edge-impulse-linux 1.16.2 → 1.17.2

package/build/library/sensors/gstreamer.js

@@ -13,25 +13,31 @@ const spawn_helper_1 = require("./spawn-helper");
 const util_1 = __importDefault(require("util"));
 const crypto_1 = __importDefault(require("crypto"));
 const argv_split_1 = require("../argv-split");
+const async_pool_1 = require("../async-pool");
 const PREFIX = '\x1b[34m[GST]\x1b[0m';
 const CUSTOM_GST_LAUNCH_COMMAND = 'custom-gst-launch-command';
 const DEFAULT_GST_VIDEO_SOURCE = 'v4l2src';
 class GStreamer extends tsee_1.EventEmitter {
     constructor(verbose, options) {
         super();
+        this._originalFilesSeen = new Set();
         this._handledFiles = {};
-        this._lastHash = '';
         this._processing = false;
         this._mode = 'default';
         this._isStarted = false;
         this._isRestarting = false;
+        this._emitsOriginalSizeImages = false;
         this._verbose = verbose;
         this._customLaunchCommand = options?.customLaunchCommand;
         this._spawnHelper = options?.spawnHelperOverride || spawn_helper_1.spawnHelper;
         this._modeOverride = options?.modeOverride;
-        this._scaleAndCropInPipeline = typeof options?.scaleAndCropInPipeline === 'boolean' ?
-            options.scaleAndCropInPipeline :
-            false;
+        this._profiling = options?.profiling || false;
+        if (options?.dontRunCleanupLoop === true) {
+            // skip cleanup loop
+        }
+        else {
+            this.startOriginalCleanupLoop();
+        }
     }
     async init() {
         try {
@@ -95,6 +101,9 @@ class GStreamer extends tsee_1.EventEmitter {
             osTmpDir = '/dev/shm';
         }
         this._tempDir = await fs_1.default.promises.mkdtemp(path_1.default.join(osTmpDir, 'edge-impulse-cli'));
+        if (this._verbose) {
+            console.log(PREFIX, 'Temp directory is', this._tempDir);
+        }
         const device = (await this.getAllDevices()).find(d => d.name === options.device);
         if (!device) {
             throw new Error('Invalid device ' + options.device);
@@ -107,38 +116,53 @@ class GStreamer extends tsee_1.EventEmitter {
             if (this._verbose) {
                 console.log(PREFIX, 'Detected RZ/G2L target, initializing camera...');
             }
-            await (0, spawn_helper_1.spawnHelper)('media-ctl', ['-d', '/dev/media0', '-r']);
-            await (0, spawn_helper_1.spawnHelper)('media-ctl', ['-d', '/dev/media0', '-l', "'rzg2l_csi2 10830400.csi2':1 -> 'CRU output':0 [1]"]);
-            await (0, spawn_helper_1.spawnHelper)('media-ctl', ['-d', '/dev/media0', '-V', "'rzg2l_csi2 10830400.csi2':1 [fmt:UYVY8_2X8/640x480 field:none]"]);
-            await (0, spawn_helper_1.spawnHelper)('media-ctl', ['-d', '/dev/media0', '-V', "'ov5645 0-003c':0 [fmt:UYVY8_2X8/640x480 field:none]"]);
+            await this._spawnHelper('media-ctl', ['-d', '/dev/media0', '-r']);
+            await this._spawnHelper('media-ctl', ['-d', '/dev/media0', '-l', "'rzg2l_csi2 10830400.csi2':1 -> 'CRU output':0 [1]"]);
+            await this._spawnHelper('media-ctl', ['-d', '/dev/media0', '-V', "'rzg2l_csi2 10830400.csi2':1 [fmt:UYVY8_2X8/640x480 field:none]"]);
+            await this._spawnHelper('media-ctl', ['-d', '/dev/media0', '-V', "'ov5645 0-003c':0 [fmt:UYVY8_2X8/640x480 field:none]"]);
             if (this._verbose) {
                 console.log(PREFIX, 'Detected RZ/G2L target, initializing camera OK');
             }
         }
-        const { invokeProcess, command, args } = await this.getGstreamerLaunchCommand(device, dimensions, options.inferenceDimensions);
-        if (this._verbose) {
-            console.log(PREFIX, `Starting ${command} with`, args);
-        }
-        if (invokeProcess === 'spawn') {
-            this._captureProcess = (0, child_process_1.spawn)(command, args, { env: process.env, cwd: this._tempDir });
+        const { command, pipeline } = await this.getGstreamerLaunchCommand(device, dimensions, options.inferenceDimensions);
+        let env = structuredClone(process.env);
+        if (this._profiling) {
+            env.GST_DEBUG = 'identity:5';
         }
-        else if (invokeProcess === 'exec') {
-            this._captureProcess = (0, child_process_1.exec)(command + ' ' + args.join(' '), { env: process.env, cwd: this._tempDir });
+        let args = [];
+        if (this._profiling) {
+            args.push(`-v`);
         }
-        else {
-            throw new Error('Invalid value for invokeProcess');
+        args.push(pipeline);
+        if (this._verbose) {
+            console.log(PREFIX, `Starting ${command} ${args.join(' ')}`);
         }
-        if (this._captureProcess && this._captureProcess.stdout && this._captureProcess.stderr &&
