edgefirst_tensor/

lib.rs

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

/*!
EdgeFirst HAL - Tensor Module

The `edgefirst_tensor` crate provides a unified interface for managing multi-dimensional arrays (tensors)
with support for different memory types, including Direct Memory Access (DMA), POSIX Shared Memory (Shm),
and system memory. The crate defines traits and structures for creating, reshaping, and mapping tensors into memory.

## Examples
```rust
use edgefirst_tensor::{Error, Tensor, TensorMemory, TensorTrait};
# fn main() -> Result<(), Error> {
let tensor = Tensor::<f32>::new(&[2, 3, 4], Some(TensorMemory::Mem), Some("test_tensor"))?;
assert_eq!(tensor.memory(), TensorMemory::Mem);
assert_eq!(tensor.name(), "test_tensor");
#    Ok(())
# }
```

## Overview
The main structures and traits provided by the `edgefirst_tensor` crate are `TensorTrait` and `TensorMapTrait`,
which define the behavior of Tensors and their memory mappings, respectively.
The `Tensor<T>` struct wraps a backend-specific storage with optional image format metadata (`PixelFormat`),
while the `TensorMap` enum provides access to the underlying data. The `TensorDyn` type-erased enum
wraps `Tensor<T>` for runtime element-type dispatch.
 */
#[cfg(target_os = "linux")]
mod dma;
#[cfg(target_os = "linux")]
mod dmabuf;
mod error;
mod format;
mod mem;
mod pbo;
#[cfg(unix)]
mod shm;
mod tensor_dyn;

#[cfg(target_os = "linux")]
pub use crate::dma::{DmaMap, DmaTensor};
pub use crate::mem::{MemMap, MemTensor};
pub use crate::pbo::{PboMap, PboMapping, PboOps, PboTensor};
#[cfg(unix)]
pub use crate::shm::{ShmMap, ShmTensor};
pub use error::{Error, Result};
pub use format::{PixelFormat, PixelLayout};
use num_traits::Num;
use serde::{Deserialize, Serialize};
#[cfg(unix)]
use std::os::fd::OwnedFd;
use std::{
    fmt,
    ops::{Deref, DerefMut},
    sync::{
        atomic::{AtomicU64, Ordering},
        Arc, Weak,
    },
};
pub use tensor_dyn::TensorDyn;

/// Per-plane DMA-BUF descriptor for external buffer import.
///
/// Owns a duplicated file descriptor plus optional stride and offset metadata.
/// The fd is duplicated eagerly in [`new()`](Self::new) so that a bad fd is
/// caught immediately. `import_image` consumes the descriptor and takes
/// ownership of the duped fd — no further cleanup is needed by the caller.
///
/// # Examples
///
/// ```rust,no_run
/// use edgefirst_tensor::PlaneDescriptor;
/// use std::os::fd::BorrowedFd;
///
/// // SAFETY: fd 42 is hypothetical; real code must pass a valid fd.
/// let pd = unsafe { PlaneDescriptor::new(BorrowedFd::borrow_raw(42)) }
///     .unwrap()
///     .with_stride(2048)
///     .with_offset(0);
/// ```
#[cfg(unix)]
pub struct PlaneDescriptor {
    fd: OwnedFd,
    stride: Option<usize>,
    offset: Option<usize>,
}

#[cfg(unix)]
impl PlaneDescriptor {
    /// Create a new plane descriptor by duplicating the given file descriptor.
    ///
    /// The fd is duped immediately — a bad fd fails here rather than inside
    /// `import_image`. The caller retains ownership of the original fd.
    ///
    /// # Errors
    ///
    /// Returns an error if the `dup()` syscall fails (e.g. invalid fd or
    /// fd limit reached).
    pub fn new(fd: std::os::fd::BorrowedFd<'_>) -> Result<Self> {
        let owned = fd.try_clone_to_owned()?;
        Ok(Self {
            fd: owned,
            stride: None,
            offset: None,
        })
    }

    /// Set the row stride in bytes (consuming builder).
    pub fn with_stride(mut self, stride: usize) -> Self {
        self.stride = Some(stride);
        self
    }

    /// Set the plane offset in bytes (consuming builder).
    pub fn with_offset(mut self, offset: usize) -> Self {
        self.offset = Some(offset);
        self
    }

    /// Consume the descriptor and return the owned file descriptor.
    pub fn into_fd(self) -> OwnedFd {
        self.fd
    }

    /// Row stride in bytes, if set.
    pub fn stride(&self) -> Option<usize> {
        self.stride
    }

    /// Plane offset in bytes, if set.
    pub fn offset(&self) -> Option<usize> {
        self.offset
    }
}

/// Element type discriminant for runtime type identification.
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
#[repr(u8)]
#[non_exhaustive]
pub enum DType {
    U8,
    I8,
    U16,
    I16,
    U32,
    I32,
    U64,
    I64,
    F16,
    F32,
    F64,
}

impl DType {
    /// Size of one element in bytes.
    pub const fn size(&self) -> usize {
        match self {
            Self::U8 | Self::I8 => 1,
            Self::U16 | Self::I16 | Self::F16 => 2,
            Self::U32 | Self::I32 | Self::F32 => 4,
            Self::U64 | Self::I64 | Self::F64 => 8,
        }
    }

