lesavka/scripts/manual/run_synthetic_rct_uvc_probe.py

#!/usr/bin/env python3
"""Run synthetic Lesavka uplink media and compare what the RCT receives."""

from __future__ import annotations

import argparse
import collections
import json
import os
import pathlib
import shlex
import shutil
import subprocess
import sys
import time
from typing import Any

DEFAULT_DEVICE_LABEL = "Lesavka Composite"
DEFAULT_MODES = "1280x720@20,1280x720@30,1920x1080@20,1920x1080@30"
MARKER_BITS = 32
MARKER_COLUMNS = 16


def parse_args() -> argparse.Namespace:
    parser = argparse.ArgumentParser(
        description=(
            "Manual synthetic end-to-end probe: Theia sends sequence-coded media "
            "through StreamWebcamMedia while Tethys captures the received UVC/X11 "
            "frames and compares them to the generated source."
        )
    )
    parser.add_argument("--inject-host", default="", help="Theia SSH host, e.g. titan-jh")
    parser.add_argument("--rct-host", default="", help="RCT SSH host, e.g. tethys")
    parser.add_argument("--server", default="http://127.0.0.1:50051")
    parser.add_argument("--inject-binary", default="/usr/local/bin/lesavka-synthetic-uplink")
    parser.add_argument("--mode", default="1280x720@30", help=f"one mode; baseline set is {DEFAULT_MODES}")
    parser.add_argument("--width", type=int, default=0, help="override capture width")
    parser.add_argument("--height", type=int, default=0, help="override capture height")
    parser.add_argument("--fps", type=int, default=0, help="override capture fps")
    parser.add_argument("--duration", type=float, default=300.0)
    parser.add_argument("--source", choices=["device", "x11"], default="device")
    parser.add_argument("--device", default="auto")
    parser.add_argument("--device-label", default=DEFAULT_DEVICE_LABEL)
    parser.add_argument("--display", default=":0")
    parser.add_argument("--crop", default="", help="x,y,width,height for --source x11")
    parser.add_argument("--artifact-dir", default="")
    parser.add_argument("--remote-rct-dir", default="")
    parser.add_argument("--remote-inject-dir", default="")
    parser.add_argument(
        "--capture-before-inject",
        action="store_true",
        help="start RCT capture before synthetic uplink; default starts uplink first so superseded injectors fail fast",
    )
    parser.add_argument("--inject-warmup-s", type=float, default=1.25)
    parser.add_argument("--x-step", type=int, default=8)
    parser.add_argument("--y-step", type=int, default=4)
    parser.add_argument("--bands", type=int, default=24)
    parser.add_argument("--mae-threshold", type=float, default=18.0)
    parser.add_argument("--lower-mae-threshold", type=float, default=28.0)
    parser.add_argument("--lower-skew-ratio", type=float, default=1.8)
    parser.add_argument("--slab-var", type=float, default=20.0)
    parser.add_argument("--shift-threshold", type=float, default=16.0)
    parser.add_argument("--shift-improvement", type=float, default=1.25)
    parser.add_argument("--max-suspicious-artifacts", type=int, default=80)
    parser.add_argument("--max-reference-artifacts", type=int, default=12)
    parser.add_argument("--reference-every", type=int, default=900)
    parser.add_argument("--progress-every", type=int, default=150)
    parser.add_argument("--capture-only", action="store_true", help=argparse.SUPPRESS)
    parser.add_argument("--self-test", action="store_true")
    return parser.parse_args()


def timestamp() -> str:
    return time.strftime("%Y%m%d-%H%M%S", time.gmtime())


def parse_mode(value: str) -> tuple[int, int, int]:
    try:
        size, fps = value.lower().split("@", 1)
        width, height = size.split("x", 1)
        return int(width), int(height), int(fps)
    except ValueError as exc:
        raise SystemExit(f"--mode must look like WIDTHxHEIGHT@FPS, got {value!r}") from exc