-            this._verbose) {
+        this._captureProcess = (0, child_process_1.spawn)(command, args, {
+            env: env,
+            cwd: this._tempDir,
+            shell: true
+        });
+        if (this._captureProcess && this._captureProcess.stdout && this._captureProcess.stderr) {
             this._captureProcess.stdout.on('data', (d) => {
-                console.log(PREFIX, d.toString('utf-8'));
+                if (this._verbose) {
+                    console.log(PREFIX, d.toString('utf-8'));
+                }
+                if (d.toString('utf-8').indexOf('frame_ready:sink') > -1) {
+                    this.emit('profilingInfo', new Date(), 'frame_ready');
+                }
+                if (d.toString('utf-8').indexOf('jpegenc_done:sink') > -1) {
+                    this.emit('profilingInfo', new Date(), 'jpegenc_done');
+                }
             });
             this._captureProcess.stderr.on('data', (d) => {
-                console.log(PREFIX, d.toString('utf-8'));
+                if (this._verbose) {
+                    console.log(PREFIX, d.toString('utf-8'));
+                }
             });
         }
         let lastPhoto = 0;
         let nextFrame = Date.now();
+        this._originalFilesSeen = new Set();
         this._watcher = fs_1.default.watch(this._tempDir, async (eventType, fileName) => {
             if (eventType !== 'rename')
                 return;
@@ -146,6 +170,10 @@ class GStreamer extends tsee_1.EventEmitter {
                 return;
             if (!(fileName.endsWith('.jpeg') || fileName.endsWith('.jpg')))
                 return;
+            if (fileName.startsWith('original')) {
+                this._originalFilesSeen.add(fileName);
+                return;
+            }
             if (!this._tempDir)
                 return;
             if (this._handledFiles[fileName])
@@ -153,15 +181,38 @@ class GStreamer extends tsee_1.EventEmitter {
             // not next frame yet?
             if (this._processing || Date.now() < nextFrame) {
                 this._handledFiles[fileName] = true;
-                if (await this.exists(path_1.default.join(this._tempDir, fileName))) {
-                    await fs_1.default.promises.unlink(path_1.default.join(this._tempDir, fileName));
-                }
+                await this.safeUnlinkFile(path_1.default.join(this._tempDir, fileName));
                 return;
             }
             nextFrame = Date.now() + options.intervalMs;
             try {
                 this._processing = true;
                 this._handledFiles[fileName] = true;
+                const originalName = fileName.replace('resized', 'original');
+                if (this._emitsOriginalSizeImages) {
+                    if (!this._originalFilesSeen.has(originalName)) {
+                        let waitForOriginalStart = Date.now();
+                        if (this._verbose) {
+                            console.log(PREFIX, `Waiting for original file "${originalName}"...`);
+                        }
+                        await new Promise(async (resolve, reject) => {
+                            let start = Date.now();
+                            while (1) {
+                                if (this._originalFilesSeen.has(originalName)) {
+                                    return resolve();
+                                }
+                                if (Date.now() - start > 1000) {
+                                    return reject(`Did not find original image ("${originalName}") within 1sec`);
+                                }
+                                await this.wait(10);
+                            }
+                        });
+                        if (this._verbose) {
+                            console.log(PREFIX, `Waiting for original file "${originalName}" OK ` +
+                                `(took ${Date.now() - waitForOriginalStart}ms.)`);
+                        }
+                    }
+                }
                 if (lastPhoto !== 0 && this._verbose) {
                     console.log(PREFIX, 'Got snapshot', fileName, 'time since last:', (Date.now() - lastPhoto) + 'ms.', 'size');
                 }
@@ -169,11 +220,19 @@ class GStreamer extends tsee_1.EventEmitter {
                     clearTimeout(this._keepAliveTimeout);
                 }
                 try {
-                    let data = await fs_1.default.promises.readFile(path_1.default.join(this._tempDir, fileName));
+                    let [imgBuffer, originalImgBuffer] = await Promise.all([
+                        fs_1.default.promises.readFile(path_1.default.join(this._tempDir, fileName)),
+                        this._emitsOriginalSizeImages ?
