replay overhaul

server/src/services/discordBotService.js

@@ -6,11 +6,6 @@ const {
   EmbedBuilder,
   AttachmentBuilder,
 } = require('discord.js');
-const fsp = require('fs/promises');
-const os = require('os');
-const path = require('path');
-const { promisify } = require('util');
-const { execFile } = require('child_process');
 const logger = require('../globals/logger').child('discordBot');
 const io = require('../globals/io');
 const { loadConfig } = require('../helpers/configLoader');
@@ -19,11 +14,7 @@ const { getRoster, lockRover, rovers } = require('./roverManager');
 const { MODES, getMode, setMode } = require('./modeManager');
 const { sendExternalMessage } = require('./chatService');
 const { getRoomCameras, getRoomCamera } = require('./roomCameraService');
-const {
+const { buildRoomCameraReplayVideo } = require('./roomCameraReplayService');
-  getRoomCameraFrames,
-  getRoomCameraReplayDelayMs,
-  getRoomCameraReplayFrameCount,
-} = require('./roomCameraSnapshotService');
 const { getActiveDrivers } = require('./turnService');
 const { getNickname } = require('./nicknameService');
 const { tryTriggerReplay } = require('./replayService');
@@ -53,8 +44,6 @@ const client = new Client({
 
 const channelCache = new Map();
 let skippedFirstModeAnnouncement = false;
-const execFileAsync = promisify(execFile);
-
 function sanitizeMentions(text) {
   if (!text) return '';
   return String(text)
@@ -281,111 +270,6 @@ function resolveReplayCamera(query) {
   return { error: 'Camera not found', matches: [] };
 }
 
