OpenGait/opengait/demo/input.py

"""
Input adapters for OpenGait demo.

Provides generator-based interfaces for video sources:
- OpenCV (video files, cameras)
- cv-mmap (shared memory streams)
"""

from collections.abc import AsyncIterator, Generator, Iterable
from typing import Protocol, cast

import logging

import numpy as np

logger = logging.getLogger(__name__)

# Type alias for frame stream: (frame_array, metadata_dict)
FrameStream = Iterable[tuple[np.ndarray, dict[str, object]]]


# Protocol for cv-mmap metadata (needed at runtime for nested function annotation)
class _FrameMetadata(Protocol):
    frame_count: int
    timestamp_ns: int


# Protocol for cv-mmap client (needed at runtime for cast)
class _CvMmapClient(Protocol):
    def __aiter__(self) -> AsyncIterator[tuple[np.ndarray, _FrameMetadata]]: ...


def opencv_source(
    path: str | int, max_frames: int | None = None
) -> Generator[tuple[np.ndarray, dict[str, object]], None, None]:
    """
    Generator that yields frames from an OpenCV video source.

    Parameters
    ----------
    path : str | int
        Video file path or camera index (e.g., 0 for default camera)
    max_frames : int | None, optional
        Maximum number of frames to yield. None means unlimited.

    Yields
    ------
    tuple[np.ndarray, dict[str, object]]
        (frame_array, metadata_dict) where metadata includes:
        - frame_count: frame index (0-based)
        - timestamp_ns: monotonic timestamp in nanoseconds (if available)
        - source: the path/int provided
    """
    import time

    import cv2

    cap = cv2.VideoCapture(path)
    if not cap.isOpened():
        raise RuntimeError(f"Failed to open video source: {path}")

    is_file_source = isinstance(path, str)
    source_fps = float(cap.get(cv2.CAP_PROP_FPS)) if is_file_source else 0.0
    fps_valid = source_fps > 0.0 and np.isfinite(source_fps)
    fallback_fps = source_fps if fps_valid else 30.0
    fallback_interval_ns = int(1_000_000_000 / fallback_fps)
    start_ns = time.monotonic_ns()

    frame_idx = 0
    try:
        while max_frames is None or frame_idx < max_frames:
            ret, frame = cap.read()
            if not ret:
                # End of stream
                break

            if is_file_source:
                pos_msec = float(cap.get(cv2.CAP_PROP_POS_MSEC))
                if np.isfinite(pos_msec) and pos_msec > 0.0:
                    timestamp_ns = start_ns + int(pos_msec * 1_000_000)
                else:
                    timestamp_ns = start_ns + frame_idx * fallback_interval_ns
            else:
                timestamp_ns = time.monotonic_ns()

            metadata: dict[str, object] = {
                "frame_count": frame_idx,
                "timestamp_ns": timestamp_ns,
                "source": path,
            }
            if fps_valid:
                metadata["source_fps"] = source_fps

            yield frame, metadata
            frame_idx += 1

    finally:
        cap.release()
        logger.debug(f"OpenCV source closed: {path}")


def cvmmap_source(
    name: str, max_frames: int | None = None
) -> Generator[tuple[np.ndarray, dict[str, object]], None, None]:
    """
    Generator that yields frames from a cv-mmap shared memory stream.

    Bridges async cv-mmap client to synchronous generator using asyncio.run().

    Parameters
    ----------
    name : str
        Base name of the cv-mmap source (e.g., "default")
    max_frames : int | None, optional
        Maximum number of frames to yield. None means unlimited.

    Yields
    ------
    tuple[np.ndarray, dict[str, object]]
        (frame_array, metadata_dict) where metadata includes:
        - frame_count: frame index from cv-mmap
        - timestamp_ns: timestamp in nanoseconds from cv-mmap
        - source: the cv-mmap name

    Raises
    ------
    ImportError
        If cvmmap package is not available
    RuntimeError
        If cv-mmap stream disconnects or errors
    """
    import asyncio

    # Import cvmmap only when function is called
    # Use try/except for runtime import check
    try:
        from cvmmap import CvMmapClient as _CvMmapClientReal  # pyright: ignore[reportMissingTypeStubs]
    except ImportError as e:
        raise ImportError(
            "cvmmap package is required for cv-mmap sources. "
            + "Install from: https://github.com/crosstyan/cv-mmap"
        ) from e

    # Cast to protocol type for type checking
    client: _CvMmapClient = cast("_CvMmapClient", _CvMmapClientReal(name))
    frame_count = 0

    async def _async_generator() -> AsyncIterator[tuple[np.ndarray, _FrameMetadata]]:
        """Async generator wrapper."""
        async for frame, meta in client:
            yield frame, meta

    # Bridge async to sync using asyncio.run()
    # We process frames one at a time to keep it simple and robust
    loop = asyncio.new_event_loop()
    asyncio.set_event_loop(loop)

    try:
        agen = _async_generator().__aiter__()

        while max_frames is None or frame_count < max_frames:
            try:
                frame, meta = loop.run_until_complete(agen.__anext__())
            except StopAsyncIteration:
                break

            metadata: dict[str, object] = {
                "frame_count": meta.frame_count,
                "timestamp_ns": meta.timestamp_ns,
                "source": f"cvmmap://{name}",
            }

            yield frame, metadata
            frame_count += 1

    finally:
        loop.close()
        logger.debug(f"cv-mmap source closed: {name}")


def create_source(source: str, max_frames: int | None = None) -> FrameStream:
    """
    Factory function to create a frame source from a string specification.

    Parameters
    ----------
    source : str
        Source specification:
        - '0', '1', etc. -> Camera index (OpenCV)
        - 'cvmmap://name' -> cv-mmap shared memory stream
        - Any other string -> Video file path (OpenCV)
    max_frames : int | None, optional
        Maximum number of frames to yield. None means unlimited.

    Returns
    -------
    FrameStream
        Generator yielding (frame, metadata) tuples

    Examples
    --------
    >>> for frame, meta in create_source('0'):  # Camera 0
    ...     process(frame)
    >>> for frame, meta in create_source('cvmmap://default'):  # cv-mmap
    ...     process(frame)
    >>> for frame, meta in create_source('/path/to/video.mp4'):
    ...     process(frame)
    """
    # Check for cv-mmap protocol
    if source.startswith("cvmmap://"):
        name = source[len("cvmmap://") :]
        return cvmmap_source(name, max_frames)

    # Check for camera index (single digit string)
    if source.isdigit():
        return opencv_source(int(source), max_frames)

    # Otherwise treat as file path
    return opencv_source(source, max_frames)