    /// Short type name (e.g., "u8", "f32", "f16").
    pub const fn name(&self) -> &'static str {
        match self {
            Self::U8 => "u8",
            Self::I8 => "i8",
            Self::U16 => "u16",
            Self::I16 => "i16",
            Self::U32 => "u32",
            Self::I32 => "i32",
            Self::U64 => "u64",
            Self::I64 => "i64",
            Self::F16 => "f16",
            Self::F32 => "f32",
            Self::F64 => "f64",
        }
    }
}

impl fmt::Display for DType {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        f.write_str(self.name())
    }
}

// =============================================================================
// Quantization metadata — type-gated to integer element types via sealed
// `IntegerType` trait. Accessors on `Tensor<T>` only compile when `T` is
// an integer type; calling them on `Tensor<f32>` / `Tensor<f16>` etc. is a
// compile error, not a runtime one.
// =============================================================================

mod sealed {
    pub trait Sealed {}
    impl Sealed for u8 {}
    impl Sealed for i8 {}
    impl Sealed for u16 {}
    impl Sealed for i16 {}
    impl Sealed for u32 {}
    impl Sealed for i32 {}
    impl Sealed for u64 {}
    impl Sealed for i64 {}
    // Deliberately NOT implemented for f16 / f32 / f64.
}

/// Integer element types that may carry quantization metadata.
///
/// Sealed trait: implemented for `u8`, `i8`, `u16`, `i16`, `u32`, `i32`,
/// `u64`, `i64`. Cannot be implemented downstream. Float element types
/// (`half::f16`, `f32`, `f64`) are explicitly excluded — quantization
/// metadata does not apply to float tensors per the edgefirst.json spec.
pub trait IntegerType: sealed::Sealed {}
impl IntegerType for u8 {}
impl IntegerType for i8 {}
impl IntegerType for u16 {}
impl IntegerType for i16 {}
impl IntegerType for u32 {}
impl IntegerType for i32 {}
impl IntegerType for u64 {}
impl IntegerType for i64 {}

/// Quantization parameters for an integer tensor.
///
/// Covers all four modes the edgefirst.json spec defines:
///
/// | Mode | `scale.len()` | `zero_point` | `axis` |
/// |---|---|---|---|
/// | Per-tensor symmetric | 1 | `None` | `None` |
/// | Per-tensor asymmetric | 1 | `Some(len == 1)` | `None` |
/// | Per-channel symmetric | >1 | `None` | `Some(c)` |
/// | Per-channel asymmetric | >1 | `Some(len == scale.len())` | `Some(c)` |
///
/// The quantized storage type is carried on the parent [`Tensor<T>`]; this
/// struct does not duplicate it. Construct via the four named constructors
/// (the only public entry points); direct field mutation is not allowed so
/// invalid combinations cannot be represented.
///
/// Dequantization formula:
///
/// ```text
///   real_value = scale[c] × (quantized_value[c] - zero_point[c])
/// ```
///
/// where `c` is the channel index (always `0` for per-tensor).
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
pub struct Quantization {
    /// Per-tensor: `vec![scale]`. Per-channel: `vec![scale_0, scale_1, ...]`.
    #[serde(deserialize_with = "deserialize_scalar_or_vec_f32")]
    scale: Vec<f32>,

    /// `None` means symmetric (zero-point is 0). `Some(vec)` must have the
    /// same length as `scale`.
    #[serde(
        default,
        deserialize_with = "deserialize_opt_scalar_or_vec_i32",
        skip_serializing_if = "Option::is_none"
    )]
    zero_point: Option<Vec<i32>>,

    /// Channel axis for per-channel quantization. `Some(_)` iff
    /// `scale.len() > 1`. Validated against the parent tensor's shape at
    /// `set_quantization()` time.
    #[serde(default, skip_serializing_if = "Option::is_none")]
    axis: Option<usize>,
}

/// Semantic mode discriminant for hot-path kernel dispatch.
///
/// Obtain via [`Quantization::mode`] once at kernel entry; never inside a
/// pixel-level loop. The enum is borrow-based so the hot kernel receives
/// the scales / zero-points as slices without reallocation.
#[derive(Debug, Clone, Copy)]
pub enum QuantMode<'a> {
    PerTensorSymmetric {
        scale: f32,
    },
    PerTensor {
        scale: f32,
        zero_point: i32,
    },
    PerChannelSymmetric {
        scales: &'a [f32],
        axis: usize,
    },
    PerChannel {
        scales: &'a [f32],
        zero_points: &'a [i32],
        axis: usize,
    },
}

impl Quantization {
    /// Per-tensor symmetric (zero_point = 0).
    pub fn per_tensor_symmetric(scale: f32) -> Self {
        Self {
            scale: vec![scale],
            zero_point: None,
            axis: None,
        }
    }

    /// Per-tensor asymmetric — the most common runtime shape.
    pub fn per_tensor(scale: f32, zero_point: i32) -> Self {
        Self {
            scale: vec![scale],
            zero_point: Some(vec![zero_point]),
            axis: None,
        }
    }