+                            fs_1.default.promises.readFile(path_1.default.join(this._tempDir, originalName)) :
+                            null,
+                    ]);
                     // hash not changed? don't emit another event (streamer does this on Rpi)
-                    let hash = crypto_1.default.createHash('sha256').update(data).digest('hex');
-                    if (hash !== this._lastHash) {
-                        this.emit('snapshot', data, path_1.default.basename(fileName));
+                    let hash = crypto_1.default.createHash('sha256').update(imgBuffer).digest('hex');
+                    if (hash !== this._lastFile?.hash) {
+                        // snapshot() sends out the original size image
+                        this.emit('snapshot', originalImgBuffer || imgBuffer, path_1.default.basename(fileName));
+                        // snapshotForInference() sends out the resized image
+                        this.emit('snapshotForInference', imgBuffer, path_1.default.basename(fileName));
                         lastPhoto = Date.now();
                         // 2 seconds no new data? trigger timeout
                         if (this._keepAliveTimeout) {
@@ -187,14 +246,26 @@ class GStreamer extends tsee_1.EventEmitter {
                     else if (this._verbose) {
                         console.log(PREFIX, 'Discarding', fileName, 'hash does not differ');
                     }
-                    this._lastHash = hash;
+                    this._lastFile = {
+                        hash,
+                        fileName,
+                    };
                 }
                 catch (ex) {
-                    console.error('Failed to load file', path_1.default.join(this._tempDir, fileName), ex);
-                }
-                if (await this.exists(path_1.default.join(this._tempDir, fileName))) {
-                    await fs_1.default.promises.unlink(path_1.default.join(this._tempDir, fileName));
+                    console.error(PREFIX, 'Failed to load file', path_1.default.join(this._tempDir, fileName), ex);
                 }
+                const tempDir = this._tempDir;
+                await Promise.all([
+                    (async () => {
+                        await this.safeUnlinkFile(path_1.default.join(tempDir, fileName));
+                    })(),
+                    (async () => {
+                        if (originalName) {
+                            await this.safeUnlinkFile(path_1.default.join(tempDir, originalName));
+                            this._originalFilesSeen.delete(originalName);
+                        }
+                    })(),
+                ]);
             }
             finally {
                 this._processing = false;
@@ -217,15 +288,11 @@ class GStreamer extends tsee_1.EventEmitter {
                                 console.log(PREFIX, 'Camera is not available, restarting cam-server service...');
                                 await (0, spawn_helper_1.spawnHelper)('systemctl', ['restart', 'cam-server']);
                                 console.log(PREFIX, 'Camera is not available, restarting cam-server service OK');
-                                if (invokeProcess === 'spawn') {
-                                    this._captureProcess = (0, child_process_1.spawn)(command, args, { env: process.env, cwd: this._tempDir });
-                                }
-                                else if (invokeProcess === 'exec') {
-                                    this._captureProcess = (0, child_process_1.exec)(command + ' ' + args.join(' '), { env: process.env, cwd: this._tempDir });
-                                }
-                                else {
-                                    throw new Error(`invokeProcess is neither "spawn" or "exec" ("${invokeProcess}")`);
-                                }
+                                this._captureProcess = (0, child_process_1.spawn)(command, args, {
+                                    env: env,
+                                    cwd: this._tempDir,
+                                    shell: true
+                                });
                                 this._captureProcess.on('close', onCaptureProcessClose);
                                 return;
                             }
@@ -276,6 +343,7 @@ class GStreamer extends tsee_1.EventEmitter {
         return p;
     }
     async getGstreamerLaunchCommand(device, dimensions, inferenceDims) {
+        this._emitsOriginalSizeImages = false;
         if (device.id === CUSTOM_GST_LAUNCH_COMMAND) {
