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Add the GEM-X native backend with live pose and root displacement output, bounded duplex WebSocket streaming, session authorization, metrics and usage accounting. Share the embedded bidirectional RPC channel adapter across streaming backends.
Include backend build and gallery integration, API documentation, schemas and tests.
Assisted-by: Codex:gpt-6
Signed-off-by: Richard Palethorpe <io@richiejp.com>
(cherry picked from commit 016dc3d71a)
74 lines
1.8 KiB
Go
74 lines
1.8 KiB
Go
// SPDX-License-Identifier: MIT
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package motion
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import (
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. "github.com/onsi/ginkgo/v2"
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. "github.com/onsi/gomega"
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"testing"
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"time"
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)
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func TestFrameQueue(t *testing.T) { RegisterFailHandler(Fail); RunSpecs(t, "Motion frame queue") }
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var _ = Describe("Bounded temporal frame queue", func() {
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It("thins across the pending span, preserving endpoints and earlier ties", func() {
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q := &FrameQueue{}
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now := time.Now()
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var released []uint64
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for i := 1; i <= 6; i++ {
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var pressure bool
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released, pressure = q.Offer(QueuedFrame{Sequence: uint64(i), SourceTime: int64(i), Data: []byte{1}, Arrived: now})
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Expect(pressure).To(Equal(i == 6))
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}
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Expect(released).To(Equal([]uint64{2, 4, 5}))
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var kept []uint64
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for {
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f, ok := q.Take()
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if !ok {
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break
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}
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kept = append(kept, f.Sequence)
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}
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Expect(kept).To(Equal([]uint64{1, 3, 6}))
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})
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It("uses timestamp spacing instead of index spacing for irregular captures", func() {
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q := &FrameQueue{}
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for i, stamp := range []int64{0, 1, 2, 50, 99, 100} {
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q.Offer(QueuedFrame{Sequence: uint64(i + 1), SourceTime: stamp, Data: []byte{1}, Arrived: time.Now()})
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}
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var kept []uint64
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for {
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f, ok := q.Take()
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if !ok {
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break
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}
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kept = append(kept, f.Sequence)
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}
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Expect(kept).To(Equal([]uint64{1, 4, 6}))
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})
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It("bounds bytes under repeated large uploads and expires by server arrival time", func() {
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q := &FrameQueue{}
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now := time.Now()
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data := make([]byte, UploadFrameMaxBytes)
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for i := 1; i <= 100; i++ {
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q.Offer(QueuedFrame{Sequence: uint64(i), Data: data, Arrived: now})
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Expect(q.Len()).To(BeNumerically("<=", UploadWindow))
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Expect(q.Bytes()).To(BeNumerically("<", 6<<20))
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}
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Expect(q.Expire(now.Add(UploadMaxQueueAge))).NotTo(BeEmpty())
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Expect(q.Len()).To(BeZero())
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Expect(q.Bytes()).To(BeZero())
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Expect(q.Dropped).To(Equal(uint64(100)))
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})
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})
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