    /// Per-channel symmetric. Errors on empty `scales`.
    pub fn per_channel_symmetric(scales: Vec<f32>, axis: usize) -> Result<Self> {
        if scales.is_empty() {
            return Err(Error::QuantizationInvalid {
                field: "scale.len",
                expected: "non-empty per-channel scales".to_string(),
                got: "length 0".to_string(),
            });
        }
        Ok(Self {
            scale: scales,
            zero_point: None,
            axis: Some(axis),
        })
    }

    /// Per-channel asymmetric. Errors on length mismatch between `scales`
    /// and `zero_points`, or empty arrays.
    pub fn per_channel(scales: Vec<f32>, zero_points: Vec<i32>, axis: usize) -> Result<Self> {
        if scales.is_empty() {
            return Err(Error::QuantizationInvalid {
                field: "scale.len",
                expected: "non-empty per-channel scales".to_string(),
                got: "length 0".to_string(),
            });
        }
        if scales.len() != zero_points.len() {
            return Err(Error::QuantizationInvalid {
                field: "zero_point.len",
                expected: format!("length matches scale ({})", scales.len()),
                got: format!("length {}", zero_points.len()),
            });
        }
        Ok(Self {
            scale: scales,
            zero_point: Some(zero_points),
            axis: Some(axis),
        })
    }

    /// Borrow-based dispatch view. Match once at kernel entry.
    pub fn mode(&self) -> QuantMode<'_> {
        match (self.scale.len(), self.zero_point.as_deref(), self.axis) {
            (1, None, _) => QuantMode::PerTensorSymmetric {
                scale: self.scale[0],
            },
            (1, Some(zps), _) => QuantMode::PerTensor {
                scale: self.scale[0],
                zero_point: zps.first().copied().unwrap_or(0),
            },
            (_, None, Some(axis)) => QuantMode::PerChannelSymmetric {
                scales: &self.scale,
                axis,
            },
            (_, Some(zps), Some(axis)) => QuantMode::PerChannel {
                scales: &self.scale,
                zero_points: zps,
                axis,
            },
            // The `validate()` path prevents constructing a
            // per-channel Quantization without an axis, so the remaining
            // pattern is unreachable in practice. Fall back to
            // per-tensor symmetric using scale[0] to avoid panicking in
            // release; debug builds assert.
            _ => {
                debug_assert!(
                    false,
                    "Quantization::mode: per-channel without axis is unreachable"
                );
                QuantMode::PerTensorSymmetric {
                    scale: self.scale.first().copied().unwrap_or(1.0),
                }
            }
        }
    }

    /// Returns `true` for per-tensor quantization (`scale.len() == 1`).
    pub fn is_per_tensor(&self) -> bool {
        self.scale.len() == 1
    }

    /// Returns `true` for per-channel quantization (`scale.len() > 1`).
    pub fn is_per_channel(&self) -> bool {
        self.scale.len() > 1
    }

    /// Returns `true` for symmetric quantization (no zero-point, or
    /// zero-point vector of all zeros).
    pub fn is_symmetric(&self) -> bool {
        match &self.zero_point {
            None => true,
            Some(zps) => zps.iter().all(|&z| z == 0),
        }
    }

    /// Borrow the scale array. Length 1 for per-tensor; `num_channels` for
    /// per-channel.
    pub fn scale(&self) -> &[f32] {
        &self.scale
    }

    /// Borrow the zero-point array. `None` for symmetric.
    pub fn zero_point(&self) -> Option<&[i32]> {
        self.zero_point.as_deref()
    }

    /// Channel axis for per-channel quantization. `None` for per-tensor.
    pub fn axis(&self) -> Option<usize> {
        self.axis
    }

    /// Validate against a target tensor shape. Runs in
    /// `Tensor::set_quantization()`. Catches:
    ///   - empty `scale` (reject — must declare at least one factor)
    ///   - `zero_point` length inconsistent with `scale` (reject —
    ///     per-tensor must have len 1, per-channel must match `scale.len`)
    ///   - `axis >= shape.len()` (axis out of range)
    ///   - `scale.len() != shape[axis]` for per-channel
    ///   - per-channel without axis (reject)
    ///   - per-tensor with redundant axis (reject)
    pub(crate) fn validate(&self, shape: &[usize]) -> Result<()> {
        // `Quantization` is `Deserialize`, so malformed JSON like
        // `{"scale": [], "zero_point": []}` could otherwise produce an
        // ill-defined value that confuses `mode()` selection and the
        // per-channel kernels' indexing.
        if self.scale.is_empty() {
            return Err(Error::QuantizationInvalid {
                field: "scale.len",
                expected: ">= 1".to_string(),
                got: "0".to_string(),
            });
        }
        if let Some(zps) = self.zero_point.as_ref() {
            // Per-tensor: scale.len() == 1 and zero_point.len() must == 1.
            // Per-channel: zero_point.len() must == scale.len().
            let expected = if self.scale.len() == 1 {
                1
            } else {
                self.scale.len()
            };
            if zps.len() != expected {
                return Err(Error::QuantizationInvalid {
                    field: "zero_point.len",
                    expected: format!(
                        "{expected} (matching {})",
                        if self.scale.len() == 1 {
                            "per-tensor scale"
                        } else {
                            "per-channel scale.len"
                        }
                    ),
                    got: format!("length {}", zps.len()),
                });
            }
        }

