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feat: CameraView + CameraService fences

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amkovkov
2026-01-29 12:10:59 +03:00
parent 3283d73b3b
commit dc3c195c21
4 changed files with 136 additions and 104 deletions
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GSS2.Core/GSS2.Core.csproj
+1 -1
View File
@@ -21,7 +21,7 @@
<PackageReference Include="OpenCvSharp4.runtime.linux-arm" Version="4.11.0.20250506" />
<PackageReference Include="System.Device.Gpio" Version="4.0.1" />
<PackageReference Include="Iot.Device.Bindings" Version="4.0.1" />
<PackageReference Include="LibCameraSharp" Version="0.5.2-20260129-5" />
<PackageReference Include="LibCameraSharp" Version="0.5.2-20260129-7" />
</ItemGroup>
<ItemGroup>
GSS2.Core/Hardware/CameraService.cs
+47 -31
View File
@@ -9,13 +9,15 @@ namespace GSS2.Core.Hardware;
public class CameraService : IDisposable
{
private static class LibC
public static class LibC
{
public const int PROT_READ = 0x01;
public const int MAP_SHARED = 0x0001;
[DllImport("libc", SetLastError = true)] public static extern IntPtr mmap(IntPtr address, ulong length, int prot, int flags, int fd, ulong offset);
[DllImport("libc", SetLastError = true)] public static extern int munmap(IntPtr address, ulong length);
[DllImport("libc", SetLastError = true)] public static extern int close(int fd);
[DllImport("libc", SetLastError = true)] public static extern int memfd_create(string name, uint flags);
}
private sealed class MappedBuffer
{
@@ -677,53 +679,67 @@ public class CameraService : IDisposable
var buffer = buffers.Skip(bufferId % buffers.Count()).First();
var request = _camera.CreateRequest(checked((ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()));
var result = request.AddBuffer(_viewFinderStream, buffer);
int fd = LibC.memfd_create($"buffer_fence_{bufferId % buffers.Count()}", 0x0002U);
if (fd < 0)
{
throw new Exception($"memfd_create error: {Marshal.GetLastPInvokeError()} {Marshal.GetLastPInvokeErrorMessage()}");
}
Console.WriteLine($"Created fd {fd}");
var fence = new Fence(new UniqueFD(fd));
var result = request.AddBuffer(_viewFinderStream, buffer, fence);
if (result < 0)
{
var fenceFd = buffer.ReleaseFence()?.Fd?.Release();
Console.WriteLine($"Request queue failed, closing fd {fenceFd}");
if (fenceFd is not null)
LibC.close(fenceFd.Value);
throw new Exception("Error while request create");
}
// _logger.LogDebug("Request(s) created");
effectiveCancellationToken.ThrowIfCancellationRequested();
var cts = new TaskCompletionSource();
void RequestCompleted(object? sender, Camera.RequestCompletedEventArgs e)
{
if (request.Handle != e.Request.Handle)
return;
// var cts = new TaskCompletionSource();
// void RequestCompleted(object? sender, Camera.RequestCompletedEventArgs e)
// {
// if (request.Handle != e.Request.Handle)
// return;
var buffer = e.Request.FindBuffer(_viewFinderStream);
if (buffer.Metadata.Status == FrameMetadata.StatusEnum.FrameError ||
buffer.Metadata.Status == FrameMetadata.StatusEnum.FrameStartup)
{
// _logger.LogDebug("Request buffers status: {}", buffer.Metadata.Status);
e.Request.Reuse(Request.ReuseFlagEnum.ReuseBuffers);
var result = _camera.QueueRequest(e.Request);
if (result >= 0)
return;
}
// var buffer = e.Request.FindBuffer(_viewFinderStream);
// if (buffer.Metadata.Status == FrameMetadata.StatusEnum.FrameError ||
// buffer.Metadata.Status == FrameMetadata.StatusEnum.FrameStartup)
// {
// // _logger.LogDebug("Request buffers status: {}", buffer.Metadata.Status);
// e.Request.Reuse(Request.ReuseFlagEnum.ReuseBuffers);
// var result = _camera.QueueRequest(e.Request);
// if (result >= 0)
// return;
// }
// _logger.LogDebug("Request complited: \n\tStatus: {}\n\tCookie: {}\n\tSequence: {}\n\tHasPendingBuffers: {}", e.Request.Status, e.Request.Cookie, e.Request.Sequence, e.Request.HasPendingBuffers);
