Bridge: frame coalescing -- the view can no longer fall behind real time
The main loop rendered EVERY draw_scene in arrival order, so any render slowdown played the mission slower than real time and the view drifted seconds behind the game (user: "renderer fell way out of sync"); the backpressure hides in the socket, so backlog= stayed 0. Now each pass slices all complete records, applies every state record in order, and presents only the newest frame; superseded presents are counted in the new skipped= report field. Live verdict over a full mission: frames=10169 skipped=3 backlog=0B -- locked to the wire. Also from the tuner session: seat trim granularity 0.1 (0.5 was too jumpy) and a HUD size trim (vrview_gl u_scale + VRVIEW_HUDSCALE env, live +/- keys) -- tuners stay enabled for pilot feedback; seat trim turns out to be per-mech (Mad Cat vs Thor want different values). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Claude Fable 5
@@ -201,6 +201,7 @@ void main() { // Division DAC gamma, once over the final image
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HUD_VS = """
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#version 330
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uniform vec4 u_rect; // view rect x0 y0 x1 y1 (dpl2d coordinate space)
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uniform float u_scale; // HUD size trim (VRVIEW_HUDSCALE / live +/- keys)
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in vec2 in_pos;
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void main() {
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vec2 p = vec2((in_pos.x - u_rect.x) / (u_rect.z - u_rect.x),
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@@ -209,10 +210,14 @@ void main() {
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// twist dial UNDER the reticle and the range bar filling top-to-bottom;
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// mapping straight onto GL's Y-up NDC rendered the whole HUD flipped.
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p.y = -p.y;
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gl_Position = vec4(p, 0.0, 1.0);
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gl_Position = vec4(p * u_scale, 0.0, 1.0);
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}
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"""
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# HUD size trim, live-adjustable from the bridge (+/- keys); pin with
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# VRVIEW_HUDSCALE once the right size is found vs period footage.
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HUDSCALE = [float(os.environ.get('VRVIEW_HUDSCALE', '1.0'))]
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HUD_FS = """
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#version 330
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uniform vec3 u_col;
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@@ -566,6 +571,7 @@ class GLRenderer(vrview.Renderer):
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self._set(self._hud_prog, 'u_rect',
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(float(vp['x0']), float(vp['y0']),
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float(vp['x1']), float(vp['y1'])))
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self._set(self._hud_prog, 'u_scale', float(HUDSCALE[0]))
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MODES = {'strip': mgl.LINE_STRIP, 'segs': mgl.LINES,
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'poly': mgl.TRIANGLE_FAN, 'points': mgl.POINTS}
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for kind, col, wd, pts in prims:
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@@ -21,11 +21,14 @@ board.munga = False
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r = Renderer(w=832, h=512,
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title=f"dpl3-revive renderer (Dave) -- LIVE from our pod [{backend}]")
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r.fps = int(os.environ.get('BRIDGE_FPS', '60' if backend == 'GL' else '30'))
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# eye-height TRIM on top of the camera position (UP/DOWN arrows = +-5,
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# LEFT/RIGHT = +-1, live; render window must be focused). The chain camera
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# carries the true cockpit eye so the default trim is 0; the vehicle-root
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# fallback adds VEH_EYE below (12 was the hand-tuned value).
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# eye TRIM on top of the camera position (live; render window must be
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# focused): UP/DOWN = height +-1, LEFT/RIGHT = seat forward/back +-0.5
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# along the look direction (user: the canopy reads as "sitting too far
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# back" -- tune, then pin with FP_UPOFF / FP_FWDOFF). The chain camera
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# carries the true cockpit eye so the default trims are 0; the vehicle-
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# root fallback adds VEH_EYE below (12 was the hand-tuned value).
