diff --git a/.gitignore b/.gitignore index 5ec2b4d..eaf1b59 100644 --- a/.gitignore +++ b/.gitignore @@ -1,15 +1,25 @@ # 构建产物。 # -# 三条都必要：根目录是 firmware crate，protocol/ 和 client/ 各自也是独立的 -# crate（各有自己的 .cargo/config.toml 与 target 目录），所以只写 `target/` -# 匹配不到它们。 +# 四行都必要：根目录是 firmware crate，protocol/ 和 client/ 各自也是独立的 +# crate（各有自己的 .cargo/config.toml 与 target 目录），armor/ 是一套独立 +# workspace（协议层 + ESP32-C3 固件），同理。所以只写 `target/` 匹配不到它们。 # # 全部锚定在根目录（前置 /），这是有意的：components/esp32-camera/target/ 看着 # 像构建产物，其实是上游组件的**按芯片分目录**（esp32/ esp32s2/ esp32s3/ …）， # 里面是 ll_cam.c 等源码，包含本项目打的补丁。不要把它一起忽略掉。 +# +# desktop/ 自己还有一份 .gitignore（node_modules、dist、src-tauri/target）。 /target/ /protocol/target/ /client/target/ +/armor/target/ + +# 本机专属的 cargo 注册表缓存。 +# +# 这个仓库所在的目录树在 DSH 的文件沙箱里可写，而 ~/.cargo 不可写，所以 desktop/ 的 +# 构建把 CARGO_HOME 指到了这里（里面是从 ~/.cargo 搬过来的 crates 缓存）。它是几 GB 的 +# 机器状态，不是项目的一部分。 +/.cargo-home/ # WiFi 凭据，编译期由 env! 读取。不要提交。 .env diff --git a/desktop/.cargo/config.toml b/desktop/.cargo/config.toml new file mode 100644 index 0000000..b47e14e --- /dev/null +++ b/desktop/.cargo/config.toml @@ -0,0 +1,15 @@ +# 桌面端构建为宿主机目标，不是 ESP32。 +# +# desktop/ 嵌在固件的目录树里，cargo 会向上找到 ../../.cargo/config.toml，那里面 +# `target = "xtensa-esp32s3-espidf"` 加一个 ldproxy linker，只有在 ESP-IDF 交叉编译 +# 里才成立。没有这个覆盖，桌面端会被交叉编译到 Xtensa，然后在依赖深处失败—— +# `libc` 找不到 `MAP_FAILED` 之类的东西，因为它正在为一个没有 `mmap` 的嵌入式目标 +# 编译。 +# +# 覆盖 target 一项就够了：父配置里 `cfg(target_os = "espidf")` 那一段对 macOS 不 +# 生效，`[env]` 里两个 ESP-IDF 变量与宿主构建无关。 +# +# 这一行是**换机器时必须改的**：换到 Intel Mac 是 x86_64-apple-darwin，换到 Linux +# 是 x86_64-unknown-linux-gnu。 +[build] +target = "aarch64-apple-darwin" diff --git a/desktop/.gitignore b/desktop/.gitignore new file mode 100644 index 0000000..2f8f754 --- /dev/null +++ b/desktop/.gitignore @@ -0,0 +1,12 @@ +# 前端依赖与产物。 +node_modules/ +dist/ + +# Rust 构建产物。desktop/ 下面是三个各自独立的 crate（core / src-tauri / 以及构建时 +# 可能出现的根 crate），各有各的 target 目录，所以三个都要写。 +/target/ +/core/target/ +/src-tauri/target/ + +# 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"proc-macro2", + "quote", + "syn 2.0.119", +] + +[[package]] +name = "zmij" +version = "1.0.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b" diff --git a/desktop/core/Cargo.toml b/desktop/core/Cargo.toml new file mode 100644 index 0000000..b7eeec6 --- /dev/null +++ b/desktop/core/Cargo.toml @@ -0,0 +1,27 @@ +[package] +name = "cam-core" +version = "0.1.0" +edition = "2021" +description = "桌面端的非界面部分：UDP 接收/重组、装甲板发现、配置与密码" + +[dependencies] +# 与固件共享的线路格式。用 path 而不是复制，两边不可能悄悄分叉。 +protocol = { path = "../../protocol" } + +anyhow = "1" +log = "0.4" + +# 配置的序列化。这里与旧客户端（client/）的做法相反：那一版的配置只有十来个标量 +# 字段，手写 TOML 换来零依赖是划算的。现在配置里有 HUD 的嵌套结构和密码哈希，手写 +# 解析器的对称性成本超过了它的收益，所以换成真正的 TOML。 +serde = { version = "1", features = ["derive"] } +toml = "0.9" + +# 密码哈希。Argon2id 是目前的推荐选择（内存硬），而 SHA-256 之类的快哈希对 +# 一个 4 位数字密码来说等于没有保护。 +argon2 = "0.5" +rand = "0.9" + +[dev-dependencies] +# 只用来验证喂给界面的 JSON：断言"密码哈希不在里面"这件事只能对着序列化结果做。 +serde_json = "1" diff --git a/desktop/core/src/armor.rs b/desktop/core/src/armor.rs new file mode 100644 index 0000000..f46007d --- /dev/null +++ b/desktop/core/src/armor.rs @@ -0,0 +1,598 @@ +//! 装甲板：监听 5601，把主板广播的 `ArmorHealth` 变成界面要的东西。 +//! +//! 两件事，各自服务一种需求： +//! +//! - **血量**（[`ArmorSource::health`]）：某一边四条上报都在新鲜期内才交给界面。 +//! - **发现**（[`ArmorHealthStore::boards`]）：场上有哪几块装甲板主板，各自的 id、IP、 +//! 自报的队伍、最后一次血量。 +//! +//! 第二种以前没有，因为队伍端不能选装甲板。现在能选了（要密码），于是"列出候选" +//! 成为必需。**这里不需要改固件**：主板一直用 `encode_from(sender_id)` 把自己的 +//! MAC 派生 id 打进帧头，只是旧的解码路径把它丢了。 +//! +//! # 为什么按 `(team, index)` 存最后一次读数 +//! +//! 主板每 200 ms 广播四条（`index` 0..3，整车一条血所以 `hp` 相同）。UDP 会丢包， +//! 界面不能"收到哪条显示哪条"——那样四个格子会各自跳。所以**四条都在新鲜期内**才交给 +//! 界面；否则退回占位符：显示一个可能已经过期的血量，比显示"未接入"更危险（现场会以为 +//! 对方还有血）。 +//! +//! # 为什么绑 0.0.0.0 +//! +//! 板子往 `255.255.255.255:5601` 广播，只有绑到 `INADDR_ANY` 的 socket 才收得到。 +//! 绑具体网卡地址的话，换个网络就得改配置。 +//! +//! # 两端都开 +//! +//! 旧客户端只在裁判端绑 5601（队伍端不显示血量）。现在队伍端要显示自己的血条，所以 +//! 两端都要收。这反而去掉了同一台机器上"队伍端与裁判端抢 5601"的争用点——两套界面 +//! 现在在同一个进程里。 +//! +//! # 命中检测 +//! +//! 掉血事件（[`HealthTracker`]）由这里派生：主板只上报"现在是多少血"，不报"刚刚被 +//! 打了一下"。所以命中反馈是靠**相邻两次读数之差**还原的，见那个结构体的文档。 + +use std::collections::HashMap; +use std::io::ErrorKind; +use std::net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket}; +use std::sync::{Arc, Mutex}; +use std::thread; +use std::time::{Duration, Instant}; + +use protocol::{ArmorHealth, ARMOR_PORT}; + +use crate::receiver::ARMOR_BOARDS; + +/// 多久没收到就当作板子掉线。 +/// +/// 心跳 200 ms，所以这是连续丢了 7 个包：偶发丢一两个不会让界面闪回占位符。 +pub const STALE_AFTER: Duration = Duration::from_millis(1500); + +/// 一边的装甲板数量（0/1 两支队伍）。 +const TEAMS: usize = 2; + +/// 某个 `(team, index)` 的最后一次读数。 +#[derive(Debug, Clone, Copy)] +struct Reading { + hp: u16, + at: Instant, +} + +/// 一块装甲板主板。 +#[derive(Debug, Clone)] +pub struct ArmorBoard { + /// MAC 派生的板子 id，重启不变，所以绑定它不会失效。 + pub id: u32, + /// 最后一次收到它广播的来源地址。 + pub addr: SocketAddrV4, + /// 板子自报的队伍（编译期定的 `ARMOR_TEAM`）。 + pub team: u8, + /// 最后一次读数里的血量。整车一条血，所以取任意一条都一样。 + pub hp: u16, + /// 见过的 `index` 位图：低 4 位分别对应 0..3。 + /// + /// 用来区分"这块板子只报了第 0 条"和"四条都报了"——前者通常意味着配置或固件不对， + /// 现场值得看一眼。 + pub plates_seen: u8, + pub last_seen: Instant, +} + +impl ArmorBoard { + /// 多久没有广播了。 + pub fn silence(&self) -> Duration { + self.last_seen.elapsed() + } + + /// 板子在线吗？ + pub fn is_online(&self) -> bool { + self.silence() < STALE_AFTER + } + + /// 四条装甲板都上报过吗。 + pub fn reports_all_plates(&self) -> bool { + self.plates_seen == 0b1111 + } +} + +/// 收到的一条装甲板上报。 +/// +/// 比 [`protocol::ArmorHealth`] 多一个"谁发的"——那正是能列出候选、能绑定、能把命中 +/// 归到具体某块板子上的前提。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct ArmorReport { + pub board: u32, + pub addr: SocketAddrV4, + pub team: u8, + pub index: u8, + pub hp: u16, +} + +/// 每次收到上报就调一次。 +/// +/// 在接收线程里被调用，所以必须是非阻塞的。Tauri 层在这里做掉血检测并把结果推给界面。 +pub type ArmorSink = Arc; + +/// 已收到的最新血量。 +#[derive(Debug, Default)] +struct Inner { + /// `readings[team][index]`。 + readings: [[Option; ARMOR_BOARDS]; TEAMS], + /// 按板子 id 索引的发现状态。 + boards: HashMap, + /// 已经打过"这块板子在线"的板子 id，避免刷屏。 + announced: Vec, +} + +/// 相邻两次读数之差还原出来的掉血事件。 +/// +/// 主板不报"被打了一下"，只报"现在是 97"。所以命中反馈只能是派生的： +/// +/// - 血量**减少** ⇒ 一次命中，伤害是两个读数之差。 +/// - 血量**增加** ⇒ 不是命中，是长按 BOOT 的重置。忽略，但值得记一条日志。 +/// - **第一次**见到一块板子不产生命中：没有基线，此时 `hp = 0` 只是"已经没血了"， +/// 不是"刚刚被打死"。 +/// +/// 已知的精度上限：两次读数之间发生两次伤害时只能看到净差。心跳 200 ms，所以这段 +/// 窗口里的两次打击会被合并成一次——对"闪一下红"的用途足够，对判定不够，判定看的是 +/// 界面上的绝对血量。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct Hit { + pub board: u32, + pub team: u8, + pub index: u8, + pub from: u16, + pub to: u16, + pub damage: u16, +} + +/// 从连续的读数里派生命中。 +/// +/// 按**板子**而不是按 `(板子, index)` 记基线：主板一次广播四条、`hp` 相同，按四条各记 +/// 一份基线会让一次掉血被报成四次命中。 +#[derive(Debug, Default)] +pub struct HealthTracker { + last: HashMap, +} + +impl HealthTracker { + pub fn new() -> Self { + Self::default() + } + + /// 喂进一条上报，返回派生的命中（如果有）。 + pub fn observe(&mut self, report: &ArmorReport) -> Option { + let previous = self.last.insert(report.board, report.hp); + + let Some(from) = previous else { + // 第一次见到这块板子，没有基线。 + return None; + }; + + if report.hp >= from { + // 持平（同一次广播的另外三条）或回升（重置）。 + return None; + } + + Some(Hit { + board: report.board, + team: report.team, + index: report.index, + from, + to: report.hp, + damage: from - report.hp, + }) + } + + /// 忘掉一块板子的基线（掉线重连后重新建）。 + pub fn forget(&mut self, board: u32) { + self.last.remove(&board); + } +} + +/// 监听装甲板广播的血量源。 +pub struct ArmorHealthStore { + inner: Mutex, + sink: Mutex>, +} + +impl Default for ArmorHealthStore { + fn default() -> Self { + Self::new() + } +} + +impl ArmorHealthStore { + /// 建一个 store，但先不绑端口。测试从这里喂数据报。 + pub fn new() -> Self { + Self { + inner: Mutex::new(Inner::default()), + sink: Mutex::new(None), + } + } + + /// 绑定 5601 并起一个接收线程。 + /// + /// 绑定失败（端口被占、权限问题）返回 `Err`，调用方退回 [`crate::NoArmorYet`] 即可 + /// ——血量显示不了不该让整个客户端起不来。 + pub fn start() -> std::io::Result<(Arc, UdpSocket)> { + let socket = UdpSocket::bind((Ipv4Addr::UNSPECIFIED, ARMOR_PORT))?; + socket.set_read_timeout(Some(Duration::from_millis(200)))?; + + log::info!("armor: listening for health broadcasts on UDP {ARMOR_PORT}"); + Ok((Arc::new(Self::new()), socket)) + } + + /// 在单独的线程上跑接收循环。 + pub fn spawn(self: &Arc, socket: UdpSocket) { + let store = Arc::clone(self); + + // 线程名带上前缀，日志里一眼能看出是装甲板那条链路。 + let _ = thread::Builder::new() + .name("armor-reader".into()) + .spawn(move || store.run(socket)); + } + + /// 接收循环。这个线程活到进程结束，不需要退出条件。 + pub fn run(&self, socket: UdpSocket) { + let mut buf = [0u8; 256]; + + loop { + let (len, from) = match socket.recv_from(&mut buf) { + Ok(pair) => pair, + Err(err) + if err.kind() == ErrorKind::WouldBlock + || err.kind() == ErrorKind::TimedOut => + { + continue; + } + Err(err) => { + log::warn!("armor: receive failed: {err}"); + // 出错后别做没有间隔的忙等（比如网卡热插拔时的 ENOBUFS）。 + thread::sleep(Duration::from_millis(200)); + continue; + } + }; + + self.datagram(&buf[..len], from); + } + } + + /// 处理一条上报。测试从这里喂字节。 + pub fn datagram(&self, bytes: &[u8], from: SocketAddr) { + let SocketAddr::V4(addr) = from else { + return; + }; + + // 同一个端口上可能有别的东西（图传板的心跳、别的协议），解不出来就当不是给 + // 我的，安静跳过。 + let Some((board, health)) = ArmorHealth::decode_from(bytes) else { + return; + }; + + let (team, index) = (health.team as usize, health.index as usize); + + if team >= TEAMS || index >= ARMOR_BOARDS { + log::warn!( + "armor: ignoring out-of-range report team={} index={}", + health.team, + health.index + ); + return; + } + + let report = ArmorReport { + board, + addr, + team: health.team, + index: health.index, + hp: health.hp, + }; + + { + let mut inner = self.inner.lock().expect("armor mutex poisoned"); + + // 第一次见到某块板子就报一声：现场判断"到底连上没有"最快的线索。 + if !inner.announced.contains(&board) { + inner.announced.push(board); + log::info!( + "armor: board 0x{board:08X} is online (team {}, hp {}) via {addr}", + health.team, + health.hp + ); + } + + // 血量变化也要能看见：窗口是给别人看的，抓日志的人得知道掉血没有。整车一条 + // 血、四条同值，所以只对 index 0 报一次。 + if index == 0 { + if let Some(previous) = inner.readings[team][0].map(|reading| reading.hp) { + if previous != health.hp { + log::info!( + "armor: board 0x{board:08X} team {team} hp {previous} -> {}", + health.hp + ); + } + } + } + + inner.readings[team][index] = Some(Reading { + hp: health.hp, + at: Instant::now(), + }); + + let entry = inner.boards.entry(board).or_insert(ArmorBoard { + id: board, + addr, + team: health.team, + hp: health.hp, + plates_seen: 0, + last_seen: Instant::now(), + }); + + // 队伍是编译期定的，但同队两块板子都自报同一个 team 是正常的；这里只在 + // 板子换了 team（重刷了固件）时跟着更新。 + entry.addr = addr; + entry.team = health.team; + entry.hp = health.hp; + entry.plates_seen |= 1 << index; + entry.last_seen = Instant::now(); + } + + let sink = self.sink.lock().expect("armor sink mutex poisoned").clone(); + if let Some(sink) = sink { + sink(report); + } + } + + /// 注入上报的消费者。 + pub fn set_sink(&self, sink: ArmorSink) { + *self.sink.lock().expect("armor sink mutex poisoned") = Some(sink); + } + + /// 场上的装甲板主板，按 id 排序。 + /// + /// 包含已经掉线的（界面要能把"掉线"显示出来），是否在线由 [`ArmorBoard::is_online`] + /// 判断。 + pub fn boards(&self) -> Vec { + let inner = self.inner.lock().expect("armor mutex poisoned"); + let mut list: Vec = inner.boards.values().cloned().collect(); + + list.sort_by_key(|b| b.id); + list + } + + /// 某一块板子的最新血量，太旧就返回 `None`。 + pub fn health_of_board(&self, board: u32) -> Option { + let inner = self.inner.lock().expect("armor mutex poisoned"); + let entry = inner.boards.get(&board)?; + + if entry.silence() > STALE_AFTER { + return None; + } + + Some(entry.hp) + } + + /// 四个格子的当前血量；只要有一格不新鲜就返回 `None`。 + fn fresh_hp(&self, team: u8) -> Option<[u16; ARMOR_BOARDS]> { + let team = usize::from(team); + + if team >= TEAMS { + return None; + } + + let now = Instant::now(); + let inner = self.inner.lock().expect("armor mutex poisoned"); + let mut out = [0u16; ARMOR_BOARDS]; + + for (index, reading) in inner.readings[team].iter().enumerate() { + let reading = reading.as_ref()?; + + if now.duration_since(reading.at) > STALE_AFTER { + return None; + } + + out[index] = reading.hp; + } + + Some(out) + } +} + +impl crate::receiver::ArmorSource for ArmorHealthStore { + fn health(&self, team: u8) -> Option<[u16; ARMOR_BOARDS]> { + self.fresh_hp(team) + } +} + +#[cfg(test)] +mod tests { + use super::*; + use crate::receiver::ArmorSource; + + fn from(ip: [u8; 4]) -> SocketAddr { + SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::from(ip), 5601)) + } + + /// 主板一次广播四条，`hp` 相同。 + fn tick(store: &ArmorHealthStore, board: u32, team: u8, hp: u16, ip: [u8; 4]) { + for index in 0..ARMOR_BOARDS as u8 { + let health = ArmorHealth { team, index, hp }; + store.datagram(&health.encode_from(board), from(ip)); + } + } + + #[test] + fn one_broadcast_yields_four_plates_of_health() { + let store = ArmorHealthStore::new(); + tick(&store, 0xAAAA_0001, 0, 100, [192, 168, 1, 50]); + + let health = store.health(0).expect("all four plates are fresh"); + assert_eq!(health, [100, 100, 100, 100]); + assert_eq!(store.health(1), None, "the other team sent nothing"); + } + + #[test] + fn a_single_missing_plate_falls_back_to_the_placeholder() { + let store = ArmorHealthStore::new(); + + // 只来三条：界面宁可说"未接入"，也不要显示一个可能过期的血量。 + for index in 0..3u8 { + let health = ArmorHealth { + team: 0, + index, + hp: 88, + }; + store.datagram(&health.encode_from(0xAAAA_0001), from([192, 168, 1, 50])); + } + + assert_eq!(store.health(0), None); + } + + #[test] + fn boards_are_listed_by_their_mac_derived_id() { + let store = ArmorHealthStore::new(); + tick(&store, 0xBBBB_0002, 1, 100, [192, 168, 1, 60]); + tick(&store, 0xAAAA_0001, 0, 100, [192, 168, 1, 50]); + + let boards = store.boards(); + let ids: Vec = boards.iter().map(|b| b.id).collect(); + + assert_eq!(ids, vec![0xAAAA_0001, 0xBBBB_0002], "sorted, stable order"); + assert_eq!(boards[0].team, 0); + assert_eq!(boards[1].team, 1); + assert!(boards[0].reports_all_plates()); + assert!(boards[0].is_online()); + } + + #[test] + fn health_of_board_ignores_out_of_range_and_garbage() { + let store = ArmorHealthStore::new(); + + // team/index 越界：丢掉并留一条警告，而不是写进 readings 把数组撑爆。 + let bad = ArmorHealth { + team: 9, + index: 0, + hp: 100, + }; + store.datagram(&bad.encode_from(1), from([192, 168, 1, 1])); + assert!(store.boards().is_empty()); + + // 不是装甲板上报的字节：安静跳过。 + store.datagram(&[0u8; 64], from([192, 168, 1, 1])); + assert!(store.boards().is_empty()); + } + + #[test] + fn the_sink_sees_every_report_with_its_board_id() { + let store = ArmorHealthStore::new(); + let seen = Arc::new(Mutex::new(Vec::new())); + + let tap = Arc::clone(&seen); + store.set_sink(Arc::new(move |report: ArmorReport| { + tap.lock().unwrap().push((report.board, report.index, report.hp)); + })); + + tick(&store, 7, 0, 100, [192, 168, 1, 50]); + + assert_eq!(seen.lock().unwrap().len(), ARMOR_BOARDS); + } + + #[test] + fn a_falling_hp_is_exactly_one_hit() { + let mut tracker = HealthTracker::new(); + + let report = |hp: u16, index: u8| ArmorReport { + board: 1, + addr: "192.168.1.50:5601".parse().unwrap(), + team: 0, + index, + hp, + }; + + // 第一次上报只是建立基线，不是"刚刚被打死"。 + for index in 0..4u8 { + assert_eq!(tracker.observe(&report(100, index)), None); + } + + // 掉血：四条同值的上报里只有第一条该产生命中。 + let hits: Vec> = (0..4u8).map(|i| tracker.observe(&report(97, i))).collect(); + + assert_eq!( + hits[0], + Some(Hit { + board: 1, + team: 0, + index: 0, + from: 100, + to: 97, + damage: 3, + }) + ); + assert!( + hits[1..].iter().all(Option::is_none), + "the other three datagrams carry the same hp and must not be hits" + ); + } + + #[test] + fn a_reset_is_not_a_hit() { + let mut tracker = HealthTracker::new(); + let addr = "192.168.1.50:5601".parse().unwrap(); + let report = |hp: u16| ArmorReport { + board: 1, + addr, + team: 0, + index: 0, + hp, + }; + + tracker.observe(&report(100)); + assert!(tracker.observe(&report(0)).is_some(), "death is a hit"); + assert_eq!( + tracker.observe(&report(100)), + None, + "长按 BOOT 重置成满血不是一次命中" + ); + } + + #[test] + fn a_board_first_seen_at_zero_hp_produces_no_hit() { + let mut tracker = HealthTracker::new(); + let report = ArmorReport { + board: 1, + addr: "192.168.1.50:5601".parse().unwrap(), + team: 0, + index: 0, + hp: 0, + }; + + assert_eq!(tracker.observe(&report), None); + } + + #[test] + fn two_boards_keep_separate_baselines() { + let mut tracker = HealthTracker::new(); + let addr = "192.168.1.50:5601".parse().unwrap(); + let report = |board: u32, hp: u16| ArmorReport { + board, + addr, + team: 0, + index: 0, + hp, + }; + + tracker.observe(&report(1, 100)); + tracker.observe(&report(2, 100)); + + let hit = tracker.observe(&report(2, 90)).expect("board 2 was hit"); + assert_eq!(hit.board, 2); + assert_eq!(hit.damage, 10); + + assert_eq!( + tracker.observe(&report(1, 100)), + None, + "board 1 is untouched, not a 10-point heal" + ); + } +} diff --git a/desktop/core/src/config.rs b/desktop/core/src/config.rs new file mode 100644 index 0000000..2c83583 --- /dev/null +++ b/desktop/core/src/config.rs @@ -0,0 +1,1064 @@ +//! 磁盘上的配置：身份、绑定、HUD、密码哈希、录制。 +//! +//! # 为什么换掉了手写解析 +//! +//! 旧客户端（`client/src/config.rs`）手写 TOML 是有理由的：配置只有四个标量字段， +//! 引一个解析器不值得，而手写带来的零依赖与"`save`/`parse` 严格对称"确实值钱。 +//! +//! 现在配置里有 HUD 的嵌套结构、密码哈希、录制参数，还要能被界面反复改。手写解析器 +//! 的对称性成本（每加一个字段要在两个地方各写一遍，且漏了不会报错）已经超过了它省下 +//! 的那点依赖。所以改用 `serde` + `toml`，并把"未知键"仍然当作错误 +//! （`deny_unknown_fields`）——打错一个键名**必须**报错，而不是静默地"看起来生效了"。 +//! +//! 代价是：新版本写出的配置拿到旧版本上会因未知键而拒绝加载。可以接受：两台机器的 +//! 配置本来各自独立，而"打错键名被静默忽略"在现场是真会浪费时间的。 +//! +//! # 字段命名：一个名字，到处一样 +//! +//! 这些结构体同时是**磁盘格式**和**推给界面的 JSON**，所以字段名统一用 camelCase +//! （`offsetX`、`cameraId`）。TOML 里写 camelCase 不算最漂亮，但换来的是"文件里的键名 +//! = IPC 里的键名 = 前端 TS 里的键名"，不需要任何一层做名字转换——而那种转换漏掉一个 +//! 字段时**不会报错**，只会让某一项设置看起来"改了没生效"。 +//! +//! 枚举的取值用 kebab-case（`cross-dot`、`squares`）：它们出现在同一个文件里，读起来 +//! 更像配置。 +//! +//! # 路径 +//! +//! - 新配置：`~/.config/cam-desktop/config.toml` +//! - 旧配置：`~/.config/cam-client/config.toml`（首次启动时能导入的字段会导入，然后 +//! 被改名成 `.bak`，不删） +//! +//! # 原子写 +//! +//! [`Config::save`] 先写同目录下的临时文件再 `rename`。配置文件里有密码哈希，写一半 +//! 崩掉留下的截断文件会让"解锁"永久失败——而 `rename` 在同一文件系统上是原子的， +//! 要么是旧的完整内容，要么是新的完整内容。 + +use std::path::{Path, PathBuf}; + +use anyhow::{anyhow, Context, Result}; +use serde::{Deserialize, Serialize}; + +/// 配置文件格式版本。 +/// +/// 目前只是记下来：字段级的兼容靠 `#[serde(default)]`，所以加字段不需要升版本。它的 +/// 用处是将来真需要迁移时有个明确的判据，以及现场排查时能一眼看出文件是哪一版写的。 +pub const CONFIG_VERSION: u32 = 1; + +/// 客户端身份。 +#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)] +#[serde(rename_all = "lowercase")] +pub enum Role { + /// 用户端（队伍）：一块画面 + 自己的血条与瞄准器。 + Team, + /// 裁判端：两块画面 + 双方血量 + 装甲板发现列表 + 录制。 + Referee, +} + +impl Role { + pub fn as_str(self) -> &'static str { + match self { + Role::Team => "team", + Role::Referee => "referee", + } + } + + pub fn parse(s: &str) -> Option { + match s { + "team" => Some(Role::Team), + "referee" => Some(Role::Referee), + _ => None, + } + } + + pub fn to_protocol(self) -> protocol::SubscribeRole { + match self { + Role::Team => protocol::SubscribeRole::Team, + Role::Referee => protocol::SubscribeRole::Referee, + } + } + + /// 这个身份需不需要密码闸门。 + /// + /// 用户端要，裁判端不要：现场裁判要能最快地改槽位与开录，而裁判端本来就没有 + /// "绑定到自己那一块板子"的动作可被滥用。 + pub fn needs_password(self) -> bool { + matches!(self, Role::Team) + } +} + +// --------------------------------------------------------------------------- +// HUD +// --------------------------------------------------------------------------- + +/// 瞄准器样式。 +#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)] +#[serde(rename_all = "kebab-case")] +pub enum CrosshairStyle { + /// 四臂十字，中间留空。 + Cross, + /// 十字 + 中心点。 + CrossDot, + /// 圆环 + 中心点。 + CircleDot, + /// 只有一个点。 + Dot, +} + +/// 瞄准器。 +/// +/// # 偏移量为什么是比例而不是像素 +/// +/// 摄像头与枪管不同轴，瞄准点要往某个方向挪一点才能对上弹着点。这个偏移如果存成像素， +/// 分辨率一变（换相机配置、换窗口大小）就全错了。存成**画面尺寸的比例**（`0.1` = 画面 +/// 宽度的 10%）之后，缩放、换分辨率、换机器都不影响它。 +#[derive(Debug, Clone, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct CrosshairConfig { + pub visible: bool, + pub style: CrosshairStyle, + /// 十字臂长 / 圆环半径，单位是画面短边的比例。 + pub size: f32, + /// 线宽，画面短边的比例。 + pub thickness: f32, + /// 中心空隙，画面短边的比例。 + pub gap: f32, + /// `#RRGGBB`。 + pub color: String, + /// 校准偏移，画面宽度的比例，正数向右。 + pub offset_x: f32, + /// 校准偏移，画面高度的比例，正数向下。 + pub offset_y: f32, +} + +impl Default for CrosshairConfig { + fn default() -> Self { + Self { + visible: true, + style: CrosshairStyle::CrossDot, + size: 0.045, + thickness: 0.004, + gap: 0.012, + color: "#3dff88".to_string(), + offset_x: 0.0, + offset_y: 0.0, + } + } +} + +impl CrosshairConfig { + /// 偏移量换算成比例范围是否可信。 + /// + /// 允许 ±0.5：再多就是把瞄点挪出画面了。这个上限是防手滑写进一个 `5.0`，那会让 + /// 瞄准器直接消失，而现场第一反应不会是"配置写错了"。 + pub fn clamped(mut self) -> Self { + self.size = self.size.clamp(0.005, 0.4); + self.thickness = self.thickness.clamp(0.0008, 0.05); + self.gap = self.gap.clamp(0.0, 0.3); + self.offset_x = self.offset_x.clamp(-0.5, 0.5); + self.offset_y = self.offset_y.clamp(-0.5, 0.5); + self + } +} + +/// 网格线样式。 +#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)] +#[serde(rename_all = "kebab-case")] +pub enum GridStyle { + /// 三分线（构图与测距都用得上）。 + Thirds, + /// 等分方格。 + Squares, + /// 只有中心十字。 + Cross, +} + +/// 叠加网格。用户端用来估距离与判断画面中心，裁判端用来比对两路。 +#[derive(Debug, Clone, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct GridConfig { + pub visible: bool, + pub style: GridStyle, + /// 方格用几条线（`Squares` 之外忽略）。 + pub divisions: u8, + pub opacity: f32, +} + +impl Default for GridConfig { + fn default() -> Self { + Self { + visible: false, + style: GridStyle::Thirds, + divisions: 6, + opacity: 0.22, + } + } +} + +impl GridConfig { + pub fn clamped(mut self) -> Self { + self.divisions = self.divisions.clamp(2, 16); + self.opacity = self.opacity.clamp(0.02, 1.0); + self + } +} + +/// 血条。 +#[derive(Debug, Clone, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct HealthConfig { + pub visible: bool, + pub show_numbers: bool, + pub show_team_name: bool, + /// 低于它就把血条转成告警色并开始脉动。 + pub low_threshold: u16, + pub pulse: bool, + /// 血条的宽度占画面宽度的比例。 + pub width: f32, +} + +impl Default for HealthConfig { + fn default() -> Self { + Self { + visible: true, + show_numbers: true, + show_team_name: true, + low_threshold: 30, + pulse: true, + width: 0.42, + } + } +} + +impl HealthConfig { + pub fn clamped(mut self) -> Self { + self.low_threshold = self.low_threshold.min(1000); + self.width = self.width.clamp(0.1, 0.9); + self + } +} + +/// 命中反馈：被打中时画面上出现什么。 +#[derive(Debug, Clone, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct HitFeedbackConfig { + /// 整屏闪一下红。 + pub flash: bool, + /// 画面抖一下。 + pub shake: bool, + /// 在瞄点旁标出伤害数字。 + pub marker: bool, + /// 闪红与抖动的强度（0.2–2.0）。 + pub intensity: f32, +} + +impl Default for HitFeedbackConfig { + fn default() -> Self { + Self { + flash: true, + shake: true, + marker: true, + intensity: 1.0, + } + } +} + +impl HitFeedbackConfig { + pub fn clamped(mut self) -> Self { + self.intensity = self.intensity.clamp(0.2, 2.0); + self + } +} + +/// 用户端 HUD 的全部可调项。 +#[derive(Debug, Clone, Default, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct HudConfig { + pub health: HealthConfig, + pub crosshair: CrosshairConfig, + pub grid: GridConfig, + pub hit_feedback: HitFeedbackConfig, + /// 放大倍率指示。 + pub show_zoom: bool, + /// 技术读数（帧率/丢帧/分辨率）。用户端 release 下不显示，见 `Role` 与遥测门控。 + pub show_stats: bool, +} + +impl HudConfig { + /// 把每个子项的范围都夹一遍。 + /// + /// 界面上滑杆本来就不会给出越界值，但这个文件是**可以手改**的，而手改出一个 + /// `size = 5.0` 会让瞄准器直接消失。夹一下比让人查半天便宜。 + pub fn clamped(self) -> Self { + Self { + health: self.health.clamped(), + crosshair: self.crosshair.clamped(), + grid: self.grid.clamped(), + hit_feedback: self.hit_feedback.clamped(), + show_zoom: self.show_zoom, + show_stats: self.show_stats, + } + } +} + +// --------------------------------------------------------------------------- +// 裁判端 +// --------------------------------------------------------------------------- + +/// 裁判端的槽位与显示项。 +#[derive(Debug, Clone, Default, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct RefereeConfig { + /// 左槽位绑定的摄像头 id。`None` = 自动挑一块。 + #[serde(skip_serializing_if = "Option::is_none", with = "opt_hex_id")] + pub slot_a: Option, + /// 右槽位绑定的摄像头 id。 + #[serde(skip_serializing_if = "Option::is_none", with = "opt_hex_id")] + pub slot_b: Option, + /// 左槽位绑定的装甲板主板 id。 + #[serde(skip_serializing_if = "Option::is_none", with = "opt_hex_id")] + pub armor_a: Option, + /// 右槽位绑定的装甲板主板 id。 + #[serde(skip_serializing_if = "Option::is_none", with = "opt_hex_id")] + pub armor_b: Option, + /// 槽位是手动指定的吗。 + /// + /// `false` 时按装甲板自报的 `team` 自动分到左右两边，`true` 时以 `slot_*`/`armor_*` + /// 为准。有这一位是因为现场会有烧错固件的板子（team 字段是反的），那时需要人压过 + /// 自动分配。 + pub manual_slots: bool, + /// 显示装甲板发现列表。 + pub show_armor_table: bool, + /// 显示帧率/丢帧等技术读数。 + pub show_diagnostics: bool, +} + +// --------------------------------------------------------------------------- +// 录制 +// --------------------------------------------------------------------------- + +/// 录制与截图。 +#[derive(Debug, Clone, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct RecordingConfig { + /// 输出目录。`None` = [`default_recordings_dir`]。 + #[serde(skip_serializing_if = "Option::is_none")] + pub dir: Option, + /// ffmpeg 可执行文件。默认从 `PATH` 找。 + pub ffmpeg: String, + /// 喂给 ffmpeg 的输入帧率。`0` = 用录制开始时实测的帧率。 + /// + /// # 为什么要有个数 + /// + /// `image2pipe` 里的 JPEG 序列**没有时间戳**：一串帧在 ffmpeg 看来就是"以固定 + /// 帧率播放的图片"。所以帧率必须由我们告诉它，而这个数只能来自实测。用 0 让它 + /// 自动取，是为了不让现场去猜一个"看着差不多"的值——猜错的表现是回放快放或慢放， + /// 而且看不出来是哪里错了。 + pub fps: f32, + /// x264 的质量参数，越小越清晰、文件越大。 + pub crf: u8, + /// x264 preset。默认 `veryfast`：现场录制时 CPU 要和两路解码抢时间。 + pub preset: String, +} + +impl Default for RecordingConfig { + fn default() -> Self { + Self { + dir: None, + ffmpeg: "ffmpeg".to_string(), + fps: 0.0, + crf: 20, + preset: "veryfast".to_string(), + } + } +} + +impl RecordingConfig { + pub fn clamped(mut self) -> Self { + self.fps = if self.fps <= 0.0 { 0.0 } else { self.fps.clamp(1.0, 120.0) }; + self.crf = self.crf.min(51); + self + } +} + +// --------------------------------------------------------------------------- +// 配置 +// --------------------------------------------------------------------------- + +/// 磁盘上的配置。 +#[derive(Debug, Clone, Serialize, Deserialize)] +#[serde(default, deny_unknown_fields, rename_all = "camelCase")] +pub struct Config { + pub version: u32, + pub role: Role, + /// 身份是不是已经**由人**选过了。 + /// + /// `role` 的默认值是裁判端（它是唯一不需要配置就能用的模式），所以"role == referee" + /// 既可能是人选了裁判端，也可能只是还没人碰过这个文件。界面需要一个明确的判据来决定 + /// "首次启动时要不要先问一句"，否则第一次打开会直接进裁判端——用户端的使用者会以为 + /// 这个程序只有这一种界面。 + pub role_chosen: bool, + /// 用户端属于哪一边：0 = 队伍一，1 = 队伍二。 + pub team: u8, + /// 绑定的图传板（MAC 派生，重启不变）。 + #[serde(skip_serializing_if = "Option::is_none", with = "opt_hex_id")] + pub camera_id: Option, + /// 绑定的装甲板主板（MAC 派生）。 + #[serde(skip_serializing_if = "Option::is_none", with = "opt_hex_id")] + pub armor_id: Option, + /// 左右镜像。摄像头装反了，出图左右颠倒，所以默认翻回来。 + pub mirror: bool, + /// 密码的 Argon2id PHC 字符串。`None` = 还没设过。 + /// + /// 只对用户端有意义（[`Role::needs_password`]）。 + #[serde(skip_serializing_if = "Option::is_none")] + pub password: Option, + pub hud: HudConfig, + pub referee: RefereeConfig, + pub recording: RecordingConfig, +} + +impl Default for Config { + /// 默认是裁判端：它不需要任何配置就能用，是现场最省事的起点。 + fn default() -> Self { + Self { + version: CONFIG_VERSION, + role: Role::Referee, + role_chosen: false, + team: 0, + camera_id: None, + armor_id: None, + mirror: true, + password: None, + hud: HudConfig::default(), + referee: RefereeConfig::default(), + recording: RecordingConfig::default(), + } + } +} + +impl Config { + /// 从磁盘读取。文件不存在时返回默认配置——首次运行本来就没有配置。 + pub fn load(path: &Path) -> Result { + if !path.exists() { + log::info!("no config at {}; starting with defaults", path.display()); + return Ok(Self::default()); + } + + let text = std::fs::read_to_string(path) + .with_context(|| format!("reading {}", path.display()))?; + + Self::parse(&text).with_context(|| format!("parsing {}", path.display())) + } + + /// 解析 TOML 文本。 + pub fn parse(text: &str) -> Result { + let config: Config = toml::from_str(text)?; + config.validate()?; + Ok(config) + } + + /// 渲染成 TOML 文本。 + /// + /// 带上注释头，让这个文件在编辑器里自己解释自己。 + pub fn render(&self) -> Result { + let body = toml::to_string_pretty(self)?; + Ok(format!("{HEADER}{body}")) + } + + /// 写入磁盘，原子替换。 + pub fn save(&self, path: &Path) -> Result<()> { + if let Some(dir) = path.parent() { + std::fs::create_dir_all(dir) + .with_context(|| format!("creating {}", dir.display()))?; + } + + let text = self.render()?; + + // 同目录下的临时文件 + rename：rename 在同一文件系统上是原子的，所以配置 + // 要么是旧的完整内容，要么是新的完整内容，不会出现半截。 + let tmp = path.with_extension("toml.tmp"); + std::fs::write(&tmp, text) + .with_context(|| format!("writing {}", tmp.display()))?; + std::fs::rename(&tmp, path) + .with_context(|| format!("replacing {}", path.display()))?; + + log::info!("saved config to {}", path.display()); + Ok(()) + } + + /// 越界字段夹回范围，非法组合报错。 + pub fn validate(&self) -> Result<()> { + if self.team > 1 { + return Err(anyhow!( + "team must be 0 or 1 (0 = 队伍一, 1 = 队伍二), got {}", + self.team + )); + } + if self.version > CONFIG_VERSION { + return Err(anyhow!( + "this config was written by a newer version (config version {}, this build knows {CONFIG_VERSION})", + self.version + )); + } + Ok(()) + } + + /// 夹过一遍范围的可保存副本。 + pub fn normalized(mut self) -> Self { + self.hud = self.hud.clamped(); + self.recording = self.recording.clamped(); + self + } + + /// 这个身份现在就能用了吗？ + /// + /// 裁判端永远可以用（`Referee => true`），用户端要先绑好一块图传板——否则界面上 + /// 没有画面可看，只能去设置里选。 + pub fn is_bound(&self) -> bool { + match self.role { + Role::Referee => true, + Role::Team => self.camera_id.is_some(), + } + } + + /// 用户端还没设过密码吗。 + pub fn needs_password_setup(&self) -> bool { + self.role.needs_password() && self.password.is_none() + } + + /// 录制输出目录。 + pub fn recordings_dir(&self) -> PathBuf { + self.recording + .dir + .as_deref() + .map(PathBuf::from) + .filter(|p| !p.as_os_str().is_empty()) + .unwrap_or_else(default_recordings_dir) + } +} + +/// 配置文件开头那段自我说明。 +const HEADER: &str = "\ +# cam-desktop 配置。 +# +# 这个文件由程序写出，也可以手改；改完重启生效。 +# 未知的键名会被当作错误拒绝加载，而不是静默忽略——打错一个键名却看起来「生效了」 +# 在现场是要浪费时间的。 +# +# role : team | referee +# team = 用户端：一块画面 + 自己的血条与瞄准器 +# referee = 裁判端：两块画面 + 双方血量 + 装甲板列表 + 录制 +# team : 0 = 队伍一, 1 = 队伍二（仅 team 端用） +# cameraId : 图传板 id，由 MAC 派生，重启不变，所以绑定是稳的 +# armorId : 装甲板主板 id，同上 +# mirror : true = 左右镜像（摄像头装反了，默认） +# password : Argon2id 哈希（仅 team 端）。这里没有明文，也恢复不出明文； +# 忘了密码就删掉这一行，然后第一次启动会要求重新设置。 +# +# [hud.*] 用户端的界面可调项，改动会在设置面板里即时生效。 + +"; + +// --------------------------------------------------------------------------- +// 路径 +// --------------------------------------------------------------------------- + +fn home_dir() -> PathBuf { + std::env::var_os("HOME") + .map(PathBuf::from) + .filter(|p| !p.as_os_str().is_empty()) + .unwrap_or_else(|| PathBuf::from(".")) +} + +fn config_base() -> PathBuf { + std::env::var_os("XDG_CONFIG_HOME") + .map(PathBuf::from) + .filter(|p| !p.as_os_str().is_empty()) + .unwrap_or_else(|| home_dir().join(".config")) +} + +/// 默认配置文件位置：`~/.config/cam-desktop/config.toml`。 +/// +/// 沿用 `~/.config` 而不是 macOS 的 `~/Library/Application Support`，是为了让裁判机与 +/// 队伍机（可能是不同系统）的配置结构一致，现场照着文档说"第几行"时不会对不上。 +pub fn default_config_path() -> PathBuf { + config_base().join("cam-desktop").join("config.toml") +} + +/// 旧客户端（Slint 版）的配置位置。 +pub fn legacy_config_path() -> PathBuf { + config_base().join("cam-client").join("config.toml") +} + +/// 默认录制目录。 +pub fn default_recordings_dir() -> PathBuf { + let base = if cfg!(target_os = "macos") { + home_dir().join("Movies") + } else { + home_dir().join("Videos") + }; + + base.join("cam-desktop") +} + +// --------------------------------------------------------------------------- +// 旧配置导入 +// --------------------------------------------------------------------------- + +/// 从旧格式里认出来的字段。 +/// +/// 旧格式只有四个标量：`role` / `team` / `camera_id` / `mirror`。HUD、装甲板绑定、 +/// 密码都是新的，没有对应项，用默认值。 +#[derive(Debug, Clone, Default, PartialEq)] +pub struct LegacyImport { + pub role: Option, + pub team: Option, + pub camera_id: Option, + pub mirror: Option, +} + +impl LegacyImport { + /// 把认出来的字段铺到一份默认配置上。 + /// + /// 裁判端不导入 `camera_id`：旧配置里那一项只对队伍端有意义，而裁判端是自动分配 + /// 槽位的，硬塞一个"绑定"进去会让它少看一路。 + pub fn apply_to(&self, mut config: Config) -> Config { + if let Some(role) = self.role { + config.role = role; + // 旧配置里写着角色，说明当年是人选过的。 + config.role_chosen = true; + } + if let Some(team) = self.team { + config.team = team.min(1); + } + if let Some(mirror) = self.mirror { + config.mirror = mirror; + } + if let Some(id) = self.camera_id { + config.camera_id = Some(id); + } + config + } +} + +/// 解析旧格式的配置文本。 +/// +/// 旧格式的语法极窄：`key = value`、`#` 注释、字符串可带引号、id 可以是 `0x` 十六进制。 +/// 这里只认那四个键，认不出的行直接跳过——这一份代码的使命就是"读一次然后退休"， +/// 没必要把旧版的报错逻辑一并搬过来。 +pub fn parse_legacy(text: &str) -> LegacyImport { + let mut out = LegacyImport::default(); + + for raw in text.lines() { + let line = raw.split('#').next().unwrap_or("").trim(); + if line.is_empty() { + continue; + } + + let Some((key, value)) = line.split_once('=') else { + continue; + }; + + let value = value.trim().trim_matches('"'); + + match key.trim() { + "role" => out.role = Role::parse(value), + "team" => out.team = value.parse().ok(), + "camera_id" => out.camera_id = parse_id(value), + "mirror" => out.mirror = value.parse().ok(), + _ => {} + } + } + + out +} + +/// 解析 `0x1A2B3C4D` 或十进制。 +pub fn parse_id(text: &str) -> Option { + let text = text.trim(); + + if let Some(hex) = text.strip_prefix("0x").or_else(|| text.strip_prefix("0X")) { + u32::from_str_radix(hex, 16).ok() + } else { + text.parse().ok() + } +} + +/// 首次启动时把旧配置导进来，并把旧文件改名成 `.bak`。 +/// +/// 返回值里的 `Vec` 是要显示给用户/写进日志的说明。旧文件**不删**：现场出问题 +/// 时，"旧的那份到底写了什么"是第一个要看的东西。 +pub fn load_with_migration(path: &Path) -> Result<(Config, Vec)> { + load_with_migration_at(path, &legacy_config_path()) +} + +/// 与 [`load_with_migration`] 相同，但旧配置的路径由调用方给。 +/// +/// 拆出这个入口是为了能测：默认路径是写死的，测试没法在不碰真实 +/// `~/.config/cam-client/config.toml` 的前提下验证导入与备份。 +pub fn load_with_migration_at( + path: &Path, + legacy_path: &Path, +) -> Result<(Config, Vec)> { + let mut notes = Vec::new(); + + if path.exists() { + return Ok((Config::load(path)?.normalized(), notes)); + } + + let mut config = Config::default(); + + if legacy_path.exists() { + match std::fs::read_to_string(legacy_path) { + Ok(text) => { + let imported = parse_legacy(&text); + config = imported.apply_to(config).normalized(); + notes.push(format!( + "已从旧配置 {} 导入 role/team/camera_id/mirror", + legacy_path.display() + )); + } + Err(err) => notes.push(format!("读不了旧配置 {}：{err}", legacy_path.display())), + } + + // 改名而不是删除。已经有 .bak 就往后排一个序号，不覆盖上一次的现场证据。 + let backup = next_free_backup_path(legacy_path); + match std::fs::rename(legacy_path, &backup) { + Ok(()) => notes.push(format!("旧配置已备份为 {}", backup.display())), + Err(err) => notes.push(format!("旧配置备份失败（{err}），原文件保持不动")), + } + } + + // 立刻落盘：否则"第一次启动"的每一步都会重新走一遍导入逻辑。 + config.save(path)?; + + Ok((config, notes)) +} + +/// 找一个还没被占用的备份名：`config.toml` → `config.toml.bak` → `.bak.2` → … +fn next_free_backup_path(path: &Path) -> PathBuf { + let base = PathBuf::from(format!("{}.bak", path.display())); + + if !base.exists() { + return base; + } + + for n in 2..1000 { + let candidate = PathBuf::from(format!