def mode_dimensions(args: argparse.Namespace) -> tuple[int, int, int]:
    width, height, fps = parse_mode(args.mode)
    if args.width:
        width = args.width
    if args.height:
        height = args.height
    if args.fps:
        fps = args.fps
    if width <= 0 or height <= 0 or fps <= 0:
        raise SystemExit("width, height, and fps must be positive")
    return width, height, fps


def default_artifact_dir(mode: str) -> pathlib.Path:
    safe_mode = mode.replace("@", "-").replace("x", "x")
    return pathlib.Path("artifacts/synthetic-rct") / f"{safe_mode}-{timestamp()}"


def run_remote_orchestrated(args: argparse.Namespace) -> int:
    if not args.inject_host or not args.rct_host:
        raise SystemExit("--inject-host and --rct-host are required unless --capture-only or --self-test is used")
    if not shutil.which("ssh") or not shutil.which("scp"):
        raise SystemExit("ssh and scp are required for the remote synthetic probe")
    width, height, fps = mode_dimensions(args)
    artifact_dir = pathlib.Path(args.artifact_dir) if args.artifact_dir else default_artifact_dir(args.mode)
    artifact_dir.mkdir(parents=True, exist_ok=True)
    remote_rct_dir = args.remote_rct_dir or f"/tmp/lesavka-synthetic-rct-capture-{timestamp()}"
    remote_inject_dir = args.remote_inject_dir or f"/tmp/lesavka-synthetic-uplink-{timestamp()}"
    remote_script = f"/tmp/lesavka-synthetic-rct-probe-{os.getpid()}.py"
    script_text = pathlib.Path(__file__).read_text()
    subprocess.run(
        ["ssh", args.rct_host, f"cat > {shlex.quote(remote_script)} && chmod +x {shlex.quote(remote_script)}"],
        input=script_text,
        text=True,
        check=True,
    )

    capture_cmd = [
        "python3",
        remote_script,
        "--capture-only",
        "--mode",
        args.mode,
        "--width",
        str(width),
        "--height",
        str(height),
        "--fps",
        str(fps),
        "--duration",
        str(args.duration),
        "--source",
        args.source,
        "--device",
        args.device,
        "--device-label",
        args.device_label,
        "--display",
        args.display,
        "--crop",
        args.crop,
        "--artifact-dir",
        remote_rct_dir,
        "--x-step",
        str(args.x_step),
        "--y-step",
        str(args.y_step),
        "--bands",
        str(args.bands),
        "--mae-threshold",
        str(args.mae_threshold),
        "--lower-mae-threshold",
        str(args.lower_mae_threshold),
        "--lower-skew-ratio",
        str(args.lower_skew_ratio),
        "--slab-var",
        str(args.slab_var),
        "--shift-threshold",
        str(args.shift_threshold),
        "--shift-improvement",
        str(args.shift_improvement),
        "--max-suspicious-artifacts",
        str(args.max_suspicious_artifacts),
        "--max-reference-artifacts",
        str(args.max_reference_artifacts),
        "--reference-every",
        str(args.reference_every),
        "--progress-every",
        str(args.progress_every),
    ]
    inject_cmd = [
        args.inject_binary,
        "--server",
        args.server,
        "--mode",
        args.mode,
        "--duration",
        str(args.duration + 2.0),
        "--artifact-dir",
        remote_inject_dir,
        "--print-every",
        str(args.progress_every),
    ]
    (artifact_dir / "orchestrator-command.txt").write_text(" ".join(sys.argv) + "\n")
    (artifact_dir / "mode.json").write_text(
        json.dumps(
            {
                "schema": "lesavka.synthetic-rct-probe.run.v1",
                "mode": args.mode,
                "width": width,
                "height": height,
                "fps": fps,
                "source": args.source,
                "duration_s": args.duration,
                "inject_host": args.inject_host,
                "rct_host": args.rct_host,
            },
            indent=2,
            sort_keys=True,
        )
        + "\n"
    )
    def start_capture() -> subprocess.Popen[Any]:
        print(f"starting RCT capture on {args.rct_host}: {remote_rct_dir}", file=sys.stderr)
        return subprocess.Popen(["ssh", args.rct_host, " ".join(shlex.quote(part) for part in capture_cmd)])

