lesavka/server/src/video.rs

// server/src/video.rs

use anyhow::Context;
use futures_util::Stream;
use gst::MessageView::*;
use gst::prelude::*;
use gstreamer as gst;
use gstreamer_app as gst_app;
use lesavka_common::lesavka::VideoPacket;
use std::os::unix::fs::FileTypeExt;
use std::sync::Arc;
use std::sync::OnceLock;
use std::sync::atomic::{AtomicBool, AtomicU32, AtomicU64, Ordering};
use tokio::time::{Duration, Instant, sleep};
use tokio_stream::wrappers::ReceiverStream;
use tonic::Status;
use tracing::{Level, debug, enabled, error, info, trace, warn};

pub use crate::video_sinks::{CameraRelay, HdmiSink, WebcamSink};
use crate::video_support::{
    adjust_effective_fps, contains_idr, default_eye_fps, env_u32, env_usize, should_send_frame,
};

const EYE_ID: [&str; 2] = ["l", "r"];
static START: OnceLock<gst::ClockTime> = OnceLock::new();

pub struct VideoStream {
    _pipeline: gst::Pipeline,
    #[cfg(not(coverage))]
    _bus_watch: Option<BusWatchHandle>,
    inner: ReceiverStream<Result<VideoPacket, Status>>,
}

impl Stream for VideoStream {
    type Item = Result<VideoPacket, Status>;

    fn poll_next(
        mut self: std::pin::Pin<&mut Self>,
        cx: &mut std::task::Context<'_>,
    ) -> std::task::Poll<Option<Self::Item>> {
        Stream::poll_next(std::pin::Pin::new(&mut self.inner), cx)
    }
}

impl Drop for VideoStream {
    fn drop(&mut self) {
        let _ = self._pipeline.set_state(gst::State::Null);
        #[cfg(not(coverage))]
        {
            let _ = self._bus_watch.take();
        }
    }
}

#[cfg(not(coverage))]
struct BusWatchHandle {
    alive: Arc<AtomicBool>,
    join: Option<std::thread::JoinHandle<()>>,
}

#[cfg(not(coverage))]
impl BusWatchHandle {
    fn spawn(bus: gst::Bus, eye: String) -> Self {
        let alive = Arc::new(AtomicBool::new(true));
        let alive_flag = Arc::clone(&alive);
        let join = std::thread::spawn(move || {
            while alive_flag.load(Ordering::Relaxed) {
                let Some(msg) = bus.timed_pop(gst::ClockTime::from_mseconds(250)) else {
                    continue;
                };
                match msg.view() {
                    Error(err) => {
                        error!(
                            target:"lesavka_server::video",
                            eye = %eye,
                            "💥 pipeline error: {} ({})",
                            err.error(),
                            err.debug().unwrap_or_default()
                        );
                        break;
                    }
                    Warning(warning) => {
                        warn!(
                            target:"lesavka_server::video",
                            eye = %eye,
                            "⚠️  pipeline warning: {} ({})",
                            warning.error(),
                            warning.debug().unwrap_or_default()
                        );
                    }
                    Info(info_msg) => {
                        info!(
                            target:"lesavka_server::video",
                            eye = %eye,
                            "📌  pipeline info: {} ({})",
                            info_msg.error(),
                            info_msg.debug().unwrap_or_default()
                        );
                    }
                    StateChanged(state) if state.current() == gst::State::Playing => {
                        debug!(target:"lesavka_server::video", eye = %eye, "🎬 pipeline PLAYING");
                    }
                    StateChanged(state) if state.current() == gst::State::Null => {
                        debug!(target:"lesavka_server::video", eye = %eye, "🛑 pipeline stopped");
                        break;
                    }
                    Eos(..) => {
                        debug!(target:"lesavka_server::video", eye = %eye, "🏁 pipeline EOS");
                        break;
                    }
                    _ => {}
                }
            }
        });
        Self {
            alive,
            join: Some(join),
        }
    }
}