        match (self.scale.len(), self.axis) {
            (1, None) => Ok(()),
            (1, Some(_)) => Err(Error::QuantizationInvalid {
                field: "per_tensor_redundant_axis",
                expected: "axis=None for per-tensor quantization".to_string(),
                got: format!("axis={:?}", self.axis),
            }),
            (_, None) => Err(Error::QuantizationInvalid {
                field: "per_channel_requires_axis",
                expected: format!(
                    "axis=Some(_) for per-channel quantization (scale.len={})",
                    self.scale.len()
                ),
                got: "axis=None".to_string(),
            }),
            (n, Some(axis)) => {
                if axis >= shape.len() {
                    return Err(Error::QuantizationInvalid {
                        field: "axis",
                        expected: format!("axis < tensor rank ({})", shape.len()),
                        got: format!("axis={axis}"),
                    });
                }
                if shape[axis] != n {
                    return Err(Error::QuantizationInvalid {
                        field: "scale.len",
                        expected: format!("length matches shape[{axis}] ({})", shape[axis]),
                        got: format!("length {n}"),
                    });
                }
                Ok(())
            }
        }
    }
}

impl From<(f32, i32)> for Quantization {
    /// Convenience construction from a `(scale, zero_point)` tuple. Matches
    /// the legacy `QuantTuple` / `Quantization::new` calling convention so
    /// existing `(0.1, -128).into()` sites keep working.
    fn from((scale, zero_point): (f32, i32)) -> Self {
        Self::per_tensor(scale, zero_point)
    }
}

fn deserialize_scalar_or_vec_f32<'de, D: serde::Deserializer<'de>>(
    de: D,
) -> std::result::Result<Vec<f32>, D::Error> {
    use serde::de::{self, Visitor};
    struct V;
    impl<'de> Visitor<'de> for V {
        type Value = Vec<f32>;
        fn expecting(&self, f: &mut fmt::Formatter) -> fmt::Result {
            f.write_str("f32 or array of f32")
        }
        fn visit_f64<E: de::Error>(self, v: f64) -> std::result::Result<Self::Value, E> {
            Ok(vec![v as f32])
        }
        #[allow(clippy::cast_possible_truncation)]
        fn visit_i64<E: de::Error>(self, v: i64) -> std::result::Result<Self::Value, E> {
            Ok(vec![v as f32])
        }
        #[allow(clippy::cast_possible_truncation, clippy::cast_precision_loss)]
        fn visit_u64<E: de::Error>(self, v: u64) -> std::result::Result<Self::Value, E> {
            Ok(vec![v as f32])
        }
        fn visit_seq<A: de::SeqAccess<'de>>(
            self,
            mut seq: A,
        ) -> std::result::Result<Self::Value, A::Error> {
            let mut out = Vec::with_capacity(seq.size_hint().unwrap_or(1));
            while let Some(x) = seq.next_element::<f32>()? {
                out.push(x);
            }
            Ok(out)
        }
    }
    de.deserialize_any(V)
}

fn deserialize_opt_scalar_or_vec_i32<'de, D: serde::Deserializer<'de>>(
    de: D,
) -> std::result::Result<Option<Vec<i32>>, D::Error> {
    use serde::de::{self, Visitor};
    struct V;
    impl<'de> Visitor<'de> for V {
        type Value = Option<Vec<i32>>;
        fn expecting(&self, f: &mut fmt::Formatter) -> fmt::Result {
            f.write_str("null, i32, or array of i32")
        }
        fn visit_none<E: de::Error>(self) -> std::result::Result<Self::Value, E> {
            Ok(None)
        }
        fn visit_unit<E: de::Error>(self) -> std::result::Result<Self::Value, E> {
            Ok(None)
        }
        fn visit_some<D2: serde::Deserializer<'de>>(
            self,
            de: D2,
        ) -> std::result::Result<Self::Value, D2::Error> {
            struct Inner;
            impl<'de> Visitor<'de> for Inner {
                type Value = Vec<i32>;
                fn expecting(&self, f: &mut fmt::Formatter) -> fmt::Result {
                    f.write_str("i32 or array of i32")
                }
                #[allow(clippy::cast_possible_truncation)]
                fn visit_i64<E: de::Error>(self, v: i64) -> std::result::Result<Self::Value, E> {
                    Ok(vec![v as i32])
                }
                #[allow(clippy::cast_possible_truncation, clippy::cast_possible_wrap)]
                fn visit_u64<E: de::Error>(self, v: u64) -> std::result::Result<Self::Value, E> {
                    Ok(vec![v as i32])
                }
                fn visit_seq<A: de::SeqAccess<'de>>(
                    self,
                    mut seq: A,
                ) -> std::result::Result<Self::Value, A::Error> {
                    let mut out = Vec::with_capacity(seq.size_hint().unwrap_or(1));
                    while let Some(x) = seq.next_element::<i32>()? {
                        out.push(x);
                    }
                    Ok(out)
                }
            }
            de.deserialize_any(Inner).map(Some)
        }
        #[allow(clippy::cast_possible_truncation)]
        fn visit_i64<E: de::Error>(self, v: i64) -> std::result::Result<Self::Value, E> {
            Ok(Some(vec![v as i32]))
        }
        #[allow(clippy::cast_possible_truncation, clippy::cast_possible_wrap)]
        fn visit_u64<E: de::Error>(self, v: u64) -> std::result::Result<Self::Value, E> {
            Ok(Some(vec![v as i32]))
        }
        fn visit_seq<A: de::SeqAccess<'de>>(
            self,
            mut seq: A,
        ) -> std::result::Result<Self::Value, A::Error> {
            let mut out = Vec::with_capacity(seq.size_hint().unwrap_or(1));
            while let Some(x) = seq.next_element::<i32>()? {
                out.push(x);
            }
            Ok(Some(out))
        }
    }
    de.deserialize_option(V)
}

