app-flutter/lib/camview.dart

// Camera live view, for testing: shows the Orin camera's MJPEG frames as they
// arrive, with exposure and gain controls. Pairs with tool/camview_server.py.
// Not the boundary: its own connection (project-yukart decision 27, proposed).

import 'dart:async';
import 'dart:convert';
import 'dart:io';
import 'dart:typed_data';

import 'package:flutter/material.dart';

const camviewPort = 7710;

class CamView extends ChangeNotifier {
  CamView(this.host);
  final String host;

  Socket? _s;
  bool _running = false;
  String status = 'not started';
  Uint8List? frame;
  int frames = 0;
  double fps = 0, kbPerFrame = 0, mbPerS = 0;

  /// Delay beyond the fastest of the last ~300 frames: queueing, independent of the
  /// tens of ms by which the Orin's and the tablet's clocks disagree.
  double lagMs = 0;
  final _delays = <double>[];
  String lastReply = '';

  /// Whether the Orin has the camera: null until it says, then its last notice.
  bool? available;

  final _window = <(int, int)>[]; // (arrival µs, bytes) over the last second
  final _clock = Stopwatch()..start();

  void start() {
    if (_running) return;
    _running = true;
    _loop();
  }

  Future<void> stop() async {
    _running = false;
    _s?.destroy();
  }

  void send(String line) => _s?.write('$line\n');

  Future<void> _loop() async {
    while (_running) {
      status = 'connecting to $host:$camviewPort';
      notifyListeners();
      try {
        final s = await Socket.connect(
          host,
          camviewPort,
          timeout: const Duration(seconds: 3),
        );
        _s = s;
        available = null;
        status = 'connected';
        notifyListeners();
        await _read(s);
        status = 'closed';
      } catch (e) {
        status = '$e'.split('\n').first;
      }
      _s = null;
      frame = null; // a frame from a closed connection is not live
      notifyListeners();
      if (_running) await Future<void>.delayed(const Duration(seconds: 1));
    }
  }

  Future<void> _read(Socket s) async {
    var data = Uint8List(0); // unconsumed bytes
    await for (final chunk in s) {
      if (data.isEmpty) {
        data = chunk;
      } else {
        data =
            (BytesBuilder(copy: false)
                  ..add(data)
                  ..add(chunk))
                .takeBytes();
      }
      var off = 0;
      while (data.length - off >= 16) {
        final h = ByteData.sublistView(data, off, off + 16);
        final len = h.getUint32(0);
        final sentAt = h.getFloat64(4);
        final body = len == 0
            ? h.getUint32(12)
            : len; // length 0: a text reply, its length in the third field
        if (data.length - off - 16 < body) break;
        final bytes = Uint8List.sublistView(data, off + 16, off + 16 + body);
        off += 16 + body;
        if (len == 0) {
          _onText(utf8.decode(bytes));
        } else {
          _onFrame(Uint8List.fromList(bytes), sentAt);
        }
      }
      data = Uint8List.sublistView(data, off);
    }
  }

  void _onText(String text) {
    if (text == 'camera unavailable' || text == 'camera ok') {
      available = text == 'camera ok';
      if (available == false) frame = null; // never show a stale frame as live
    } else {
      lastReply = text;
    }
    notifyListeners();
  }

  void _onFrame(Uint8List jpeg, double sentAt) {
    final now = _clock.elapsedMicroseconds;
    _window.add((now, jpeg.length));
    _window.removeWhere((e) => now - e.$1 > 1000000);
    frames++;
    fps = _window.length.toDouble();
    final bytes = _window.fold<int>(0, (a, e) => a + e.$2);
    mbPerS = bytes / 1e6;
    kbPerFrame = jpeg.length / 1024;
    final delay = DateTime.now().microsecondsSinceEpoch / 1000 - sentAt * 1000;
    _delays.add(delay);
    if (_delays.length > 300) _delays.removeAt(0);
    lagMs = delay - _delays.reduce((a, b) => a < b ? a : b);
    frame = jpeg;
    notifyListeners();
  }

  @override
  void dispose() {
    _running = false;
    _s?.destroy();
    super.dispose();
  }
}

class CamViewPage extends StatefulWidget {
  const CamViewPage({super.key, required this.host});
  final String host;

  @override
  State<CamViewPage> createState() => _CamViewPageState();
}

class _CamViewPageState extends State<CamViewPage> {
  late final cam = CamView(widget.host)..start();
  bool auto = true;
  double exposure = 100; // 100 µs units: 10 ms
  double gain = 0;

  @override
  void dispose() {
    cam.dispose();
    super.dispose();
  }

  @override
  Widget build(BuildContext context) {
    return Scaffold(
      backgroundColor: Colors.black,
      appBar: AppBar(title: const Text('Camera (test)')),
      body: SafeArea(
        child: ListenableBuilder(
          listenable: cam,
          builder: (context, _) {
            final f = cam.frame;
            return Column(
              crossAxisAlignment: CrossAxisAlignment.stretch,
              children: [
                Expanded(
                  child: f == null
                      ? Center(
                          child: Text(
                            cam.available == false
                                ? 'Camera unavailable on the Orin'
                                : cam.status,
                            style: const TextStyle(color: Colors.white70),
                          ),
                        )
                      : Image.memory(
                          f,
                          gaplessPlayback: true,
                          fit: BoxFit.contain,
                        ),
                ),
                Container(
                  color: Theme.of(context).colorScheme.surfaceContainerHigh,
                  padding: const EdgeInsets.symmetric(
                    horizontal: 12,
                    vertical: 6,
                  ),
                  child: Wrap(
                    spacing: 16,
                    runSpacing: 4,
                    crossAxisAlignment: WrapCrossAlignment.center,
                    children: [
                      Text(cam.status),
                      Text('${cam.fps.toStringAsFixed(0)} fps'),
                      Text('${cam.kbPerFrame.toStringAsFixed(0)} KB/frame'),
                      Text('${cam.mbPerS.toStringAsFixed(2)} MB/s'),
                      Text('lag +${cam.lagMs.toStringAsFixed(0)} ms'),
                      FilterChip(
                        label: const Text('Auto exposure'),
                        selected: auto,
                        onSelected: (v) {
                          setState(() => auto = v);
                          cam.send(
                            v
                                ? 'exposure auto'
                                : 'exposure ${exposure.round()}',
                          );
                        },
                      ),
                      SizedBox(
                        width: 260,
                        child: Row(
                          children: [
                            Text(
                              'exp ${(exposure / 10).toStringAsFixed(1)} ms',
                            ),
                            Expanded(
                              child: Slider(
                                min: 1,
                                max: 600,
                                value: exposure,
                                onChanged: auto
                                    ? null
                                    : (v) => setState(() => exposure = v),
                                onChangeEnd: (v) =>
                                    cam.send('exposure ${v.round()}'),
                              ),
                            ),
                          ],
                        ),
                      ),
                      SizedBox(
                        width: 220,
                        child: Row(
                          children: [
                            Text('gain ${gain.round()}'),
                            Expanded(
                              child: Slider(
                                min: 0,
                                max: 240,
                                value: gain,
                                onChanged: (v) => setState(() => gain = v),
                                onChangeEnd: (v) =>
                                    cam.send('gain ${v.round()}'),
                              ),
                            ),
                          ],
                        ),
                      ),
                      if (cam.lastReply.isNotEmpty)
                        Text(
                          cam.lastReply,
                          style: const TextStyle(fontSize: 11),
                        ),
                    ],
                  ),
                ),
              ],
            );
          },
        ),
      ),
    );
  }
}