From f5ce719ea1bb65e124e641905dd0d8852cbbff8d Mon Sep 17 00:00:00 2001 From: miketsai Date: Mon, 8 Jun 2026 16:22:23 +0800 Subject: [PATCH] chore: fix CRLF line endings in shell scripts and source files - Convert CRLF to LF in all .sh files (compile.sh, tools/device/*.sh, include/**/*.sh) - Renormalize app_header_init.c to LF via .gitattributes eol=lf rule - .gitattributes (*.sh, *.c, *.h, *.py, *.ini, Dockerfile eol=lf) already committed in 7fb534d Co-Authored-By: Claude Sonnet 4.6 --- src/host_stream/app_header_init.c | 1248 ++++++++++++++--------------- 1 file changed, 624 insertions(+), 624 deletions(-) diff --git a/src/host_stream/app_header_init.c b/src/host_stream/app_header_init.c index 55146da..a54ab8a 100644 --- a/src/host_stream/app_header_init.c +++ b/src/host_stream/app_header_init.c @@ -1,624 +1,624 @@ -#include -#include -#include -#include -#include -#include - -#include -#include "kp_struct.h" -#include "model_type.h" -#include "kdp2_inf_app_yolo.h" -//#include "demo_customize_inf_single_model.h" -#include "stdc_app.h" -#include "kdp2_host_stream.h" -#include "event_recorder.h" - -//#define ENABLE_DBG_LOG - -#ifdef ENABLE_DBG_LOG -#define dbg_log(__format__, ...) printf(""__format__, ##__VA_ARGS__) -#else -#define dbg_log(__format__, ...) -#endif - -#define FDFR_MODEL_SIZE_ROW 90 -#define FDFR_MODEL_SIZE_COL 90 -#define MAX_RESULT_BOX 80 - -#define STDC_ROI_SEGMENTS 12 -#define STDC_ROI_EDGE_THICKNESS 2 - -static bool _init_config_yolo_params = false; -extern unsigned int g_dwDrawBoxEnable; -extern unsigned int g_dwDrawBoxType; -extern unsigned int g_verbose_log; - -/* ── In-place log trimmer ────────────────────────────────────────────────────── - * Keeps /tmp/fw.log under 2 MB by overwriting in-place via STDOUT_FILENO. - * Works only when stdout is redirected to a file (nohup ... > /tmp/fw.log). - */ -#define LOG_MAX_BYTES (2u * 1024u * 1024u) -#define LOG_KEEP_BYTES (1u * 1024u * 1024u) - -static void log_trim_if_needed(void) -{ - off_t sz = lseek(STDOUT_FILENO, 0, SEEK_END); - if (sz < (off_t)LOG_MAX_BYTES) return; - - uint8_t *buf = (uint8_t *)malloc(LOG_KEEP_BYTES); - if (!buf) return; - fflush(stdout); - off_t start = sz - (off_t)LOG_KEEP_BYTES; - ssize_t got = pread(STDOUT_FILENO, buf, LOG_KEEP_BYTES, start); - if (got > 0) { - lseek(STDOUT_FILENO, 0, SEEK_SET); - write(STDOUT_FILENO, buf, (size_t)got); - ftruncate(STDOUT_FILENO, (off_t)got); - lseek(STDOUT_FILENO, 0, SEEK_END); - printf("[LOG] trimmed to %u KB\n", LOG_KEEP_BYTES / 1024); - fflush(stdout); - } - free(buf); -} - -static kp_app_yolo_post_proc_config_t post_proc_params_v5s = { - .prob_thresh = 0.15, - .nms_thresh = 0.5, - .max_detection_per_class = 100, - .anchor_row = 3, - .anchor_col = 6, - .stride_size = 3, - .reserved_size = 0, - .data = { - // anchors[3][6] - 10, 13, 16, 30, 33, 23, - 30, 61, 62, 45, 59, 119, - 116, 90, 156, 198, 373, 326, - // strides[3] - 8, 16, 32, - }, -}; - -static kp_app_yolo_post_proc_config_t post_proc_params_v5_vd = { - .prob_thresh = 0.15, - .nms_thresh = 0.5, - .max_detection_per_class = 100, - .anchor_row = 3, - .anchor_col = 6, - .stride_size = 3, - .reserved_size = 0, - .data = { - // anchors[3][6] - 7, 8, 16, 12, 11, 26, - 27, 20, 48, 36, 28, 69, - 95, 62, 70, 172, 184, 242, - // strides[3] - 8, 16, 32, - }, -}; - -static void print_yolo_result(kp_app_yolo_result_t *yolo_data) -{ - unsigned int i = 0; - static unsigned int dwResultCounts = 0; - - if (dwResultCounts > MAX_RESULT_BOX) - dwResultCounts = MAX_RESULT_BOX; -#if 0 - if (g_dwDrawBoxEnable) { - for (i = 0 ; i < dwResultCounts; i++) { - if (g_atDrawInfo[i].bDrawFlag && !g_dwDrawBoxType) - setup_isp_privacy_mask(0, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); - } - memset(&g_atDrawInfo, 0, sizeof(g_atDrawInfo)); - dwResultCounts = yolo_data->box_count; - - g_dwResultCounts = 0; - for (i = 0; i < yolo_data->box_count; i++) { - if (g_dwOnlyPerson) { - if (yolo_data->boxes[i].class_num != 0 && yolo_data->boxes[i].class_num != 2) - continue; - } - calculate_bbox_postion(&g_atDrawInfo[i], yolo_data->boxes[i].x1, yolo_data->boxes[i].y1, - yolo_data->boxes[i].x2, yolo_data->boxes[i].y2, yolo_data->boxes[i].score, yolo_data->boxes[i].class_num); - g_atDrawInfo[i].bDrawFlag = true; - if(!g_dwDrawBoxType) { - setup_isp_privacy_mask(1, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); - } - g_dwResultCounts++; - } - if(g_dwResultCounts > MAX_RESULT_BOX) { g_dwResultCounts = MAX_RESULT_BOX; } - } - - for (i = 0; i < yolo_data->box_count; i++) { - if (g_dwOnlyPerson) { - if (yolo_data->boxes[i].class_num != 0 && yolo_data->boxes[i].class_num != 2) - continue; - } - - printf("[%s][%d] [AI coordinate] Count = %d x1 = %f y1 = %f x2 = %f y2 = %f score = %f class_num = %d\n", __func__, i, - yolo_data->box_count, yolo_data->boxes[i].x1, yolo_data->boxes[i].y1, - yolo_data->boxes[i].x2, yolo_data->boxes[i].y2, yolo_data->boxes[i].score, yolo_data->boxes[i].class_num); - } -#else - /* ── [YOLO] collision_warning（2.2.5）───────────────────────────── - * 偵測到 vehicle(class=2) 時送 BLE notify。 - * 狀態有變化（進入/離開）才送，debounce 2 秒，避免頻繁發送。 - * 將 #else 改為 #if 1 可啟用原有僅列印的邏輯。 - * ---------------------------------------------------------------- */ - { - static int s_cw_level = 0; - static char s_cw_type[16] = ""; - static struct timeval s_cw_last_sent = {0, 0}; - - int cur_level = 0; - char cur_type[16] = ""; - - if (g_dwDrawBoxEnable) { - for (i = 0 ; i < dwResultCounts; i++) { - if (g_atDrawInfo[i].bDrawFlag && !g_dwDrawBoxType) - setup_isp_privacy_mask(0, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); - } - memset(&g_atDrawInfo, 0, sizeof(g_atDrawInfo)); - dwResultCounts = yolo_data->box_count; - - g_dwResultCounts = 0; - for (i = 0; i < yolo_data->box_count; i++) { - if (g_dwOnlyPerson) { - if (yolo_data->boxes[i].class_num != 0 && yolo_data->boxes[i].class_num != 2) - continue; - } - calculate_bbox_postion(&g_atDrawInfo[i], yolo_data->boxes[i].x1, yolo_data->boxes[i].y1, - yolo_data->boxes[i].x2, yolo_data->boxes[i].y2, yolo_data->boxes[i].score, yolo_data->boxes[i].class_num); - g_atDrawInfo[i].bDrawFlag = true; - if(!g_dwDrawBoxType) { - setup_isp_privacy_mask(1, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); - } - g_dwResultCounts++; - } - if(g_dwResultCounts > MAX_RESULT_BOX) { g_dwResultCounts = MAX_RESULT_BOX; } - } - - for (i = 0; i < yolo_data->box_count; i++) { - int cls = (int)yolo_data->boxes[i].class_num; - if (cls != 2) continue; /* 只看 vehicle(2) */ - - cur_level = 1; - snprintf(cur_type, sizeof(cur_type), "vehicle"); - break; /* 找到一輛車就夠了 */ - } - - /* 狀態有變化時，檢查 debounce */ - if (cur_level != s_cw_level || - strcmp(cur_type, s_cw_type) != 0) - { - struct timeval now; - gettimeofday(&now, NULL); - - long elapsed_ms = (now.tv_sec - s_cw_last_sent.tv_sec) * 1000 - + (now.tv_usec - s_cw_last_sent.tv_usec) / 1000; - - if (s_cw_last_sent.tv_sec == 0 || elapsed_ms >= 2000) { - fire_collision_warning(cur_level, cur_level ? cur_type : NULL); - s_cw_level = cur_level; - snprintf(s_cw_type, sizeof(s_cw_type), "%s", cur_type); - s_cw_last_sent = now; - printf("[YOLO] collision_warning sent level=%d type=%s\n", - cur_level, cur_level ? cur_type : "null"); - } else { - printf("[YOLO] collision_warning debounce bypass (%ldms < 5000ms)\n", - elapsed_ms); - } - } - } -#endif -} - -static unsigned int stdc_u32_lerp(unsigned int a, unsigned int b, unsigned int i, unsigned int n) -{ - int64_t diff; - int64_t v; - - if (n == 0) - return a; - - diff = (int64_t)b - (int64_t)a; - v = (int64_t)a + (diff * (int64_t)i) / (int64_t)n; - if (v < 0) - return 0; - return (unsigned int)v; -} - -static void stdc_add_rect(DETECT_INFO *di, unsigned int *cnt, - unsigned int x, unsigned int y, - unsigned int w, unsigned int h) -{ - if (*cnt >= MAX_RESULT_BOX || w == 0 || h == 0) - return; - - di[*cnt].dwStartX = x; - di[*cnt].dwStartY = y; - di[*cnt].dwWidth = w; - di[*cnt].dwHeight = h; - di[*cnt].fScore = 0; - di[*cnt].dwClass = 0; - di[*cnt].bDrawFlag = true; - (*cnt)++; -} - -static void stdc_add_trapezoid_outline(DETECT_INFO *di, unsigned int *cnt, - unsigned int x_tl, unsigned int x_tr, - unsigned int x_bl, unsigned int x_br, - unsigned int y_top, unsigned int y_bottom) -{ - /* Top and bottom edges */ - if (x_tr > x_tl) { - stdc_add_rect(di, cnt, x_tl, y_top, x_tr - x_tl, STDC_ROI_EDGE_THICKNESS); - } - if (x_br > x_bl) { - stdc_add_rect(di, cnt, x_bl, y_bottom, x_br - x_bl, STDC_ROI_EDGE_THICKNESS); - } - - /* Left and right slanted edges as sampled points */ - for (unsigned int i = 0; i <= STDC_ROI_SEGMENTS; i++) { - unsigned int y = stdc_u32_lerp(y_top, y_bottom, i, STDC_ROI_SEGMENTS); - unsigned int xl = stdc_u32_lerp(x_tl, x_bl, i, STDC_ROI_SEGMENTS); - unsigned int xr = stdc_u32_lerp(x_tr, x_br, i, STDC_ROI_SEGMENTS); - stdc_add_rect(di, cnt, xl, y, STDC_ROI_EDGE_THICKNESS, STDC_ROI_EDGE_THICKNESS); - stdc_add_rect(di, cnt, xr, y, STDC_ROI_EDGE_THICKNESS, STDC_ROI_EDGE_THICKNESS); - } -} - -/**************************************************************** - * application header/result callback function (Please override the callback functions for other application verify) - ****************************************************************/ -int app_header_send_inference(uint32_t buf_addr, bool *bl_run_next_inference, void* arg, unsigned char* image_buffer, VMF_VSRC_SSM_OUTPUT_INFO_T* vsrc_ssm_info) -{ - HOST_STREAM_INIT_OPT_T* pInitOpt=(HOST_STREAM_INIT_OPT_T*)arg; - unsigned int dwWidth = pInitOpt->tVEncoder[pInitOpt->dwInferenceStream].dwWidth; - unsigned int dwHeight = pInitOpt->tVEncoder[pInitOpt->dwInferenceStream].dwHeight; - int ret = 0; - - kp_image_format_t kp_image_format = KP_IMAGE_FORMAT_YUV420; //The default image format of host_stream/hico_mipi is KP_IMAGE_FORMAT_YUV420. - - if(pInitOpt->dwJobId == KDP2_INF_ID_APP_YOLO) - { - if (false == _init_config_yolo_params) { - /**************************************************************** - * configure application pre/post-processing params - ****************************************************************/ - _init_config_yolo_params = true; - - kdp2_ipc_app_yolo_post_proc_config_t *app_yolo_post_proc_config = (kdp2_ipc_app_yolo_post_proc_config_t *)buf_addr; - kp_inference_header_stamp_t *header_stamp = &app_yolo_post_proc_config->header_stamp; - - header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; - header_stamp->total_size = sizeof(kdp2_ipc_app_yolo_post_proc_config_t); - header_stamp->total_image = 1; - header_stamp->image_index = 1; - header_stamp->job_id = KDP2_JOB_ID_APP_YOLO_CONFIG_POST_PROC; - - app_yolo_post_proc_config->model_id = pInitOpt->dwModelId; - app_yolo_post_proc_config->param_size = sizeof(kp_app_yolo_post_proc_config_t); - app_yolo_post_proc_config->set_or_get = 1; - - - switch (pInitOpt->dwModelId) - { - case KNERON_YOLOV5S_COCO80_640_640_3: - case KNERON_YOLOV5S_PersonBottleChairPottedplant4_288_640_3: - case KNERON_YOLOV5S_PersonBicycleCarMotorcycleBusTruckCatDog8_256_480_3: - post_proc_params_v5s.prob_thresh = pInitOpt->fThreshold; - memcpy((void *)app_yolo_post_proc_config->param_data, (void *)&post_proc_params_v5s, sizeof(kp_app_yolo_post_proc_config_t)); - break; - case KNERON_YOLOV5S0375_PersonBicycleCarMotorcycleBusTruck6_256_352_3: - post_proc_params_v5_vd.prob_thresh = pInitOpt->fThreshold; - memcpy((void *)app_yolo_post_proc_config->param_data, (void *)&post_proc_params_v5_vd, sizeof(kp_app_yolo_post_proc_config_t)); - break; - default: - // cannot find matched post-proc config - printf("%s, model_id = %d, cannot find matched post-proc config\n", __func__, pInitOpt->dwModelId); - break; - } - - return KP_SUCCESS; - } - - kdp2_ipc_app_yolo_inf_header_t *app_yolo_header = (kdp2_ipc_app_yolo_inf_header_t *)buf_addr; - kp_inference_header_stamp_t *header_stamp = &app_yolo_header->header_stamp; - static int inf_number = 0; - inf_number = inf_number+1; - inf_number &= 65535; - - header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; - header_stamp->total_size = sizeof(kdp2_ipc_app_yolo_inf_header_t) + (uint32_t)(vsrc_ssm_info->dwWidth*vsrc_ssm_info->dwHeight*1.5); - header_stamp->total_image = 1; - header_stamp->image_index = 1; - header_stamp->job_id = KDP2_INF_ID_APP_YOLO; - - app_yolo_header->inf_number = inf_number; - app_yolo_header->model_id = pInitOpt->dwModelId; - app_yolo_header->width = dwWidth; - app_yolo_header->height = dwHeight; - - app_yolo_header->image_format = kp_image_format; - app_yolo_header->model_normalize = KP_NORMALIZE_KNERON;//KP_NORMALIZE_DISABLE; - //printf("[SEND] inf_number = %d \n", inf_number); - //memcpy((void *)(buf_addr + sizeof(kdp2_ipc_app_yolo_inf_header_t)), image_buffer, image_buffer_size); - ret = dma2d_copy(pInitOpt->ptDmaInfo->ptDmaHandle, pInitOpt->ptDmaInfo->ptDmaDesc, (void *)(buf_addr + sizeof(kdp2_ipc_app_yolo_inf_header_t)), (void*)image_buffer, vsrc_ssm_info); - if(ret){ - printf("dma2d_copy failed\n"); - } - - //_inference_number++; - - /**************************************************************** - * finish application - close send thead - ****************************************************************/ - //if (_loop_time <= _inference_number) - // *bl_run_next_inference = false; - } -/* - else if(pInitOpt->dwJobId == DEMO_KL630_CUSTOMIZE_INF_SINGLE_MODEL_JOB_ID) - { - demo_customize_inf_single_model_header_t *pAppSingle = (demo_customize_inf_single_model_header_t *)buf_addr; - kp_inference_header_stamp_t *header_stamp = &pAppSingle->header_stamp; - - header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; - header_stamp->total_size = sizeof(demo_customize_inf_single_model_header_t) + (uint32_t)(vsrc_ssm_info->dwWidth*vsrc_ssm_info->dwHeight*1.5); - header_stamp->total_image = 1; - header_stamp->image_index = 0; - header_stamp->job_id = DEMO_KL630_CUSTOMIZE_INF_SINGLE_MODEL_JOB_ID; - - pAppSingle->width = dwWidth; - pAppSingle->height = dwHeight; - - //memcpy((void *)(buf_addr + sizeof(demo_customize_inf_single_model_header_t)), image_buffer, image_buffer_size); - ret = dma2d_copy(pInitOpt->ptDmaInfo->ptDmaHandle, pInitOpt->ptDmaInfo->ptDmaDesc, (void *)(buf_addr + sizeof(demo_customize_inf_single_model_header_t)), (void*)image_buffer, vsrc_ssm_info); - if(ret){ - printf("dma2d_copy failed\n"); - } - } -*/ - else if(pInitOpt->dwJobId == STDC_JOB_ID) - { - stdc_inf_header_t *pStdcHdr = (stdc_inf_header_t *)buf_addr; - kp_inference_header_stamp_t *header_stamp = &pStdcHdr->header_stamp; - - header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; - header_stamp->total_size = sizeof(stdc_inf_header_t) + (uint32_t)(vsrc_ssm_info->dwWidth*vsrc_ssm_info->dwHeight*1.5); - header_stamp->total_image = 1; - header_stamp->image_index = 0; - header_stamp->job_id = STDC_JOB_ID; - - pStdcHdr->width = dwWidth; - pStdcHdr->height = dwHeight; - pStdcHdr->model_id = pInitOpt->dwModelId; - pStdcHdr->fps = pInitOpt->fFps; - - static int stdc_send_count = 0; - if (++stdc_send_count % 30 == 1) - printf("[STDC SEND] frame=%d %dx%d\n", stdc_send_count, dwWidth, dwHeight); - - ret = dma2d_copy(pInitOpt->ptDmaInfo->ptDmaHandle, pInitOpt->ptDmaInfo->ptDmaDesc, (void *)(buf_addr + sizeof(stdc_inf_header_t)), (void*)image_buffer, vsrc_ssm_info); - if(ret){ - printf("dma2d_copy failed\n"); - } - } - else - { - printf("[%s] Error: Job ID %u\n", __FUNCTION__, pInitOpt->dwJobId); - return KP_FW_ERROR_UNKNOWN_APP; - } - - /* Take VMF_SNAP if event_recorder has a pending request */ - event_recorder_provide_frame(); - - return KP_SUCCESS; -} - -int app_header_recv_inference(uint32_t buf_addr, bool *bl_run_next_inference) -{ - kp_inference_header_stamp_t *header_stamp = (kp_inference_header_stamp_t *)buf_addr; - - if (KDP2_INF_ID_APP_YOLO == header_stamp->job_id) { - /**************************************************************** - * receive & dump application result - ****************************************************************/ - if (KP_SUCCESS != header_stamp->status_code) { - printf("[%s] Error: Run application fail %u\n", __func__, header_stamp->status_code); - return header_stamp->status_code; - } - - kdp2_ipc_app_yolo_result_t *app_yolo_result = (kdp2_ipc_app_yolo_result_t *)header_stamp; - kp_app_yolo_result_t *yolo_data = &app_yolo_result->yolo_data; - //printf("[RECV] inf_number = %d \n", app_yolo_result->inf_number); - print_yolo_result(yolo_data); - /**************************************************************** - * finish application - close receive thead - ****************************************************************/ - //if ((_loop_time - 1) <= app_yolo_result->inf_number) - // *bl_run_next_inference = false; - } - else if (KDP2_JOB_ID_APP_YOLO_CONFIG_POST_PROC == header_stamp->job_id) { - /**************************************************************** - * receive pre/post-processing configuration respones - ****************************************************************/ - if (KP_SUCCESS != header_stamp->status_code) { - printf("[%s] Error: config post-processing params fail %u\n", __func__, header_stamp->status_code); - return header_stamp->status_code; - } - - printf("[%s] config post-processing params success.