edgefirst-image 0.25.3

// SPDX-FileCopyrightText: Copyright 2025 Au-Zone Technologies
// SPDX-License-Identifier: Apache-2.0

use edgefirst_decoder::{DetectBox, ProtoData, Segmentation};
use std::panic::AssertUnwindSafe;
use std::ptr::NonNull;
use std::thread::JoinHandle;
use tokio::sync::mpsc::{Sender, WeakSender};

use super::processor::GLProcessorST;
use super::shaders::check_gl_error;
use super::{EglDisplayKind, Int8InterpolationMode, TransferBackend};
use crate::{Crop, Error, Flip, ImageProcessorTrait, Rotation};
use edgefirst_tensor::TensorDyn;

#[allow(clippy::type_complexity)]
enum GLProcessorMessage {
    ImageConvert(
        SendablePtr<TensorDyn>,
        SendablePtr<TensorDyn>,
        Rotation,
        Flip,
        Crop,
        bool, // defer: skip the per-tile glFinish (batch); flush syncs once
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    /// Complete any deferred batch render with a single GPU sync.
    Flush(tokio::sync::oneshot::Sender<Result<(), Error>>),
    SetColors(
        Vec<[u8; 4]>,
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    DrawDecodedMasks(
        SendablePtr<TensorDyn>,
        SendablePtr<DetectBox>,
        SendablePtr<Segmentation>,
        f32,                            // opacity
        Option<SendablePtr<TensorDyn>>, // background
        Option<[f32; 4]>,               // letterbox
        crate::ColorMode,
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    DrawProtoMasks(
        SendablePtr<TensorDyn>,
        SendablePtr<DetectBox>,
        SendablePtr<ProtoData>,
        f32,                            // opacity
        Option<SendablePtr<TensorDyn>>, // background
        Option<[f32; 4]>,               // letterbox
        crate::ColorMode,
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    SetInt8Interpolation(
        Int8InterpolationMode,
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    /// Set the colorimetry/performance trade-off (`ColorimetryMode`).
    SetColorimetryMode(
        crate::ColorimetryMode,
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    /// Snapshot the EGLImage cache counters (steady-state import assertions).
    EglCacheStats(tokio::sync::oneshot::Sender<Result<super::cache::GlCacheStats, Error>>),
    PboCreate(
        usize, // buffer size in bytes
        tokio::sync::oneshot::Sender<Result<u32, Error>>,
    ),
    PboMap(
        u32,   // buffer_id
        usize, // size
        tokio::sync::oneshot::Sender<Result<edgefirst_tensor::PboMapping, Error>>,
    ),
    PboUnmap(
        u32, // buffer_id
        tokio::sync::oneshot::Sender<Result<(), Error>>,
    ),
    PboDelete(u32), // fire-and-forget, no reply
    CudaRegisterBuffer(u32, tokio::sync::oneshot::Sender<Option<usize>>),
    CudaMap(usize, tokio::sync::oneshot::Sender<Option<(usize, usize)>>),
    CudaUnmap(usize),      // fire-and-forget
    CudaUnregister(usize), // fire-and-forget
}

/// Compute the flat element count for a PBO image buffer of the given format.
///
/// NV12 and NV16 are semiplanar with non-trivial element counts; all other
/// formats use `width * height * channels`.
///
/// Returns `None` on `usize` overflow. A wrapped element count would size
/// the PBO too small and corrupt memory on readback, so callers must treat
/// `None` as an invalid-dimensions error (the same way they already reject
/// a zero count).
fn pbo_elem_count(
    width: usize,
    height: usize,
    format: edgefirst_tensor::PixelFormat,
) -> Option<usize> {
    // Element count == product of the canonical image shape (the PBO holds u8,
    // one byte per element). Delegating to `image_shape` keeps the combined
    // semi-planar height in lockstep with every other consumer (and is exact
    // for odd heights — `height*3/2` truncation under-sized odd-H NV12 by a
    // row, and the old NV24 arm fell through to `channels` = far too small).
    // `checked_mul` so a wrapped count can't silently undersize the PBO.
    format
        .image_shape(width, height)?
        .iter()
        .try_fold(1usize, |acc, &d| acc.checked_mul(d))
}

/// Compute the tensor shape for a PBO image of the given format — the canonical
/// [`PixelFormat::image_shape`] (Planar `[C,H,W]`, SemiPlanar `[total_h, W]`
/// with the odd-height-exact combined-plane height, Packed `[H,W,C]`).
fn pbo_shape(width: usize, height: usize, format: edgefirst_tensor::PixelFormat) -> Vec<usize> {
    format
        .image_shape(width, height)
        .unwrap_or_else(|| vec![height, width, format.channels()])
}