// _logger.LogDebug("Request buffer: \n\tStatus: {} \n\tCookie: {} \n\tSequence: {} \n\tTimestamp: {}", buffer.Metadata.Status, buffer.Cookie, buffer.Metadata.Sequence, buffer.Metadata.Timestamp);
// _logger.LogDebug("Request buffer planes: ");
// foreach (var (i, plane) in buffer.Metadata.Planes.Enumerate())
// _logger.LogDebug("Plane[{}]: bytes used: 0x{:X}", i, plane.BytesUsed);
// foreach (var (i, plane) in buffer.Planes.Enumerate())
// _logger.LogDebug("Plane[{}]: \n\tFd: 0x{:X} \n\tOffset: 0x{:X} \n\tLength: 0x{:X} \n\tKInvalidOffset: 0x{:X}", i, plane.Fd.Get(), plane.Offset, plane.Length, plane.KInvalidOffset);
// // _logger.LogDebug("Request complited: \n\tStatus: {}\n\tCookie: {}\n\tSequence: {}\n\tHasPendingBuffers: {}", e.Request.Status, e.Request.Cookie, e.Request.Sequence, e.Request.HasPendingBuffers);
// // _logger.LogDebug("Request buffer: \n\tStatus: {} \n\tCookie: {} \n\tSequence: {} \n\tTimestamp: {}", buffer.Metadata.Status, buffer.Cookie, buffer.Metadata.Sequence, buffer.Metadata.Timestamp);
// // _logger.LogDebug("Request buffer planes: ");
// // foreach (var (i, plane) in buffer.Metadata.Planes.Enumerate())
// // _logger.LogDebug("Plane[{}]: bytes used: 0x{:X}", i, plane.BytesUsed);
// // foreach (var (i, plane) in buffer.Planes.Enumerate())
// // _logger.LogDebug("Plane[{}]: \n\tFd: 0x{:X} \n\tOffset: 0x{:X} \n\tLength: 0x{:X} \n\tKInvalidOffset: 0x{:X}", i, plane.Fd.Get(), plane.Offset, plane.Length, plane.KInvalidOffset);
effectiveCancellationToken.ThrowIfCancellationRequested();
// effectiveCancellationToken.ThrowIfCancellationRequested();
cts.SetResult();
}
// cts.SetResult();
// }
_camera.RequestCompleted += RequestCompleted;
// _camera.RequestCompleted += RequestCompleted;
result = _camera.QueueRequest(request);
if (result < 0)
{
_camera.RequestCompleted -= RequestCompleted;
// _camera.RequestCompleted -= RequestCompleted;
throw new Exception("Error while request queue");
}
// _logger.LogDebug("Request queued");
await cts.Task.WaitAsync(effectiveCancellationToken);
_camera.RequestCompleted -= RequestCompleted;
// await cts.Task.WaitAsync(effectiveCancellationToken);
// _camera.RequestCompleted -= RequestCompleted;
// _logger.LogDebug("Request complited");
return new(buffer, _viewFinderStreamConfiguration);
GSS2.Test/Views/CameraView.axaml.cs
+87 -71
View File
@@ -30,6 +30,7 @@ class VulkanExportedImage
{
public required int ImageExportedSemaphoreFd { get; init; }
public required int ImageRenderedSemaphoreFd { get; init; }
public required int? FenceFd { get; init; }
public required int OrignalFd { get; init; }
public required int ImageFd { get; init; }
public required int ImageWidth { get; init; }
@@ -91,18 +92,18 @@ class VulkanRenderer
};
_context.KhrExternalSemaphoreFd.GetSemaphoreF(_context.Device, in imageRenderedSemaphoreGetFdInfoKHR, out var imageRenderedSemaphoreFd).ThrowOnError();
// Silk.NET.Vulkan.Fence imageCapturedFence = new Silk.NET.Vulkan.Fence(null);
// if (fenceFd is not null)
// {
// var importSemaphoreFdInfoKHR = new ImportFenceFdInfoKHR()
// {
// SType = StructureType.ImportSemaphoreFDInfoKhr,
// Fd = fenceFd.Value,
// Flags = FenceImportFlags.TemporaryBit,
// HandleType = ExternalFenceHandleTypeFlags.SyncFDBit
// };
// _context.KhrExternalFenceFd.ImportFenceF(_context.Device, &importSemaphoreFdInfoKHR);
// }
Silk.NET.Vulkan.Fence imageCapturedFence = new Silk.NET.Vulkan.Fence(null);
if (fenceFd is not null)
{
var importSemaphoreFdInfoKHR = new ImportFenceFdInfoKHR()
{
SType = StructureType.ImportSemaphoreFDInfoKhr,
Fd = fenceFd.Value,
Flags = FenceImportFlags.TemporaryBit,
HandleType = ExternalFenceHandleTypeFlags.OpaqueFDBit
};