             if (!this._customLaunchCommand) {
                 throw new Error('_customLaunchCommand is null');
@@ -284,12 +352,11 @@ class GStreamer extends tsee_1.EventEmitter {
             customArgs = customArgs.concat([
                 `!`,
                 `multifilesink`,
-                `location=test%05d.jpg`
+                `location=resized%05d.jpg`
             ]);
             return {
-                invokeProcess: 'spawn',
                 command: 'gst-launch-1.0',
-                args: customArgs,
+                pipeline: customArgs.join(' '),
             };
         }
         // now we need to determine the resolution... we want something as close as possible to dimensions.widthx480
@@ -335,7 +402,7 @@ class GStreamer extends tsee_1.EventEmitter {
             videoSource = device.videoSource.split(' ');
         }
         let cropArgs = [];
-        if (inferenceDims && this._scaleAndCropInPipeline) {
+        if (inferenceDims) {
             // fast path for fit-shortest and squash
             if (inferenceDims.width === inferenceDims.height && inferenceDims.resizeMode === 'fit-shortest') {
                 const crop = this.determineSquareCrop(cap);
@@ -365,7 +432,6 @@ class GStreamer extends tsee_1.EventEmitter {
                 cropArgs.push(`video/x-raw,width=${inferenceDims.width},height=${inferenceDims.height}`);
             }
         }
-        let invokeProcess;
         let args;
         if ((cap.type === 'video/x-raw') || (cap.type === 'pylonsrc')) {
             if (this._mode === 'rpi' && device.name.indexOf('arducam') > -1) {
@@ -380,17 +446,44 @@ class GStreamer extends tsee_1.EventEmitter {
                     `video/x-raw,width=${cap.width},height=${cap.height}`
                 ]);
             }
-            args = videoSource.concat([
-                `!`,
-                `videoconvert`,
-                ...cropArgs,
-                `!`,
-                `jpegenc`,
-                `!`,
-                `multifilesink`,
-                `location=test%05d.jpg`
-            ]);
-            invokeProcess = 'spawn';
+            let frameReadyArgs = this._profiling ? [`!`, `identity name=frame_ready silent=false`] : [];
+            let jpgencDoneArgs = this._profiling ? [`!`, `identity name=jpegenc_done silent=false`] : [];
+            if (cropArgs.length === 0) {
+                args = videoSource.concat([
+                    ...frameReadyArgs,
+                    `!`,
+                    `videoconvert`,
+                    `!`,
+                    `jpegenc`,
+                    ...jpgencDoneArgs,
+                    `!`,
+                    `multifilesink`,
+                    `location=resized%05d.jpg`,
+                ]);
+            }
+            else {
+                let original = `t. ! queue ! jpegenc ! multifilesink location=original%05d.jpg`;
+                let resized = [
+                    `t. ! queue`,
+                    ...cropArgs,
+                    `!`,
+                    `jpegenc`,
+                    ...jpgencDoneArgs,
+                    `!`,
+                    `multifilesink`,
+                    `location=resized%05d.jpg`,
+                ];
+                args = videoSource.concat([
+                    ...frameReadyArgs,
+                    `!`,
+                    `videoconvert`,
+                    `!`,
+                    `tee name=t`,
+                    original,
+                    ...resized,
+                ]);
+                this._emitsOriginalSizeImages = true;
+            }
         }
         else if (cap.type === 'image/jpeg') {
             args = videoSource.concat([
@@ -398,26 +491,22 @@ class GStreamer extends tsee_1.EventEmitter {
                 `image/jpeg,width=${cap.width},height=${cap.height}`,
                 `!`,
                 `multifilesink`,
-                `location=test%05d.jpg`
+                `location=resized%05d.jpg`
             ]);
-            invokeProcess = 'spawn';
         }
         else if (cap.type === 'nvarguscamerasrc') {
             args = [
                 `nvarguscamerasrc ! "video/x-raw(memory:NVMM),width=${cap.width},height=${cap.height}" ! ` +
                     `nvvidconv flip-method=0 ! video/x-raw,width=${cap.width},height=${cap.height} ! nvvidconv ! ` +
-                    `jpegenc ! multifilesink location=test%05d.jpg`
+                    `jpegenc ! multifilesink location=resized%05d.jpg`
             ];
-            // no idea why... but if we throw this thru `spawn` this yields an invalid pipeline...