/// Best-effort registration of a freshly-created PBO with CUDA GL interop.
///
/// When libcudart is present, asks the GL worker (where the GL context is
/// current) to call `cudaGraphicsGLRegisterBuffer` for `buffer_id`, then
/// attaches a [`CudaHandle`] so `cuda_map()` can later yield a linear,
/// 256-byte-aligned device pointer for TensorRT. On any failure (no CUDA,
/// channel closed, registration rejected) the handle is left unset and the
/// PBO is still usable as a normal CPU/GL buffer.
fn register_pbo_cuda<T>(
    tensor: &mut edgefirst_tensor::Tensor<T>,
    buffer_id: u32,
    size: usize,
    sender: &Sender<GLProcessorMessage>,
) where
    T: num_traits::Num + Clone + std::fmt::Debug + Send + Sync,
{
    if !edgefirst_tensor::is_cuda_available() {
        return;
    }
    let (tx, rx) = tokio::sync::oneshot::channel();
    if sender
        .blocking_send(GLProcessorMessage::CudaRegisterBuffer(buffer_id, tx))
        .is_ok()
    {
        if let Ok(Some(resource)) = rx.blocking_recv() {
            let ops = std::sync::Arc::new(GlCudaOps {
                sender: sender.downgrade(),
            });
            tensor.set_cuda_handle(edgefirst_tensor::CudaHandle::new_gl(
                resource as *mut std::ffi::c_void,
                size,
                ops,
            ));
        }
    }
}

/// Implements PboOps by sending commands to the GL thread.
///
/// Uses a `WeakSender` so that PBO images don't keep the GL thread's channel
/// alive. When the `GLProcessorThreaded` is dropped, its `Sender` is the last
/// strong reference — dropping it closes the channel and lets the GL thread
/// exit. PBO operations after that return `PboDisconnected`.
struct GlPboOps {
    sender: WeakSender<GLProcessorMessage>,
}

// SAFETY: GlPboOps sends all GL operations to the dedicated GL thread via a
// channel. `map_buffer` returns a CPU-visible pointer from `glMapBufferRange`
// that remains valid until `unmap_buffer` calls `glUnmapBuffer` on the GL thread.
// `delete_buffer` sends a fire-and-forget deletion command to the GL thread.
unsafe impl edgefirst_tensor::PboOps for GlPboOps {
    fn map_buffer(
        &self,
        buffer_id: u32,
        size: usize,
    ) -> edgefirst_tensor::Result<edgefirst_tensor::PboMapping> {
        let sender = self
            .sender
            .upgrade()
            .ok_or(edgefirst_tensor::Error::PboDisconnected)?;
        let (tx, rx) = tokio::sync::oneshot::channel();
        sender
            .blocking_send(GLProcessorMessage::PboMap(buffer_id, size, tx))
            .map_err(|_| edgefirst_tensor::Error::PboDisconnected)?;
        rx.blocking_recv()
            .map_err(|_| edgefirst_tensor::Error::PboDisconnected)?
            .map_err(|e| {
                edgefirst_tensor::Error::NotImplemented(format!("GL PBO map failed: {e:?}"))
            })
    }

    fn unmap_buffer(&self, buffer_id: u32) -> edgefirst_tensor::Result<()> {
        let sender = self
            .sender
            .upgrade()
            .ok_or(edgefirst_tensor::Error::PboDisconnected)?;
        let (tx, rx) = tokio::sync::oneshot::channel();
        sender
            .blocking_send(GLProcessorMessage::PboUnmap(buffer_id, tx))
            .map_err(|_| edgefirst_tensor::Error::PboDisconnected)?;
        rx.blocking_recv()
            .map_err(|_| edgefirst_tensor::Error::PboDisconnected)?
            .map_err(|e| {
                edgefirst_tensor::Error::NotImplemented(format!("GL PBO unmap failed: {e:?}"))
            })
    }

    fn delete_buffer(&self, buffer_id: u32) {
        if let Some(sender) = self.sender.upgrade() {
            let _ = sender.blocking_send(GLProcessorMessage::PboDelete(buffer_id));
        }
    }
}

/// Routes CUDA GL-interop map/unmap/unregister to the GL thread.
///
/// Mirrors [`GlPboOps`]: holds a [`WeakSender`] so a registered PBO doesn't
/// keep the GL thread's channel alive. The CUDA primitives
/// (`cudaGraphicsMapResources` etc.) require the GL context to be current,
/// so they must execute on the dedicated GL worker thread.
struct GlCudaOps {
    sender: WeakSender<GLProcessorMessage>,
}

impl edgefirst_tensor::CudaGlOps for GlCudaOps {
    fn map(&self, resource: *mut std::ffi::c_void) -> Option<(*mut std::ffi::c_void, usize)> {
        let sender = self.sender.upgrade()?;
        let (tx, rx) = tokio::sync::oneshot::channel();
        sender
            .blocking_send(GLProcessorMessage::CudaMap(resource as usize, tx))
            .ok()?;
        rx.blocking_recv()
            .ok()?
            .map(|(p, l)| (p as *mut std::ffi::c_void, l))
    }

    fn unmap(&self, resource: *mut std::ffi::c_void) {
        if let Some(sender) = self.sender.upgrade() {
            let _ = sender.blocking_send(GLProcessorMessage::CudaUnmap(resource as usize));
        }
    }

    fn unregister(&self, resource: *mut std::ffi::c_void) {
        if let Some(sender) = self.sender.upgrade() {
            let _ = sender.blocking_send(GLProcessorMessage::CudaUnregister(resource as usize));
        }
    }
}