#[cfg(not(coverage))]
impl Drop for BusWatchHandle {
    fn drop(&mut self) {
        self.alive.store(false, Ordering::Relaxed);
        if let Some(join) = self.join.take() {
            let _ = join.join();
        }
    }
}

#[cfg(not(coverage))]
fn start_eye_pipeline(pipeline: &gst::Pipeline, bus: &gst::Bus, eye: &str) -> anyhow::Result<()> {
    pipeline
        .set_state(gst::State::Playing)
        .context(format!("🎥 starting video pipeline eye-{eye}"))?;
    for _ in 0..20 {
        match bus.timed_pop(gst::ClockTime::from_mseconds(200)) {
            Some(msg) => match msg.view() {
                Error(err) => {
                    let _ = pipeline.set_state(gst::State::Null);
                    return Err(anyhow::anyhow!(
                        "🎥 eye-{eye} pipeline error: {} ({})",
                        err.error(),
                        err.debug().unwrap_or_default()
                    ));
                }
                StateChanged(state) if state.current() == gst::State::Playing => return Ok(()),
                _ => continue,
            },
            None => continue,
        }
    }
    Ok(())
}

fn eye_device_wait_timeout() -> Duration {
    Duration::from_millis(
        std::env::var("LESAVKA_EYE_DEVICE_WAIT_MS")
            .ok()
            .and_then(|value| value.parse::<u64>().ok())
            .unwrap_or(5_000),
    )
}

fn eye_device_wait_poll() -> Duration {
    Duration::from_millis(
        std::env::var("LESAVKA_EYE_DEVICE_POLL_MS")
            .ok()
            .and_then(|value| value.parse::<u64>().ok())
            .map(|value| value.max(25))
            .unwrap_or(100),
    )
}

pub fn eye_source_profile() -> (u32, u32, u32) {
    let width = round_down_even_u32(env_u32("LESAVKA_EYE_SOURCE_WIDTH", 1920).max(320));
    let height = round_down_even_u32(env_u32("LESAVKA_EYE_SOURCE_HEIGHT", 1080).max(180));
    let fps = env_u32("LESAVKA_EYE_SOURCE_FPS", 30).max(1);
    (width, height, fps)
}

fn round_down_even_u32(value: u32) -> u32 {
    let rounded = value.max(2);
    rounded - (rounded % 2)
}

#[derive(Clone, Copy, Debug)]
struct EyeCaptureRequest {
    source_width: u32,
    source_height: u32,
    requested_width: u32,
    requested_height: u32,
    requested_fps: u32,
    max_bitrate_kbit: u32,
    downscale: bool,
}

fn normalize_eye_capture_request(
    requested_width: u32,
    requested_height: u32,
    requested_fps: u32,
    max_bitrate_kbit: u32,
) -> EyeCaptureRequest {
    let (source_width, source_height, source_fps) = eye_source_profile();
    let requested_width = if requested_width == 0 {
        source_width
    } else {
        round_down_even_u32(requested_width.min(source_width).max(320))
    };
    let requested_height = if requested_height == 0 {
        source_height
    } else {
        round_down_even_u32(requested_height.min(source_height).max(180))
    };
    let requested_fps = if requested_fps == 0 {
        source_fps.max(1)
    } else {
        requested_fps.max(1).min(source_fps.max(1))
    };
    EyeCaptureRequest {
        source_width,
        source_height,
        requested_width,
        requested_height,
        requested_fps,
        max_bitrate_kbit: max_bitrate_kbit.max(800),
        downscale: requested_width < source_width || requested_height < source_height,
    }
}