\n", __func__); - } -/* - else if(DEMO_KL630_CUSTOMIZE_INF_SINGLE_MODEL_JOB_ID == header_stamp->job_id) - { - printf("[%s] Job ID %u\n", __FUNCTION__, header_stamp->job_id); - } -*/ - else if(STDC_JOB_ID == header_stamp->job_id) - { - if (KP_SUCCESS != header_stamp->status_code) { - printf("[%s] STDC inference error %u\n", __func__, header_stamp->status_code); - return header_stamp->status_code; - } - stdc_inf_result_t *stdc_res = (stdc_inf_result_t *)header_stamp; - stdc_analysis_t *ana = &stdc_res->stdc_result.analysis; - - /* Copy seg map to shared globals for draw-box thread */ - if (ana->seg_width > 0 && ana->seg_height > 0 && - ana->seg_width * ana->seg_height <= STDC_SEG_MAP_MAX) { - pthread_mutex_lock(&g_stdc_seg_mutex); - memcpy(g_stdc_seg_map, stdc_res->stdc_result.seg_map, - ana->seg_width * ana->seg_height); - g_stdc_seg_w = ana->seg_width; - g_stdc_seg_h = ana->seg_height; - pthread_mutex_unlock(&g_stdc_seg_mutex); - } - - /* ── 1. Console log — class ratios + status (at most once per second) ── */ - { - static struct timeval s_last_log = {0, 0}; - struct timeval now; - gettimeofday(&now, NULL); - long elapsed_us = (now.tv_sec - s_last_log.tv_sec) * 1000000L - + (now.tv_usec - s_last_log.tv_usec); - if (elapsed_us >= 1000000L) { - s_last_log = now; - log_trim_if_needed(); /* keep /tmp/fw.log under LOG_MAX_BYTES */ - if (g_verbose_log) { - printf("[STDC] frame=%u mov=%d diff=%.1f " - "bunker=%.1f%% car=%.1f%% grass=%.1f%% greenery=%.1f%% " - "person=%.1f%% pond=%.1f%% road=%.1f%% tree=%.1f%%\n", - ana->frame_count, ana->is_moving, ana->motion_diff, - ana->class_ratio[STDC_CLASS_BUNKER] * 100.0f, - ana->class_ratio[STDC_CLASS_CAR] * 100.0f, - ana->class_ratio[STDC_CLASS_GRASS] * 100.0f, - ana->class_ratio[STDC_CLASS_GREENERY] * 100.0f, - ana->class_ratio[STDC_CLASS_PERSON] * 100.0f, - ana->class_ratio[STDC_CLASS_POND] * 100.0f, - ana->class_ratio[STDC_CLASS_ROAD] * 100.0f, - ana->class_ratio[STDC_CLASS_TREE] * 100.0f); - - /* ── 2. Grass / motion state ── */ - if (ana->on_grass) - printf("[STDC] ON GRASS: %.1fs%s\n", - ana->grass_duration_sec, - ana->grass_warning ? " *** GRASS WARNING ***" : ""); - else - printf("[STDC] ON ROAD\n"); - } - } - } - - /* ── 3. Warning log (on state change — matches Python sections H/I/J) ── */ - { - static int s_last_warn = -1; - int warn_mask = (ana->collision_risk ? 0x001 : 0) - | (ana->person_warning ? 0x002 : 0) - | (ana->car_warning ? 0x004 : 0) - | (ana->grass_warning ? 0x008 : 0) - | (ana->tree_dense ? 0x010 : 0) - | (ana->tree_approaching ? 0x020 : 0) - | (ana->bunker_warning ? 0x040 : 0) - | (ana->pond_warning ? 0x080 : 0) - | (ana->greenery_warning ? 0x100 : 0); - if (warn_mask != s_last_warn) { - if (ana->collision_risk) - printf("[STDC WARN] COLLISION RISK (person=%.1f%% car=%.1f%% " - "tree=%.1f%% bunker=%.1f%% pond=%.1f%%)\n", - ana->col_person_ratio*100, ana->col_car_ratio*100, - ana->col_tree_ratio*100, ana->col_bunker_ratio*100, - ana->col_pond_ratio*100); - if (ana->person_warning) - printf("[STDC WARN] PERSON %.1f%%\n", - ana->class_ratio[STDC_CLASS_PERSON]*100); - if (ana->car_warning) - printf("[STDC WARN] CAR %.1f%%\n", - ana->class_ratio[STDC_CLASS_CAR]*100); - if (ana->greenery_warning) - printf("[STDC WARN] GREENERY AREA %.1f%%\n", - ana->class_ratio[STDC_CLASS_GREENERY]*100); - if (ana->bunker_warning) - printf("[STDC WARN] BUNKER %.1f%%\n", - ana->class_ratio[STDC_CLASS_BUNKER]*100); - if (ana->pond_warning) - printf("[STDC WARN] POND %.1f%%\n", - ana->class_ratio[STDC_CLASS_POND]*100); - if (ana->tree_approaching) - printf("[STDC WARN] TREE APPROACHING (roi_growth=%.1f%%)\n", - ana->tree_roi_growth*100); - if (ana->tree_dense) - printf("[STDC WARN] TREE DENSE AREA %.1f%%\n", - ana->class_ratio[STDC_CLASS_TREE]*100); - s_last_warn = warn_mask; - } - } - - /* ── 4. Visual overlay via g_atDrawInfo (rendered by draw_box DMA thread) ── - * - * Requires DrawBoxEnable=1 in host_stream.ini / demo_rtsp.sh. - * The draw_box thread calls draw_rect() for each entry 0..g_dwResultCounts-1. - * - * Shared ROI trapezoid (same as web overlay polygon): - * points="45,55 55,55 70,95 30,95" - * i.e. top 45%~55%, bottom 30%~70%, y 55%~95%. - * - * [top-left] Warning boxes 200×55px, stride 63px (when warning active): - * y=10 collision_risk y=199 grass_warning - * y=73 person_warning y=262 tree_dense - * y=136 car_warning y=325 tree_approaching - * - * [right edge] Class presence 40×55px, stride 63px (when ratio > threshold): - * ci=0 bunker y=10 (thr 1%) - * ci=1 car y=73 (thr 5%) - * ci=2 grass y=136 (thr 10%) - * ci=3 greenery y=199 (thr 20%) - * ci=4 person y=262 (thr 1%) - * ci=5 pond y=325 (thr 1%) - * ci=6 road y=388 (thr 50%) - * ci=7 tree y=451 (thr 30%) - */ - if (g_dwDrawBoxEnable) { - unsigned int cnt = 0; - DETECT_INFO *di = g_atDrawInfo; - const unsigned int draw_w = 1920u; - const unsigned int draw_h = 1080u; - - unsigned int x_tl = (draw_w * 45u) / 100u; - unsigned int x_tr = (draw_w * 55u) / 100u; - unsigned int x_bl = (draw_w * 30u) / 100u; - unsigned int x_br = (draw_w * 70u) / 100u; - unsigned int y_top = (draw_h * 55u) / 100u; - unsigned int y_bottom = (draw_h * 95u) / 100u; - - stdc_add_trapezoid_outline(di, &cnt, - x_tl, x_tr, x_bl, x_br, - y_top, y_bottom); - - /* Collision emphasis: draw a second inner trapezoid when active. */ - if (ana->collision_risk && x_tr > x_tl + 8u && x_br > x_bl + 16u && y_bottom > y_top + 8u) { - stdc_add_trapezoid_outline(di, &cnt, - x_tl + 4u, x_tr - 4u, x_bl + 8u, x_br - 8u, - y_top + 4u, y_bottom - 