/// Monotonic counter for buffer identity IDs.
static NEXT_BUFFER_ID: AtomicU64 = AtomicU64::new(1);

/// Unique identity for a tensor's underlying buffer.
///
/// Created fresh on every buffer allocation or import. The `id` is a monotonic
/// u64 used as a cache key. The `guard` is an `Arc<()>` whose weak references
/// allow downstream caches to detect when the buffer has been dropped.
#[derive(Debug, Clone)]
pub struct BufferIdentity {
    id: u64,
    guard: Arc<()>,
}

impl BufferIdentity {
    /// Create a new unique buffer identity.
    pub fn new() -> Self {
        Self {
            id: NEXT_BUFFER_ID.fetch_add(1, Ordering::Relaxed),
            guard: Arc::new(()),
        }
    }

    /// Unique identifier for this buffer. Changes when the buffer changes.
    pub fn id(&self) -> u64 {
        self.id
    }

    /// Returns a weak reference to the buffer guard. Goes dead when the
    /// owning Tensor is dropped (and no clones remain).
    pub fn weak(&self) -> Weak<()> {
        Arc::downgrade(&self.guard)
    }
}

impl Default for BufferIdentity {
    fn default() -> Self {
        Self::new()
    }
}

#[cfg(target_os = "linux")]
use nix::sys::stat::{major, minor};

pub trait TensorTrait<T>: Send + Sync
where
    T: Num + Clone + fmt::Debug,
{
    /// Create a new tensor with the given shape and optional name. If no name
    /// is given, a random name will be generated.
    fn new(shape: &[usize], name: Option<&str>) -> Result<Self>
    where
        Self: Sized;

    #[cfg(unix)]
    /// Create a new tensor using the given file descriptor, shape, and optional
    /// name. If no name is given, a random name will be generated.
    ///
    /// On Linux: Inspects the fd to determine DMA vs SHM based on device major/minor.
    /// On other Unix (macOS): Always creates SHM tensor.
    fn from_fd(fd: std::os::fd::OwnedFd, shape: &[usize], name: Option<&str>) -> Result<Self>
    where
        Self: Sized;

    #[cfg(unix)]
    /// Clone the file descriptor associated with this tensor.
    fn clone_fd(&self) -> Result<std::os::fd::OwnedFd>;

    /// Get the memory type of this tensor.
    fn memory(&self) -> TensorMemory;

    /// Get the name of this tensor.
    fn name(&self) -> String;

    /// Get the number of elements in this tensor.
    fn len(&self) -> usize {
        self.shape().iter().product()
    }

    /// Check if the tensor is empty.
    fn is_empty(&self) -> bool {
        self.len() == 0
    }

    /// Get the size in bytes of this tensor.
    fn size(&self) -> usize {
        self.len() * std::mem::size_of::<T>()
    }

    /// Get the shape of this tensor.
    fn shape(&self) -> &[usize];

    /// Reshape this tensor to the given shape. The total number of elements
    /// must remain the same.
    fn reshape(&mut self, shape: &[usize]) -> Result<()>;

    /// Map the tensor into memory and return a TensorMap for accessing the
    /// data.
    fn map(&self) -> Result<TensorMap<T>>;

    /// Get the buffer identity for cache keying and liveness tracking.
    fn buffer_identity(&self) -> &BufferIdentity;
}

pub trait TensorMapTrait<T>
where
    T: Num + Clone + fmt::Debug,
{
    /// Get the shape of this tensor map.
    fn shape(&self) -> &[usize];

    /// Unmap the tensor from memory.
    fn unmap(&mut self);

    /// Get the number of elements in this tensor map.
    fn len(&self) -> usize {
        self.shape().iter().product()
    }

    /// Check if the tensor map is empty.
    fn is_empty(&self) -> bool {
        self.len() == 0
    }

    /// Get the size in bytes of this tensor map.
    fn size(&self) -> usize {
        self.len() * std::mem::size_of::<T>()
    }

    /// Get a slice to the data in this tensor map.
    fn as_slice(&self) -> &[T];

    /// Get a mutable slice to the data in this tensor map.
    fn as_mut_slice(&mut self) -> &mut [T];