    def start_inject() -> subprocess.Popen[Any]:
        print(f"starting synthetic uplink on {args.inject_host}: {remote_inject_dir}", file=sys.stderr)
        return subprocess.Popen(["ssh", args.inject_host, " ".join(shlex.quote(part) for part in inject_cmd)])

    def stop_capture(process: subprocess.Popen[Any]) -> int | None:
        process.terminate()
        try:
            return process.wait(timeout=5)
        except subprocess.TimeoutExpired:
            process.kill()
            return process.wait()

    def wait_capture_or_inject_exit(
        capture_process: subprocess.Popen[Any], inject_process: subprocess.Popen[Any]
    ) -> tuple[int | None, int | None]:
        while True:
            capture_status = capture_process.poll()
            if capture_status is not None:
                return capture_status, inject_process.wait()
            inject_status = inject_process.poll()
            if inject_status is not None:
                diagnosis.append(
                    "synthetic uplink exited while RCT capture was still active; stopping capture because the run is not isolated"
                )
                print(
                    f"synthetic uplink exited during capture rc={inject_status}; stopping RCT capture",
                    file=sys.stderr,
                )
                return stop_capture(capture_process), inject_status
            time.sleep(0.25)

    capture: subprocess.Popen[Any] | None = None
    diagnosis: list[str] = []
    if args.capture_before_inject:
        capture = start_capture()
        time.sleep(1.0)
        inject = start_inject()
        capture_rc, inject_rc = wait_capture_or_inject_exit(capture, inject)
    else:
        inject = start_inject()
        time.sleep(max(0.0, args.inject_warmup_s))
        inject_rc = inject.poll()
        if inject_rc is not None:
            capture_rc = None
            diagnosis.append(
                "synthetic uplink exited before capture warmup completed; disconnect the live client or pause upstream webcam before running the isolated probe"
            )
            print(f"synthetic uplink exited before capture started rc={inject_rc}", file=sys.stderr)
        else:
            capture = start_capture()
            capture_rc, inject_rc = wait_capture_or_inject_exit(capture, inject)
    local_capture = artifact_dir / "capture"
    local_inject = artifact_dir / "inject"
    if capture is not None:
        subprocess.run(["scp", "-r", f"{args.rct_host}:{remote_rct_dir}", str(local_capture)], check=False)
    subprocess.run(["scp", "-r", f"{args.inject_host}:{remote_inject_dir}", str(local_inject)], check=False)
    capture_summary = local_capture / "summary.json"
    if capture_summary.exists():
        try:
            capture_data = json.loads(capture_summary.read_text())
            decoded_pct = float(capture_data.get("decoded_pct") or 0.0)
            if inject_rc != 0 and decoded_pct < 80.0:
                diagnosis.append(
                    "captured frames did not consistently contain synthetic markers and the injector failed; the RCT capture likely measured a mixed, previous, or live webcam stream"
                )
        except Exception:
            pass
    summary = {
        "schema": "lesavka.synthetic-rct-probe.orchestrator.v1",
        "mode": args.mode,
        "capture_rc": capture_rc,
        "inject_rc": inject_rc,
        "diagnosis": diagnosis,
        "artifact_dir": str(artifact_dir),
        "capture_artifacts": str(local_capture),
        "inject_artifacts": str(local_inject),
    }
    (artifact_dir / "run-summary.json").write_text(json.dumps(summary, indent=2, sort_keys=True) + "\n")
    print(json.dumps(summary, indent=2, sort_keys=True))
    print(f"artifact_dir: {artifact_dir}")
    return 0 if capture_rc == 0 and inject_rc == 0 else 1