-async function buildReplayVideo({ cameraId = null } = {}) {
-  const cameras = cameraId ? [getRoomCamera(cameraId)].filter(Boolean) : getRoomCameras();
-  if (!cameras.length) {
-    throw new Error('No room cameras configured');
-  }
-  const frames = [];
-  cameras.forEach((camera) => {
-    const history = getRoomCameraFrames(camera.id, getRoomCameraReplayFrameCount());
-    history.forEach((entry) => {
-      frames.push({ camera, buffer: entry.buffer });
-    });
-  });
-  if (!frames.length) {
-    throw new Error('No camera frames available yet');
-  }
-  const tmpDir = await fsp.mkdtemp(path.join(os.tmpdir(), 'rover-replay-'));
-  try {
-    const firstFrameByCamera = new Map();
-    for (let i = 0; i < frames.length; i += 1) {
-      const filename = `frame-${String(i + 1).padStart(4, '0')}.jpg`;
-      await fsp.writeFile(path.join(tmpDir, filename), frames[i].buffer);
-      const cameraId = frames[i].camera?.id;
-      if (cameraId && !firstFrameByCamera.has(cameraId)) {
-        firstFrameByCamera.set(cameraId, filename);
-      }
-    }
-    const outPath = path.join(tmpDir, 'replay.mp4');
-    const delayMs = getRoomCameraReplayDelayMs();
-    const fpsValue = 1000 / delayMs;
-    const fps = fpsValue.toFixed(3);
-    let maxWidth = 0;
-    let maxHeight = 0;
-    for (const filename of firstFrameByCamera.values()) {
-      try {
-        const { stdout } = await execFileAsync('ffprobe', [
-          '-v',
-          'error',
-          '-select_streams',
-          'v:0',
-          '-show_entries',
-          'stream=width,height',
-          '-of',
-          'csv=p=0',
-          path.join(tmpDir, filename),
-        ]);
-        const [widthRaw, heightRaw] = stdout.trim().split(',');
-        const width = Number(widthRaw);
-        const height = Number(heightRaw);
-        if (Number.isFinite(width) && Number.isFinite(height)) {
-          maxWidth = Math.max(maxWidth, width);
-          maxHeight = Math.max(maxHeight, height);
-        }
-      } catch (err) {
-        logger.warn('Failed to probe replay frame size', err.message);
-      }
-    }
-    const MAX_REPLAY_WIDTH = 1280;
-    const MAX_REPLAY_HEIGHT = 720;
-    let targetWidth = maxWidth || MAX_REPLAY_WIDTH;
-    let targetHeight = maxHeight || MAX_REPLAY_HEIGHT;
-    if (targetWidth > MAX_REPLAY_WIDTH || targetHeight > MAX_REPLAY_HEIGHT) {
-      const scale = Math.min(MAX_REPLAY_WIDTH / targetWidth, MAX_REPLAY_HEIGHT / targetHeight);
-      targetWidth = Math.max(2, Math.floor((targetWidth * scale) / 2) * 2);
-      targetHeight = Math.max(2, Math.floor((targetHeight * scale) / 2) * 2);
-    }
-    const sizeFilter = `scale=${targetWidth}:${targetHeight}:force_original_aspect_ratio=decrease:flags=lanczos,pad=${targetWidth}:${targetHeight}:(ow-iw)/2:(oh-ih)/2:color=black,setsar=1`;
-    const maxBytes = Math.floor(9.5 * 1024 * 1024);
-    const durationSec = Math.max(1, frames.length / fpsValue);
-    const targetBitrateKbps = Math.max(300, Math.floor((maxBytes * 8) / durationSec / 1000));
-    const maxrateKbps = Math.floor(targetBitrateKbps * 1.1);
-    const bufsizeKbps = Math.floor(targetBitrateKbps * 2);
-    await execFileAsync('ffmpeg', [
-      '-y',
-      '-hide_banner',
-      '-loglevel',
-      'error',
-      '-framerate',
-      fps,
-      '-i',
-      'frame-%04d.jpg',
-      '-vf',
-      sizeFilter,
-      '-c:v',
-      'libx264',
-      '-b:v',
-      `${targetBitrateKbps}k`,
-      '-maxrate',
-      `${maxrateKbps}k`,
-      '-bufsize',
-      `${bufsizeKbps}k`,
-      '-pix_fmt',
-      'yuv420p',
-      outPath,
-    ], { cwd: tmpDir });
-    const buffer = await fsp.readFile(outPath);
-    return buffer;
-  } finally {
-    try {
-      await fsp.rm(tmpDir, { recursive: true, force: true });
-    } catch (err) {
-      logger.warn('Failed to cleanup replay temp dir', err.message);
-    }
-  }
-}
-
 function buildReplayCaption(requester, camera) {
   const requesterLabel = requester || 'unknown';
   const cameraLabel = camera ? `Camera: ${camera.name || camera.id}.` : null;
@@ -402,7 +286,7 @@ async function sendReplayToChannel(channelId, requester, cameraId = null) {
   if (!channelId) {
     throw new Error('Replay channel not configured');
   }
-  const buffer = await buildReplayVideo({ cameraId });
+  const buffer = await buildRoomCameraReplayVideo({ cameraId });
   const attachment = new AttachmentBuilder(buffer, { name: 'replay.mp4' });
   const camera = cameraId ? getRoomCamera(cameraId) : null;
   const caption = buildReplayCaption(requester, camera);
@@ -445,7 +329,7 @@ async function handleReplayCommand(message, query) {
   const requester =
     message.member?.nickname || message.author?.globalName || message.author?.username || 'Discord';
   try {
-    const buffer = await buildReplayVideo({ cameraId });
+    const buffer = await buildRoomCameraReplayVideo({ cameraId });
     const attachment = new AttachmentBuilder(buffer, { name: 'replay.mp4' });
     const caption = buildReplayCaption(requester, resolved.camera || null);
     await message.reply({