#[cfg(not(coverage))]
async fn wait_for_eye_device(dev: &str, eye: &str) -> anyhow::Result<()> {
    let timeout = eye_device_wait_timeout();
    let poll = eye_device_wait_poll();
    let deadline = Instant::now() + timeout;
    let last_detail = loop {
        let detail = match tokio::fs::metadata(dev).await {
            Ok(metadata) if metadata.file_type().is_char_device() => return Ok(()),
            Ok(metadata) => format!("device exists but is not a character device ({metadata:?})"),
            Err(err) => err.to_string(),
        };

        if Instant::now() >= deadline {
            break detail;
        }

        sleep(poll).await;
    };

    Err(anyhow::anyhow!(
        "🎥 eye-{eye} device {dev} was not ready within {} ms: {}",
        timeout.as_millis(),
        last_detail
    ))
}

#[cfg(coverage)]
async fn wait_for_eye_device(dev: &str, eye: &str) -> anyhow::Result<()> {
    let timeout = eye_device_wait_timeout();
    let poll = eye_device_wait_poll();
    let deadline = Instant::now() + timeout;
    let last_detail = loop {
        let detail = match tokio::fs::metadata(dev).await {
            Ok(metadata) if metadata.file_type().is_char_device() => return Ok(()),
            Ok(metadata) => format!("device exists but is not a character device ({metadata:?})"),
            Err(err) => err.to_string(),
        };

        if Instant::now() >= deadline {
            break detail;
        }

        sleep(poll).await;
    };

    Err(anyhow::anyhow!(
        "🎥 eye-{eye} device {dev} was not ready within {} ms: {}",
        timeout.as_millis(),
        last_detail
    ))
}

/// Capture one eye stream from the local V4L2 gadget and expose it as a gRPC stream.
///
/// Inputs: the V4L2 device node, logical eye id, and negotiated bitrate cap.
/// Outputs: a `VideoStream` that yields H.264 access units for the requested eye.
/// Why: the server keeps bitrate-aware pacing close to the capture pipeline so it can drop
/// frames before they build up in gRPC queues and destabilize downstream playback.
#[cfg(coverage)]
pub async fn eye_ball(dev: &str, id: u32, _max_bitrate_kbit: u32) -> anyhow::Result<VideoStream> {
    eye_ball_with_request(dev, id, _max_bitrate_kbit, 0, 0, 0).await
}

#[cfg(coverage)]
pub async fn eye_ball_with_request(
    dev: &str,
    id: u32,
    _max_bitrate_kbit: u32,
    _requested_width: u32,
    _requested_height: u32,
    _requested_fps: u32,
) -> anyhow::Result<VideoStream> {
    let _ = EYE_ID[id as usize];
    if dev.contains('"') {
        return Err(anyhow::anyhow!("invalid video source"));
    }

    let coverage_override = std::env::var("LESAVKA_TEST_VIDEO_SOURCE").ok();
    let use_test_src = dev.eq_ignore_ascii_case("testsrc")
        || dev.eq_ignore_ascii_case("videotestsrc")
        || coverage_override.as_deref() == Some(dev);
    if !use_test_src {
        return Err(anyhow::anyhow!("video source unavailable"));
    }

    let _ = gst::init();
    let pipeline = gst::Pipeline::new();
    let (tx, rx) = tokio::sync::mpsc::channel(64);

    let _ = tx.try_send(Ok(VideoPacket {
        id: id.min(1),
        pts: 0,
        data: vec![0, 0, 0, 1, 0x65, 0x88, 0x84],
        ..Default::default()
    }));

    Ok(VideoStream {
        _pipeline: pipeline,
        #[cfg(not(coverage))]
        _bus_watch: None,
        inner: ReceiverStream::new(rx),
    })
}

#[cfg(not(coverage))]
pub async fn eye_ball(dev: &str, id: u32, max_bitrate_kbit: u32) -> anyhow::Result<VideoStream> {
    eye_ball_with_request(dev, id, max_bitrate_kbit, 0, 0, 0).await
}