def detect_video_device(label: str) -> str:
    explicit = os.environ.get("LESAVKA_RCT_UVC_DEVICE")
    if explicit:
        return explicit
    try:
        listing = subprocess.check_output(["v4l2-ctl", "--list-devices"], text=True)
    except Exception:
        return "/dev/video2"
    current_matches = False
    for line in listing.splitlines():
        if not line.startswith(("\t", " ")):
            current_matches = label.lower() in line.lower()
            continue
        value = line.strip()
        if current_matches and value.startswith("/dev/video"):
            return value
    return "/dev/video2"


def parse_crop(args: argparse.Namespace, width: int, height: int) -> tuple[int, int, int, int]:
    if not args.crop:
        return 0, 0, width, height
    parts = [part.strip() for part in args.crop.split(",")]
    if len(parts) != 4:
        raise SystemExit("--crop must be x,y,width,height")
    x, y, crop_width, crop_height = [int(part) for part in parts]
    if crop_width <= 0 or crop_height <= 0:
        raise SystemExit("--crop width and height must be positive")
    return x, y, crop_width, crop_height


def ffmpeg_cmd(args: argparse.Namespace, width: int, height: int) -> tuple[list[str], int, int, str]:
    if args.source == "x11":
        x, y, capture_width, capture_height = parse_crop(args, width, height)
        display = f"{args.display}+{x},{y}"
        return (
            [
                "ffmpeg",
                "-hide_banner",
                "-nostdin",
                "-loglevel",
                "warning",
                "-f",
                "x11grab",
                "-video_size",
                f"{capture_width}x{capture_height}",
                "-framerate",
                str(args.fps or parse_mode(args.mode)[2]),
                "-i",
                display,
                "-an",
                "-pix_fmt",
                "gray",
                "-f",
                "rawvideo",
                "-",
            ],
            capture_width,
            capture_height,
            display,
        )
    device = detect_video_device(args.device_label) if args.device == "auto" else args.device
    return (
        [
            "ffmpeg",
            "-hide_banner",
            "-nostdin",
            "-loglevel",
            "warning",
            "-f",
            "v4l2",
            "-input_format",
            "mjpeg",
            "-video_size",
            f"{width}x{height}",
            "-framerate",
            str(args.fps or parse_mode(args.mode)[2]),
            "-i",
            device,
            "-an",
            "-pix_fmt",
            "gray",
            "-f",
            "rawvideo",
            "-",
        ],
        width,
        height,
        device,
    )


def marker_cell(width: int, height: int) -> int:
    return max(6, min(16, min(width, height) // 80))


def fill_rect(frame: bytearray, width: int, height: int, x0: int, y0: int, w: int, h: int, value: int) -> None:
    for y in range(max(0, y0), min(height, y0 + h)):
        row = y * width
        for x in range(max(0, x0), min(width, x0 + w)):
            frame[row + x] = value


def synthetic_gray(width: int, height: int, sequence: int) -> bytes:
    data = bytearray(width * height)
    moving_period = max(width // 3, 64)
    moving_width = max(width // 18, 12)
    moving_offset = (sequence * 17) % moving_period
    center_x = width // 2
    center_y = height // 2
    for y in range(height):
        row = y * width
        for x in range(width):
            value = (x * 3 + y * 5 + sequence * 11) & 0xFF
            if (x + moving_offset) % moving_period < moving_width:
                value = min(255, value + 70)
            if abs(x - center_x) < width // 9 and abs(y - center_y) < height // 12:
                value = 255 - value // 2
            if y >= height // 2 and (((x // 32) + (y // 24) + sequence) & 1) == 0:
                value //= 3
            data[row + x] = value
    draw_marker(data, width, height, sequence)
    return bytes(data)