/// OpenGL multi-threaded image converter. The actual conversion is done in a
/// separate rendering thread, as OpenGL contexts are not thread-safe. This can
/// be safely sent between threads. The `convert()` call sends the conversion
/// request to the rendering thread and waits for the result.
#[derive(Debug)]
pub struct GLProcessorThreaded {
    // This is only None when the converter is being dropped.
    handle: Option<JoinHandle<()>>,

    // This is only None when the converter is being dropped.
    sender: Option<Sender<GLProcessorMessage>>,
    /// Immutable capability surface (transfer backend, float render
    /// support, serialization policy), captured once from the worker at
    /// construction. See `PlatformCaps` in `platform/mod.rs`.
    caps: super::platform::PlatformCaps,
}

unsafe impl Send for GLProcessorThreaded {}
unsafe impl Sync for GLProcessorThreaded {}

struct SendablePtr<T: Send> {
    ptr: NonNull<T>,
    len: usize,
}

unsafe impl<T> Send for SendablePtr<T> where T: Send {}

/// Extract a human-readable message from a `catch_unwind` panic payload.
fn panic_message(info: &(dyn std::any::Any + Send)) -> String {
    if let Some(s) = info.downcast_ref::<&str>() {
        s.to_string()
    } else if let Some(s) = info.downcast_ref::<String>() {
        s.clone()
    } else {
        "unknown panic".to_string()
    }
}

impl GLProcessorThreaded {
    /// Creates a new OpenGL multi-threaded image converter.
    pub fn new(kind: Option<EglDisplayKind>) -> Result<Self, Error> {
        let (send, mut recv) = tokio::sync::mpsc::channel::<GLProcessorMessage>(1);

        let (create_ctx_send, create_ctx_recv) = tokio::sync::oneshot::channel();

        let func = move || {
            // Creation runs under the global lifecycle lock on Linux
            // (bring-up races on some embedded drivers); ANGLE serializes
            // display-level entry points internally, so macOS needs none
            // (validated by the A0 lifecycle-churn spike leg).
            #[cfg(target_os = "linux")]
            let init_result = {
                let _guard = super::context::GL_MUTEX
                    .lock()
                    .unwrap_or_else(|e| e.into_inner());
                GLProcessorST::new(kind)
            };
            #[cfg(target_os = "macos")]
            let init_result = GLProcessorST::new(kind);
            let mut gl_converter = match init_result {
                Ok(gl) => gl,
                Err(e) => {
                    let _ = create_ctx_send.send(Err(e));
                    return;
                }
            };
            // Capability surface captured ONCE before the message loop —
            // immutable for the worker's life, never re-probed per message.
            let caps = gl_converter.platform_caps();
            let _ = create_ctx_send.send(Ok(caps));
            let mut poisoned = false;
            // Per-message serialization policy: Full where the platform
            // demands it (`caps.serialize_gl` — Vivante/galcore is not
            // thread-safe for concurrent GL across contexts), LifecycleOnly
            // everywhere else — multiple processors then run GL work in
            // parallel, each on its own thread + context. See the GL_MUTEX
            // doc comment in context.rs. EDGEFIRST_GL_SERIALIZE overrides
            // per-driver defaults (full = escape hatch for unknown-bad
            // drivers; lifecycle = force-parallel).
            let serialize_per_msg = match std::env::var("EDGEFIRST_GL_SERIALIZE").as_deref() {
                Ok("full") => true,
                Ok("lifecycle") => false,
                _ => caps.serialize_gl,
            };
            log::debug!(
                "GL serialization policy: {}",
                if serialize_per_msg {
                    "Full (per-message global lock)"
                } else {
                    "LifecycleOnly (parallel across processors)"
                }
            );
            while let Some(msg) = recv.blocking_recv() {
                // Full policy: one processor's message at a time, process-wide.
                // Linux locks GL_MUTEX (messages must also exclude the locked
                // lifecycle operations — on Vivante a convert racing a context
                // bring-up is part of the driver bug class). macOS has no
                // lifecycle lock (ANGLE serializes display entry points
                // internally), so message-vs-message exclusion suffices —
                // needed on virtualized GPUs, where concurrent GL across
                // contexts mis-renders (paravirtual Metal, macOS CI runners).
                #[cfg(target_os = "linux")]
                let _guard = serialize_per_msg.then(|| {
                    super::context::GL_MUTEX
                        .lock()
                        .unwrap_or_else(|e| e.into_inner())
                });
                #[cfg(target_os = "macos")]
                let _guard = serialize_per_msg.then(|| {
                    static MSG_MUTEX: std::sync::Mutex<()> = std::sync::Mutex::new(());
                    MSG_MUTEX.lock().unwrap_or_else(|e| e.into_inner())
                });