#[cfg(not(coverage))]
pub async fn eye_ball_with_request(
    dev: &str,
    id: u32,
    max_bitrate_kbit: u32,
    requested_width: u32,
    requested_height: u32,
    requested_fps: u32,
) -> anyhow::Result<VideoStream> {
    let eye = EYE_ID[id as usize];
    gst::init().context("gst init")?;

    let request = normalize_eye_capture_request(
        requested_width,
        requested_height,
        requested_fps,
        max_bitrate_kbit,
    );
    let target_fps = if requested_fps > 0 {
        request.requested_fps
    } else {
        env_u32("LESAVKA_EYE_FPS", default_eye_fps(max_bitrate_kbit)).max(1)
    };
    let min_fps = env_u32("LESAVKA_EYE_MIN_FPS", 12).clamp(1, target_fps);
    let adaptive = std::env::var("LESAVKA_EYE_ADAPTIVE")
        .map(|value| value != "0")
        .unwrap_or(true);
    info!(
        target: "lesavka_server::video",
        eye = %eye,
        max_bitrate_kbit,
        source_width = request.source_width,
        source_height = request.source_height,
        requested_width = request.requested_width,
        requested_height = request.requested_height,
        requested_fps = request.requested_fps,
        target_fps,
        min_fps,
        adaptive,
        "🎥 eye stream profile selected"
    );

    let effective_fps = Arc::new(AtomicU32::new(target_fps));
    let dropped_window = Arc::new(AtomicU64::new(0));
    let dropped_total = Arc::new(AtomicU64::new(0));
    let sent_window = Arc::new(AtomicU64::new(0));
    let last_adjust_sec = Arc::new(AtomicU64::new(0));
    let wait_for_idr = Arc::new(AtomicBool::new(false));
    let last_sent = Arc::new(AtomicU64::new(0));
    let packet_seq = Arc::new(AtomicU64::new(0));

    let queue_buffers = env_u32("LESAVKA_EYE_QUEUE_BUFFERS", 8).max(1);
    let appsink_buffers = env_u32("LESAVKA_EYE_APPSINK_BUFFERS", 8).max(1);
    let keyframe_interval = env_u32(
        "LESAVKA_EYE_KEYFRAME_INTERVAL",
        request.requested_fps.max(1).min(15),
    )
    .clamp(1, request.requested_fps.max(1));
    let use_test_src =
        dev.eq_ignore_ascii_case("testsrc") || dev.eq_ignore_ascii_case("videotestsrc");
    if !use_test_src {
        wait_for_eye_device(dev, eye).await?;
    }
    let desc = if use_test_src {
        let test_bitrate = env_u32("LESAVKA_EYE_TESTSRC_KBIT", request.max_bitrate_kbit);
        format!(
            "videotestsrc name=cam_{eye} is-live=true pattern=smpte ! \
             video/x-raw,width={},height={},framerate={}/1 ! \
             queue max-size-buffers={queue_buffers} max-size-time=0 max-size-bytes=0 leaky=downstream ! \
             x264enc tune=zerolatency speed-preset=veryfast bitrate={test_bitrate} key-int-max={keyframe_interval} ! \
             h264parse disable-passthrough=true config-interval=-1 ! \
             video/x-h264,stream-format=byte-stream,alignment=au ! \
             appsink name=sink emit-signals=true max-buffers={appsink_buffers} drop=true",
            request.requested_width, request.requested_height, request.requested_fps,
        )
    } else if request.downscale {
        format!(
            "v4l2src name=cam_{eye} device=\"{dev}\" io-mode=mmap do-timestamp=true ! \
             queue max-size-buffers={queue_buffers} max-size-time=0 max-size-bytes=0 leaky=downstream ! \
             h264parse disable-passthrough=true config-interval=-1 ! avdec_h264 ! videoconvert ! \
             videoscale ! videorate ! video/x-raw,width={},height={},framerate={}/1,pixel-aspect-ratio=1/1 ! \
             x264enc tune=zerolatency speed-preset=faster bitrate={} key-int-max={} ! \
             h264parse disable-passthrough=true config-interval=-1 ! \
             video/x-h264,stream-format=byte-stream,alignment=au ! \
             appsink name=sink emit-signals=true max-buffers={appsink_buffers} drop=true",
            request.requested_width,
            request.requested_height,
            request.requested_fps,
            request.max_bitrate_kbit,
            keyframe_interval,
        )
    } else {
        format!(
            "v4l2src name=cam_{eye} device=\"{dev}\" io-mode=mmap do-timestamp=true ! \
             queue max-size-buffers={queue_buffers} max-size-time=0 max-size-bytes=0 leaky=downstream ! \
             h264parse disable-passthrough=true config-interval=-1 ! \
             video/x-h264,stream-format=byte-stream,alignment=au ! \
             appsink name=sink emit-signals=true max-buffers={appsink_buffers} drop=true"
        )
    };