server/src/services/roomCameraReplayService.js

@@ -0,0 +1,246 @@
+const { execFile } = require('child_process');
+const EventEmitter = require('events');
+const fsp = require('fs/promises');
+const os = require('os');
+const path = require('path');
+const { promisify } = require('util');
+
+const logger = require('../globals/logger').child('roomCameraReplay');
+const { getRoomCamera, getRoomCameras } = require('./roomCameraService');
+
+const execFileAsync = promisify(execFile);
+
+const REPLAY_DURATION_MS = 20000;
+const REPLAY_FPS = 15;
+const HISTORY_WINDOW_MS = 60000;
+const MAX_REPLAY_WIDTH = 1280;
+const MAX_REPLAY_HEIGHT = 720;
+const REPLAY_MAX_BYTES = Math.floor(9.5 * 1024 * 1024);
+
+const frameHistory = new Map(); // id -> [{ buffer, ts }]
+const latestFrames = new Map(); // id -> { buffer, ts }
+const events = new EventEmitter();
+
+function recordFrame(id, buffer, ts = Date.now()) {
+  if (!id || !buffer) return;
+  const entry = { buffer, ts };
+  latestFrames.set(id, entry);
+  const history = frameHistory.get(id) || [];
+  history.push(entry);
+  const cutoff = ts - HISTORY_WINDOW_MS;
+  while (history.length && history[0].ts < cutoff) {
+    history.shift();
+  }
+  frameHistory.set(id, history);
+  events.emit('frame', { id, ts });
+}
+
+function clearFrames() {
+  frameHistory.clear();
+  latestFrames.clear();
+}
+
+function getReplayMetadata() {
+  return {
+    durationMs: REPLAY_DURATION_MS,
+    fps: REPLAY_FPS,
+  };
+}
+
+function buildTimelineForCamera(id, startMs, frameCount, frameStepMs) {
+  const history = frameHistory.get(id) || [];
+  const fallback = latestFrames.get(id)?.buffer || null;
+  if (!history.length && !fallback) return null;
+  let idx = 0;
+  let lastBuffer = null;
+  while (idx < history.length && history[idx].ts < startMs) {
+    lastBuffer = history[idx].buffer;
+    idx += 1;
+  }
+  if (!lastBuffer) {
+    lastBuffer = history[0]?.buffer || fallback;
+  }
+  const frames = new Array(frameCount);
+  for (let i = 0; i < frameCount; i += 1) {
+    const slotTs = startMs + i * frameStepMs;
+    while (idx < history.length && history[idx].ts <= slotTs) {
+      lastBuffer = history[idx].buffer;
+      idx += 1;
+    }
+    frames[i] = lastBuffer || fallback;
+  }
+  return frames;
+}
+
+function buildGridLayout(count) {
+  const cols = Math.ceil(Math.sqrt(count));
+  const rows = Math.ceil(count / cols);
+  return { cols, rows };
+}
+
+async function probeMaxFrameSize(framePaths) {
+  let maxWidth = 0;
+  let maxHeight = 0;
+  for (const framePath of framePaths) {
+    try {
+      const { stdout } = await execFileAsync('ffprobe', [
+        '-v',
+        'error',
+        '-select_streams',
+        'v:0',
+        '-show_entries',
+        'stream=width,height',
+        '-of',
+        'csv=p=0',
+        framePath,
+      ]);
+      const [widthRaw, heightRaw] = stdout.trim().split(',');
+      const width = Number(widthRaw);
+      const height = Number(heightRaw);
+      if (Number.isFinite(width) && Number.isFinite(height)) {
+        maxWidth = Math.max(maxWidth, width);
+        maxHeight = Math.max(maxHeight, height);
+      }
+    } catch (err) {
+      logger.warn('Failed to probe replay frame size', err.message);
+    }
+  }
+  return { maxWidth, maxHeight };
+}
+
+function buildScalePadFilter(tileWidth, tileHeight) {
+  return `scale=${tileWidth}:${tileHeight}:force_original_aspect_ratio=decrease:flags=lanczos,pad=${tileWidth}:${tileHeight}:(ow-iw)/2:(oh-ih)/2:color=black,setsar=1`;
+}
+
+function clampEven(value) {
+  return Math.max(2, Math.floor(value / 2) * 2);
+}
+
+async function buildReplayVideo({ cameraId = null } = {}) {
+  const cameras = cameraId ? [getRoomCamera(cameraId)].filter(Boolean) : getRoomCameras();
+  if (!cameras.length) {
+    throw new Error('No room cameras configured');
+  }
+
+  const fpsValue = REPLAY_FPS;
+  const frameCount = Math.max(1, Math.round((REPLAY_DURATION_MS / 1000) * fpsValue));
+  const frameStepMs = 1000 / fpsValue;
+  const startMs = Date.now() - REPLAY_DURATION_MS;
+
+  const cameraEntries = [];