                // After a panic, the GL context is in an undefined state. Reject
                // all subsequent messages with an error rather than risking wrong
                // output or a GPU hang from corrupted GL state. This follows the
                // same pattern as std::sync::Mutex poisoning.
                if poisoned {
                    let poison_err = crate::Error::Internal(
                        "GL context is poisoned after a prior panic".to_string(),
                    );
                    match msg {
                        GLProcessorMessage::ImageConvert(.., resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::Flush(resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::DrawDecodedMasks(.., resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::DrawProtoMasks(.., resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::SetColors(_, resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::SetInt8Interpolation(_, resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::SetColorimetryMode(_, resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::EglCacheStats(resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::PboCreate(_, resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::PboMap(_, _, resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::PboUnmap(_, resp) => {
                            let _ = resp.send(Err(poison_err));
                        }
                        GLProcessorMessage::PboDelete(_) => {}
                        GLProcessorMessage::CudaRegisterBuffer(_, resp) => {
                            let _ = resp.send(None);
                        }
                        GLProcessorMessage::CudaMap(_, resp) => {
                            let _ = resp.send(None);
                        }
                        // GL context is poisoned/dead — the GL buffer is unusable, so unmapping/
                        // unregistering the CUDA interop is moot (the resource is reclaimed at
                        // process exit). Same accepted "GL is gone" no-op as PboDelete above.
                        GLProcessorMessage::CudaUnmap(_) => {}
                        GLProcessorMessage::CudaUnregister(_) => {}
                    }
                    continue;
                }