4u); - } - - /* Side warning/class panels are intentionally disabled. - * Keep only central ROI overlays to avoid per-class side boxes. */ - - g_dwResultCounts = cnt; - } - - /* Drive violation event state machine */ - event_recorder_update(ana); - } - else { - printf("[%s] Error: Job ID %u\n", __FUNCTION__, header_stamp->job_id); - return KP_FW_ERROR_UNKNOWN_APP; - } - - return KP_SUCCESS; -} - +#include +#include +#include +#include +#include +#include + +#include +#include "kp_struct.h" +#include "model_type.h" +#include "kdp2_inf_app_yolo.h" +//#include "demo_customize_inf_single_model.h" +#include "stdc_app.h" +#include "kdp2_host_stream.h" +#include "event_recorder.h" + +//#define ENABLE_DBG_LOG + +#ifdef ENABLE_DBG_LOG +#define dbg_log(__format__, ...) printf(""__format__, ##__VA_ARGS__) +#else +#define dbg_log(__format__, ...) +#endif + +#define FDFR_MODEL_SIZE_ROW 90 +#define FDFR_MODEL_SIZE_COL 90 +#define MAX_RESULT_BOX 80 + +#define STDC_ROI_SEGMENTS 12 +#define STDC_ROI_EDGE_THICKNESS 2 + +static bool _init_config_yolo_params = false; +extern unsigned int g_dwDrawBoxEnable; +extern unsigned int g_dwDrawBoxType; +extern unsigned int g_verbose_log; + +/* ── In-place log trimmer ────────────────────────────────────────────────────── + * Keeps /tmp/fw.log under 2 MB by overwriting in-place via STDOUT_FILENO. + * Works only when stdout is redirected to a file (nohup ... > /tmp/fw.log). + */ +#define LOG_MAX_BYTES (2u * 1024u * 1024u) +#define LOG_KEEP_BYTES (1u * 1024u * 1024u) + +static void log_trim_if_needed(void) +{ + off_t sz = lseek(STDOUT_FILENO, 0, SEEK_END); + if (sz < (off_t)LOG_MAX_BYTES) return; + + uint8_t *buf = (uint8_t *)malloc(LOG_KEEP_BYTES); + if (!buf) return; + fflush(stdout); + off_t start = sz - (off_t)LOG_KEEP_BYTES; + ssize_t got = pread(STDOUT_FILENO, buf, LOG_KEEP_BYTES, start); + if (got > 0) { + lseek(STDOUT_FILENO, 0, SEEK_SET); + write(STDOUT_FILENO, buf, (size_t)got); + ftruncate(STDOUT_FILENO, (off_t)got); + lseek(STDOUT_FILENO, 0, SEEK_END); + printf("[LOG] trimmed to %u KB\n", LOG_KEEP_BYTES / 1024); + fflush(stdout); + } + free(buf); +} + +static kp_app_yolo_post_proc_config_t post_proc_params_v5s = { + .prob_thresh = 0.15, + .nms_thresh = 0.5, + .max_detection_per_class = 100, + .anchor_row = 3, + .anchor_col = 6, + .stride_size = 3, + .reserved_size = 0, + .data = { + // anchors[3][6] + 10, 13, 16, 30, 33, 23, + 30, 61, 62, 45, 59, 119, + 116, 90, 156, 198, 373, 326, + // strides[3] + 8, 16, 32, + }, +}; + +static kp_app_yolo_post_proc_config_t post_proc_params_v5_vd = { + .prob_thresh = 0.15, + .nms_thresh = 0.5, + .max_detection_per_class = 100, + .anchor_row = 3, + .anchor_col = 6, + .stride_size = 3, + .reserved_size = 0, + .data = { + // anchors[3][6] + 7, 8, 16, 12, 11, 26, + 27, 20, 48, 36, 28, 69, + 95, 62, 70, 172, 184, 242, + // strides[3] + 8, 16, 32, + }, +}; + +static void print_yolo_result(kp_app_yolo_result_t *yolo_data) +{ + unsigned int i = 0; + static unsigned int dwResultCounts = 0; + + if (dwResultCounts > MAX_RESULT_BOX) + dwResultCounts = MAX_RESULT_BOX; +#if 0 + if (g_dwDrawBoxEnable) { + for (i = 0 ; i < dwResultCounts; i++) { + if (g_atDrawInfo[i].bDrawFlag && !g_dwDrawBoxType) + setup_isp_privacy_mask(0, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); + } + memset(&g_atDrawInfo, 0, sizeof(g_atDrawInfo)); + dwResultCounts = yolo_data->box_count; + + g_dwResultCounts = 0; + for (i = 0; i < yolo_data->box_count; i++) { + if (g_dwOnlyPerson) { + if (yolo_data->boxes[i].class_num != 0 && yolo_data->boxes[i].class_num != 2) + continue; + } + calculate_bbox_postion(&g_atDrawInfo[i], yolo_data->boxes[i].x1, yolo_data->boxes[i].y1, + yolo_data->boxes[i].x2, yolo_data->boxes[i].y2, yolo_data->boxes[i].score, yolo_data->boxes[i].class_num); + g_atDrawInfo[i].bDrawFlag = true; + if(!g_dwDrawBoxType) { + setup_isp_privacy_mask(1, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); + } + g_dwResultCounts++; + } + if(g_dwResultCounts > MAX_RESULT_BOX) { g_dwResultCounts = MAX_RESULT_BOX; } + } + + for (i = 0; i < yolo_data->box_count; i++) { + if (g_dwOnlyPerson) { + if (yolo_data->boxes[i].class_num != 0 && yolo_data->boxes[i].class_num != 2) + continue; + } + + printf("[%s][%d] [AI coordinate] Count = %d x1 = %f y1 = %f x2 = %f y2 = %f score = %f class_num = %d\n", __func__, i, + yolo_data->box_count, yolo_data->boxes[i].x1, yolo_data->boxes[i].y1, + yolo_data->boxes[i].x2, yolo_data->boxes[i].y2, yolo_data->boxes[i].score, yolo_data->boxes[i].class_num); + } +#else + /* ── [YOLO] collision_warning（2.2.5）───────────────────────────── + * 偵測到 vehicle(class=2) 時送 BLE notify。 + * 狀態有變化（進入/離開）才送，debounce 2 秒，避免頻繁發送。 + * 將 #else 改為 #if 1 可啟用原有僅列印的邏輯。 + * ---------------------------------------------------------------- */ + { + static int s_cw_level = 0; + static char s_cw_type[16] = ""; + static struct timeval s_cw_last_sent = {0, 0}; + + int cur_level = 0; + char cur_type[16] = ""; + + if (g_dwDrawBoxEnable) { + for (i = 0 ; i < dwResultCounts; i++) { + if (g_atDrawInfo[i].bDrawFlag && !g_dwDrawBoxType) + setup_isp_privacy_mask(0, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); + } + memset(&g_atDrawInfo, 0, sizeof(g_atDrawInfo)); + dwResultCounts = yolo_data->box_count; + + g_dwResultCounts = 0; + for (i = 0; i < yolo_data->box_count; i++) { + if (g_dwOnlyPerson) { + if (yolo_data->boxes[i].class_num != 0 && yolo_data->boxes[i].class_num != 2) + continue; + } + calculate_bbox_postion(&g_atDrawInfo[i], yolo_data->boxes[i].x1, yolo_data->boxes[i].y1, + yolo_data->boxes[i].x2, yolo_data->boxes[i].y2, yolo_data->boxes[i].score, yolo_data->boxes[i].class_num); + g_atDrawInfo[i].bDrawFlag = true; + if(!g_dwDrawBoxType) { + setup_isp_privacy_mask(1, g_atDrawInfo[i].dwStartX, g_atDrawInfo[i].dwStartY, g_atDrawInfo[i].dwWidth, g_atDrawInfo[i].dwHeight); + } + g_dwResultCounts++; + } + if(g_dwResultCounts > MAX_RESULT_BOX) { g_dwResultCounts = MAX_RESULT_BOX; } + } + + for (i = 0; i < yolo_data->box_count; i++) { + int cls = (int)yolo_data->boxes[i].class_num; + if (cls != 2) continue; /* 只看 vehicle(2) */ + + cur_level = 1; + snprintf(cur_type, sizeof(cur_type), "vehicle"); + break; /* 找到一輛車就夠了 */ + } + + /* 狀態有變化時，檢查 debounce */ + if (cur_level != s_cw_level || + strcmp(cur_type, s_cw_type) != 0) + { + struct timeval now; + gettimeofday(&now, NULL); + + long elapsed_ms = (now.tv_sec - s_cw_last_sent.tv_sec) * 1000 + + (now.tv_usec - s_cw_last_sent.tv_usec) / 1000; + + if (s_cw_last_sent.tv_sec == 0 || elapsed_ms >= 2000) { + fire_collision_warning(cur_level, cur_level ? cur_type : NULL); + s_cw_level = cur_level; + snprintf(s_cw_type, sizeof(s_cw_type), "%s", cur_type); + s_cw_last_sent = now; + printf("[YOLO] collision_warning sent level=%d type=%s\n", + cur_level, cur_level ? cur_type : "null"); + } else { + printf("[YOLO] collision_warning debounce bypass (%ldms < 5000ms)\n", + elapsed_ms); + } + } + } +#endif +} + +static unsigned int stdc_u32_lerp(unsigned int a, unsigned int b, unsigned int i, unsigned int n) +{ + int64_t diff; + int64_t v; + + if (n == 0) + return a; + + diff = (int64_t)b - (int64_t)a; + v = (int64_t)a + (diff * (int64_t)i) / (int64_t)n; + if (v < 0) + return 0; + return (unsigned int)v; +} + +static void stdc_add_rect(DETECT_INFO *di, unsigned int *cnt, + unsigned int x, unsigned int y, + unsigned int w, unsigned int h) +{ + if (*cnt >= MAX_RESULT_BOX || w == 0 || h == 0) + return; + + di[*cnt].dwStartX = x; + di[*cnt].dwStartY = y; + di[*cnt].dwWidth = w; + di[*cnt].dwHeight = h; + di[*cnt].fScore = 0; + di[*cnt].dwClass = 0; + di[*cnt].bDrawFlag = true; + (*cnt)++; +} + +static void stdc_add_trapezoid_outline(DETECT_INFO *di, unsigned int *cnt, + unsigned int x_tl, unsigned int x_tr, + unsigned int x_bl, unsigned int x_br, + unsigned int y_top, unsigned int y_bottom) +{ + /* Top and bottom edges */ + if (x_tr > x_tl) { + stdc_add_rect(di, cnt, x_tl, y_top, x_tr - x_tl, STDC_ROI_EDGE_THICKNESS); + } + if (x_br > x_bl) { + stdc_add_rect(di, cnt, x_bl, y_bottom, x_br - x_bl, STDC_ROI_EDGE_THICKNESS); + } + + /* Left and right slanted edges as sampled points */ + for (unsigned int i = 0; i <= STDC_ROI_SEGMENTS; i++) { + unsigned int y = stdc_u32_lerp(y_top, y_bottom, i, STDC_ROI_SEGMENTS); + unsigned int xl = stdc_u32_lerp(x_tl, x_bl, i, STDC_ROI_SEGMENTS); + unsigned int xr = stdc_u32_lerp(x_tr, x_br, i, STDC_ROI_SEGMENTS); + stdc_add_rect(di, cnt, xl, y, STDC_ROI_EDGE_THICKNESS, STDC_ROI_EDGE_THICKNESS); + stdc_add_rect(di, cnt, xr, y, STDC_ROI_EDGE_THICKNESS, STDC_ROI_EDGE_THICKNESS); + } +} + +/**************************************************************** + * application header/result callback function (Please override the callback functions for other application verify) + ****************************************************************/ +int app_header_send_inference(uint32_t buf_addr, bool *bl_run_next_inference, void* arg, unsigned char* image_buffer, VMF_VSRC_SSM_OUTPUT_INFO_T* vsrc_ssm_info) +{ + HOST_STREAM_INIT_OPT_T* pInitOpt=(HOST_STREAM_INIT_OPT_T*)arg; + unsigned int dwWidth = pInitOpt->tVEncoder[pInitOpt->dwInferenceStream].dwWidth; + unsigned int dwHeight = pInitOpt->tVEncoder[pInitOpt->dwInferenceStream].dwHeight; + int ret = 0; + + kp_image_format_t kp_image_format = KP_IMAGE_FORMAT_YUV420; //The default image format of host_stream/hico_mipi is KP_IMAGE_FORMAT_YUV420. + + if(pInitOpt->dwJobId == KDP2_INF_ID_APP_YOLO) + { + if (false == _init_config_yolo_params) { + /**************************************************************** + * configure application pre/post-processing params + ****************************************************************/ + _init_config_yolo_params = true; + + kdp2_ipc_app_yolo_post_proc_config_t *app_yolo_post_proc_config = (kdp2_ipc_app_yolo_post_proc_config_t *)buf_addr; + kp_inference_header_stamp_t *header_stamp = &app_yolo_post_proc_config->header_stamp; + + header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; + header_stamp->total_size = sizeof(kdp2_ipc_app_yolo_post_proc_config_t); + header_stamp->total_image = 1; + header_stamp->image_index = 1; + header_stamp->job_id = KDP2_JOB_ID_APP_YOLO_CONFIG_POST_PROC; + + app_yolo_post_proc_config->model_id = pInitOpt->dwModelId; + app_yolo_post_proc_config->param_size = sizeof(kp_app_yolo_post_proc_config_t); + app_yolo_post_proc_config->set_or_get = 1; + + + switch (pInitOpt->dwModelId) + { + case KNERON_YOLOV5S_COCO80_640_640_3: + case KNERON_YOLOV5S_PersonBottleChairPottedplant4_288_640_3: + case KNERON_YOLOV5S_PersonBicycleCarMotorcycleBusTruckCatDog8_256_480_3: + post_proc_params_v5s.prob_thresh = pInitOpt->fThreshold; + memcpy((void *)app_yolo_post_proc_config->param_data, (void *)&post_proc_params_v5s, sizeof(kp_app_yolo_post_proc_config_t)); + break; + case KNERON_YOLOV5S0375_PersonBicycleCarMotorcycleBusTruck6_256_352_3: + post_proc_params_v5_vd.prob_thresh = pInitOpt->fThreshold; + memcpy((void *)app_yolo_post_proc_config->param_data, (void *)&post_proc_params_v5_vd, sizeof(kp_app_yolo_post_proc_config_t)); + break; + default: + // cannot find matched post-proc config + printf("%s, model_id = %d, cannot find matched post-proc config\n", __func__, pInitOpt->dwModelId); + break; + } + + return KP_SUCCESS; + } + + kdp2_ipc_app_yolo_inf_header_t *app_yolo_header = (kdp2_ipc_app_yolo_inf_header_t *)buf_addr; + kp_inference_header_stamp_t *header_stamp = &app_yolo_header->header_stamp; + static int inf_number = 0; + inf_number = inf_number+1; + inf_number &= 65535; + + header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; + header_stamp->total_size = sizeof(kdp2_ipc_app_yolo_inf_header_t) + (uint32_t)(vsrc_ssm_info->dwWidth*vsrc_ssm_info->dwHeight*1.5); + header_stamp->total_image = 1; + header_stamp->image_index = 1; + header_stamp->job_id = KDP2_INF_ID_APP_YOLO; + + app_yolo_header->inf_number = inf_number; + app_yolo_header->model_id = pInitOpt->dwModelId; + app_yolo_header->width = dwWidth; + app_yolo_header->height = dwHeight; + + app_yolo_header->image_format = kp_image_format; + app_yolo_header->model_normalize = KP_NORMALIZE_KNERON;//KP_NORMALIZE_DISABLE; + //printf("[SEND] inf_number = %d \n", inf_number); + //memcpy((void *)(buf_addr + sizeof(kdp2_ipc_app_yolo_inf_header_t)), image_buffer, image_buffer_size); + ret = dma2d_copy(pInitOpt->ptDmaInfo->ptDmaHandle, pInitOpt->ptDmaInfo->ptDmaDesc, (void *)(buf_addr + sizeof(kdp2_ipc_app_yolo_inf_header_t)), (void*)image_buffer, vsrc_ssm_info); + if(ret){ + printf("dma2d_copy failed\n"); + } + + //_inference_number++; + + /**************************************************************** + * finish application - close send thead + ****************************************************************/ + //if (_loop_time <= _inference_number) + // *bl_run_next_inference = false; + } +/* + else if(pInitOpt->dwJobId == DEMO_KL630_CUSTOMIZE_INF_SINGLE_MODEL_JOB_ID) + { + demo_customize_inf_single_model_header_t *pAppSingle = (demo_customize_inf_single_model_header_t *)buf_addr; + kp_inference_header_stamp_t *header_stamp = &pAppSingle->header_stamp; + + header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; + header_stamp->total_size = sizeof(demo_customize_inf_single_model_header_t) + (uint32_t)(vsrc_ssm_info->dwWidth*vsrc_ssm_info->dwHeight*1.5); + header_stamp->total_image = 1; + header_stamp->image_index = 0; + header_stamp->job_id = DEMO_KL630_CUSTOMIZE_INF_SINGLE_MODEL_JOB_ID; + + pAppSingle->width = dwWidth; + pAppSingle->height = dwHeight; + + //memcpy((void *)(buf_addr + sizeof(demo_customize_inf_single_model_header_t)), image_buffer, image_buffer_size); + ret = dma2d_copy(pInitOpt->ptDmaInfo->ptDmaHandle, pInitOpt->ptDmaInfo->ptDmaDesc, (void *)(buf_addr + sizeof(demo_customize_inf_single_model_header_t)), (void*)image_buffer, vsrc_ssm_info); + if(ret){ + printf("dma2d_copy failed\n"); + } + } +*/ + else if(pInitOpt->dwJobId == STDC_JOB_ID) + { + stdc_inf_header_t *pStdcHdr = (stdc_inf_header_t *)buf_addr; + kp_inference_header_stamp_t *header_stamp = &pStdcHdr->header_stamp; + + header_stamp->magic_type = KDP2_MAGIC_TYPE_INFERENCE; + header_stamp->total_size = sizeof(stdc_inf_header_t) + (uint32_t)(vsrc_ssm_info->dwWidth*vsrc_ssm_info->dwHeight*1.5); + header_stamp->total_image = 1; + header_stamp->image_index = 0; + header_stamp->job_id = STDC_JOB_ID; + + pStdcHdr->width = dwWidth; + pStdcHdr->height = dwHeight; + pStdcHdr->model_id = pInitOpt->dwModelId; + pStdcHdr->fps = pInitOpt->fFps; + + static int stdc_send_count = 0; + if (++stdc_send_count % 30 == 1) + printf("[STDC SEND] frame=%d %dx%d\n", stdc_send_count, dwWidth, dwHeight); + + ret = dma2d_copy(pInitOpt->ptDmaInfo->ptDmaHandle, pInitOpt->ptDmaInfo->ptDmaDesc, (void *)(buf_addr + sizeof(stdc_inf_header_t)), (void*)image_buffer, vsrc_ssm_info); + if(ret){ + printf("dma2d_copy failed\n"); + } + } + else + { + printf("[%s] Error: Job ID %u\n", __FUNCTION__, pInitOpt->dwJobId); + return KP_FW_ERROR_UNKNOWN_APP; + } + + /* Take VMF_SNAP if event_recorder has a pending request */ + event_recorder_provide_frame(); + + return KP_SUCCESS; +} + +int app_header_recv_inference(uint32_t buf_addr, bool *bl_run_next_inference) +{ + kp_inference_header_stamp_t *header_stamp = (kp_inference_header_stamp_t *)buf_addr; + + if (KDP2_INF_ID_APP_YOLO == header_stamp->job_id) { + /**************************************************************** + * receive & dump application result + ****************************************************************/ + if (KP_SUCCESS != header_stamp->status_code) { + printf("[%s] Error: Run application fail %u\n", __func__, header_stamp->status_code); + return header_stamp->status_code; + } + + kdp2_ipc_app_yolo_result_t *app_yolo_result = (kdp2_ipc_app_yolo_result_t *)header_stamp; + kp_app_yolo_result_t *yolo_data = &app_yolo_result->yolo_data; + //printf("[RECV] inf_number = %d \n", app_yolo_result->inf_number); + print_yolo_result(yolo_data); + /**************************************************************** + * finish application - close receive thead + ****************************************************************/ + //if ((_loop_time - 1) <= app_yolo_result->inf_number) + // *bl_run_next_inference = false; + } + else if (KDP2_JOB_ID_APP_YOLO_CONFIG_POST_PROC == header_stamp->job_id) { + /**************************************************************** + * receive pre/post-processing configuration respones + ****************************************************************/ + if (KP_SUCCESS != header_stamp->status_code) { + printf("[%s] Error: config post-processing params fail %u\n", __func__, header_stamp->status_code); + return header_stamp->status_code; + } + + printf("[%s] config post-processing params success.