("{}.{n}", base.display())); + if !candidate.exists() { + return candidate; + } + } + + base +} + +// --------------------------------------------------------------------------- +// id 的十六进制表示 +// --------------------------------------------------------------------------- + +/// 让 id 在文件里写成 `"0x3D4D8A9A"` 而不是 `1024363162`。 +/// +/// 界面上、日志里、Hello 广播里显示的 id 全是这个十六进制形式。配置文件跟着写成一样 +/// 的形式，现场才能"看到界面上那个 id，去文件里找到它"。 +mod opt_hex_id { + use serde::{Deserialize, Deserializer, Serializer}; + + pub fn serialize(id: &Option, s: S) -> Result { + match id { + // 这个分支到不了（字段上还有 skip_serializing_if），但把它写对是必须的： + // toml 序列化 `None` 会直接报错。 + None => s.serialize_none(), + Some(id) => s.serialize_str(&format!("0x{id:08X}")), + } + } + + pub fn deserialize<'de, D: Deserializer<'de>>(d: D) -> Result, D::Error> { + let text = Option::::deserialize(d)?; + + match text { + None => Ok(None), + Some(text) => super::parse_id(&text).map(Some).ok_or_else(|| { + serde::de::Error::custom(format!("{text:?} is not an id like 0x1A2B3C4D")) + }), + } + } +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn a_default_config_is_a_referee() { + let config = Config::default(); + assert_eq!(config.role, Role::Referee); + assert!(config.is_bound(), "the referee watches everything"); + assert!(!config.needs_password_setup(), "裁判端不设密码"); + } + + #[test] + fn the_roundtrip_survives_every_field() { + let mut config = Config::default(); + config.role = Role::Team; + config.role_chosen = true; + config.team = 1; + config.camera_id = Some(0x3D4D_8A9A); + config.armor_id = Some(0x00AB_CDEF); + config.mirror = false; + config.password = Some("$argon2id$v=19$m=19456,t=2,p=1$c2FsdA$aGFzaA".to_string()); + config.hud.crosshair.offset_x = -0.125; + config.hud.crosshair.style = CrosshairStyle::CircleDot; + config.referee.slot_b = Some(0x1234_5678); + config.referee.manual_slots = true; + config.recording.crf = 18; + + let text = config.render().expect("renders"); + let back = Config::parse(&text).expect("parses"); + + assert_eq!(back.role, Role::Team); + assert!(back.role_chosen); + assert_eq!(back.team, 1); + assert_eq!(back.camera_id, Some(0x3D4D_8A9A)); + assert_eq!(back.armor_id, Some(0x00AB_CDEF)); + assert!(!back.mirror); + assert_eq!(back.password, config.password); + assert_eq!(back.hud.crosshair.offset_x, -0.125); + assert_eq!(back.hud.crosshair.style, CrosshairStyle::CircleDot); + assert_eq!(back.referee.slot_b, Some(0x1234_5678)); + assert!(back.referee.manual_slots); + assert_eq!(back.recording.crf, 18); + } + + #[test] + fn ids_are_written_in_hex_so_they_match_the_ui() { + let mut config = Config::default(); + config.camera_id = Some(0x3D4D_8A9A); + + let text = config.render().unwrap(); + assert!( + text.contains(r#"cameraId = "0x3D4D8A9A""#), + "expected a hex id the on-site reader can match against the UI:\n{text}" + ); + } + + #[test] + fn a_missing_file_is_the_default_not_an_error() { + let config = Config::load(Path::new("/nonexistent/cam-desktop/config.toml")) + .expect("a missing config is a normal first run"); + assert_eq!(config.role, Role::Referee); + } + + #[test] + fn a_typo_is_refused_instead_of_silently_ignored() { + // 这是从旧版继承下来的原则：静默忽略一个打错的键，会让配置看起来生效了。 + assert!(Config::parse("rol = \"team\"").is_err(), "unknown top-level key"); + assert!(Config::parse("role = \"camera\"").is_err(), "bad role value"); + assert!(Config::parse("team = 9").is_err(), "team out of range"); + assert!( + Config::parse("[hud]\nwat = 1").is_err(), + "unknown nested key" + ); + assert!(Config::parse("cameraId = \"nope\"").is_err(), "bad id"); + } + + #[test] + fn an_older_config_without_the_new_sections_still_loads() { + // 只写了 role 的极简文件必须能用：加字段靠 serde(default)，不该要求迁移。 + let config = Config::parse("role = \"team\"\nteam = 1\ncameraId = \"0x0A0B0C0D\"") + .expect("parses"); + + assert_eq!(config.role, Role::Team); + assert_eq!(config.camera_id, Some(0x0A0B_0C0D)); + assert!(config.hud.health.visible, "defaults fill the rest"); + assert_eq!(config.version, CONFIG_VERSION); + } + + #[test] + fn a_newer_config_is_refused_rather_than_half_understood() { + let err = Config::parse("version = 99").expect_err("refuses"); + assert!( + err.to_string().contains("newer version"), + "the message must say why: {err}" + ); + } + + #[test] + fn an_absent_role_falls_back_to_the_referee_but_is_not_marked_as_chosen() { + let config = Config::parse("team = 1").expect("parses"); + assert_eq!(config.role, Role::Referee, "the only config-free mode"); + assert!(!config.role_chosen, "默认值不等于人选过——首启要问一句"); + } + + #[test] + fn an_explicit_or_imported_role_counts_as_chosen() { + let config = Config::parse(r#"role = "referee" +roleChosen = true"#) + .unwrap(); + assert!(config.role_chosen); + + // 旧格式里写着角色也算人选过。 + let imported = parse_legacy(r#"role = "team""#).apply_to(Config::default()); + assert!(imported.role_chosen); + assert_eq!(imported.role, Role::Team); + } + + #[test] + fn a_team_without_a_camera_is_unbound() { + let config = Config::parse("role = \"team\"\nteam = 0").expect("parses"); + assert!(!config.is_bound(), "must ask which camera to watch"); + assert!(config.needs_password_setup(), "first run sets a password"); + } + + #[test] + fn out_of_range_hud_values_are_clamped_not_rejected() { + // 手改配置写出一个 size = 5.0 会让瞄准器直接消失。夹一下比让人查半天便宜。 + let config = Config::parse("[hud.crosshair]\nsize = 5.0\noffsetX = 9.0").unwrap(); + let hud = config.hud.clamped(); + + assert!(hud.crosshair.size <= 0.4); + assert!(hud.crosshair.offset_x <= 0.5); + } + + #[test] + fn save_and_load_do_not_lose_the_password_hash() { + let dir = std::env::temp_dir().join(format!("cam-desktop-cfg-{}", std::process::id())); + let path = dir.join("nested").join("config.toml"); + + let mut config = Config::default(); + config.role = Role::Team; + config.camera_id = Some(0xAAAA_BBBB); + config.password = Some("$argon2id$v=19$m=8,t=1,p=1$c2FsdA$aGFzaA".into()); + + config.save(&path).expect("saves"); + let back = Config::load(&path).expect("loads"); + + assert_eq!(back.password, config.password); + assert_eq!(back.camera_id, config.camera_id); + assert!( + !path.with_extension("toml.tmp").exists(), + "the atomic temp file must be gone" + ); + + let _ = std::fs::remove_dir_all(&dir); + } + + #[test] + fn legacy_configs_are_understood() { + let imported = parse_legacy( + r#" + # 队伍一的机器 + role = "team" + team = 1 + camera_id = "0x3D4D8A9A" + mirror = false + some_future_key = 1 + "#, + ); + + assert_eq!(imported.role, Some(Role::Team)); + assert_eq!(imported.team, Some(1)); + assert_eq!(imported.camera_id, Some(0x3D4D_8A9A)); + assert_eq!(imported.mirror, Some(false)); + } + + #[test] + fn importing_a_legacy_config_backs_the_old_file_up() { + let dir = std::env::temp_dir().join(format!("cam-desktop-mig-{}", std::process::id())); + std::fs::create_dir_all(&dir).unwrap(); + + let path = dir.join("config.toml"); + let legacy = dir.join("legacy-config.toml"); + std::fs::write( + &legacy, + "role = \"team\"\nteam = 1\ncamera_id = \"0x3D4D8A9A\"\nmirror = false\n", + ) + .unwrap(); + + let (config, notes) = load_with_migration_at(&path, &legacy).expect("migrates"); + + assert_eq!(config.role, Role::Team); + assert_eq!(config.team, 1); + assert_eq!(config.camera_id, Some(0x3D4D_8A9A)); + assert!(!config.mirror); + assert!(path.exists(), "the new config is written immediately"); + assert!(!legacy.exists(), "the old file is moved aside, not deleted"); + assert!(dir.join("legacy-config.toml.bak").exists()); + assert!(notes.len() >= 2, "the notes explain what happened: {notes:?}"); + + // 第二次启动不该再走导入：新文件已经在了。 + let (again, notes) = load_with_migration_at(&path, &legacy).expect("loads"); + assert_eq!(again.camera_id, Some(0x3D4D_8A9A)); + assert!(notes.is_empty()); + + let _ = std::fs::remove_dir_all(&dir); + } + + #[test] + fn a_first_run_with_no_legacy_file_just_writes_defaults() { + let dir = std::env::temp_dir().join(format!("cam-desktop-fresh-{}", std::process::id())); + let path = dir.join("config.toml"); + + let (config, notes) = load_with_migration_at(&path, &dir.join("nope.toml")).unwrap(); + + assert_eq!(config.role, Role::Referee); + assert!(notes.is_empty()); + assert!(path.exists()); + + let _ = std::fs::remove_dir_all(&dir); + } + + #[test] + fn backup_names_do_not_clobber_evidence() { + let dir = std::env::temp_dir().join(format!("cam-desktop-bak-{}", std::process::id())); + std::fs::create_dir_all(&dir).unwrap(); + let path = dir.join("config.toml"); + + std::fs::write(&path, "x").unwrap(); + let first = next_free_backup_path(&path); + assert!(first.to_string_lossy().ends_with("config.toml.bak")); + + std::fs::write(&first, "y").unwrap(); + let second = next_free_backup_path(&path); + assert!( + second.to_string_lossy().ends_with("config.toml.bak.2"), + "got {}", + second.display() + ); + + let _ = std::fs::remove_dir_all(&dir); + } + + #[test] + fn a_referee_legacy_import_keeps_the_referee_role() { + let imported = parse_legacy("role = \"referee\"\ncamera_id = \"0x1\""); + let config = imported.apply_to(Config::default()); + + assert_eq!(config.role, Role::Referee); + // 旧配置里的 camera_id 只对队伍端有意义；裁判端保留它但不会用它去限制接收。 + assert_eq!(config.camera_id, Some(1)); + assert!(config.is_bound()); + } + + #[test] + fn the_recordings_dir_honours_an_explicit_setting() { + let mut config = Config::default(); + config.recording.dir = Some("/tmp/cam-recordings".into()); + assert_eq!(config.recordings_dir(), PathBuf::from("/tmp/cam-recordings")); + + config.recording.dir = Some(String::new()); + assert_eq!( + config.recordings_dir(), + default_recordings_dir(), + "an empty string means `not set`, not `write to the current directory`" + ); + } + + #[test] + fn only_the_team_end_needs_a_password() { + assert!(Role::Team.needs_password()); + assert!(!Role::Referee.needs_password()); + } +} diff --git a/desktop/core/src/lib.rs b/desktop/core/src/lib.rs new file mode 100644 index 0000000..6262641 --- /dev/null +++ b/desktop/core/src/lib.rs @@ -0,0 +1,43 @@ +//! cam-core —— 桌面端的非界面部分。 +//! +//! 这一层不认识 Tauri，也不认识任何界面：它只负责 +//! +//! - [`receiver`]：收 UDP、发现摄像头、按发送方重组 JPEG 帧； +//! - [`armor`]：收装甲板主板广播的血量，并列出场上有哪几块板子； +//! - [`stats`]：帧率统计（按帧数除以墙钟，不是对帧间隔取平均）； +//! - [`config`]：磁盘上的配置（身份、绑定、HUD、密码哈希）； +//! - [`password`]：密码的哈希与校验。 +//! +//! # 为什么单独一层 +//! +//! 旧的 Slint 客户端把这几件事和界面耦合在一个 crate 里，于是**它们只能通过跑起 +//! 整个界面来验证**。抽出来之后，重组、发现、帧率窗口、血量新鲜度都能用单元测试 +//! 直接盯住——而它们恰好是最容易错、错了又最难在现场看出来的部分。 +//! +//! # 界面怎么拿数据 +//! +//! 两条路，都是**推**而不是轮询： +//! +//! - 视频帧走 [`receiver::Receiver::set_frame_sink`]：接收线程重组好一张 JPEG 就 +//! 交给 sink，由上层转成 WebSocket 的二进制消息。sink 必须是非阻塞的。 +//! - 血量走 [`armor::ArmorHealthStore::set_sink`]：每收到一条上报就交给 sink。 +//! +//! 同时两边的**最新值**都留在内存里（[`receiver::LatestFrames`] 与 +//! [`armor::ArmorHealthStore::boards`]），给"截图"和"设置界面里的下拉列表"用—— +//! 那两处要的是当前状态，不是每一帧。 + +pub mod armor; +pub mod config; +pub mod password; +pub mod receiver; +pub mod slots; +pub mod snapshot; +pub mod stats; + +pub use config::{Config, HudConfig, Role}; +pub use receiver::{ + ArmorSource, CameraInfo, FrameSink, LatestFrames, NoArmorYet, Receiver, SourceStats, + ARMOR_BOARDS, +}; +pub use slots::SlotAllocator; +pub use stats::FpsWindow; diff --git a/desktop/core/src/password.rs b/desktop/core/src/password.rs new file mode 100644 index 0000000..4b5753b --- /dev/null +++ b/desktop/core/src/password.rs @@ -0,0 +1,148 @@ +//! 密码：哈希、校验、强度下限。 +//! +//! # 这把锁挡的是谁 +//! +//! 必须说清楚，否则会被当成一把它并不是的锁： +//! +//! - **挡得住**：现场随手改绑定。选手想把自己的画面换到对手那块板子上，得先知道密码； +//! 围观的人翻不到明文密码（只有 Argon2id 哈希），也不能靠改配置文件把绑定改掉—— +//! 改了之后界面会要求先解锁。 +//! - **挡不住**：一个愿意在自己机器上重编这个客户端的人。配置文件与二进制都在他手上， +//! 删掉哈希、或者直接改源码都行。真正封住这件事要靠固件侧的配对 token（见根 README +//! 里"这挡不住什么"那一节）。 +//! +//! 