_context.KhrExternalFenceFd.ImportFenceF(_context.Device, &importSemaphoreFdInfoKHR);
}
// Console.WriteLine("Import 9");
var (importImage, importMemoryReqirements, importMemory) = ImportImage(imageFdDuplicate, width, height, stride);
@@ -160,67 +161,71 @@ class VulkanRenderer
_context.KhrExternalMemoryFd.GetMemoryF(_context.Device, &memoryGetFdInfoKHR, out var vulkanImageFd).ThrowOnError();
// Console.WriteLine("Import 17");
// var waitSemaphoreIndex = 0;
// Silk.NET.Vulkan.Semaphore[] waitSemaphoresArray = new Silk.NET.Vulkan.Semaphore[
// !initializationFrame ? 1 : 0
// ];
// PipelineStageFlags[] pipelineStageFlagsArray = new PipelineStageFlags[waitSemaphoresArray.Length];
// if (!initializationFrame)
// {
// waitSemaphoresArray[waitSemaphoreIndex] = imageRenderedSemaphore;
// pipelineStageFlagsArray[waitSemaphoreIndex++] = PipelineStageFlags.AllGraphicsBit;
// }
// var waitSemaphoresSpan = new ReadOnlySpan<Silk.NET.Vulkan.Semaphore>(waitSemaphoresArray);
// var pipelineStageFlagsSpan = new ReadOnlySpan<PipelineStageFlags>(pipelineStageFlagsArray);
// fixed (PipelineStageFlags* pPipelineStageFlags = pipelineStageFlagsSpan)
// {
// fixed (Silk.NET.Vulkan.Semaphore* pWaitSemaphoresSpan = waitSemaphoresSpan)
// {
// var submitInfo = new SubmitInfo
// {
// SType = StructureType.SubmitInfo,
// CommandBufferCount = 1,
// PCommandBuffers = &commandBuffer,
// PSignalSemaphores = &imageExportedSemaphore,
// SignalSemaphoreCount = 1,
// PWaitSemaphores = pWaitSemaphoresSpan,
// PWaitDstStageMask = pPipelineStageFlags,
// WaitSemaphoreCount = checked((uint)waitSemaphoresArray.Length)
// };
// // Console.WriteLine("Import 18");
// _context.Api.QueueSubmit(_context.Queue, 1, &submitInfo, imageCapturedFence).ThrowOnError();
// }
// }
ReadOnlySpan<PipelineStageFlags> pipelineStageFlags = [PipelineStageFlags.AllGraphicsBit];
fixed (PipelineStageFlags* pPipelineStageFlags = pipelineStageFlags)
var waitSemaphoreIndex = 0;
Silk.NET.Vulkan.Semaphore[] waitSemaphoresArray = new Silk.NET.Vulkan.Semaphore[
!initializationFrame ? 1 : 0
];
PipelineStageFlags[] pipelineStageFlagsArray = new PipelineStageFlags[waitSemaphoresArray.Length];
if (!initializationFrame)
{
ReadOnlySpan<Silk.NET.Vulkan.Semaphore> waitSemaphores =
[
imageRenderedSemaphore
];
var submitInfo = new SubmitInfo
{
SType = StructureType.SubmitInfo,
CommandBufferCount = 1,
PCommandBuffers = &commandBuffer,
PSignalSemaphores = &imageExportedSemaphore,
SignalSemaphoreCount = 1,
PWaitSemaphores = initializationFrame ? null : &imageRenderedSemaphore,
WaitSemaphoreCount = initializationFrame ? 0u : 1u,
PWaitDstStageMask = initializationFrame ? null : pPipelineStageFlags
};
// Console.WriteLine("Import 18");
_context.Api.QueueSubmit(_context.Queue, 1, &submitInfo, new Silk.NET.Vulkan.Fence(UIntPtr.Zero)).ThrowOnError();
waitSemaphoresArray[waitSemaphoreIndex] = imageRenderedSemaphore;
pipelineStageFlagsArray[waitSemaphoreIndex++] = PipelineStageFlags.AllGraphicsBit;
}
var waitSemaphoresSpan = new ReadOnlySpan<Silk.NET.Vulkan.Semaphore>(waitSemaphoresArray);
var pipelineStageFlagsSpan = new ReadOnlySpan<PipelineStageFlags>(pipelineStageFlagsArray);
_context.Api.Semaphore
fixed (PipelineStageFlags* pPipelineStageFlagsSpan = pipelineStageFlagsSpan)
{
fixed (Silk.NET.Vulkan.Semaphore* pWaitSemaphoresSpan = waitSemaphoresSpan)
{
var submitInfo = new SubmitInfo
{
SType = StructureType.SubmitInfo,
CommandBufferCount = 1,
PCommandBuffers = &commandBuffer,
PSignalSemaphores = &imageExportedSemaphore,
SignalSemaphoreCount = 1,
PWaitSemaphores = waitSemaphoresArray.Length == 0 ? null : pWaitSemaphoresSpan,
PWaitDstStageMask = waitSemaphoresArray.Length == 0 ? null : pPipelineStageFlagsSpan,
WaitSemaphoreCount = checked((uint)waitSemaphoresArray.Length)
};
// Console.WriteLine("Import 18");