def draw_marker(frame: bytearray, width: int, height: int, sequence: int) -> None:
    cell = marker_cell(width, height)
    rows = (MARKER_BITS + MARKER_COLUMNS - 1) // MARKER_COLUMNS
    if width < (MARKER_COLUMNS + 4) * cell or height < (rows + 4) * cell:
        return
    x0 = 2 * cell
    y0 = 2 * cell
    fill_rect(frame, width, height, cell, cell, (MARKER_COLUMNS + 2) * cell, (rows + 2) * cell, 32)
    fill_rect(frame, width, height, x0 - cell, y0 - cell, cell, cell, 255)
    fill_rect(frame, width, height, x0 + MARKER_COLUMNS * cell, y0 - cell, cell, cell, 0)
    for bit in range(MARKER_BITS):
        col = bit % MARKER_COLUMNS
        row = bit // MARKER_COLUMNS
        value = 255 if ((sequence >> bit) & 1) else 0
        fill_rect(frame, width, height, x0 + col * cell, y0 + row * cell, cell, cell, value)


def cell_mean(frame: bytes, width: int, x0: int, y0: int, cell: int) -> float:
    total = 0
    count = 0
    inset = max(1, cell // 4)
    for y in range(y0 + inset, y0 + cell - inset):
        row = y * width
        for x in range(x0 + inset, x0 + cell - inset):
            total += frame[row + x]
            count += 1
    return total / max(1, count)


def decode_sequence(frame: bytes, width: int, height: int) -> tuple[int | None, int]:
    cell = marker_cell(width, height)
    rows = (MARKER_BITS + MARKER_COLUMNS - 1) // MARKER_COLUMNS
    if width < (MARKER_COLUMNS + 4) * cell or height < (rows + 4) * cell:
        return None, MARKER_BITS
    x0 = 2 * cell
    y0 = 2 * cell
    value = 0
    uncertain = 0
    for bit in range(MARKER_BITS):
        col = bit % MARKER_COLUMNS
        row = bit // MARKER_COLUMNS
        mean = cell_mean(frame, width, x0 + col * cell, y0 + row * cell, cell)
        if mean > 165:
            value |= 1 << bit
        elif mean >= 90:
            uncertain += 1
    if uncertain > 6:
        return None, uncertain
    return value, uncertain


def sampled_abs_delta(a: bytes, b: bytes, width: int, y0: int, y1: int, x_step: int, y_step: int) -> float:
    total = 0
    count = 0
    for y in range(y0, y1, y_step):
        row = y * width
        for x in range(0, width, x_step):
            total += abs(a[row + x] - b[row + x])
            count += 1
    return total / max(1, count)


def band_stats(frame: bytes, width: int, y0: int, y1: int, x_step: int, y_step: int) -> tuple[float, float]:
    total = 0
    total2 = 0
    count = 0
    for y in range(y0, y1, y_step):
        row = y * width
        for x in range(0, width, x_step):
            value = frame[row + x]
            total += value
            total2 += value * value
            count += 1
    mean = total / max(1, count)
    return mean, max(0.0, total2 / max(1, count) - mean * mean)


def shifted_expected_delta(frame: bytes, expected: bytes, width: int, height: int, shift: int, args: argparse.Namespace) -> float:
    x0 = max(0, -shift)
    x1 = min(width, width - shift)
    if x0 >= x1:
        return 0.0
    y0 = height // 4
    total = 0
    count = 0
    for y in range(y0, height, args.y_step):
        row = y * width
        for x in range(x0, x1, args.x_step):
            total += abs(frame[row + x] - expected[row + x + shift])
            count += 1
    return total / max(1, count)


def best_expected_shift(frame: bytes, expected: bytes, width: int, height: int, args: argparse.Namespace) -> tuple[int, float, float, float]:
    zero = shifted_expected_delta(frame, expected, width, height, 0, args)
    best = zero
    best_shift = 0
    for shift in [-128, -96, -80, -64, -48, -32, -24, -16, -12, -8, 8, 12, 16, 24, 32, 48, 64, 80, 96, 128]:
        candidate = shifted_expected_delta(frame, expected, width, height, shift, args)
        if candidate < best:
            best = candidate
            best_shift = shift
    improvement = zero / max(best, 0.001) if best_shift else 1.0
    return best_shift, zero, best, improvement