+  cameras.forEach((camera) => {
+    const frames = buildTimelineForCamera(camera.id, startMs, frameCount, frameStepMs);
+    if (!frames) return;
+    cameraEntries.push({ camera, frames });
+  });
+
+  if (!cameraEntries.length) {
+    throw new Error('No camera frames available yet');
+  }
+
+  const tmpDir = await fsp.mkdtemp(path.join(os.tmpdir(), 'rover-replay-'));
+  try {
+    const firstFramePaths = [];
+    for (let i = 0; i < cameraEntries.length; i += 1) {
+      const entry = cameraEntries[i];
+      const camDir = path.join(tmpDir, `cam-${String(i).padStart(2, '0')}`);
+      entry.dir = camDir;
+      await fsp.mkdir(camDir, { recursive: true });
+      for (let j = 0; j < entry.frames.length; j += 1) {
+        const buffer = entry.frames[j];
+        if (!buffer) {
+          throw new Error(`Camera ${entry.camera.id} missing replay frame`);
+        }
+        const filename = `frame-${String(j + 1).padStart(4, '0')}.jpg`;
+        const fullPath = path.join(camDir, filename);
+        if (j === 0) {
+          firstFramePaths.push(fullPath);
+        }
+        await fsp.writeFile(fullPath, buffer);
+      }
+    }
+
+    const { maxWidth, maxHeight } = await probeMaxFrameSize(firstFramePaths);
+    const layout = buildGridLayout(cameraEntries.length);
+    let tileWidth = maxWidth || 640;
+    let tileHeight = maxHeight || 360;
+    let outputWidth = tileWidth * layout.cols;
+    let outputHeight = tileHeight * layout.rows;
+    if (outputWidth > MAX_REPLAY_WIDTH || outputHeight > MAX_REPLAY_HEIGHT) {
+      const scale = Math.min(MAX_REPLAY_WIDTH / outputWidth, MAX_REPLAY_HEIGHT / outputHeight);
+      tileWidth = tileWidth * scale;
+      tileHeight = tileHeight * scale;
+      outputWidth = tileWidth * layout.cols;
+      outputHeight = tileHeight * layout.rows;
+    }
+    tileWidth = clampEven(tileWidth);
+    tileHeight = clampEven(tileHeight);
+    outputWidth = clampEven(tileWidth * layout.cols);
+    outputHeight = clampEven(tileHeight * layout.rows);
+
+    const fps = fpsValue.toFixed(3);
+    const durationSec = Math.max(1, frameCount / fpsValue);
+    const targetBitrateKbps = Math.max(300, Math.floor((REPLAY_MAX_BYTES * 8) / durationSec / 1000));
+    const maxrateKbps = Math.floor(targetBitrateKbps * 1.1);
+    const bufsizeKbps = Math.floor(targetBitrateKbps * 2);
+
+    const inputArgs = [];
+    const filterParts = [];
+    const layoutParts = [];
+    for (let i = 0; i < cameraEntries.length; i += 1) {
+      inputArgs.push('-framerate', fps, '-i', path.join(cameraEntries[i].dir, 'frame-%04d.jpg'));
+      filterParts.push(
+        `[${i}:v]${buildScalePadFilter(tileWidth, tileHeight)}[v${i}]`,
+      );
+      const x = (i % layout.cols) * tileWidth;
+      const y = Math.floor(i / layout.cols) * tileHeight;
+      layoutParts.push(`${x}_${y}`);
+    }
+    filterParts.push(
+      `${cameraEntries.map((_, i) => `[v${i}]`).join('')}` +
+        `xstack=inputs=${cameraEntries.length}:layout=${layoutParts.join('|')}:fill=black[v]`,
+    );
+
+    const outPath = path.join(tmpDir, 'replay.mp4');
+    await execFileAsync('ffmpeg', [
+      '-y',
+      '-hide_banner',
+      '-loglevel',
+      'error',
+      ...inputArgs,
+      '-filter_complex',
+      filterParts.join(';'),
+      '-map',
+      '[v]',
+      '-r',
+      fps,
+      '-c:v',
+      'libx264',
+      '-b:v',
+      `${targetBitrateKbps}k`,
+      '-maxrate',
+      `${maxrateKbps}k`,
+      '-bufsize',
+      `${bufsizeKbps}k`,
+      '-pix_fmt',
+      'yuv420p',
+      outPath,
+    ]);
+    const buffer = await fsp.readFile(outPath);
+    return buffer;
+  } finally {
+    try {
+      await fsp.rm(tmpDir, { recursive: true, force: true });
+    } catch (err) {
+      logger.warn('Failed to cleanup replay temp dir', err.message);
+    }
+  }
+}
+
+module.exports = {
+  recordRoomCameraFrame: recordFrame,
+  clearRoomCameraReplayFrames: clearFrames,
+  getRoomCameraReplayMetadata: getReplayMetadata,
+  buildRoomCameraReplayVideo: buildReplayVideo,
+  roomCameraReplayEvents: events,
+};