    let pipeline = gst::parse::launch(&desc)?
        .downcast::<gst::Pipeline>()
        .expect("not a pipeline");

    let sink = pipeline
        .by_name("sink")
        .expect("appsink")
        .dynamic_cast::<gst_app::AppSink>()
        .expect("appsink down-cast");

    let chan_capacity = env_usize("LESAVKA_EYE_CHAN_CAPACITY", 256).max(16);
    let (tx, rx) = tokio::sync::mpsc::channel(chan_capacity);

    if let Some(src_pad) = pipeline
        .by_name(&format!("cam_{eye}"))
        .and_then(|element| element.static_pad("src"))
    {
        src_pad.add_probe(gst::PadProbeType::EVENT_DOWNSTREAM, |pad, info| {
            if let Some(gst::PadProbeData::Event(ref event)) = info.data {
                if let gst::EventView::Caps(caps) = event.view() {
                    trace!(target:"lesavka_server::video", ?caps, "🔍 new caps on {}", pad.name());
                }
            }
            gst::PadProbeReturn::Ok
        });
    } else {
        warn!(target:"lesavka_server::video", eye = %eye, "🍪 cam_{eye} not found - skipping pad-probe");
    }

    let eye_name = eye.to_string();
    let dropped_total_for_cb = Arc::clone(&dropped_total);
    let packet_seq_for_cb = Arc::clone(&packet_seq);
    let effective_fps_for_cb = Arc::clone(&effective_fps);
    sink.set_callbacks(
        gst_app::AppSinkCallbacks::builder()
            .new_sample(move |sink| {
                let sample = sink.pull_sample().map_err(|_| gst::FlowError::Eos)?;
                let buffer = sample.buffer().ok_or(gst::FlowError::Error)?;
                let map = buffer.map_readable().map_err(|_| gst::FlowError::Error)?;
                let is_idr = contains_idr(map.as_slice());

                static FRAME: AtomicU64 = AtomicU64::new(0);
                let frame = FRAME.fetch_add(1, Ordering::Relaxed);
                if frame % 120 == 0 && is_idr {
                    trace!(target: "lesavka_server::video", "eye-{eye}: delivered {frame} frames");
                    if enabled!(Level::TRACE) {
                        let path = format!("/tmp/eye-{eye}-srv-{frame:05}.h264");
                        std::fs::write(&path, map.as_slice()).ok();
                    }
                } else if frame < 10 {
                    debug!(
                        target: "lesavka_server::video",
                        eye = eye,
                        frame,
                        bytes = map.len(),
                        pts = ?buffer.pts(),
                        "⬆️  pushed video sample eye-{eye}"
                    );
                }

                if enabled!(Level::TRACE) && is_idr {
                    trace!("eye-{eye}: IDR");
                }