    #[cfg(feature = "ndarray")]
    /// Get an ndarray ArrayView of the tensor data.
    fn view(&'_ self) -> Result<ndarray::ArrayView<'_, T, ndarray::Dim<ndarray::IxDynImpl>>> {
        Ok(ndarray::ArrayView::from_shape(
            self.shape(),
            self.as_slice(),
        )?)
    }

    #[cfg(feature = "ndarray")]
    /// Get an ndarray ArrayViewMut of the tensor data.
    fn view_mut(
        &'_ mut self,
    ) -> Result<ndarray::ArrayViewMut<'_, T, ndarray::Dim<ndarray::IxDynImpl>>> {
        let shape = self.shape().to_vec();
        Ok(ndarray::ArrayViewMut::from_shape(
            shape,
            self.as_mut_slice(),
        )?)
    }
}

#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum TensorMemory {
    #[cfg(target_os = "linux")]
    /// Direct Memory Access (DMA) allocation. Incurs additional
    /// overhead for memory reading/writing with the CPU.  Allows for
    /// hardware acceleration when supported.
    Dma,
    #[cfg(unix)]
    /// POSIX Shared Memory allocation. Suitable for inter-process
    /// communication, but not suitable for hardware acceleration.
    Shm,

    /// Regular system memory allocation
    Mem,

    /// OpenGL Pixel Buffer Object memory. Created by ImageProcessor
    /// when DMA-buf is unavailable but OpenGL is present.
    Pbo,
}

impl From<TensorMemory> for String {
    fn from(memory: TensorMemory) -> Self {
        match memory {
            #[cfg(target_os = "linux")]
            TensorMemory::Dma => "dma".to_owned(),
            #[cfg(unix)]
            TensorMemory::Shm => "shm".to_owned(),
            TensorMemory::Mem => "mem".to_owned(),
            TensorMemory::Pbo => "pbo".to_owned(),
        }
    }
}

impl TryFrom<&str> for TensorMemory {
    type Error = Error;

    fn try_from(s: &str) -> Result<Self> {
        match s {
            #[cfg(target_os = "linux")]
            "dma" => Ok(TensorMemory::Dma),
            #[cfg(unix)]
            "shm" => Ok(TensorMemory::Shm),
            "mem" => Ok(TensorMemory::Mem),
            "pbo" => Ok(TensorMemory::Pbo),
            _ => Err(Error::InvalidMemoryType(s.to_owned())),
        }
    }
}

#[derive(Debug)]
#[allow(dead_code)] // Variants are constructed by downstream crates via pub(crate) helpers
pub(crate) enum TensorStorage<T>
where
    T: Num + Clone + fmt::Debug + Send + Sync,
{
    #[cfg(target_os = "linux")]
    Dma(DmaTensor<T>),
    #[cfg(unix)]
    Shm(ShmTensor<T>),
    Mem(MemTensor<T>),
    Pbo(PboTensor<T>),
}

impl<T> TensorStorage<T>
where
    T: Num + Clone + fmt::Debug + Send + Sync,
{
    /// Create a new tensor storage with the given shape, memory type, and
    /// optional name. If no name is given, a random name will be generated.
    /// If no memory type is given, the best available memory type will be
    /// chosen based on the platform and environment variables.
    fn new(shape: &[usize], memory: Option<TensorMemory>, name: Option<&str>) -> Result<Self> {
        match memory {
            #[cfg(target_os = "linux")]
            Some(TensorMemory::Dma) => {
                DmaTensor::<T>::new(shape, name).map(TensorStorage::Dma)
            }
            #[cfg(unix)]
            Some(TensorMemory::Shm) => {
                ShmTensor::<T>::new(shape, name).map(TensorStorage::Shm)
            }
            Some(TensorMemory::Mem) => {
                MemTensor::<T>::new(shape, name).map(TensorStorage::Mem)
            }
            Some(TensorMemory::Pbo) => Err(crate::error::Error::NotImplemented(
                "PboTensor cannot be created via Tensor::new() — use ImageProcessor::create_image()".to_owned(),
            )),
            None => {
                if std::env::var("EDGEFIRST_TENSOR_FORCE_MEM")
                    .is_ok_and(|x| x != "0" && x.to_lowercase() != "false")
                {
                    MemTensor::<T>::new(shape, name).map(TensorStorage::Mem)
                } else {
                    #[cfg(target_os = "linux")]
                    {
                        // Linux: Try DMA -> SHM -> Mem
                        match DmaTensor::<T>::new(shape, name) {
                            Ok(tensor) => Ok(TensorStorage::Dma(tensor)),
                            Err(_) => {
                                match ShmTensor::<T>::new(shape, name)
                                    .map(TensorStorage::Shm)
                                {
                                    Ok(tensor) => Ok(tensor),
                                    Err(_) => MemTensor::<T>::new(shape, name)
                                        .map(TensorStorage::Mem),
                                }
                            }
                        }
                    }
                    #[cfg(all(unix, not(target_os = "linux")))]
                    {
                        // macOS/BSD: Try SHM -> Mem (no DMA)
                        match ShmTensor::<T>::new(shape, name) {
                            Ok(tensor) => Ok(TensorStorage::Shm(tensor)),
                            Err(_) => {
                                MemTensor::<T>::new(shape, name).map(TensorStorage::Mem)
                            }
                        }
                    }
                    #[cfg(not(unix))]
                    {
                        // Windows/other: Mem only
                        MemTensor::<T>::new(shape, name).map(TensorStorage::Mem)
                    }
                }
            }
        }
    }

