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forgectrl: cross-camera snapshot borrow and switch grace

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Snapshots of the non-streaming camera no longer fail 409: the worker borrows the mux for one frame (stream viewers see a short freeze). Stream switches wait up to 3 s for the previous pin to drain. Arbitration compares the engine home camera, not the transiently borrowed pipeline camera. Index page: single toggled stream with retry plus a head-peek button.
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ScottW514
2026-08-03 12:39:34 -04:00
parent b3a8924c91
commit 247cfacb40
4 changed files with 213 additions and 56 deletions
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docs/BRINGUP.md
+14 -3
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@@ -142,15 +142,26 @@ Engine model: one worker owns the V4L2 node persistently (media-ctl /
v4l2-ctl configure sequences identical to gfhardware/cam.py, factory
exposure/gain/WB, software hflip in the demosaic); starts on demand,
full teardown after 10 s idle so gfhardware one-shot grabs still work.
The cameras share the hardware video-mux, so stream clients pin the
selection — requests for the other camera return 409 until they leave.
The cameras share the hardware video-mux; arbitration:
- **Stream clients pin the selection.** A STREAM request for the other
camera waits up to 3 s for the pin to drain (absorbs page
navigations), then returns 409. The index page therefore runs a
single toggled stream, never two.
- **Snapshots never fail busy.** A snapshot of the other camera makes
the worker *borrow* the mux: pause the stream, switch, grab one
frame, switch back (~1-2 s freeze for stream viewers; "Head peek" on
the index page uses this). Arbitration compares against the engine's
home camera, so requests racing the borrow window still 409.
The per-camera lamp (`pic/lid_led` / `head/white_led`) is raised to
`FORGECTRL_LAMP` (default 132) while capturing and restored on idle.
Bench (2026-08-03, on the board): stream 3.2 fps sustained at 1296×972;
full-res snapshot 2.4 s warm / 2.7 s cold (cold includes the pipeline
bring-up); camera switch works both ways; two parallel clients share the
frame rate; idle teardown observed. **Motion coexistence proven**: X
frame rate; idle teardown observed. Borrow verified: head snapshot 200
during a lid stream, the stream rode through the gap (120 frames over a
40 s window with one borrow), and head-stream requests fired both into
the borrow window and during normal streaming got 409. **Motion coexistence proven**: X
round-trip jogs at F1200 with an active stream — producer stats
`clamped 0`, max behind 4.5 ms (the daemon runs at nice +5, single
core). Run by hand: `/usr/bin/forgectrl >> /data/forgectrl.log 2>&1 &`