-            invokeProcess = 'exec';
         }
         else {
             throw new Error('Invalid cap type ' + cap.type);
         }
         return {
-            invokeProcess,
             command: 'gst-launch-1.0',
-            args,
+            pipeline: args.join(' '),
         };
     }
     async stop() {
@@ -438,6 +527,12 @@ class GStreamer extends tsee_1.EventEmitter {
                                 for (const file of imageFiles) {
                                     await fs_1.default.promises.unlink(path_1.default.join(this._tempDir, file));
                                 }
+                                try {
+                                    await fs_1.default.promises.rmdir(this._tempDir);
+                                }
+                                catch (ex2) {
+                                    /* noop */
+                                }
                             }
                         });
                         this._watcher.close();
@@ -1020,6 +1115,62 @@ class GStreamer extends tsee_1.EventEmitter {
             return { type: 'portrait', top, bottom };
         }
     }
+    startOriginalCleanupLoop() {
+        // eslint-disable-next-line @typescript-eslint/no-floating-promises
+        (async () => {
+            while (1) {
+                await this.wait(1000);
+                if (!this._emitsOriginalSizeImages || !this._lastFile || !this._tempDir) {
+                    continue;
+                }
+                let processedNumberMatch = this._lastFile.fileName.match(/(\d+)/);
+                let processedNumber = processedNumberMatch ? Number(processedNumberMatch[1]) : NaN;
+                if (isNaN(processedNumber)) {
+                    if (this._verbose) {
+                        console.log(PREFIX, `Failed to parse number from lastFile.fileName (${this._lastFile.fileName})`);
+                        continue;
+                    }
+                }
+                let filesToUnlink = [];
+                // copy as we're manipulating this set
+                for (let originalFileName of Array.from(this._originalFilesSeen)) {
+                    let originalNumberMatch = originalFileName.match(/(\d+)/);
+                    let originalNumber = originalNumberMatch ? Number(originalNumberMatch[1]) : NaN;
+                    if (isNaN(originalNumber)) {
+                        if (this._verbose) {
+                            console.log(PREFIX, `Failed to parse number from originalFileName (${originalFileName})`);
+                            continue;
+                        }
+                    }
+                    if (originalNumber >= processedNumber) {
+                        continue;
+                    }
+                    filesToUnlink.push(originalFileName);
+                }
+                if (this._verbose) {
+                    console.log(PREFIX, `Unlinking ${filesToUnlink.length} original files...`);
+                }
+                if (filesToUnlink.length > 0) {
+                    const tempDir = this._tempDir;
+                    await (0, async_pool_1.asyncPool)(10, filesToUnlink, async (originalFileName) => {
+                        await this.safeUnlinkFile(path_1.default.join(tempDir, originalFileName));
+                        this._originalFilesSeen.delete(originalFileName);
+                    });
+                }
+            }
+        })();
+    }
+    wait(ms) {
+        return new Promise(resolve => setTimeout(resolve, ms));
+    }
+    async safeUnlinkFile(path) {
+        try {
+            await fs_1.default.promises.unlink(path);
+        }
+        catch (ex) {
+            /* noop */
+        }
+    }
 }
 exports.GStreamer = GStreamer;
 //# sourceMappingURL=gstreamer.js.map

package/build/library/sensors/gstreamer.js.map

@@ -1 +1 @@
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package/build/library/sensors/icamera.d.ts

@@ -1,7 +1,7 @@
 /// <reference types="node" />
 /// <reference types="node" />
 import { EventEmitter } from 'tsee';
-import { RunnerHelloResponseModelParameters } from '../classifier/linux-impulse-runner';
+import { RunnerHelloResponseModelParameters } from '../classifier/linux-impulse-runner-types';
 export type ICameraInferenceDimensions = {
     width: number;
     height: number;
@@ -18,7 +18,9 @@ export type ICameraStartOptions = {
 };
 export interface ICamera extends EventEmitter<{
     snapshot: (buffer: Buffer, filename: string) => void;
+    snapshotForInference: (buffer: Buffer, filename: string) => void;
     error: (message: string) => void;
+    profilingInfo: (ts: Date, name: string) => void;
 }> {
     init(): Promise<void>;
     listDevices(): Promise<string[]>;