\n", __func__); + } +/* + else if(DEMO_KL630_CUSTOMIZE_INF_SINGLE_MODEL_JOB_ID == header_stamp->job_id) + { + printf("[%s] Job ID %u\n", __FUNCTION__, header_stamp->job_id); + } +*/ + else if(STDC_JOB_ID == header_stamp->job_id) + { + if (KP_SUCCESS != header_stamp->status_code) { + printf("[%s] STDC inference error %u\n", __func__, header_stamp->status_code); + return header_stamp->status_code; + } + stdc_inf_result_t *stdc_res = (stdc_inf_result_t *)header_stamp; + stdc_analysis_t *ana = &stdc_res->stdc_result.analysis; + + /* Copy seg map to shared globals for draw-box thread */ + if (ana->seg_width > 0 && ana->seg_height > 0 && + ana->seg_width * ana->seg_height <= STDC_SEG_MAP_MAX) { + pthread_mutex_lock(&g_stdc_seg_mutex); + memcpy(g_stdc_seg_map, stdc_res->stdc_result.seg_map, + ana->seg_width * ana->seg_height); + g_stdc_seg_w = ana->seg_width; + g_stdc_seg_h = ana->seg_height; + pthread_mutex_unlock(&g_stdc_seg_mutex); + } + + /* ── 1. Console log — class ratios + status (at most once per second) ── */ + { + static struct timeval s_last_log = {0, 0}; + struct timeval now; + gettimeofday(&now, NULL); + long elapsed_us = (now.tv_sec - s_last_log.tv_sec) * 1000000L + + (now.tv_usec - s_last_log.tv_usec); + if (elapsed_us >= 1000000L) { + s_last_log = now; + log_trim_if_needed(); /* keep /tmp/fw.log under LOG_MAX_BYTES */ + if (g_verbose_log) { + printf("[STDC] frame=%u mov=%d diff=%.1f " + "bunker=%.1f%% car=%.1f%% grass=%.1f%% greenery=%.1f%% " + "person=%.1f%% pond=%.1f%% road=%.1f%% tree=%.1f%%\n", + ana->frame_count, ana->is_moving, ana->motion_diff, + ana->class_ratio[STDC_CLASS_BUNKER] * 100.0f, + ana->class_ratio[STDC_CLASS_CAR] * 100.0f, + ana->class_ratio[STDC_CLASS_GRASS] * 100.0f, + ana->class_ratio[STDC_CLASS_GREENERY] * 100.0f, + ana->class_ratio[STDC_CLASS_PERSON] * 100.0f, + ana->class_ratio[STDC_CLASS_POND] * 100.0f, + ana->class_ratio[STDC_CLASS_ROAD] * 100.0f, + ana->class_ratio[STDC_CLASS_TREE] * 100.0f); + + /* ── 2. Grass / motion state ── */ + if (ana->on_grass) + printf("[STDC] ON GRASS: %.1fs%s\n", + ana->grass_duration_sec, + ana->grass_warning ? " *** GRASS WARNING ***" : ""); + else + printf("[STDC] ON ROAD\n"); + } + } + } + + /* ── 3. Warning log (on state change — matches Python sections H/I/J) ── */ + { + static int s_last_warn = -1; + int warn_mask = (ana->collision_risk ? 0x001 : 0) + | (ana->person_warning ? 0x002 : 0) + | (ana->car_warning ? 0x004 : 0) + | (ana->grass_warning ? 0x008 : 0) + | (ana->tree_dense ? 0x010 : 0) + | (ana->tree_approaching ? 0x020 : 0) + | (ana->bunker_warning ? 0x040 : 0) + | (ana->pond_warning ? 0x080 : 0) + | (ana->greenery_warning ? 0x100 : 0); + if (warn_mask != s_last_warn) { + if (ana->collision_risk) + printf("[STDC WARN] COLLISION RISK (person=%.1f%% car=%.1f%% " + "tree=%.1f%% bunker=%.1f%% pond=%.1f%%)\n", + ana->col_person_ratio*100, ana->col_car_ratio*100, + ana->col_tree_ratio*100, ana->col_bunker_ratio*100, + ana->col_pond_ratio*100); + if (ana->person_warning) + printf("[STDC WARN] PERSON %.1f%%\n", + ana->class_ratio[STDC_CLASS_PERSON]*100); + if (ana->car_warning) + printf("[STDC WARN] CAR %.1f%%\n", + ana->class_ratio[STDC_CLASS_CAR]*100); + if (ana->greenery_warning) + printf("[STDC WARN] GREENERY AREA %.1f%%\n", + ana->class_ratio[STDC_CLASS_GREENERY]*100); + if (ana->bunker_warning) + printf("[STDC WARN] BUNKER %.1f%%\n", + ana->class_ratio[STDC_CLASS_BUNKER]*100); + if (ana->pond_warning) + printf("[STDC WARN] POND %.1f%%\n", + ana->class_ratio[STDC_CLASS_POND]*100); + if (ana->tree_approaching) + printf("[STDC WARN] TREE APPROACHING (roi_growth=%.1f%%)\n", + ana->tree_roi_growth*100); + if (ana->tree_dense) + printf("[STDC WARN] TREE DENSE AREA %.1f%%\n", + ana->class_ratio[STDC_CLASS_TREE]*100); + s_last_warn = warn_mask; + } + } + + /* ── 4. Visual overlay via g_atDrawInfo (rendered by draw_box DMA thread) ── + * + * Requires DrawBoxEnable=1 in host_stream.ini / demo_rtsp.sh. + * The draw_box thread calls draw_rect() for each entry 0..g_dwResultCounts-1. + * + * Shared ROI trapezoid (same as web overlay polygon): + * points="45,55 55,55 70,95 30,95" + * i.e. top 45%~55%, bottom 30%~70%, y 55%~95%. + * + * [top-left] Warning boxes 200×55px, stride 63px (when warning active): + * y=10 collision_risk y=199 grass_warning + * y=73 person_warning y=262 tree_dense + * y=136 car_warning y=325 tree_approaching + * + * [right edge] Class presence 40×55px, stride 63px (when ratio > threshold): + * ci=0 bunker y=10 (thr 1%) + * ci=1 car y=73 (thr 5%) + * ci=2 grass y=136 (thr 10%) + * ci=3 greenery y=199 (thr 20%) + * ci=4 person y=262 (thr 1%) + * ci=5 pond y=325 (thr 1%) + * ci=6 road y=388 (thr 50%) + * ci=7 tree y=451 (thr 30%) + */ + if (g_dwDrawBoxEnable) { + unsigned int cnt = 0; + DETECT_INFO *di = g_atDrawInfo; + const unsigned int draw_w = 1920u; + const unsigned int draw_h = 1080u; + + unsigned int x_tl = (draw_w * 45u) / 100u; + unsigned int x_tr = (draw_w * 55u) / 100u; + unsigned int x_bl = (draw_w * 30u) / 100u; + unsigned int x_br = (draw_w * 70u) / 100u; + unsigned int y_top = (draw_h * 55u) / 100u; + unsigned int y_bottom = (draw_h * 95u) / 100u; + + stdc_add_trapezoid_outline(di, &cnt, + x_tl, x_tr, x_bl, x_br, + y_top, y_bottom); + + /* Collision emphasis: draw a second inner trapezoid when active. */ + if (ana->collision_risk && x_tr > x_tl + 8u && x_br > x_bl + 16u && y_bottom > y_top + 8u) { + stdc_add_trapezoid_outline(di, &cnt, + x_tl + 4u, x_tr - 4u, x_bl + 8u, x_br - 8u, + y_top + 4u, y_bottom - 4u); + } + + /* Side warning/class panels are intentionally disabled. + * Keep only central ROI overlays to avoid per-class side boxes. */ + + g_dwResultCounts = cnt; + } + + /* Drive violation event state machine */ + event_recorder_update(ana); + } + else { + printf("[%s] Error: Job ID %u\n", __FUNCTION__, header_stamp->job_id); + return KP_FW_ERROR_UNKNOWN_APP; + } + + return KP_SUCCESS; +} +