    /// Create a DMA-backed tensor storage with an explicit byte size that
    /// may exceed `shape.product() * sizeof(T)`. Used for image tensors
    /// with row-padded layouts (see `DmaTensor::new_with_byte_size`).
    ///
    /// This is intentionally DMA-only: padding is only meaningful for
    /// buffers that will be imported as GPU textures via EGLImage. PBO,
    /// Shm, and Mem storage doesn't benefit from pitch alignment and
    /// shouldn't pay the memory cost.
    #[cfg(target_os = "linux")]
    pub(crate) fn new_dma_with_byte_size(
        shape: &[usize],
        byte_size: usize,
        name: Option<&str>,
    ) -> Result<Self> {
        DmaTensor::<T>::new_with_byte_size(shape, byte_size, name).map(TensorStorage::Dma)
    }

    // No non-Linux stub: the only caller (`Tensor::image_with_stride`)
    // returns `NotImplemented` directly on non-Linux without ever
    // reaching the storage layer, so defining a stub here would be
    // dead code and fail the `-D warnings` clippy gate on macOS CI.

    /// Create a new tensor storage using the given file descriptor, shape,
    /// and optional name.
    #[cfg(unix)]
    fn from_fd(fd: OwnedFd, shape: &[usize], name: Option<&str>) -> Result<Self> {
        #[cfg(target_os = "linux")]
        {
            use nix::sys::stat::fstat;

            let stat = fstat(&fd)?;
            let major = major(stat.st_dev);
            let minor = minor(stat.st_dev);

            log::debug!("Creating tensor from fd: major={major}, minor={minor}");

            if major != 0 {
                // Dma and Shm tensors are expected to have major number 0
                return Err(Error::UnknownDeviceType(major, minor));
            }

            match minor {
                9 | 10 => {
                    // minor number 9 & 10 indicates DMA memory
                    DmaTensor::<T>::from_fd(fd, shape, name).map(TensorStorage::Dma)
                }
                _ => {
                    // other minor numbers are assumed to be shared memory
                    ShmTensor::<T>::from_fd(fd, shape, name).map(TensorStorage::Shm)
                }
            }
        }
        #[cfg(all(unix, not(target_os = "linux")))]
        {
            // On macOS/BSD, always use SHM (no DMA support)
            ShmTensor::<T>::from_fd(fd, shape, name).map(TensorStorage::Shm)
        }
    }
}

impl<T> TensorTrait<T> for TensorStorage<T>
where
    T: Num + Clone + fmt::Debug + Send + Sync,
{
    fn new(shape: &[usize], name: Option<&str>) -> Result<Self> {
        Self::new(shape, None, name)
    }

    #[cfg(unix)]
    fn from_fd(fd: OwnedFd, shape: &[usize], name: Option<&str>) -> Result<Self> {
        Self::from_fd(fd, shape, name)
    }

    #[cfg(unix)]
    fn clone_fd(&self) -> Result<OwnedFd> {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(t) => t.clone_fd(),
            TensorStorage::Shm(t) => t.clone_fd(),
            TensorStorage::Mem(t) => t.clone_fd(),
            TensorStorage::Pbo(t) => t.clone_fd(),
        }
    }

    fn memory(&self) -> TensorMemory {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(_) => TensorMemory::Dma,
            #[cfg(unix)]
            TensorStorage::Shm(_) => TensorMemory::Shm,
            TensorStorage::Mem(_) => TensorMemory::Mem,
            TensorStorage::Pbo(_) => TensorMemory::Pbo,
        }
    }

    fn name(&self) -> String {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(t) => t.name(),
            #[cfg(unix)]
            TensorStorage::Shm(t) => t.name(),
            TensorStorage::Mem(t) => t.name(),
            TensorStorage::Pbo(t) => t.name(),
        }
    }

    fn shape(&self) -> &[usize] {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(t) => t.shape(),
            #[cfg(unix)]
            TensorStorage::Shm(t) => t.shape(),
            TensorStorage::Mem(t) => t.shape(),
            TensorStorage::Pbo(t) => t.shape(),
        }
    }

    fn reshape(&mut self, shape: &[usize]) -> Result<()> {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(t) => t.reshape(shape),
            #[cfg(unix)]
            TensorStorage::Shm(t) => t.reshape(shape),
            TensorStorage::Mem(t) => t.reshape(shape),
            TensorStorage::Pbo(t) => t.reshape(shape),
        }
    }

    fn map(&self) -> Result<TensorMap<T>> {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(t) => t.map(),
            #[cfg(unix)]
            TensorStorage::Shm(t) => t.map(),
            TensorStorage::Mem(t) => t.map(),
            TensorStorage::Pbo(t) => t.map(),
        }
    }

    fn buffer_identity(&self) -> &BufferIdentity {
        match self {
            #[cfg(target_os = "linux")]
            TensorStorage::Dma(t) => t.buffer_identity(),
            #[cfg(unix)]
            TensorStorage::Shm(t) => t.buffer_identity(),
            TensorStorage::Mem(t) => t.buffer_identity(),
            TensorStorage::Pbo(t) => t.buffer_identity(),
        }
    }
}