                let origin = *START.get_or_init(|| buffer.pts().unwrap_or(gst::ClockTime::ZERO));
                let pts_us = buffer
                    .pts()
                    .unwrap_or(gst::ClockTime::ZERO)
                    .saturating_sub(origin)
                    .nseconds()
                    / 1_000;

                if adaptive {
                    let sec = pts_us / 1_000_000;
                    let prev = last_adjust_sec.load(Ordering::Relaxed);
                    if sec > prev
                        && last_adjust_sec
                            .compare_exchange(prev, sec, Ordering::SeqCst, Ordering::SeqCst)
                            .is_ok()
                    {
                        let dropped = dropped_window.swap(0, Ordering::Relaxed);
                        let sent = sent_window.swap(0, Ordering::Relaxed);
                        let current = effective_fps.load(Ordering::Relaxed).max(1);
                        let next = adjust_effective_fps(current, min_fps, target_fps, dropped, sent);
                        if next != current {
                            effective_fps.store(next, Ordering::Relaxed);
                            if next < current {
                                warn!(
                                    target: "lesavka_server::video",
                                    eye = %eye_name,
                                    fps = next,
                                    "🎥 adaptive eye fps ↓"
                                );
                            } else {
                                info!(
                                    target: "lesavka_server::video",
                                    eye = %eye_name,
                                    fps = next,
                                    "🎥 adaptive eye fps ↑"
                                );
                            }
                        }
                    }
                }

                let current_fps = effective_fps.load(Ordering::Relaxed).max(1);
                let last = last_sent.load(Ordering::Relaxed);
                if !should_send_frame(last, pts_us, current_fps) {
                    return Ok(gst::FlowSuccess::Ok);
                }
                last_sent.store(pts_us, Ordering::Relaxed);

                if wait_for_idr.load(Ordering::Relaxed) && !is_idr {
                    return Ok(gst::FlowSuccess::Ok);
                }

                let data = map.as_slice().to_vec();
                let size = data.len();
                let seq = packet_seq_for_cb.fetch_add(1, Ordering::Relaxed) + 1;
                let pkt = VideoPacket {
                    id,
                    pts: pts_us,
                    data,
                    seq,
                    effective_fps: effective_fps_for_cb.load(Ordering::Relaxed).max(1),
                    dropped_total: dropped_total_for_cb.load(Ordering::Relaxed),
                    queue_depth: (chan_capacity.saturating_sub(tx.capacity())) as u32,
                };
                match tx.try_send(Ok(pkt)) {
                    Ok(_) => {
                        sent_window.fetch_add(1, Ordering::Relaxed);
                        if is_idr {
                            wait_for_idr.store(false, Ordering::Relaxed);
                        }
                        trace!(target:"lesavka_server::video", eye = %eye, size = size, "🎥📤 sent");
                    }
                    Err(tokio::sync::mpsc::error::TrySendError::Full(_)) => {
                        dropped_window.fetch_add(1, Ordering::Relaxed);
                        dropped_total_for_cb.fetch_add(1, Ordering::Relaxed);
                        wait_for_idr.store(true, Ordering::Relaxed);
                        static DROP_CNT: AtomicU64 = AtomicU64::new(0);
                        let dropped = DROP_CNT.fetch_add(1, Ordering::Relaxed);
                        if dropped % 120 == 0 {
                            debug!(
                                target:"lesavka_server::video",
                                eye = %eye,
                                dropped,
                                "🎥⏳ channel full - dropping frames"
                            );
                        }
                    }
                    Err(error) => error!("mpsc send err: {error}"),
                }

                Ok(gst::FlowSuccess::Ok)
            })
            .build(),
    );

    let bus = pipeline.bus().expect("bus");
    start_eye_pipeline(&pipeline, &bus, eye)?;
    let bus_watch = BusWatchHandle::spawn(bus, eye.to_owned());

    Ok(VideoStream {
        _pipeline: pipeline,
        _bus_watch: Some(bus_watch),
        inner: ReceiverStream::new(rx),
    })
}