server/src/services/roomCameraSnapshotService.js

@@ -1,13 +1,15 @@
 const EventEmitter = require('events');
 const logger = require('../globals/logger').child('roomCameraSnapshot');
 const { getRoomCameras, roomCameraEvents } = require('./roomCameraService');
+const {
+  recordRoomCameraFrame,
+  clearRoomCameraReplayFrames,
+} = require('./roomCameraReplayService');
 
 const POLL_INTERVAL_MS = 67;
-const REPLAY_FRAME_COUNT = 225;
 const FETCH_TIMEOUT_MS = 2000;
 
 const cameraState = new Map(); // id -> {frame, ts, error, failures, fetching}
-const frameHistory = new Map(); // id -> [{buffer, ts}]
 const events = new EventEmitter(); // frame, status
 let pollTimer = null;
 
@@ -18,15 +20,6 @@ function markState(id, updates = {}) {
   return next;
 }
 
-function recordFrame(id, buffer, ts) {
-  const history = frameHistory.get(id) || [];
-  history.push({ buffer, ts });
-  if (history.length > REPLAY_FRAME_COUNT) {
-    history.splice(0, history.length - REPLAY_FRAME_COUNT);
-  }
-  frameHistory.set(id, history);
-}
-
 async function fetchSnapshot(camera) {
   const { id, url } = camera;
   const state = cameraState.get(id);
@@ -43,7 +36,7 @@ async function fetchSnapshot(camera) {
     const buffer = Buffer.from(arrayBuffer);
     const ts = Date.now();
     markState(id, { frame: buffer, ts, error: null, failures: 0 });
-    recordFrame(id, buffer, ts);
+    recordRoomCameraFrame(id, buffer, ts);
     events.emit('frame', { id, buffer, ts });
   } catch (err) {
     const failures = (state?.failures || 0) + 1;
@@ -62,7 +55,7 @@ function stopAll() {
     pollTimer = null;
   }
   cameraState.clear();
-  frameHistory.clear();
+  clearRoomCameraReplayFrames();
 }
 
 function startAll() {
@@ -84,20 +77,6 @@ function getState(id) {
   };
 }
 
-function getReplayFrames(id, count = REPLAY_FRAME_COUNT) {
-  const history = frameHistory.get(id) || [];
-  if (!history.length) return [];
-  return history.slice(Math.max(0, history.length - count));
-}
-
-function getReplayFrameDelayMs() {
-  return POLL_INTERVAL_MS;
-}
-
-function getReplayFrameCount() {
-  return REPLAY_FRAME_COUNT;
-}
-
 roomCameraEvents.on('update', () => {
   logger.info('Room cameras changed; restarting snapshot pollers');
   startAll();
@@ -108,7 +87,4 @@ startAll();
 module.exports = {
   roomCameraStreamEvents: events,
   getRoomCameraState: getState,
-  getRoomCameraFrames: getReplayFrames,
-  getRoomCameraReplayDelayMs: getReplayFrameDelayMs,
-  getRoomCameraReplayFrameCount: getReplayFrameCount,
 };