def max_run(flags: list[bool]) -> int:
    best = 0
    current = 0
    for flag in flags:
        current = current + 1 if flag else 0
        best = max(best, current)
    return best


def analyze_frame(
    frame: bytes,
    width: int,
    height: int,
    args: argparse.Namespace,
    previous_seq: int | None,
) -> dict[str, Any]:
    sequence, uncertain_bits = decode_sequence(frame, width, height)
    expected = synthetic_gray(width, height, sequence or 0) if sequence is not None else None
    upper_mae = lower_mae = total_mae = 0.0
    shift_pixels = 0
    shift_zero_delta = shift_best_delta = shift_improvement = 0.0
    if expected is not None:
        upper_mae = sampled_abs_delta(frame, expected, width, 0, height // 2, args.x_step, args.y_step)
        lower_mae = sampled_abs_delta(frame, expected, width, height // 2, height, args.x_step, args.y_step)
        total_mae = sampled_abs_delta(frame, expected, width, 0, height, args.x_step, args.y_step)
        shift_pixels, shift_zero_delta, shift_best_delta, shift_improvement = best_expected_shift(frame, expected, width, height, args)

    band_count = max(8, args.bands)
    band_h = max(1, height // band_count)
    means: list[float] = []
    variances: list[float] = []
    for band in range(band_count):
        y0 = band * band_h
        y1 = height if band == band_count - 1 else min(height, y0 + band_h)
        mean, variance = band_stats(frame, width, y0, y1, args.x_step, args.y_step)
        means.append(mean)
        variances.append(variance)
    lower = band_count // 2
    lower_flags = [var < args.slab_var for var in variances[lower:]]
    low_var_run = max_run(lower_flags) / max(1, len(lower_flags))
    mean_jumps = [abs(means[idx] - means[idx - 1]) for idx in range(1, band_count)]
    max_lower_jump = max(mean_jumps[lower:] or [0.0])

    reasons: list[str] = []
    if sequence is None:
        reasons.append("marker_decode_failed")
    elif previous_seq is not None:
        if sequence == previous_seq:
            reasons.append("frame_repeat")
        elif sequence > previous_seq + 1:
            reasons.append("frame_gap")
        elif sequence < previous_seq:
            reasons.append("frame_backwards")
    if expected is not None:
        if lower_mae > args.lower_mae_threshold and lower_mae > max(upper_mae * args.lower_skew_ratio, args.lower_mae_threshold):
            reasons.append("lower_half_tear")
        if total_mae > args.mae_threshold and lower_mae <= max(upper_mae * args.lower_skew_ratio, args.lower_mae_threshold):
            reasons.append("high_mae")
        if low_var_run >= 0.25 and lower_mae > args.lower_mae_threshold:
            reasons.append("black_or_gray_slab")
        if shift_pixels and shift_zero_delta > args.shift_threshold and shift_improvement > args.shift_improvement:
            reasons.append("horizontal_shift")
    return {
        "suspicious": bool(reasons),
        "reasons": reasons,
        "decoded_sequence": sequence,
        "marker_uncertain_bits": uncertain_bits,
        "upper_mae": round(upper_mae, 3),
        "lower_mae": round(lower_mae, 3),
        "total_mae": round(total_mae, 3),
        "lower_low_variance_run_pct": round(low_var_run, 3),
        "max_lower_jump": round(max_lower_jump, 3),
        "shift_pixels": shift_pixels,
        "shift_zero_delta": round(shift_zero_delta, 3),
        "shift_best_delta": round(shift_best_delta, 3),
        "shift_improvement": round(shift_improvement, 3),
    }


def write_pgm(path: pathlib.Path, frame: bytes, width: int, height: int) -> None:
    path.write_bytes(f"P5\n{width} {height}\n255\n".encode() + frame)