                match msg {
                    GLProcessorMessage::ImageConvert(
                        src,
                        mut dst,
                        rotation,
                        flip,
                        crop,
                        defer,
                        resp,
                    ) => {
                        // SAFETY: This is safe because the convert() function waits for the resp to
                        // be sent before dropping the borrow for src and dst
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            let src = unsafe { src.ptr.as_ref() };
                            let dst = unsafe { dst.ptr.as_mut() };
                            // A deferred convert skips the per-tile glFinish and
                            // leaves a single sync owed at Flush; an eager convert
                            // finishes as usual.
                            if defer {
                                gl_converter.convert_deferred(src, dst, rotation, flip, crop)
                            } else {
                                gl_converter.convert(src, dst, rotation, flip, crop)
                            }
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during ImageConvert: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::Flush(resp) => {
                        let result =
                            std::panic::catch_unwind(AssertUnwindSafe(|| gl_converter.flush()));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during Flush: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::DrawDecodedMasks(
                        mut dst,
                        det,
                        seg,
                        opacity,
                        bg,
                        letterbox,
                        color_mode,
                        resp,
                    ) => {
                        // SAFETY: This is safe because the draw_decoded_masks() function waits for the
                        // resp to be sent before dropping the borrow for dst, detect,
                        // segmentation, and background
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            let dst = unsafe { dst.ptr.as_mut() };
                            let det =
                                unsafe { std::slice::from_raw_parts(det.ptr.as_ptr(), det.len) };
                            let seg =
                                unsafe { std::slice::from_raw_parts(seg.ptr.as_ptr(), seg.len) };
                            let bg_ref = bg.map(|p| unsafe { &*p.ptr.as_ptr() });
                            gl_converter.draw_decoded_masks(
                                dst,
                                det,
                                seg,
                                crate::MaskOverlay {
                                    background: bg_ref,
                                    opacity,
                                    letterbox,
                                    color_mode,
                                },
                            )
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during DrawDecodedMasks: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::DrawProtoMasks(
                        mut dst,
                        det,
                        proto_data,
                        opacity,
                        bg,
                        letterbox,
                        color_mode,
                        resp,
                    ) => {
                        // SAFETY: Same safety invariant as DrawDecodedMasks — caller
                        // blocks on resp before dropping borrows.
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            let dst = unsafe { dst.ptr.as_mut() };
                            let det =
                                unsafe { std::slice::from_raw_parts(det.ptr.as_ptr(), det.len) };
                            let bg_ref = bg.map(|p| unsafe { &*p.ptr.as_ptr() });
                            let proto_data = unsafe { proto_data.ptr.as_ref() };
                            gl_converter.draw_proto_masks(
                                dst,
                                det,
                                proto_data,
                                crate::MaskOverlay {
                                    background: bg_ref,
                                    opacity,
                                    letterbox,
                                    color_mode,
                                },
                            )
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during DrawProtoMasks: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::SetColors(colors, resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            gl_converter.set_class_colors(&colors)
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during SetColors: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::SetColorimetryMode(mode, resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            gl_converter.set_colorimetry_mode(mode);
                            Ok(())
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during SetColorimetryMode: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::SetInt8Interpolation(mode, resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            gl_converter.set_int8_interpolation_mode(mode);
                            Ok(())
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during SetInt8Interpolation: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::EglCacheStats(resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| {
                            Ok(gl_converter.egl_cache_stats())
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during EglCacheStats: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::PboCreate(size, resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| unsafe {
                            let mut id: u32 = 0;
                            edgefirst_gl::gl::GenBuffers(1, &mut id);
                            edgefirst_gl::gl::BindBuffer(edgefirst_gl::gl::PIXEL_PACK_BUFFER, id);
                            edgefirst_gl::gl::BufferData(
                                edgefirst_gl::gl::PIXEL_PACK_BUFFER,
                                size as isize,
                                std::ptr::null(),
                                edgefirst_gl::gl::STREAM_COPY,
                            );
                            edgefirst_gl::gl::BindBuffer(edgefirst_gl::gl::PIXEL_PACK_BUFFER, 0);
                            match check_gl_error("PboCreate", 0) {
                                Ok(()) => Ok(id),
                                Err(e) => {
                                    edgefirst_gl::gl::DeleteBuffers(1, &id);
                                    Err(e)
                                }
                            }
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during PboCreate: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::PboMap(buffer_id, size, resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| unsafe {
                            edgefirst_gl::gl::BindBuffer(
                                edgefirst_gl::gl::PIXEL_PACK_BUFFER,
                                buffer_id,
                            );
                            let ptr = edgefirst_gl::gl::MapBufferRange(
                                edgefirst_gl::gl::PIXEL_PACK_BUFFER,
                                0,
                                size as isize,
                                edgefirst_gl::gl::MAP_READ_BIT | edgefirst_gl::gl::MAP_WRITE_BIT,
                            );
                            edgefirst_gl::gl::BindBuffer(edgefirst_gl::gl::PIXEL_PACK_BUFFER, 0);
                            if ptr.is_null() {
                                Err(crate::Error::OpenGl(
                                    "glMapBufferRange returned null".to_string(),
                                ))
                            } else {
                                Ok(edgefirst_tensor::PboMapping {
                                    ptr: ptr as *mut u8,
                                    size,
                                })
                            }
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during PboMap: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::PboUnmap(buffer_id, resp) => {
                        let result = std::panic::catch_unwind(AssertUnwindSafe(|| unsafe {
                            edgefirst_gl::gl::BindBuffer(
                                edgefirst_gl::gl::PIXEL_PACK_BUFFER,
                                buffer_id,
                            );
                            let ok =
                                edgefirst_gl::gl::UnmapBuffer(edgefirst_gl::gl::PIXEL_PACK_BUFFER);
                            edgefirst_gl::gl::BindBuffer(edgefirst_gl::gl::PIXEL_PACK_BUFFER, 0);
                            if ok == edgefirst_gl::gl::FALSE {
                                Err(Error::OpenGl(
                                    "PBO data was corrupted during mapping".into(),
                                ))
                            } else {
                                check_gl_error("PboUnmap", 0)
                            }
                        }));
                        let _ = resp.send(match result {
                            Ok(res) => res,
                            Err(e) => {
                                poisoned = true;
                                Err(crate::Error::Internal(format!(
                                    "GL thread panicked during PboUnmap: {}",
                                    panic_message(e.as_ref()),
                                )))
                            }
                        });
                    }
                    GLProcessorMessage::PboDelete(buffer_id) => {
                        if let Err(e) = std::panic::catch_unwind(AssertUnwindSafe(|| unsafe {
                            edgefirst_gl::gl::DeleteBuffers(1, &buffer_id);
                        })) {
                            poisoned = true;
                            log::error!(
                                "GL thread panicked during PboDelete: {}",
                                panic_message(e.as_ref()),
                            );
                        }
                    }
                    GLProcessorMessage::CudaRegisterBuffer(buffer_id, resp) => {
                        // CUDA GL-interop must run on the GL-context thread.
                        let _ = resp.send(edgefirst_tensor::gl_register_buffer(buffer_id));
                    }
                    GLProcessorMessage::CudaMap(resource, resp) => {
                        // Auto-flush: if a batched `convert_deferred` is still
                        // owed its single GPU sync, complete it before CUDA maps
                        // the buffer — otherwise the device could read a render
                        // still in flight. This makes `cuda_map()` correct on a
                        // batched output with no API change (the caller pays the
                        // sync it would have owed anyway).
                        gl_converter.flush_pending();
                        let _ = resp.send(edgefirst_tensor::gl_map_resource(resource));
                    }
                    GLProcessorMessage::CudaUnmap(resource) => {
                        edgefirst_tensor::gl_unmap_resource(resource);
                    }
                    GLProcessorMessage::CudaUnregister(resource) => {
                        edgefirst_tensor::gl_unregister_resource(resource);
                    }
                }
                // Per-pass platform texture attachments (macOS pbuffer
                // binds) are released once the message's GPU work has
                // synced; deferred batches keep theirs until Flush.
                gl_converter.end_gpu_pass_if_synced();
            }
            // Explicitly drop under the mutex so EGL teardown is serialized
            // (Linux; ANGLE teardown is display-internal on macOS).
            #[cfg(target_os = "linux")]
            let _guard = super::context::GL_MUTEX
                .lock()
                .unwrap_or_else(|e| e.into_inner());
            drop(gl_converter);
        };