所以它的定位是**防误触与防随手改**，不是密码学意义上的对抗。这也是为什么强度下限 +//! 只要 4 位：一个 8 位强密码在这里换不来任何实际的安全增益，却会让现场每次改绑都要 +//! 掏手机查一遍。 +//! +//! # 为什么是 Argon2 而不是 SHA-256 +//! +//! 密码短（4 位数字只有 1 万种），任何**快**哈希都能在一秒内被穷举完。Argon2id 是 +//! 内存硬的，把每次尝试的代价抬到几十毫秒——即使密码很短，"改配置文件暴力试密码" +//! 这条路也变得不划算。存的是标准的 PHC 字符串（`$argon2id$v=19$m=...`），参数跟着 +//! 哈希一起躺在配置里，所以以后调参数不需要做迁移。 + +use anyhow::{anyhow, Result}; +use argon2::password_hash::{PasswordHash, PasswordHasher, PasswordVerifier, SaltString}; +use argon2::Argon2; +use rand::RngCore; + +/// 密码的最短长度。 +/// +/// 见模块文档：这不是安全边界，长度下限只用来挡住"密码是 1 个字符"这种显然是随手打的 +/// 情况。 +pub const MIN_PASSWORD_LEN: usize = 4; + +/// 算一个密码的 PHC 字符串。 +/// +/// 每次调用都用新的随机盐，所以同一个密码两次得到的结果不同——这样哈希不能当查找表用。 +pub fn hash_password(password: &str) -> Result { + check_strength(password)?; + + let mut salt = [0u8; 16]; + rand::rng().fill_bytes(&mut salt); + + let salt = SaltString::encode_b64(&salt) + .map_err(|err| anyhow!("could not encode the salt: {err}"))?; + + // Argon2::default() 就是 Argon2id、v19、Params::DEFAULT（19 MiB，t=2）。 + let hash = Argon2::default() + .hash_password(password.as_bytes(), &salt) + .map_err(|err| anyhow!("could not hash the password: {err}"))?; + + Ok(hash.to_string()) +} + +/// 校验一个密码。 +/// +/// 返回 `Ok(false)` 表示"密码不对"，返回 `Err` 表示"存下来的哈希本身坏了"——这两种 +/// 必须区分开：前者是用户输错了，后者是配置文件被改坏了，界面上要给完全不同的提示。 +pub fn verify_password(password: &str, phc: &str) -> Result { + let parsed = PasswordHash::new(phc) + .map_err(|err| anyhow!("the stored password hash is not a valid PHC string: {err}"))?; + + // `password-hash` 的解析器很宽松：`$argon2id$broken` 这种**截断**的字符串也能解析 + // 成功，只是解析出来的对象里没有盐、没有摘要。于是所有校验都失败，被 `is_ok()` + // 读成"密码错了"——现场表现是"密码明明是对的，却一直说密码错"，然后所有人开始 + // 怀疑键盘。所以这里显式要求盐与摘要都在。 + if parsed.salt.is_none() || parsed.hash.is_none() { + return Err(anyhow!( + "the stored password hash is incomplete (no salt or no digest): {phc:?}" + )); + } + + Ok(Argon2::default() + .verify_password(password.as_bytes(), &parsed) + .is_ok()) +} + +/// 检查长度下限。 +pub fn check_strength(password: &str) -> Result<()> { + if password.chars().count() < MIN_PASSWORD_LEN { + return Err(anyhow!( + "密码至少 {MIN_PASSWORD_LEN} 位（现在是 {} 位）", + password.chars().count() + )); + } + + Ok(()) +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn a_password_verifies_against_its_own_hash() { + let phc = hash_password("1234").expect("hashes"); + assert!(verify_password("1234", &phc).expect("verifies")); + } + + #[test] + fn a_wrong_password_is_false_not_an_error() { + let phc = hash_password("1234").expect("hashes"); + + assert!(!verify_password("1235", &phc).expect("the hash itself is fine")); + assert!(!verify_password("", &phc).expect("the hash itself is fine")); + } + + #[test] + fn the_same_password_hashes_differently_every_time() { + // 随机盐：否则配置文件里的哈希就是一个可以拿去查表的指纹。 + let a = hash_password("1234").expect("hashes"); + let b = hash_password("1234").expect("hashes"); + + assert_ne!(a, b, "a fresh salt each time"); + assert!(verify_password("1234", &a).unwrap()); + assert!(verify_password("1234", &b).unwrap()); + } + + #[test] + fn the_hash_is_argon2id_and_carries_its_parameters() { + // 参数写在 PHC 字符串里，所以以后调参数不需要迁移旧配置。 + let phc = hash_password("1234").expect("hashes"); + assert!(phc.starts_with("$argon2id$"), "got {phc}"); + assert!(phc.contains("$v=19$"), "got {phc}"); + } + + #[test] + fn a_corrupt_stored_hash_is_an_error_not_a_wrong_password() { + // 这两种情况必须能分开：一个是输错了，一个是配置文件坏了。 + assert!(verify_password("1234", "not a phc string").is_err()); + assert!(verify_password("1234", "$argon2id$broken").is_err()); + } + + #[test] + fn a_too_short_password_is_refused_at_set_time() { + assert!(hash_password("123").is_err()); + assert!(hash_password("").is_err()); + assert!(hash_password("1234").is_ok()); + } + + #[test] + fn a_non_ascii_password_works() { + let phc = hash_password("口令甲乙").expect("hashes"); + assert!(verify_password("口令甲乙", &phc).unwrap()); + assert!(!verify_password("口令甲丙", &phc).unwrap()); + } +} diff --git a/desktop/core/src/receiver.rs b/desktop/core/src/receiver.rs new file mode 100644 index 0000000..a14f443 --- /dev/null +++ b/desktop/core/src/receiver.rs @@ -0,0 +1,764 @@ +//! UDP 接收、发现、多路帧重组。 +//! +//! # 多路 +//! +//! 裁判终端同时收两块图传板，队伍终端也会收到两块（只是界面上只显示绑定的那一块）。 +//! 所以重组状态**必须按发送方分开**——把两块板的帧塞进同一个重组器，会让它们各自的 +//! `frame_id` 互相顶掉，两路都出不来。 +//! +//! # 发现与订阅 +//! +//! 两个方向各司其职： +//! +//! - 板子每 2 秒广播一次 [`protocol::MsgType::Hello`]，客户端被动收到就知道有谁在线。 +//! - 客户端广播 [`protocol::MsgType::Subscribe`]，板子收到后开始定向推流。 +//! +//! 板子靠**源地址**记住客户端，所以客户端只要周期性续订就能维持推流，不存在任何 +//! 超时淘汰的竞态。 +//! +//! # 丢帧策略 +//! +//! 缺了分片的帧整个丢弃、下一帧顶上，不重传也不尝试补洞。对实时画面这是对的：等 +//! 重传补齐时，那一帧早就不新鲜了。代价是丢帧率必须摆在界面上，否则"画面卡"没法 +//! 区分是链路问题还是传感器问题。 +//! +//! # 两道闸门，不是一个 +//! +//! 旧客户端只有一道 `only_sender`：队伍端绑定了之后，连**发现**别人的板子都做不到， +//! 于是"改绑"只能靠手改配置文件或删文件。 +//! +//! 现在绑定可以在界面上改（需密码），所以闸门分成两道： +//! +//! | 闸门 | 管什么 | 什么时候开 | +//! |---|---|---| +//! | `only_sender` | 帧的重组与投递 | 队伍端始终是绑定的那一块 | +//! | `discovery_all` | 是否记录**其它**板子的 Hello | 只在密码解锁后的设置界面里打开 | +//! +//! 这是有意的加强而不是放松：设置界面需要列出候选摄像头（否则无从选起），但**画面 +//! 不需要**——对手的板子即使把流推到本机端口、即使被记进发现列表，它的帧仍然进不了 +//! 重组器。旧版把两件事绑在一道闸门上，只能在"能列候选"和"挡住对手"之间二选一。 +//! +//! # 可测性 +//! +//! 数据报的处理（[`Receiver::datagram`]）与 socket 完全分开：测试直接喂字节进去， +//! 不需要绑 5600 端口，也就不需要真实网络。 + +use std::collections::HashMap; +use std::io::ErrorKind; +use std::net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket}; +use std::sync::atomic::{AtomicBool, Ordering}; +use std::sync::{Arc, Mutex}; +use std::thread; +use std::time::{Duration, Instant}; + +use protocol::{ + Fragment, FrameAssembler, Subscribe, SubscribeRole, DEFAULT_PORT, HEADER_LEN, +}; + +/// 接受的最大数据报。高于协议的理论上限（1427），留出余量，这样一个被截断的读只可能 +/// 来自网络，而不是来自过小的缓冲。 +const RECV_BUFFER: usize = 2048; + +/// 重新广播订阅的间隔。 +/// +/// 比板子判定"客户端掉线"的超时（6 秒）短得多，所以偶发丢一两个包不会中断推流。 +const SUBSCRIBE_INTERVAL: Duration = Duration::from_millis(800); + +/// 一张帧没收齐就放弃的时限。 +/// +/// 一帧在 22fps 下约 45ms 到，所以几百毫秒还没齐的永远不会齐了。 +const FRAME_TIMEOUT: Duration = Duration::from_millis(500); + +/// 一块已知的图传板。 +#[derive(Debug, Clone)] +pub struct CameraInfo { + pub id: u32, + pub addr: SocketAddrV4, + pub firmware: u16, + /// 最近一次收到它广播的时刻。 + pub last_seen: Instant, +} + +impl CameraInfo { + /// 多久没有广播了。 + pub fn silence(&self) -> Duration { + self.last_seen.elapsed() + } + + /// 板子在线吗？ + /// + /// 阈值是广播间隔的数倍，所以偶发丢包不会让界面上的在线状态闪烁。 + pub fn is_online(&self) -> bool { + self.silence() < Duration::from_secs(7) + } +} + +/// 一块板的运行时统计。 +#[derive(Debug, Clone, Copy, Default)] +pub struct SourceStats { + pub frames_shown: u64, + /// 因分片缺失被放弃的帧。 + pub frames_dropped: u64, + pub datagrams: u64, + pub last_frame_len: usize, + pub width: u16, + pub height: u16, + /// 上一帧到这一帧之间的间隔。 + pub last_interval: Option, + last_shown_at: Option, +} + +impl SourceStats { + /// 丢弃的帧占已收到帧的比例。 + pub fn loss_percent(&self) -> f32 { + let total = self.frames_shown + self.frames_dropped; + if total == 0 { + 0.0 + } else { + self.frames_dropped as f32 * 100.0 / total as f32 + } + } + + /// 上一帧到这一帧的间隔，毫秒。 + pub fn gap_ms(&self) -> Option { + self.last_interval.map(|d| d.as_secs_f32() * 1000.0) + } + + fn on_frame(&mut self, width: u16, height: u16, len: usize) { + self.last_interval = self.last_shown_at.map(|t| t.elapsed()); + self.last_shown_at = Some(Instant::now()); + self.frames_shown += 1; + self.width = width; + self.height = height; + self.last_frame_len = len; + } +} + +/// 每一路的**最新**一帧。 +/// +/// 每路只保留最新的一张：这张图有两个用途，都不需要历史——截图（存盘的那一张应该 +/// 是按下按钮时看到的画面）和慢速客户端的补帧。真正的实时画面走 +/// [`Receiver::set_frame_sink`] 的推送路径，不从这里取。 +/// +/// 用 `Arc` 而不是 `Vec`：同一张帧要同时给 sink 和这个缓存，克隆一个 22 kB 的 +/// 缓冲区是每秒 22 次不必要的分配。 +#[derive(Default)] +pub struct LatestFrames { + inner: Mutex>>, +} + +impl LatestFrames { + pub fn put(&self, frame: Arc) { + self.inner + .lock() + .expect("latest-frames mutex poisoned") + .insert(frame.sender_id, frame); + } + + /// 取某一路的最新帧（克隆的是 `Arc`，不是 JPEG）。 + pub fn latest(&self, sender_id: u32) -> Option> { + self.inner + .lock() + .expect("latest-frames mutex poisoned") + .get(&sender_id) + .cloned() + } + + /// 所有已知来源的最新帧，按 id 排序，让界面上的顺序稳定。 + pub fn latest_all(&self) -> Vec> { + let mut list: Vec> = self + .inner + .lock() + .expect("latest-frames mutex poisoned") + .values() + .cloned() + .collect(); + + list.sort_by_key(|f| f.sender_id); + list + } +} + +/// 帧的消费者。 +/// +/// 在接收线程里被调用，所以**必须是非阻塞的**：一次 `send` 到一个有界广播通道、 +/// 一次 `try_send`，都可以；写文件、等锁、发网络请求都不行——那会把接收循环拖慢， +/// 表现为链路上本不存在的丢帧。 +pub type FrameSink = Arc) + Send + Sync>; + +/// 所有板子的共享状态，跨线程只读。 +pub struct Discovery { + cameras: Mutex>, + stats: Mutex>, +} + +impl Discovery { + fn new() -> Self { + Self { + cameras: Mutex::new(HashMap::new()), + stats: Mutex::new(HashMap::new()), + } + } + + /// 当前已知的板子，按 id 排序。 + pub fn cameras(&self) -> Vec { + let mut list: Vec = self + .cameras + .lock() + .expect("cameras mutex poisoned") + .values() + .cloned() + .collect(); + + list.sort_by_key(|c| c.id); + list + } + + /// 在线且刚刚广播过的板子。 + pub fn online_cameras(&self) -> Vec { + self.cameras() + .into_iter() + .filter(CameraInfo::is_online) + .collect() + } + + /// 某一路的统计。 + pub fn stats(&self, sender_id: u32) -> SourceStats { + self.stats + .lock() + .expect("stats mutex poisoned") + .get(&sender_id) + .copied() + .unwrap_or_default() + } + + /// 只刷新存活时间戳，不改地址或固件版本。 + /// + /// 收到视频帧时调用：正在推流本身就是最可靠的存活证据。 + fn touch(&self, id: u32) { + let mut cameras = self.cameras.lock().expect("cameras mutex poisoned"); + + if let Some(info) = cameras.get_mut(&id) { + info.last_seen = Instant::now(); + } + } + + fn note_hello(&self, id: u32, addr: SocketAddrV4, firmware: u16) -> bool { + let mut cameras = self.cameras.lock().expect("cameras mutex poisoned"); + + match cameras.get_mut(&id) { + Some(info) => { + info.addr = addr; + info.last_seen = Instant::now(); + info.firmware = firmware; + false + } + None => { + cameras.insert( + id, + CameraInfo { + id, + addr, + firmware, + last_seen: Instant::now(), + }, + ); + true + } + } + } + + fn note_frame(&self, id: u32, width: u16, height: u16, len: usize) { + let mut stats = self.stats.lock().expect("stats mutex poisoned"); + stats.entry(id).or_default().on_frame(width, height, len); + } + + fn count(&self, id: u32, f: impl FnOnce(&mut SourceStats)) { + let mut stats = self.stats.lock().expect("stats mutex poisoned"); + f(stats.entry(id).or_default()); + } + + /// 超过 `max_idle` 没有广播的板子从列表里移除。 + /// + /// 界面上不会留下一堆永远离线的板子。 + pub fn forget_silent_cameras(&self, max_idle: Duration) { + self.cameras + .lock() + .expect("cameras mutex poisoned") + .retain(|_, c| c.silence() < max_idle); + } +} + +/// 客户端身份。 +/// +/// 常量而非 MAC 派生：队伍客户端和裁判终端各自唯一，进程内也不需要区分自己，而一个 +/// 确定的常量让日志更好读。 +pub const CLIENT_ID: u32 = 0x0C11_0001; + +/// 接收循环的可变状态：只由接收线程在跑循环时访问。 +struct Ingest { + /// 每个发送方一个重组器。 + assemblers: HashMap, + /// 只处理这一块板子的**帧**，`None` 表示全都要（裁判端）。 + only_sender: Option, + /// 是否记录**其它**板子的 Hello。 + discovery_all: bool, +} + +/// 接收器。 +/// +/// 构造（[`Receiver::new`]）不碰网络，`run` 才需要 socket。这样数据报处理的逻辑可以 +/// 在没有网络的情况下被单元测试直接喂字节。 +pub struct Receiver { + discovery: Arc, + latest: Arc, + /// 帧的非阻塞消费者，由上层注入。 + sink: Mutex>, + ingest: Mutex, + /// 身份可以运行时切换（同一个进程里从裁判端切到用户端），所以订阅里声明的角色 + /// 也得能改——它决定板子要不要给这个客户端推流。 + role: Mutex, + camera: Ipv4Addr, + stop: Arc, +} + +impl Receiver { + /// 建一个接收器，但先不绑端口。 + /// + /// `only_sender` 为 `Some` 时只接受那一块板子的帧。 + pub fn new(camera: Ipv4Addr, role: SubscribeRole, only_sender: Option) -> Self { + Self { + discovery: Arc::new(Discovery::new()), + latest: Arc::new(LatestFrames::default()), + sink: Mutex::new(None), + ingest: Mutex::new(Ingest { + assemblers: HashMap::new(), + only_sender, + discovery_all: false, + }), + role: Mutex::new(role), + camera, + stop: Arc::new(AtomicBool::new(false)), + } + } + + /// 绑定视频端口并准备好发现。 + /// + /// 绑定固定端口（而非临时端口）是必须的：板子是从订阅的**源端口**学到推流目标的。 + /// 绑定在这里而不是在接收线程里，这样"端口被占用"会立刻报错，而不是被线程吞掉、 + /// 表现为一个永远不出画面的空窗口。 + pub fn start( + camera: Ipv4Addr, + role: SubscribeRole, + only_sender: Option, + ) -> std::io::Result<(Self, UdpSocket)> { + let socket = + UdpSocket::bind(SocketAddrV4::new(Ipv4Addr::UNSPECIFIED, DEFAULT_PORT))?; + socket.set_read_timeout(Some(Duration::from_millis(100)))?; + + let broadcast = socket.set_broadcast(true).is_ok(); + if !broadcast { + log::warn!("could not enable broadcast on the socket"); + } + + Ok((Self::new(camera, role, only_sender), socket)) + } + + /// 绑定之后切换限制目标，或解除限制。 + /// + /// 队伍端在设置界面里改绑一块板子时调用。 + pub fn restrict_to(&self, only_sender: Option) { + self.ingest + .lock() + .expect("ingest mutex poisoned") + .only_sender = only_sender; + } + + /// 当前限制到哪一块板子。 + pub fn sender_limit(&self) -> Option { + self.ingest.lock().expect("ingest mutex poisoned").only_sender + } + + /// 切换身份，下一次续订就生效（800 ms 内）。 + pub fn set_role(&self, role: SubscribeRole) { + *self.role.lock().expect("role mutex poisoned") = role; + } + + /// 当前在订阅里声明的身份。 + pub fn role(&self) -> SubscribeRole { + *self.role.lock().expect("role mutex poisoned") + } + + /// 是否允许发现列表里出现**其它**板子。 + /// + /// 只在密码解锁后的设置界面里打开，见本模块的文档。 + pub fn set_discovery_all(&self, all: bool) { + self.ingest + .lock() + .expect("ingest mutex poisoned") + .discovery_all = all; + } + + /// 注入帧的消费者。重复调用会替换掉旧的。 + pub fn set_frame_sink(&self, sink: FrameSink) { + *self.sink.lock().expect("sink mutex poisoned") = Some(sink); + } + + pub fn discovery(&self) -> Arc { + Arc::clone(&self.discovery) + } + + pub fn latest_frames(&self) -> Arc { + Arc::clone(&self.latest) + } + + /// 处理一个数据报。测试从这里喂字节。 + pub fn datagram(&self, bytes: &[u8], from: SocketAddr) { + if bytes.len() < HEADER_LEN { + return; + } + + let (limit, discovery_all) = { + let ingest = self.ingest.lock().expect("ingest mutex poisoned"); + (ingest.only_sender, ingest.discovery_all) + }; + + // 板子的在线通告。注意这里不看来源端口：广播来的源端口没有意义，身份由头里 + // 的 sender_id 决定。 + if let Some(hello) = protocol::Hello::decode(bytes) { + let SocketAddr::V4(v4) = from else { + return; + }; + + // 限制生效且没开发现：别人的板子连记都不记。不记的理由不只是"不显示"—— + // 记进 discovery 之后，界面上任何一处遍历 cameras() 的地方都会间接泄露 + // 场上还有谁。 + if let Some(only) = limit { + if !discovery_all && hello.sender_id != only { + return; + } + } + + if self.discovery.note_hello(hello.sender_id, v4, hello.firmware) { + log::info!("found camera 0x{:08X} at {v4}", hello.sender_id); + } + return; + } + + let Some(frag) = Fragment::decode(bytes) else { + // 既不是 Hello 也不是合法分片：将来的其它消息，或一次损坏。 + return; + }; + + let id = frag.header.sender_id; + + // 帧的重组与投递过的是**另一道**闸门：发现列表里能看到对手的板子，不等于 + // 它的画面会进来。 + if let Some(only) = limit { + if id != only { + return; + } + } + + // 视频帧也算存活证据。 + // + // `is_online` 看的是 `last_seen`，而它此前只由 Hello 更新。于是会出现一个 + // 荒唐的状态：画面在每秒刷 22 帧，状态栏却显示"离线"（橙色）。正在推流的板子 + // 比广播更可靠地证明自己活着。 + self.discovery.touch(id); + + let mut ingest = self.ingest.lock().expect("ingest mutex poisoned"); + let assembler = ingest + .assemblers + .entry(id) + .or_insert_with(|| FrameAssembler::new(FRAME_TIMEOUT)); + + match assembler.push(frag) { + Ok(frame) => { + drop(ingest); + + self.discovery.count(id, |s| s.datagrams += 1); + self.discovery + .note_frame(id, frame.width, frame.height, frame.data.len()); + + let frame = Arc::new(frame); + self.latest.put(Arc::clone(&frame)); + + let sink = self.sink.lock().expect("sink mutex poisoned").clone(); + if let Some(sink) = sink { + sink(frame); + } + } + Err(protocol::DropReason::Superseded) => { + // 被更新的帧追上了。这不是丢帧：半截的那张只是被超越，在健康链路上 + // 这是帧被放弃的**正常**方式。 + self.discovery.count(id, |s| s.datagrams += 1); + } + Err(protocol::DropReason::TimedOut) => { + self.discovery.count(id, |s| { + s.datagrams += 1; + s.frames_dropped += 1; + }); + } + } + } + + /// 放弃等太久的半截帧。接收循环周期性调用。 + pub fn expire_stalled_frames(&self) { + let mut ingest = self.ingest.lock().expect("ingest mutex poisoned"); + let mut expired = Vec::new(); + + for (id, assembler) in ingest.assemblers.iter_mut() { + if assembler.expire().is_some() { + expired.push(*id); + } + } + + drop(ingest); + + for id in expired { + self.discovery.count(id, |s| s.frames_dropped += 1); + } + } + + /// 运行接收循环，直到 [`Receiver::shutdown`]。 + /// + /// 阻塞，所以放在单独的线程上。 + pub fn run(&self, socket: UdpSocket) { + let target = SocketAddrV4::new(self.camera, DEFAULT_PORT); + let mut buf = [0u8; RECV_BUFFER]; + let mut last_subscribe = Instant::now() - SUBSCRIBE_INTERVAL; + let mut last_sweep = Instant::now(); + + log::info!( + "listening on UDP {DEFAULT_PORT}, announcing {:?} to {target}", + self.role() + ); + + while !self.stop.load(Ordering::Relaxed) { + // 周期性续订就是保活：板子在 6 秒收不到就认为我们走了。 + // + // 每次现编订阅包而不是循环外编一次：身份可以运行时切换，编一次的话切换后 + // 板子收到的还是旧角色。800 ms 一次，这点分配无所谓。 + if last_subscribe.elapsed() >= SUBSCRIBE_INTERVAL { + let subscribe = Subscribe { + role: self.role(), + client_id: CLIENT_ID, + }; + + if let Err(err) = socket.send_to(&subscribe.encode(), target) { + log::warn!("could not subscribe at {target}: {err}"); + } + last_subscribe = Instant::now(); + } + + match socket.recv_from(&mut buf) { + Ok((n, from)) => self.datagram(&buf[..n], from), + Err(err) + if err.kind() == ErrorKind::WouldBlock + || err.kind() == ErrorKind::TimedOut => + { + // 帧之间的常态。读超时正是让退出能及时响应的原因。 + } + Err(err) => { + log::warn!("recv failed: {err}"); + thread::sleep(Duration::from_millis(100)); + } + } + + self.expire_stalled_frames(); + + if last_sweep.elapsed() >= Duration::from_secs(5) { + self.discovery + .forget_silent_cameras(Duration::from_secs(60)); + last_sweep = Instant::now(); + } + } + + log::info!("receive loop stopped"); + } + + pub fn shutdown(&self) { + self.stop.store(true, Ordering::Relaxed); + } +} + +/// 装甲板血量的来源。 +/// +/// 真实实现是 [`crate::armor::ArmorHealthStore`]。这里只定接口，解码与新鲜度判断都在 +/// 那个模块里——也让"没有数据源"这件事有一个明确的替身（[`NoArmorYet`]），而不是 +/// 让界面去处理 `Option>`。 +pub trait ArmorSource: Send + Sync { + /// 某一边的血量。 + /// + /// 返回 4 个装甲板的当前血量，按 index 排列。没有数据时返回 `None`，界面据此显示 + /// 占位符而不是 0——0 是一个看起来像真值的假值。 + fn health(&self, team: u8) -> Option<[u16; 4]>; +} + +/// 一边的装甲板数量。 +/// +/// RoboMaster 规则是每队 4 块。界面按这个数量画格子，所以数据还没接上时也能看到位置 +/// ——空着比画 0 个格子更让人以为布局坏了。 +pub const ARMOR_BOARDS: usize = 4; + +/// 没有数据源时的替身：什么都不提供，界面显示占位符。 +pub struct NoArmorYet; + +impl ArmorSource for NoArmorYet { + fn health(&self, _team: u8) -> Option<[u16; 4]> { + None + } +} + +#[cfg(test)] +mod tests { + use super::*; + use protocol::{fragment_frame, Hello, MsgType}; + + /// 一个完整的 JPEG 分片集合，足够让重组器交出一张帧。 + fn jpeg() -> Vec { + (0..5000u32).map(|i| (i % 251) as u8).collect() + } + + fn from(ip: [u8; 4]) -> SocketAddr { + SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::from(ip), 5600)) + } + + fn feed_frame(rx: &Receiver, sender: u32, frame_id: u32, from_ip: [u8; 4]) { + for frag in fragment_frame(sender, frame_id, &jpeg(), 640, 480) { + rx.datagram(&frag.encode(), from(from_ip)); + } + } + + fn feed_hello(rx: &Receiver, sender: u32, from_ip: [u8; 4]) { + let hello = Hello { + sender_id: sender, + firmware: 7, + }; + rx.datagram(&hello.encode(MsgType::Hello), from(from_ip)); + } + + #[test] + fn delivers_the_latest_frame_of_the_bound_sender_only() { + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Team, Some(1)); + + feed_frame(&rx, 1, 10, [192, 168, 1, 10]); + feed_frame(&rx, 2, 20, [192, 168, 1, 20]); + + assert!( + rx.latest_frames().latest(1).is_some(), + "the bound camera must come through" + ); + assert!( + rx.latest_frames().latest(2).is_none(), + "an opponent's board must not even be reassembled" + ); + } + + #[test] + fn the_sink_sees_exactly_the_frames_the_gate_allows() { + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Team, Some(1)); + let seen = Arc::new(Mutex::new(Vec::new())); + + let tap = Arc::clone(&seen); + rx.set_frame_sink(Arc::new(move |frame: Arc| { + tap.lock().unwrap().push(frame.sender_id); + })); + + feed_frame(&rx, 1, 1, [192, 168, 1, 10]); + feed_frame(&rx, 2, 2, [192, 168, 1, 20]); + + assert_eq!(*seen.lock().unwrap(), vec![1]); + } + + #[test] + fn discovery_can_be_opened_without_opening_the_video_gate() { + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Team, Some(1)); + + // 设置界面没开：别人的 Hello 不记。 + feed_hello(&rx, 2, [192, 168, 1, 20]); + assert!( + rx.discovery().cameras().is_empty(), + "locked down: other boards are not even recorded" + ); + + // 设置界面解锁后列出候选。 + rx.set_discovery_all(true); + feed_hello(&rx, 2, [192, 168, 1, 20]); + + let ids: Vec = rx.discovery().cameras().iter().map(|c| c.id).collect(); + assert_eq!(ids, vec![2], "the candidate list is what the dropdown needs"); + + // 但画面仍然进不来。这正是把闸门分成两道的目的。 + feed_frame(&rx, 2, 5, [192, 168, 1, 20]); + assert!(rx.latest_frames().latest(2).is_none()); + } + + #[test] + fn rebinding_moves_the_gate() { + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Team, Some(1)); + feed_frame(&rx, 1, 1, [192, 168, 1, 10]); + + rx.restrict_to(Some(2)); + feed_frame(&rx, 1, 2, [192, 168, 1, 10]); + feed_frame(&rx, 2, 3, [192, 168, 1, 20]); + + assert_eq!(rx.sender_limit(), Some(2)); + assert!( + rx.latest_frames().latest(1).is_some(), + "the old frame stays cached; nothing pretends it never arrived" + ); + assert!(rx.latest_frames().latest(2).is_some()); + } + + #[test] + fn an_unrestricted_receiver_takes_everything() { + // 裁判端的形态。 + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Referee, None); + + feed_hello(&rx, 1, [192, 168, 1, 10]); + feed_hello(&rx, 2, [192, 168, 1, 20]); + feed_frame(&rx, 1, 1, [192, 168, 1, 10]); + feed_frame(&rx, 2, 1, [192, 168, 1, 20]); + + assert_eq!(rx.discovery().cameras().len(), 2); + assert_eq!(rx.latest_frames().latest_all().len(), 2); + } + + #[test] + fn a_streaming_board_counts_as_online_without_a_hello() { + // 曾经出现过"画面在刷新、状态栏却显示离线"的状态：is_online 只看 Hello。 + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Referee, None); + + feed_hello(&rx, 1, [192, 168, 1, 10]); + // 让发现列表先知道它，再把它的 last_seen 交给 touch。 + feed_frame(&rx, 1, 1, [192, 168, 1, 10]); + + let camera = rx.discovery().cameras().pop().expect("known"); + assert_eq!(camera.id, 1); + assert!(camera.is_online()); + } + + #[test] + fn the_same_frame_id_from_two_boards_does_not_collide() { + // 两块板的 frame_id 各自从 0 开始，混用一个重组器会互相顶掉。 + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Referee, None); + + feed_frame(&rx, 1, 3, [192, 168, 1, 10]); + feed_frame(&rx, 2, 3, [192, 168, 1, 20]); + + assert_eq!(rx.latest_frames().latest(1).map(|f| f.frame_id), Some(3)); + assert_eq!(rx.latest_frames().latest(2).map(|f| f.frame_id), Some(3)); + } + + #[test] + fn a_truncated_datagram_is_ignored_instead_of_panicking() { + let rx = Receiver::new(Ipv4Addr::UNSPECIFIED, SubscribeRole::Referee, None); + + rx.datagram(&[0u8; 3], from([192, 168, 1, 10])); + rx.datagram(&[], from([192, 168, 1, 10])); + + assert!(rx.discovery().cameras().is_empty()); + } +} diff --git a/desktop/core/src/slots.rs b/desktop/core/src/slots.rs new file mode 100644 index 0000000..4b61ae3 --- /dev/null +++ b/desktop/core/src/slots.rs @@ -0,0 +1,188 @@ +//! 裁判端两个槽位对应哪两块摄像头。 +//! +//! # 规则 +//! +//! 1. **还在线的槽位不换人。** 板子短暂掉线又回来时，画面留在原位。 +//! 2. **没人用的板子才拿来填。** 候选里排除已经被另一个槽位占着的 id——这一条是 +//! 修一个真 bug：以前的实现只排除"这个槽位自己原来那个 id"，于是队伍一那块板子 +//! 一离线，它的槽位就会去拿队伍二那块，**两格显示同一块板子**，看起来像图传串了。 +//! 3. **掉线的槽位保留它的 id。** 显示"离线"而不是变回空槽，这样它回来时还在原位， +//! 也不会把画面顺序重排。 +//! 4. **没有候选就不动。** 只有一块板在场时，另一个槽位空着——空着比显示一份复制品 +//! 诚实。 +//! +//! # 为什么值得单独一个模块加测试 +//! +//! 这个逻辑出错的**表现**是"两路画面看起来串了"。现场的排查方向会是网线、AP、 +//! 板子，而不是二十行分配代码。旧客户端在 README 里为它写了整整一节，但仍然漏掉了 +//! 规则 2。所以现在它有了直接对着场景写的测试。 + +/// 两个槽位。索引 0 是左（队伍一），1 是右（队伍二）。 +#[derive(Debug, Default, Clone, Copy, PartialEq, Eq)] +pub struct SlotAllocator { + slots: [Option; 2], +} + +impl SlotAllocator { + pub fn new() -> Self { + Self::default() + } + + /// 当前分配。 + pub fn slots(&self) -> [Option; 2] { + self.slots + } + + pub fn slot(&self, index: usize) -> Option { + self.slots.get(index).copied().flatten() + } + + /// 手动指定一个槽位（裁判端的"允许手动覆盖"）。 + pub fn force(&mut self, index: usize, id: Option) { + if let Some(slot) = self.slots.get_mut(index) { + *slot = id; + } + } + + /// 按当前在线的摄像头更新分配，返回是否发生了变化。 + /// + /// `online` 必须按 id 排序，调用方用 [`crate::receiver::Discovery::online_cameras`] + /// 得到的就是排好序的——顺序稳定，分配才不会每轮抖动。 + pub fn assign(&mut self, online: &[u32]) -> bool { + let before = self.slots; + + for index in 0..self.slots.len() { + // 规则 1：还在场就不动。 + if self.slots[index].is_some_and(|id| online.contains(&id)) { + continue; + } + + // 规则 2：另一个槽位占着的 id 不能拿。 + let taken: Vec = (0..self.slots.len()) + .filter(|other| *other != index) + .filter_map(|other| self.slots[other]) + .collect(); + + let candidate = online + .iter() + .copied() + .find(|id| !taken.contains(id) && self.slots[index] != Some(*id)); + + // 规则 4：没有候选就保留原样（规则 3：掉线的 id 留着）。 + if let Some(id) = candidate { + self.slots[index] = Some(id); + } + } + + self.slots != before + } +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn two_boards_fill_both_slots_left_to_right() { + let mut slots = SlotAllocator::new(); + + assert!(slots.assign(&[0xAAAA, 0xBBBB])); + assert_eq!(slots.slots(), [Some(0xAAAA), Some(0xBBBB)]); + assert!(!slots.assign(&[0xAAAA, 0xBBBB]), "nothing changed"); + } + + #[test] + fn one_board_never_fills_both_slots() { + // 旧实现会在两块都空时每轮取前两个，只有一块板在场时两格显示同一块画面。 + // 裁判看到两边一模一样，会以为两队的图传串了。 + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA]); + + assert_eq!(slots.slots(), [Some(0xAAAA), None]); + } + + #[test] + fn an_online_slot_keeps_its_board_when_the_other_goes_offline() { + // 这是本项目里真实出现过的 bug：队伍一的板子一离线，它的槽位去拿了队伍二 + // 那块，于是两格都显示队伍二——而 B 的槽位本身没动。 + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA, 0xBBBB]); + + slots.assign(&[0xBBBB]); + + assert_eq!( + slots.slots(), + [Some(0xAAAA), Some(0xBBBB)], + "A 掉线的槽位保留它的 id（显示离线），B 原地不动，绝不能出现两块 B" + ); + } + + #[test] + fn a_returning_board_lands_back_in_its_own_slot() { + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA, 0xBBBB]); + slots.assign(&[0xBBBB]); + slots.assign(&[0xAAAA, 0xBBBB]); + + assert_eq!(slots.slots(), [Some(0xAAAA), Some(0xBBBB)]); + } + + #[test] + fn a_spare_board_does_not_land_twice() { + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA, 0xBBBB]); + + // 两块都掉线，然后来了一块新的 C：只填一个槽位。 + slots.assign(&[0xCCCC]); + + assert_eq!(slots.slots(), [Some(0xCCCC), Some(0xBBBB)]); + + // C 填了左边，右边仍是掉线的 B；再来一块 D 才填右边。 + slots.assign(&[0xCCCC, 0xDDDD]); + assert_eq!(slots.slots(), [Some(0xCCCC), Some(0xDDDD)]); + } + + #[test] + fn a_board_coming_back_does_not_thrash_the_slot_it_left() { + // "板子短暂掉线又回来，槽位原地打转"：掉线的槽位不该立刻把自己换掉。 + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA]); + + // A 掉线、B 上线：A 的槽位改拿 B。 + slots.assign(&[0xBBBB]); + assert_eq!(slots.slots(), [Some(0xBBBB), None]); + + // A 回来，两块都在：B 已经在槽位里且在线，A 只能等另一个槽位——它空着，于是 + // A 落到右边。这是有意的：已经显示出来的画面不该因为一块板子回来就跳到别处。 + slots.assign(&[0xAAAA, 0xBBBB]); + assert_eq!(slots.slots(), [Some(0xBBBB), Some(0xAAAA)]); + } + + #[test] + fn forcing_a_slot_overrides_the_automatic_choice() { + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA, 0xBBBB]); + + slots.force(0, Some(0xBBBB)); + slots.force(1, Some(0xAAAA)); + + assert_eq!(slots.slots(), [Some(0xBBBB), Some(0xAAAA)]); + + // 手动模式下依然是手动值：assign 只对"不在线"的槽位动手。 + slots.assign(&[0xAAAA, 0xBBBB]); + assert_eq!(slots.slots(), [Some(0xBBBB), Some(0xAAAA)]); + } + + #[test] + fn losing_everything_leaves_the_last_known_ids() { + let mut slots = SlotAllocator::new(); + slots.assign(&[0xAAAA, 0xBBBB]); + + assert!(!slots.assign(&[]), "nothing to reassign"); + assert_eq!( + slots.slots(), + [Some(0xAAAA), Some(0xBBBB)], + "掉线的槽位保留 id，界面才能说清在等谁" + ); + } +} diff --git a/desktop/core/src/snapshot.rs b/desktop/core/src/snapshot.rs new file mode 100644 index 0000000..568cc1d --- /dev/null +++ b/desktop/core/src/snapshot.rs @@ -0,0 +1,511 @@ +//! 推给界面的快照类型。 +//! +//! # 为什么单独一个模块 +//! +//! 这些结构体的字段名就是**界面看到的 JSON 字段名**，所以它们是接口的一部分，值得 +//! 集中放、集中改。放在这里而不是 Tauri 层，是因为其中几个的构造规则（比如"关掉 +//! 诊断时不留数字"）需要单元测试。 +//! +//! # 为什么 id 同时给数字和文本 +//! +//! 界面显示、日志、配置文件里用的都是 `0x3D4D8A9A` 这种十六进制形式。让 Rust 侧拼好 +//! (`id_text`) 而不是让前端各处自己 `toString(16)`，可以避免"某处少补了前导零"这种 +//! 只能靠肉眼比对才发现的不一致。 + +use serde::Serialize; + +use crate::armor::ArmorBoard; +use crate::config::{Config, CrosshairConfig, GridConfig, HealthConfig, HitFeedbackConfig, Role}; +use crate::receiver::{CameraInfo, SourceStats}; + +/// 把 id 写成界面上、配置文件里、抓包时都一致的形式。 +pub fn id_text(id: u32) -> String { + format!("0x{id:08X}") +} + +/// 一块图传板。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct CameraDto { + pub id: u32, + pub id_text: String, + pub addr: String, + pub online: bool, + pub silence_ms: u64, + pub firmware: u16, +} + +impl From<&CameraInfo> for CameraDto { + fn from(camera: &CameraInfo) -> Self { + Self { + id: camera.id, + id_text: id_text(camera.id), + addr: camera.addr.ip().to_string(), + online: camera.is_online(), + silence_ms: camera.silence().as_millis() as u64, + firmware: camera.firmware, + } + } +} + +/// 一块装甲板主板。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct ArmorBoardDto { + pub id: u32, + pub id_text: String, + pub addr: String, + pub online: bool, + /// 板子自报的队伍（编译期定的 `ARMOR_TEAM`）。 + pub team: u8, + /// 最后一次读数。整车一条血，所以这里一个数。 + pub hp: u16, + pub plates_seen: u8, + pub reports_all_plates: bool, + pub silence_ms: u64, +} + +impl From<&ArmorBoard> for ArmorBoardDto { + fn from(board: &ArmorBoard) -> Self { + Self { + id: board.id, + id_text: id_text(board.id), + addr: board.addr.ip().to_string(), + online: board.is_online(), + team: board.team, + hp: board.hp, + plates_seen: board.plates_seen.count_ones() as u8, + reports_all_plates: board.reports_all_plates(), + silence_ms: board.silence().as_millis() as u64, + } + } +} + +/// 一路画面的读数。 +/// +/// # 关掉诊断时这些数字**不存在**，而不是被界面藏起来 +/// +/// 旧客户端在队伍端 release 下把这些字段填成空字符串。现在换成数字，规则不变：非诊断 +/// 模式下它们被置零/置空。由编译模式决定而不是命令行参数——命令行开关意味着二进制里 +/// 带着那套东西，忘开一次就泄露了。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct CameraStatsDto { + pub camera: u32, + pub camera_text: String, + pub online: bool, + /// 界面直接显示这一行，所以"在线但还没画面"与"离线"的区别由这里给出，而不是让 + /// 前端从 online + hasFrames 猜。 + pub status: String, + pub has_frames: bool, + pub fps: f32, + pub width: u16, + pub height: u16, + pub frames_shown: u64, + pub frames_dropped: u64, + pub loss_percent: f32, + pub datagrams: u64, + pub last_frame_bytes: usize, + pub gap_ms: Option, +} + +impl CameraStatsDto { + /// `diagnostics` 为 false 时不产出技术数字（见类型文档）。 + pub fn build( + diagnostics: bool, + camera: u32, + online: bool, + stats: &SourceStats, + fps: f32, + ) -> Self { + let has_frames = stats.frames_shown > 0; + + // 从没出过画面时区分"在线但还没收到"和"离线"：前者只是刚连上，显示"等待画面" + // 比让人以为板子挂了诚实。 + // + // 有画面时显示 id —— 这对调试有用。队伍端 release 下这一路只有自己绑定的板子， + // 显示它不构成泄露（界面上根本没有别人的板子可选）。 + let status = if !has_frames { + if online { + "已连接，等待画面…".to_string() + } else { + "离线".to_string() + } + } else { + id_text(camera) + }; + + if !diagnostics { + return Self { + camera, + camera_text: id_text(camera), + online, + status, + has_frames, + fps: 0.0, + width: 0, + height: 0, + frames_shown: 0, + frames_dropped: 0, + loss_percent: 0.0, + datagrams: 0, + last_frame_bytes: 0, + gap_ms: None, + }; + } + + // 没出过一个字节的源，`stats.width`/`height` 还是默认值 0，于是界面会显示成 + // "0x0"——一个看起来像分辨率的假分辨率。用 has_frames 把它挡掉。 + Self { + camera, + camera_text: id_text(camera), + online, + status, + has_frames, + fps: if has_frames { fps } else { 0.0 }, + width: if has_frames { stats.width } else { 0 }, + height: if has_frames { stats.height } else { 0 }, + frames_shown: stats.frames_shown, + frames_dropped: stats.frames_dropped, + loss_percent: stats.loss_percent(), + datagrams: stats.datagrams, + last_frame_bytes: stats.last_frame_len, + gap_ms: stats.gap_ms(), + } + } +} + +/// 一边的血量。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct TeamHealthDto { + pub team: u8, + pub name: String, + /// 有没有可信的数据。false 时界面显示 `placeholder` 而不是 0——0 是一个看起来像 + /// 真值的假值，现场看到 0 会以为对方已经没血了。 + pub available: bool, + pub placeholder: String, + /// 整车血量（四条装甲板同值，所以取第一条）。 + pub hp: Option, + /// 四条装甲板各自的读数；`available` 为 true 时有效。 + pub hps: Vec, + /// 绑定的装甲板主板 id（用户端）/ 分配到的（裁判端）。 + pub board: Option, + pub board_text: Option, + /// 血量偏低或已归零。 + pub critical: bool, +} + +impl TeamHealthDto { + /// 还没有数据源。 + pub fn absent(team: u8, board: Option) -> Self { + Self { + team, + name: team_name(team), + available: false, + placeholder: format!( + "装甲板未接入：等主板在 UDP {} 上广播血量", + protocol::ARMOR_PORT + ), + hp: None, + // 依然给出 4 个格子：界面用 `available` 决定颜色，空数组会让占位框整个消失， + // 看起来像布局出错，而不是像"还没有数据"。 + hps: vec![0; crate::receiver::ARMOR_BOARDS], + board, + board_text: board.map(id_text), + critical: false, + } + } + + /// 有数据。 + pub fn present(team: u8, board: Option, hps: [u16; crate::receiver::ARMOR_BOARDS], low: u16) -> Self { + let hp = hps.first().copied().unwrap_or(0); + + Self { + team, + name: team_name(team), + available: true, + placeholder: String::new(), + hp: Some(hp), + hps: hps.to_vec(), + board, + board_text: board.map(id_text), + critical: hp == 0 || hp <= low, + } + } +} + +/// 队伍名。 +pub fn team_name(team: u8) -> String { + match team { + 0 => "队伍一".to_string(), + _ => "队伍二".to_string(), + } +} + +/// 一次掉血（由 [`crate::armor::HealthTracker`] 派生）。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct HitDto { + pub board: u32, + pub team: u8, + pub index: u8, + pub from: u16, + pub to: u16, + pub damage: u16, + /// Unix 毫秒。前端用它驱动闪红/抖动的动画，不需要自己计时。 + pub at_ms: u64, +} + +/// 录制状态。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct RecordingDto { + pub camera: u32, + pub camera_text: String, + pub active: bool, + pub path: Option, + /// 告诉 ffmpeg 的输入帧率。回放快放/慢放时，第一个要看的就是这个数。 + pub input_fps: f32, + pub frames_written: u64, + /// 因为写入端跟不上而丢掉的帧。丢帧不报出来的话，回放里"少了半秒"会看起来像 + /// 相机的问题。 + pub frames_dropped: u64, + pub started_ms: Option, + pub error: Option, +} + +/// 裁判端两个槽位。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct SlotsDto { + /// 左槽位 → 摄像头 id。 + pub camera_a: Option, + pub camera_b: Option, + /// 左槽位 → 装甲板主板 id。 + pub armor_a: Option, + pub armor_b: Option, + pub manual: bool, +} + +/// 推给界面的完整状态。 +/// +/// 一次性给全，而不是让界面按需多次查询：5 Hz 下这条消息只有几百字节，而"界面各处 +/// 分别拉数据"会引入一类难查的问题——两个面板显示的是不同时刻的状态（比如绑定改了 +/// 一半）。前端因此只需要一个 reducer。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct Snapshot { + pub role: Role, + pub team: u8, + pub mirrored: bool, + /// 演示模式：画面与血量是本地合成的，不是场上的板子。界面必须把它显示出来， + /// 否则截图与验收会被误读成真实链路。 + pub demo: bool, + /// 是否产出技术读数（帧率/丢帧）。用户端 release 下为 false。 + pub diagnostics: bool, + /// 密码闸门是否已经打开（会话内）。 + pub unlocked: bool, + /// 发现列表是否放开（设置面板打开时）。开着才可能列出别人的板子。 + pub discovery_open: bool, + pub uptime_ms: u64, + /// 连着这个后端的界面数。 + pub clients: usize, + pub config: ConfigView, + pub cameras: Vec, + pub armor_boards: Vec, + /// 每块已知摄像头的读数。 + pub stats: Vec, + /// 裁判端两个槽位。用户端的 `a` 就是它绑定的那一块。 + pub slots: SlotsDto, + /// 用户端一条（自己那边），裁判端两条。 + pub health: Vec, + pub recordings: Vec, + /// 启动时的说明（旧配置迁移、端口占用等）。 + pub notes: Vec, +} + +/// 配置里可以给界面看的那部分。 +/// +/// **不含密码哈希**：界面只需要知道"设过没有"，把 PHC 字符串送进 WebView 没有任何用处， +/// 只是多一个能被日志、崩溃报告带走的东西。 +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct ConfigView { + pub role: Role, + /// 身份是否已由人选过。false 时界面先问一次（见 `Config::role_chosen`）。 + pub role_chosen: bool, + pub team: u8, + pub camera_id: Option, + pub camera_id_text: Option, + pub armor_id: Option, + pub armor_id_text: Option, + pub mirror: bool, + pub password_set: bool, + pub hud: HudView, + pub recording_dir: String, + pub ffmpeg: String, +} + +#[derive(Debug, Clone, Serialize)] +#[serde(rename_all = "camelCase")] +pub struct HudView { + pub health: HealthConfig, + pub crosshair: CrosshairConfig, + pub grid: GridConfig, + pub hit_feedback: HitFeedbackConfig, + pub show_zoom: bool, + pub show_stats: bool, +} + +impl From<&Config> for ConfigView { + fn from(config: &Config) -> Self { + Self { + role: config.role, + role_chosen: config.role_chosen, + team: config.team, + camera_id: config.camera_id, + camera_id_text: config.camera_id.map(id_text), + armor_id: config.armor_id, + armor_id_text: config.armor_id.map(id_text), + mirror: config.mirror, + password_set: config.password.is_some(), + hud: HudView { + health: config.hud.health.clone(), + crosshair: config.hud.crosshair.clone(), + grid: config.hud.grid.clone(), + hit_feedback: config.hud.hit_feedback.clone(), + show_zoom: config.hud.show_zoom, + show_stats: config.hud.show_stats, + }, + recording_dir: config.recordings_dir().display().to_string(), + ffmpeg: config.recording.ffmpeg.clone(), + } + } +} + +#[cfg(test)] +mod tests { + use super::*; + use crate::receiver::SourceStats; + + fn stats() -> SourceStats { + let mut stats = SourceStats::default(); + // 直接构造：SourceStats 的字段是 pub 的，只有 last_shown_at 是私有的。 + stats.frames_shown = 440; + stats.frames_dropped = 10; + stats.datagrams = 8000; + stats.width = 640; + stats.height = 480; + stats.last_frame_len = 22_000; + stats + } + + #[test] + fn diagnostics_off_leaves_no_numbers_behind() { + // 不是"界面藏起来"，是**不存在**。 + let dto = CameraStatsDto::build(false, 0x3D4D_8A9A, true, &stats(), 22.0); + + assert_eq!(dto.frames_shown, 0); + assert_eq!(dto.frames_dropped, 0); + assert_eq!(dto.datagrams, 0); + assert_eq!(dto.fps, 0.0); + assert_eq!(dto.width, 0); + assert_eq!(dto.gap_ms, None); + assert_eq!(dto.last_frame_bytes, 0); + // 但界面仍然需要知道画面来没来。 + assert!(dto.has_frames); + assert!(dto.online); + } + + #[test] + fn diagnostics_on_reports_the_real_numbers() { + let dto = CameraStatsDto::build(true, 0x3D4D_8A9A, true, &stats(), 22.0); + + assert_eq!(dto.frames_shown, 440); + assert_eq!(dto.frames_dropped, 10); + assert!((dto.loss_percent - 2.2222).abs() < 0.01); + assert_eq!((dto.width, dto.height), (640, 480)); + assert_eq!(dto.fps, 22.0); + assert_eq!(dto.status, "0x3D4D8A9A"); + } + + #[test] + fn a_never_seen_camera_does_not_report_a_fake_resolution() { + let dto = CameraStatsDto::build(true, 1, true, &SourceStats::default(), 0.0); + + assert_eq!(dto.status, "已连接，等待画面…"); + assert_eq!((dto.width, dto.height), (0, 0)); + assert!(!dto.has_frames, "0x0 would read like a real resolution"); + } + + #[test] + fn an_offline_camera_says_offline() { + let dto = CameraStatsDto::build(true, 1, false, &SourceStats::default(), 0.0); + assert_eq!(dto.status, "离线"); + } + + #[test] + fn absent_health_is_a_placeholder_with_four_cells() { + let dto = TeamHealthDto::absent(0, None); + + assert!(!dto.available); + assert_eq!(dto.hp, None); + assert_eq!(dto.hps.len(), crate::receiver::ARMOR_BOARDS); + assert!(!dto.placeholder.is_empty()); + } + + #[test] + fn critical_health_is_flagged_at_zero_and_at_the_threshold() { + let low = TeamHealthDto::present(0, Some(1), [30, 30, 30, 30], 30); + assert!(low.critical, "at the threshold"); + + let ok = TeamHealthDto::present(0, Some(1), [31, 31, 31, 31], 30); + assert!(!ok.critical); + + let dead = TeamHealthDto::present(0, Some(1), [0, 0, 0, 0], 30); + assert!(dead.critical); + assert_eq!(dead.hp, Some(0)); + } + + #[test] + fn a_recording_reports_the_framerate_it_told_ffmpeg() { + // 回放速度不对时，这是唯一能解释原因的数字。 + let dto = RecordingDto { + camera: 1, + camera_text: id_text(1), + active: true, + path: None, + input_fps: 21.5, + frames_written: 0, + frames_dropped: 0, + started_ms: None, + error: None, + }; + + let json = serde_json::to_string(&dto).unwrap(); + assert!(json.contains(r#""inputFps":21.5"#), "got {json}"); + } + + #[test] + fn the_config_view_never_carries_the_password_hash() { + let mut config = Config::default(); + config.role = Role::Team; + config.password = Some("$argon2id$super$secret$hash".into()); + + let view = ConfigView::from(&config); + assert!(view.password_set); + + let json = serde_json::to_string(&view).unwrap(); + assert!( + !json.contains("argon2id"), + "the hash must not reach the webview: {json}" + ); + } + + #[test] + fn ids_are_formatted_like_everywhere_else() { + assert_eq!(id_text(0x3D4D_8A9A), "0x3D4D8A9A"); + assert_eq!(id_text(1), "0x00000001", "leading zeros matter for eyeballing"); + } +} diff --git a/desktop/core/src/stats.rs b/desktop/core/src/stats.rs new file mode 100644 index 0000000..667dec6 --- /dev/null +++ b/desktop/core/src/stats.rs @@ -0,0 +1,228 @@ +//! 帧率统计。 +//! +//! # 必须按"帧数除以墙钟"，不是"帧间隔的平均" +//! +//! 这两种算法在理想链路上给出同一个数，所以错误的那一版能一路跑到现场才暴露。 +//! +//! 界面每 33ms 轮询一次，而相机出帧间隔是 45ms。也就是说**一次轮询之间可能完成零帧 +//! 或多帧**。对帧间隔取平均，量到的是**显示**的刷新节奏而不是**相机**的出帧节奏—— +//! 于是上限 22fps 的传感器被报成 36fps。**一个笃定的错误数字比没有数字更糟**：现场 +//! 会以为还有性能余量，然后花时间去查一个不存在的问题。 +//! +//! 这个错误在本项目里出现过两次（旧客户端的 `View::update_fps`、探测脚本的分窗打印）， +//! 两次都是同一个形状：分子用累计值，分母用窗口值，于是报出随时间单调上升的假数字。 +//! 现在它的正确性由一个直接对着数字写的测试盯着。 +//! +//! # 时钟是可注入的 +//! +//! [`FpsWindow::observe`] 收 `now` 而不是自己取 `Instant::now()`，这样测试可以用 +//! 明确的时刻验证窗口边界——否则只能 sleep，而 sleep 出来的测试既慢又不稳。 + +use std::time::{Duration, Instant}; + +/// 帧率统计窗口。默认 2 秒。 +pub const DEFAULT_WINDOW: Duration = Duration::from_secs(2); + +/// 某一路的帧率窗口。 +#[derive(Debug, Clone)] +pub struct FpsWindow { + window: Duration, + started: Instant, + /// 上一次结算时的累计帧数。 + frames: u64, + /// 已经结算过几个窗口。 + /// + /// 不能拿"累计帧数非零"来代替它：窗口的基线是**播种**进去的（见 [`FpsWindow::seeded`]）， + /// 一块掉线又回来的板子一建立窗口就带着一个很大的累计值。用帧数判断的话，会在一个 + /// 窗口都还没走完时就宣称"有读数了"，界面于是先显示 0.0，再跳到真值。 + completed: u32, + fps: f32, +} + +impl Default for FpsWindow { + fn default() -> Self { + Self::new(DEFAULT_WINDOW) + } +} + +impl FpsWindow { + pub fn new(window: Duration) -> Self { + Self::starting_at(window, Instant::now()) + } + + /// 窗口从指定的时刻开始，并把累计帧数的基线设成给定值。 + /// + /// 基线不能总是 0：`frames_shown` 是**自进程启动以来**的累计值，而一块掉线又回来的 + /// 板子会带着一个已经涨了很大的数字回来。基线设错（比如设成 0）时，下一个窗口会 + /// 报出几百 fps 的假数字。 + pub fn seeded(window: Duration, started: Instant, frames_shown: u64) -> Self { + Self { + window, + started, + frames: frames_shown, + completed: 0, + fps: 0.0, + } + } + + /// 窗口从指定的时刻开始，基线为 0。测试用。 + pub fn starting_at(window: Duration, started: Instant) -> Self { + Self::seeded(window, started, 0) + } + + /// 最近一次结算出的帧率。窗口还没满时是 0。 + pub fn fps(&self) -> f32 { + self.fps + } + + /// 窗口是否已经结算过至少一次。 + /// + /// 界面用它在"还没收到帧"和"帧率真的是 0"之间区分——前者显示 0.0 会被读成"板子 + /// 卡死了"。 + pub fn has_reading(&self) -> bool { + self.completed > 0 + } + + /// 喂进当前的累计帧数，返回本窗口的帧率（窗口未满时返回 `None`）。 + /// + /// `frames_shown` 是**自进程启动以来**的累计值，不是窗口内的增量——这正是重点： + /// 窗口内的增量由这里相减得到，调用方不需要（也就不会弄错）维护它。 + pub fn observe(&mut self, frames_shown: u64, now: Instant) -> Option { + let elapsed = now.saturating_duration_since(self.started); + + if elapsed < self.window { + return None; + } + + self.fps = (frames_shown.saturating_sub(self.frames)) as f32 / elapsed.as_secs_f32(); + self.frames = frames_shown; + self.started = now; + self.completed += 1; + + Some(self.fps) + } + + /// 换了一路画面：窗口重开。 + /// + /// 不重开的话，新画面的第一段统计里带着上一块板子的累计帧数，会报出一个凭空多出来 + /// 的数字。旧客户端对此的处理是"`view.sender_id` 变了就整体重建 `View`"，那条 + /// 规则现在收在这里。 + pub fn reset(&mut self, now: Instant) { + self.started = now; + self.frames = 0; + self.completed = 0; + self.fps = 0.0; + } +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn rate_is_frames_over_wallclock() { + let t0 = Instant::now(); + let mut window = FpsWindow::starting_at(Duration::from_secs(2), t0); + + // 2 秒里到了 44 帧 = 22 fps。 + let fps = window + .observe(44, t0 + Duration::from_secs(2)) + .expect("the window is full"); + + assert!((fps - 22.0).abs() < 0.001, "got {fps}"); + } + + #[test] + fn a_half_full_window_reports_nothing() { + let t0 = Instant::now(); + let mut window = FpsWindow::starting_at(Duration::from_secs(2), t0); + + assert_eq!(window.observe(10, t0 + Duration::from_millis(1999)), None); + assert_eq!(window.fps(), 0.0); + assert!(!window.has_reading()); + } + + #[test] + fn a_stalled_stream_reports_zero_not_a_stale_number() { + let t0 = Instant::now(); + let mut window = FpsWindow::starting_at(Duration::from_secs(2), t0); + + window.observe(44, t0 + Duration::from_secs(2)); + // 板子不出帧了：累计值不变，下一个窗口必须报 0。 + let fps = window + .observe(44, t0 + Duration::from_secs(4)) + .expect("second window"); + + assert_eq!(fps, 0.0); + } + + #[test] + fn averaging_frame_gaps_is_the_wrong_answer() { + // 这条测试把"错误算法会给出什么"钉下来，避免有人"顺手修一下"。 + // + // 场景：界面每 33ms 轮询一次，相机 45ms 出一帧。一次轮询里轮空、下一次里 + // 完成一帧，还有一次轮询之间完成两帧。对帧间隔取平均会算成约 33ms 一帧 + // （30fps 上下），而墙钟给出的才是真实的 22fps。 + let t0 = Instant::now(); + let mut window = FpsWindow::starting_at(Duration::from_secs(2), t0); + + // 2 秒内累计 44 帧，但最后一次轮询与上一帧之间只隔了 33ms。 + let fps = window + .observe(44, t0 + Duration::from_secs(2)) + .expect("window full"); + + assert!((fps - 22.0).abs() < 0.001, "wallclock rate: {fps}"); + assert!( + fps < 25.0, + "a frame-gap average would have reported ~30fps here" + ); + } + + #[test] + fn a_completed_window_is_not_a_reading_yet_until_it_is_full() { + // 建立窗口的那一轮不该产出数字：它连一个完整窗口都还没过。 + let t0 = Instant::now(); + let mut window = FpsWindow::seeded(Duration::from_secs(2), t0, 9_000); + + assert_eq!(window.observe(9_010, t0 + Duration::from_millis(10)), None); + assert!(!window.has_reading()); + + // 2 秒后：这 2 秒里到了 44 帧。 + let fps = window + .observe(9_044, t0 + Duration::from_secs(2)) + .expect("window full"); + + assert!((fps - 22.0).abs() < 0.001, "got {fps}"); + } + + #[test] + fn resetting_clears_the_cumulative_count() { + let t0 = Instant::now(); + let mut window = FpsWindow::starting_at(Duration::from_secs(2), t0); + + window.observe(1000, t0 + Duration::from_secs(2)); + // 换了一路画面：累计值从 0 重新开始。 + window.reset(t0 + Duration::from_secs(2)); + + let fps = window + .observe(44, t0 + Duration::from_secs(4)) + .expect("window full"); + + assert!((fps - 22.0).abs() < 0.001, "got {fps}"); + } + + #[test] + fn a_counter_that_goes_backwards_does_not_underflow() { + // 累计值只应该单调增。真出现回退（换了板子但没 reset），宁可报 0 也不要用 + // u64 回绕算出一个天文数字。 + let t0 = Instant::now(); + let mut window = FpsWindow::starting_at(Duration::from_secs(2), t0); + + window.observe(500, t0 + Duration::from_secs(2)); + let fps = window + .observe(10, t0 + Duration::from_secs(4)) + .expect("window full"); + + assert_eq!(fps, 0.0); + } +} diff --git a/desktop/index.html b/desktop/index.html new file mode 100644 index 0000000..ca37018 --- /dev/null +++ b/desktop/index.html @@ -0,0 +1,12 @@ + + + + + + cam-desktop + + +
+ + + diff --git a/desktop/package.json b/desktop/package.json new file mode 100644 index 0000000..51a3e85 --- /dev/null +++ b/desktop/package.json @@ -0,0 +1,28 @@ +{ + "name": "cam-desktop", + "private": true, + "version": "0.1.0", + "type": "module", + "description": "ESP32 图传与装甲板系统的桌面端：用户端（血条 + 瞄准器）与裁判端（双路 + 装甲板 + 录制）", + "scripts": { + "dev": "vite", + "build": "tsc --noEmit && vite build", + "preview": "vite preview", + "tauri": "tauri", + "app": "tauri dev", + "check": "tsc --noEmit" + }, + "dependencies": { + "@tauri-apps/api": "^2", + "react": "^19", + "react-dom": "^19" + }, + "devDependencies": { + "@tauri-apps/cli": "^2", + "@types/react": "^19", + "@types/react-dom": "^19", + "@vitejs/plugin-react": "^5", + "typescript": "^5.9", + "vite": "^7" + } +} diff --git a/desktop/pnpm-lock.yaml b/desktop/pnpm-lock.yaml new file mode 100644 index 0000000..054cfd0 --- /dev/null +++ b/desktop/pnpm-lock.yaml @@ -0,0 +1,1295 @@ +lockfileVersion: '9.0' + +settings: + autoInstallPeers: 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