def run_capture(args: argparse.Namespace) -> int:
    width, height, fps = mode_dimensions(args)
    command, capture_width, capture_height, device = ffmpeg_cmd(args, width, height)
    artifact_dir = pathlib.Path(args.artifact_dir) if args.artifact_dir else pathlib.Path("/tmp") / f"lesavka-synthetic-rct-capture-{timestamp()}"
    artifact_dir.mkdir(parents=True, exist_ok=True)
    frame_size = capture_width * capture_height
    (artifact_dir / "command.txt").write_text(" ".join(shlex.quote(part) for part in command) + "\n")
    stderr_path = artifact_dir / "ffmpeg.stderr"
    metrics_path = artifact_dir / "frame-metrics.jsonl"
    started = time.monotonic()
    frame_index = 0
    suspicious_count = 0
    reference_artifacts = 0
    suspicious_artifacts = 0
    previous_seq: int | None = None
    decoded_frames = 0
    reason_counts: collections.Counter[str] = collections.Counter()
    max_total_mae = max_upper_mae = max_lower_mae = 0.0
    worst: list[dict[str, Any]] = []
    with stderr_path.open("wb") as err, metrics_path.open("w") as metrics:
        proc = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=err)
        assert proc.stdout is not None
        try:
            while time.monotonic() - started < args.duration:
                frame = proc.stdout.read(frame_size)
                if len(frame) != frame_size:
                    break
                frame_index += 1
                result = analyze_frame(frame, capture_width, capture_height, args, previous_seq)
                decoded_seq = result["decoded_sequence"]
                if decoded_seq is not None:
                    decoded_frames += 1
                    previous_seq = int(decoded_seq)
                result.update({"frame": frame_index, "elapsed_s": round(time.monotonic() - started, 3)})
                max_total_mae = max(max_total_mae, float(result["total_mae"]))
                max_upper_mae = max(max_upper_mae, float(result["upper_mae"]))
                max_lower_mae = max(max_lower_mae, float(result["lower_mae"]))
                if result["suspicious"]:
                    suspicious_count += 1
                    reason_counts.update(result["reasons"])
                    worst.append(result)
                    worst = sorted(worst, key=lambda item: (item["lower_mae"], item["total_mae"]), reverse=True)[:30]
                    if suspicious_artifacts < args.max_suspicious_artifacts:
                        seq_label = "unknown" if decoded_seq is None else f"seq{decoded_seq:08d}"
                        write_pgm(artifact_dir / f"suspicious_{frame_index:06d}_{seq_label}.pgm", frame, capture_width, capture_height)
                        if decoded_seq is not None:
                            write_pgm(
                                artifact_dir / f"expected_{frame_index:06d}_{seq_label}.pgm",
                                synthetic_gray(capture_width, capture_height, int(decoded_seq)),
                                capture_width,
                                capture_height,
                            )
                        suspicious_artifacts += 1
                should_reference = frame_index == 1 or (args.reference_every > 0 and frame_index % args.reference_every == 0)
                if should_reference and reference_artifacts < args.max_reference_artifacts:
                    write_pgm(artifact_dir / f"reference_{frame_index:06d}.pgm", frame, capture_width, capture_height)
                    reference_artifacts += 1
                metrics.write(json.dumps(result, sort_keys=True) + "\n")
                if frame_index % args.progress_every == 0:
                    print(f"frames={frame_index} suspicious={suspicious_count} latest={result}", file=sys.stderr)
        finally:
            proc.terminate()
            try:
                proc.wait(timeout=3)
            except subprocess.TimeoutExpired:
                proc.kill()
    elapsed = max(0.001, time.monotonic() - started)
    summary = {
        "schema": "lesavka.synthetic-rct-capture.v1",
        "source": args.source,
        "device": device,
        "mode": args.mode,
        "width": capture_width,
        "height": capture_height,
        "fps_requested": fps,
        "duration_requested_s": args.duration,
        "duration_observed_s": round(elapsed, 3),
        "frames": frame_index,
        "fps_observed": round(frame_index / elapsed, 3),
        "decoded_frames": decoded_frames,
        "decoded_pct": round(decoded_frames / frame_index * 100.0, 3) if frame_index else 0.0,
        "suspicious_frames": suspicious_count,
        "suspicious_pct": round(suspicious_count / frame_index * 100.0, 3) if frame_index else 0.0,
        "reason_counts": dict(reason_counts),
        "max_total_mae": round(max_total_mae, 3),
        "max_upper_mae": round(max_upper_mae, 3),
        "max_lower_mae": round(max_lower_mae, 3),
        "worst_frames": worst,
        "reference_artifacts": reference_artifacts,
        "suspicious_artifacts": suspicious_artifacts,
        "artifact_dir": str(artifact_dir),
        "ffmpeg_stderr": str(stderr_path),
    }
    (artifact_dir / "summary.json").write_text(json.dumps(summary, indent=2, sort_keys=True) + "\n")
    (artifact_dir / "summary.txt").write_text(format_summary(summary))
    print(format_summary(summary), end="")
    print(f"artifact_dir: {artifact_dir}")
    return 0 if frame_index > 0 else 2