        // let handle = tokio::task::spawn(func());
        let handle = std::thread::spawn(func);

        let caps = match create_ctx_recv.blocking_recv() {
            Ok(Err(e)) => return Err(e),
            Err(_) => {
                return Err(Error::Internal(
                    "GL converter error messaging closed without update".to_string(),
                ));
            }
            Ok(Ok(caps)) => caps,
        };

        Ok(Self {
            handle: Some(handle),
            sender: Some(send),
            caps,
        })
    }
}

impl ImageProcessorTrait for GLProcessorThreaded {
    fn convert(
        &mut self,
        src: &TensorDyn,
        dst: &mut TensorDyn,
        rotation: crate::Rotation,
        flip: Flip,
        crop: Crop,
    ) -> crate::Result<()> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::ImageConvert(
                SendablePtr {
                    ptr: NonNull::from(src),
                    len: 1,
                },
                SendablePtr {
                    ptr: NonNull::from(dst),
                    len: 1,
                },
                rotation,
                flip,
                crop,
                false, // eager: finish per convert
                err_send,
            ))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    fn convert_deferred(
        &mut self,
        src: &TensorDyn,
        dst: &mut TensorDyn,
        rotation: crate::Rotation,
        flip: Flip,
        crop: Crop,
    ) -> crate::Result<()> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::ImageConvert(
                SendablePtr {
                    ptr: NonNull::from(src),
                    len: 1,
                },
                SendablePtr {
                    ptr: NonNull::from(dst),
                    len: 1,
                },
                rotation,
                flip,
                crop,
                true, // defer: skip glFinish; flush() syncs the batch once
                err_send,
            ))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    fn flush(&mut self) -> crate::Result<()> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::Flush(err_send))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    fn draw_decoded_masks(
        &mut self,
        dst: &mut TensorDyn,
        detect: &[crate::DetectBox],
        segmentation: &[crate::Segmentation],
        overlay: crate::MaskOverlay<'_>,
    ) -> crate::Result<()> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::DrawDecodedMasks(
                SendablePtr {
                    ptr: NonNull::from(dst),
                    len: 1,
                },
                SendablePtr {
                    ptr: NonNull::new(detect.as_ptr() as *mut DetectBox).unwrap(),
                    len: detect.len(),
                },
                SendablePtr {
                    ptr: NonNull::new(segmentation.as_ptr() as *mut Segmentation).unwrap(),
                    len: segmentation.len(),
                },
                overlay.opacity,
                overlay.background.map(|bg| SendablePtr {
                    ptr: NonNull::from(bg).cast::<TensorDyn>(),
                    len: 1,
                }),
                overlay.letterbox,
                overlay.color_mode,
                err_send,
            ))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    fn draw_proto_masks(
        &mut self,
        dst: &mut TensorDyn,
        detect: &[DetectBox],
        proto_data: &ProtoData,
        overlay: crate::MaskOverlay<'_>,
    ) -> crate::Result<()> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::DrawProtoMasks(
                SendablePtr {
                    ptr: NonNull::from(dst),
                    len: 1,
                },
                SendablePtr {
                    ptr: NonNull::new(detect.as_ptr() as *mut DetectBox).unwrap(),
                    len: detect.len(),
                },
                SendablePtr {
                    ptr: NonNull::from(proto_data).cast::<ProtoData>(),
                    len: 1,
                },
                overlay.opacity,
                overlay.background.map(|bg| SendablePtr {
                    ptr: NonNull::from(bg).cast::<TensorDyn>(),
                    len: 1,
                }),
                overlay.letterbox,
                overlay.color_mode,
                err_send,
            ))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    fn set_class_colors(&mut self, colors: &[[u8; 4]]) -> Result<(), crate::Error> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::SetColors(colors.to_vec(), err_send))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }
}