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UPOFF = [float(os.environ.get('FP_UPOFF', '0'))]
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FWDOFF = [float(os.environ.get('FP_FWDOFF', '0'))]
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VEH_EYE = 12.0
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# the un-overridden munga cam-chain method (fp_cam overrides r.cam_matrix
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# every frame, so grab the bound original once)
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@@ -137,6 +140,7 @@ def fp_cam(board, cache):
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cs, sn = math.cos(th), math.sin(th)
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fwd = np.array([cs * fwd[0] + sn * fwd[2], fwd[1],
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-sn * fwd[0] + cs * fwd[2]])
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eye = eye + fwd * FWDOFF[0] # seat forward/back trim
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back = -fwd
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right = np.cross(worldup, back)
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rn = np.linalg.norm(right)
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@@ -180,11 +184,26 @@ def render(board):
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if ev.type == pg.QUIT:
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raise KeyboardInterrupt
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if ev.type == pg.KEYDOWN:
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step = {pg.K_UP: 5, pg.K_DOWN: -5,
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pg.K_RIGHT: 1, pg.K_LEFT: -1}.get(ev.key)
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if step:
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UPOFF[0] = max(0.0, UPOFF[0] + step)
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print(f"eye height = {UPOFF[0]:.0f}", flush=True)
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hstep = {pg.K_UP: 1, pg.K_DOWN: -1}.get(ev.key)
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fstep = {pg.K_RIGHT: 0.1, pg.K_LEFT: -0.1}.get(ev.key)
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sstep = {pg.K_EQUALS: 0.05, pg.K_MINUS: -0.05,
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pg.K_KP_PLUS: 0.05, pg.K_KP_MINUS: -0.05}.get(ev.key)
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if hstep:
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UPOFF[0] += hstep
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if fstep:
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FWDOFF[0] += fstep
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if sstep:
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try:
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import vrview_gl
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vrview_gl.HUDSCALE[0] = max(
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0.2, vrview_gl.HUDSCALE[0] + sstep)
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print(f"HUD scale = {vrview_gl.HUDSCALE[0]:.2f}",
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flush=True)
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except Exception:
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pass
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if hstep or fstep:
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print(f"eye trim: height {UPOFF[0]:+.1f} "
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f"forward {FWDOFF[0]:+.1f}", flush=True)
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r.cache.maybe_rebuild(board)
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M = fp_cam(board, r.cache)
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if M is not None:
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@@ -270,11 +289,20 @@ print("tailing live wire -> Dave's renderer; drive the pod")
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pending = b''
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frames = 0
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skipped = 0
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last_report = time.time()
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while True:
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chunk = read_chunk()
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if chunk:
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pending += chunk
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# Slice ALL complete records out of the buffer first, so we know which
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# draw_scene is the newest. Rendering every draw_scene in arrival order
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# means any render slowdown plays the mission slower than real time and
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# the view drifts seconds behind the game (backpressure hides in the
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# socket, not in len(pending)). State records all still apply, in order;
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# only superseded frame PRESENTS are skipped -- the view latches to the
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# freshest frame no matter how slow GL is.
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records = []
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off = 0
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n = len(pending)
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while n - off >= 8:
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@@ -284,22 +312,31 @@ while True:
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ln = struct.unpack_from('<I', pending, off + 4)[0]
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if n - off < 8 + ln:
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break # incomplete record: wait for more
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body = pending[off + 8:off + 8 + ln]
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records.append(pending[off + 8:off + 8 + ln])
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off += 8 + ln
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if len(body) >= 4:
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action = struct.unpack_from('<I', body, 0)[0]
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if action < 0x100:
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try:
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board.handle(Msg(False, 0xff, action, body[4:]))
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except Exception:
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pass
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if action == 0x1f: # torso/limb joint angles ride here
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try: track_joints(body[4:])
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except Exception: pass
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if action == 9: # draw_scene -> present a frame
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pending = pending[off:]
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last_draw = -1
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for i, body in enumerate(records):
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if len(body) >= 4 and struct.unpack_from('<I', body, 0)[0] == 9:
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last_draw = i
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for i, body in enumerate(records):
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if len(body) < 4:
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continue
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action = struct.unpack_from('<I', body, 0)[0]
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if action < 0x100:
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try:
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board.handle(Msg(False, 0xff, action, body[4:]))
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except Exception:
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pass
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if action == 0x1f: # torso/limb joint angles ride here
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try: track_joints(body[4:])
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except Exception: pass
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if action == 9: # draw_scene -> present a frame
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if i == last_draw:
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render(board)
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frames += 1
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pending = pending[off:]
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else:
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skipped += 1
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if not chunk:
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try: r.pump()
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except KeyboardInterrupt: break
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@@ -308,7 +345,7 @@ while True:
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time.sleep(0.02) # socket mode already waited in recv
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if time.time() - last_report > 4:
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last_report = time.time()
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print(f"frames={frames} nodes={len(board.nodes)} "
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print(f"frames={frames} skipped={skipped} nodes={len(board.nodes)} "
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f"uploads={len(board.uploads)} tex={len(board.tex)} "
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f"munga={board.munga} anim_abs={len(board.anim_abs)} "
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f"backlog={len(pending)}B", flush=True)
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