): + meta = FrameTimestampMetadata( + source="grab_result.GetTimeStamp", + backend="basler", + default_reported="seconds", + seconds=0.123456789, + wall_clock_time=None, + raw_value=123456789, + raw_unit="ticks", + tick_frequency_hz=1_000_000_000.0, + timebase="Basler camera timestamp counter", + kind="camera_clock", + ) + + assert meta.to_source_dict() == { + "source": "grab_result.GetTimeStamp", + "backend": "basler", + "default_reported": "seconds", + "raw_unit": "ticks", + "tick_frequency_hz": 1_000_000_000.0, + "timebase": "Basler camera timestamp counter", + "kind": "camera_clock", + "extra": {}, + } + + frame_dict = meta.to_frame_dict() + assert frame_dict["seconds"] == pytest.approx(0.123456789) + assert frame_dict["raw_value"] == 123456789 + assert "wall_clock_time" not in frame_dict + + assert meta.get_default_reported() == pytest.approx(0.123456789) + + def test_default_reported_raw_value(self): + meta = FrameTimestampMetadata( + source="device_counter", + backend="some_backend", + default_reported="raw_value", + raw_value=42, + raw_unit="frames", + kind="frame_counter", + ) + + assert meta.to_frame_dict() == {"raw_value": 42} + assert meta.get_default_reported() == 42 + + def test_unknown_default_field_returns_none(self): + meta = FrameTimestampMetadata( + source="device_counter", + backend="some_backend", + default_reported="seconds", + raw_value=42, + raw_unit="frames", + kind="frame_counter", + ) + + assert meta.to_frame_dict() == {"raw_value": 42} + assert meta.get_default_reported() is None