impl GLProcessorThreaded {
    /// Sets the colorimetry/performance trade-off (see
    /// [`crate::ColorimetryMode`]). The `EDGEFIRST_COLORIMETRY` environment
    /// variable takes precedence — when set, this call logs and keeps the
    /// env-selected mode.
    pub fn set_colorimetry_mode(&mut self, mode: crate::ColorimetryMode) -> Result<(), Error> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::SetColorimetryMode(mode, err_send))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    /// Sets the interpolation mode for int8 proto textures.
    pub fn set_int8_interpolation_mode(
        &mut self,
        mode: Int8InterpolationMode,
    ) -> Result<(), crate::Error> {
        let (err_send, err_recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::SetInt8Interpolation(mode, err_send))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        err_recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    /// Snapshot the EGLImage cache counters (src, dst, NV R8) from the GL
    /// thread. Steady-state tests capture this after warmup and after an
    /// N-frame loop over a fixed buffer pool and assert
    /// [`total_misses`](super::cache::GlCacheStats::total_misses) stays flat —
    /// any increase means a convert re-imported a buffer it should have found
    /// cached (the cache-behavior equality gate for GL refactors).
    pub fn egl_cache_stats(&self) -> Result<super::cache::GlCacheStats, Error> {
        let (send, recv) = tokio::sync::oneshot::channel();
        self.sender
            .as_ref()
            .ok_or_else(|| Error::Internal("GL processor is shutting down".to_string()))?
            .blocking_send(GLProcessorMessage::EglCacheStats(send))
            .map_err(|_| Error::Internal("GL converter thread exited".to_string()))?;
        recv.blocking_recv().map_err(|_| {
            Error::Internal("GL converter error messaging closed without update".to_string())
        })?
    }

    /// Create a PBO-backed [`Tensor<u8>`] image on the GL thread.
    pub fn create_pbo_image(
        &self,
        width: usize,
        height: usize,
        format: edgefirst_tensor::PixelFormat,
    ) -> Result<edgefirst_tensor::Tensor<u8>, Error> {
        let sender = self
            .sender
            .as_ref()
            .ok_or(Error::OpenGl("GL processor is shutting down".to_string()))?;

        let size = pbo_elem_count(width, height, format)
            .filter(|&s| s != 0)
            .ok_or_else(|| Error::OpenGl("Invalid image dimensions".to_string()))?;

        // Allocate PBO on the GL thread
        let (tx, rx) = tokio::sync::oneshot::channel();
        sender
            .blocking_send(GLProcessorMessage::PboCreate(size, tx))
            .map_err(|_| Error::OpenGl("GL thread channel closed".to_string()))?;
        let buffer_id = rx
            .blocking_recv()
            .map_err(|_| Error::OpenGl("GL thread did not respond".to_string()))??;

        let ops: std::sync::Arc<dyn edgefirst_tensor::PboOps> = std::sync::Arc::new(GlPboOps {
            sender: sender.downgrade(),
        });

        let shape = pbo_shape(width, height, format);

        let pbo_tensor =
            edgefirst_tensor::PboTensor::<u8>::from_pbo(buffer_id, size, &shape, None, ops)
                .map_err(|e| Error::OpenGl(format!("PBO tensor creation failed: {e:?}")))?;
        let mut tensor = edgefirst_tensor::Tensor::from_pbo(pbo_tensor);
        tensor
            .set_format(format)
            .map_err(|e| Error::OpenGl(format!("Failed to set format on PBO tensor: {e:?}")))?;
        // Register the PBO with CUDA (best-effort; no-op without libcudart) so
        // `cuda_map()` can yield a device pointer — matching the float PBO path
        // in `create_pbo_image_dtype`. Without this, u8 PBOs were never
        // CUDA-interop-capable, so the codec's nvJPEG backend (and any CUDA
        // consumer) could not use a `create_image`-allocated PBO destination.
        // The i8 transmute by the caller preserves the attached handle.
        register_pbo_cuda(&mut tensor, buffer_id, size, sender);
        Ok(tensor)
    }

    /// Create a PBO-backed [`TensorDyn`] image on the GL thread with the given dtype.
    ///
    /// Sizes the underlying GL buffer by `elems * dtype.size()` and wraps it in
    /// the appropriately-typed [`PboTensor`]. Supports `DType::U8`, `DType::F16`,
    /// and `DType::F32`; returns an error for other dtypes.
    pub(crate) fn create_pbo_image_dtype(
        &self,
        width: usize,
        height: usize,
        format: edgefirst_tensor::PixelFormat,
        dtype: edgefirst_tensor::DType,
    ) -> Result<TensorDyn, Error> {
        let sender = self
            .sender
            .as_ref()
            .ok_or(Error::OpenGl("GL processor is shutting down".to_string()))?;

        let elems = pbo_elem_count(width, height, format)
            .filter(|&e| e != 0)
            .ok_or_else(|| Error::OpenGl("Invalid image dimensions".to_string()))?;

        let size = elems
            .checked_mul(dtype.size())
            .ok_or_else(|| Error::OpenGl("PBO size overflow".to_string()))?;