Console.WriteLine(imageCapturedFence.Handle);
_context.Api.QueueSubmit(_context.Queue, 1, &submitInfo, imageCapturedFence).ThrowOnError();
}
}
// ReadOnlySpan<PipelineStageFlags> pipelineStageFlags = [PipelineStageFlags.AllGraphicsBit];
// fixed (PipelineStageFlags* pPipelineStageFlags = pipelineStageFlags)
// {
// ReadOnlySpan<Silk.NET.Vulkan.Semaphore> waitSemaphores =
// [
// imageRenderedSemaphore
// ];
// var submitInfo = new SubmitInfo
// {
// SType = StructureType.SubmitInfo,
// CommandBufferCount = 1,
// PCommandBuffers = &commandBuffer,
// PSignalSemaphores = &imageExportedSemaphore,
// SignalSemaphoreCount = 1,
// PWaitSemaphores = initializationFrame ? null : &imageRenderedSemaphore,
// WaitSemaphoreCount = initializationFrame ? 0u : 1u,
// PWaitDstStageMask = initializationFrame ? null : pPipelineStageFlags
// };
// // Console.WriteLine("Import 18");
// _context.Api.QueueSubmit(_context.Queue, 1, &submitInfo, new Silk.NET.Vulkan.Fence(UIntPtr.Zero)).ThrowOnError();
// }
// Console.WriteLine("Import 19");
return new VulkanExportedImage
{
ImageExportedSemaphoreFd = imageExportedSemaphoreFd,
ImageRenderedSemaphoreFd = imageRenderedSemaphoreFd,
FenceFd = fenceFd,
OrignalFd = imageFdDuplicate,
ImageWidth = width,
ImageHeight = height,
@@ -251,6 +256,8 @@ class VulkanRenderer
_context.Api.FreeMemory(_context.Device, image.Resources.ImportMemory, null);
_context.Api.DestroyImage(_context.Device, image.Resources.ExportImage, null);
_context.Api.FreeMemory(_context.Device, image.Resources.ExportMemory, null);
if (image.FenceFd is not null)
close(image.FenceFd.Value);
close(image.OrignalFd);
close(image.ImageFd);
close(image.ImageExportedSemaphoreFd);
@@ -455,9 +462,9 @@ public partial class CameraView : Control
if (!_initialized)
return;
int i = 0;
_updateTimer = new System.Timers.Timer(100)
_updateTimer = new System.Timers.Timer(105)
{
AutoReset = true
AutoReset = false
};
_updateTimer.Elapsed += async (_, _) =>
{
@@ -471,8 +478,16 @@ public partial class CameraView : Control
if (result is not null)
{
var (frameBuffer, streamConfiguration) = result.Value;
if (frameBuffer.Metadata.Status == FrameMetadata.StatusEnum.FrameSuccess)
Update(frameBuffer, streamConfiguration);
// if (frameBuffer.Metadata.Status == FrameMetadata.StatusEnum.FrameSuccess)
Update(frameBuffer, streamConfiguration);
_updateTimer.Start();
// else
// {
// var fenceFd = frameBuffer.ReleaseFence()?.Fd?.Release();
// Console.WriteLine($"Buffer returned not success result, closing fd {fenceFd}");
// if (fenceFd is not null)
// GSS2.Core.Hardware.CameraService.LibC.close(fenceFd.Value);
// }
}
});
};
@@ -591,13 +606,14 @@ public partial class CameraView : Control
_renerer is not null)
{
// Console.WriteLine("Update 2");
// var fenceFd = frameBuffer.ReleaseFence()?.Fd?.Release();
var fenceFd = frameBuffer.ReleaseFence()?.Fd?.Release();
Console.WriteLine($"Released fd {fenceFd}");
var image = _renerer.Import(
frameBuffer.Planes.First().Fd.Get(),
checked((int)streamConfiguration.Size.Width),
checked((int)streamConfiguration.Size.Height),
checked((int)streamConfiguration.Stride),
null, // fenceFd,
fenceFd,
_initializationFrame);
// _renerer.ClearResource(image);
// Console.WriteLine("Update 3");
GSS2.Vulkan/VulkanExtensions.cs
+1 -1
View File
@@ -11,7 +11,7 @@ public static class VulkanExtensions
{
public static void ThrowOnError(this Result result, [CallerMemberName] string callerMemberName = "", [CallerFilePath] string callerFilePath = "", [CallerLineNumber] int callerLineNumber = -1)
{
// Console.WriteLine($"{callerFilePath} {callerMemberName} {callerLineNumber} {result}");
Console.WriteLine($"{callerFilePath} {callerMemberName} {callerLineNumber} {result}");
if (result != Result.Success)
throw new Exception($"Unexpected API error \"{result}\"");
}