def format_summary(summary: dict[str, Any]) -> str:
    return "\n".join(
        [
            "Lesavka synthetic RCT UVC comparison probe",
            f"source: {summary['source']}",
            f"device: {summary['device']}",
            f"mode: {summary['mode']} capture={summary['width']}x{summary['height']}@{summary['fps_requested']}",
            f"frames: {summary['frames']} ({summary['fps_observed']} fps observed)",
            f"decoded markers: {summary['decoded_frames']} ({summary['decoded_pct']}%)",
            f"suspicious: {summary['suspicious_frames']} ({summary['suspicious_pct']}%)",
            f"reasons: {summary['reason_counts']}",
            f"max mae: total={summary['max_total_mae']} upper={summary['max_upper_mae']} lower={summary['max_lower_mae']}",
            f"artifacts: {summary['artifact_dir']}",
            "",
        ]
    )


def run_self_test(args: argparse.Namespace) -> int:
    width = 320
    height = 180
    frames = [synthetic_gray(width, height, idx) for idx in range(6)]
    corrupt = bytearray(synthetic_gray(width, height, 6))
    fill_rect(corrupt, width, height, 0, height // 2, width, height // 4, 128)
    frames.append(bytes(corrupt))
    shifted = bytearray(width * height)
    expected = synthetic_gray(width, height, 7)
    for y in range(height):
        row = y * width
        for x in range(width):
            src = min(width - 1, x + 24)
            shifted[row + x] = expected[row + src]
    frames.append(bytes(shifted))
    previous_seq: int | None = None
    records: list[dict[str, Any]] = []
    suspicious = 0
    for idx, frame in enumerate(frames):
        result = analyze_frame(frame, width, height, args, previous_seq)
        if result["decoded_sequence"] is not None:
            previous_seq = int(result["decoded_sequence"])
        result["frame"] = idx
        records.append(result)
        suspicious += int(bool(result["suspicious"]))
    artifact_dir = pathlib.Path(args.artifact_dir) if args.artifact_dir else pathlib.Path("/tmp") / f"lesavka-synthetic-rct-self-test-{timestamp()}"
    artifact_dir.mkdir(parents=True, exist_ok=True)
    write_pgm(artifact_dir / "reference_000001.pgm", frames[0], width, height)
    summary = {
        "schema": "lesavka.synthetic-rct-probe.self-test.v1",
        "frames": len(frames),
        "suspicious_frames": suspicious,
        "records": records,
        "artifact_dir": str(artifact_dir),
    }
    (artifact_dir / "summary.json").write_text(json.dumps(summary, indent=2, sort_keys=True) + "\n")
    print(json.dumps(summary, indent=2, sort_keys=True))
    return 0 if suspicious >= 2 else 1


def main() -> int:
    args = parse_args()
    if args.self_test:
        return run_self_test(args)
    if args.capture_only:
        return run_capture(args)
    return run_remote_orchestrated(args)


if __name__ == "__main__":
    raise SystemExit(main())