        // Allocate PBO on the GL thread
        let (tx, rx) = tokio::sync::oneshot::channel();
        sender
            .blocking_send(GLProcessorMessage::PboCreate(size, tx))
            .map_err(|_| Error::OpenGl("GL thread channel closed".to_string()))?;
        let buffer_id = rx
            .blocking_recv()
            .map_err(|_| Error::OpenGl("GL thread did not respond".to_string()))??;

        let ops: std::sync::Arc<dyn edgefirst_tensor::PboOps> = std::sync::Arc::new(GlPboOps {
            sender: sender.downgrade(),
        });

        let shape = pbo_shape(width, height, format);

        let map_err = |e: edgefirst_tensor::Error| {
            Error::OpenGl(format!("PBO tensor creation failed: {e:?}"))
        };
        let set_err = |e: edgefirst_tensor::Error| {
            Error::OpenGl(format!("Failed to set format on PBO tensor: {e:?}"))
        };

        match dtype {
            edgefirst_tensor::DType::U8 => {
                let pbo =
                    edgefirst_tensor::PboTensor::<u8>::from_pbo(buffer_id, size, &shape, None, ops)
                        .map_err(map_err)?;
                let mut t = edgefirst_tensor::Tensor::from_pbo(pbo);
                t.set_format(format).map_err(set_err)?;
                register_pbo_cuda(&mut t, buffer_id, size, sender);
                Ok(TensorDyn::from(t))
            }
            edgefirst_tensor::DType::F16 => {
                let pbo = edgefirst_tensor::PboTensor::<edgefirst_tensor::f16>::from_pbo(
                    buffer_id, size, &shape, None, ops,
                )
                .map_err(map_err)?;
                let mut t = edgefirst_tensor::Tensor::from_pbo(pbo);
                t.set_format(format).map_err(set_err)?;
                register_pbo_cuda(&mut t, buffer_id, size, sender);
                Ok(TensorDyn::from(t))
            }
            edgefirst_tensor::DType::F32 => {
                let pbo = edgefirst_tensor::PboTensor::<f32>::from_pbo(
                    buffer_id, size, &shape, None, ops,
                )
                .map_err(map_err)?;
                let mut t = edgefirst_tensor::Tensor::from_pbo(pbo);
                t.set_format(format).map_err(set_err)?;
                register_pbo_cuda(&mut t, buffer_id, size, sender);
                Ok(TensorDyn::from(t))
            }
            other => Err(Error::OpenGl(format!("unsupported PBO dtype {other:?}"))),
        }
    }

    /// Returns the active transfer backend.
    pub(crate) fn transfer_backend(&self) -> TransferBackend {
        self.caps.transfer_backend
    }

    /// Report which float dtypes the GPU can render to.
    ///
    /// Values are probed once at construction time and adjusted for
    /// Vivante GC7000UL, whose float readback latency (170-320 ms) makes
    /// GL float destinations impractical; `ImageProcessor::convert()` falls
    /// back to CPU float output (normalized to `[0, 1]`) for these targets.
    pub(crate) fn supported_render_dtypes(&self) -> crate::RenderDtypeSupport {
        self.caps.render_dtypes
    }
}

impl Drop for GLProcessorThreaded {
    fn drop(&mut self) {
        drop(self.sender.take());
        let _ = self.handle.take().and_then(|h| h.join().ok());
    }
}

// `pbo_elem_count` / `pbo_shape` are pure (no GL), so they are unit-testable
// without a GPU. The overflow→None arm of `pbo_elem_count` guards against an
// undersized PBO allocation, so it is worth pinning explicitly.
#[cfg(test)]
#[cfg_attr(coverage_nightly, coverage(off))]
mod tests {
    use super::{pbo_elem_count, pbo_shape};
    use edgefirst_tensor::PixelFormat;

    #[test]
    fn elem_count_per_format() {
        // Packed RGBA: w*h*4.
        assert_eq!(pbo_elem_count(8, 4, PixelFormat::Rgba), Some(8 * 4 * 4));
        // Packed RGB: w*h*3.
        assert_eq!(pbo_elem_count(8, 4, PixelFormat::Rgb), Some(8 * 4 * 3));
        // NV12 semiplanar: w*h*3/2.
        assert_eq!(pbo_elem_count(8, 4, PixelFormat::Nv12), Some(8 * 4 * 3 / 2));
        // NV16 semiplanar: w*h*2.
        assert_eq!(pbo_elem_count(8, 4, PixelFormat::Nv16), Some(8 * 4 * 2));
    }

    #[test]
    fn elem_count_overflow_is_none() {
        // w*h already overflows usize → None (never a wrapped, undersized count).
        assert_eq!(pbo_elem_count(usize::MAX, 2, PixelFormat::Rgba), None);
        // w*h fits but *channels overflows → None.
        assert_eq!(pbo_elem_count(usize::MAX, 1, PixelFormat::Rgb), None);
    }

    #[test]
    fn shape_per_format() {
        // Planar: [channels, height, width].
        assert_eq!(pbo_shape(8, 4, PixelFormat::PlanarRgb), vec![3, 4, 8]);
        // SemiPlanar NV12: [height*3/2, width].
        assert_eq!(pbo_shape(8, 4, PixelFormat::Nv12), vec![4 * 3 / 2, 8]);
        // SemiPlanar NV16: [height*2, width].
        assert_eq!(pbo_shape(8, 4, PixelFormat::Nv16), vec![4 * 2, 8]);
        // Packed: [height, width, channels].
        assert_eq!(pbo_shape(8, 4, PixelFormat::Rgba), vec![4, 8, 4]);
    }
}