/// Multi-backend tensor with optional image format metadata.
///
/// When `format` is `Some`, this tensor represents an image. Width, height,
/// and channels are derived from `shape` + `format`. When `format` is `None`,
/// this is a raw tensor (identical to the pre-refactoring behavior).
#[derive(Debug)]
pub struct Tensor<T>
where
    T: Num + Clone + fmt::Debug + Send + Sync,
{
    pub(crate) storage: TensorStorage<T>,
    format: Option<PixelFormat>,
    chroma: Option<Box<Tensor<T>>>,
    /// Row stride in bytes for externally allocated buffers with row padding.
    /// `None` means tightly packed (stride == width * bytes_per_pixel).
    row_stride: Option<usize>,
    /// Byte offset within the DMA-BUF where image data starts.
    /// `None` means offset 0 (data starts at the beginning of the buffer).
    plane_offset: Option<usize>,
    /// Quantization metadata for integer-typed tensors. Public access is
    /// gated by the `IntegerType` trait — `Tensor<f32>` etc. carry the
    /// field for layout uniformity but have no way to read or write it.
    pub(crate) quantization: Option<Quantization>,
}

impl<T> Tensor<T>
where
    T: Num + Clone + fmt::Debug + Send + Sync,
{
    /// Wrap a TensorStorage in a Tensor with no image metadata.
    pub(crate) fn wrap(storage: TensorStorage<T>) -> Self {
        Self {
            storage,
            format: None,
            chroma: None,
            row_stride: None,
            plane_offset: None,
            quantization: None,
        }
    }

    /// Construct a tensor from a row-major element slice + shape. Allocates a
    /// new buffer (`TensorMemory::Mem`) and memcpys the contents; caller
    /// retains ownership of the input slice.
    ///
    /// # Errors
    ///
    /// - [`Error::InvalidShape`] if `values.len() != shape.iter().product()`.
    /// - Propagates any allocation error from [`Self::new`].
    pub fn from_slice(values: &[T], shape: &[usize]) -> Result<Self>
    where
        T: Copy,
    {
        let expected: usize = shape.iter().product();
        if values.len() != expected {
            return Err(Error::InvalidShape(format!(
                "from_slice: values.len()={} but shape product={expected} (shape={shape:?})",
                values.len()
            )));
        }
        let t = Self::new(shape, Some(TensorMemory::Mem), None)?;
        {
            let mut m = t.map()?;
            m.as_mut_slice().copy_from_slice(values);
        }
        Ok(t)
    }

    /// Construct a tensor from a 3-D ndarray view. Respects strides — one
    /// copy in all cases; contiguous views take a memcpy fast path.
    ///
    /// Only available when the `ndarray` feature is enabled.
    #[cfg(feature = "ndarray")]
    pub fn from_arrayview3(view: ndarray::ArrayView3<'_, T>) -> Result<Self>
    where
        T: Copy,
    {
        let (h, w, c) = view.dim();
        let t = Self::new(&[h, w, c], Some(TensorMemory::Mem), None)?;
        {
            let mut m = t.map()?;
            let dst = m.as_mut_slice();
            if let Some(src) = view.as_slice() {
                dst.copy_from_slice(src);
            } else {
                for (d, &s) in dst.iter_mut().zip(view.iter()) {
                    *d = s;
                }
            }
        }
        Ok(t)
    }

    /// Create a new tensor with the given shape, memory type, and optional
    /// name. If no name is given, a random name will be generated. If no
    /// memory type is given, the best available memory type will be chosen
    /// based on the platform and environment variables.
    ///
    /// On Linux platforms, the order of preference is: Dma -> Shm -> Mem.
    /// On other Unix platforms (macOS), the order is: Shm -> Mem.
    /// On non-Unix platforms, only Mem is available.
    ///
    /// # Environment Variables
    /// - `EDGEFIRST_TENSOR_FORCE_MEM`: If set to a non-zero and non-false
    ///   value, forces the use of regular system memory allocation
    ///   (`TensorMemory::Mem`) regardless of platform capabilities.
    ///
    /// # Example
    /// ```rust
    /// use edgefirst_tensor::{Error, Tensor, TensorMemory, TensorTrait};
    /// # fn main() -> Result<(), Error> {
    /// let tensor = Tensor::<f32>::new(&[2, 3, 4], Some(TensorMemory::Mem), Some("test_tensor"))?;
    /// assert_eq!(tensor.memory(), TensorMemory::Mem);
    /// assert_eq!(tensor.name(), "test_tensor");
    /// #    Ok(())
    /// # }
    /// ```
    pub fn new(shape: &[usize], memory: Option<TensorMemory>, name: Option<&str>) -> Result<Self> {
        TensorStorage::new(shape, memory, name).map(Self::wrap)
    }

    /// Create an image tensor with the given format.
    pub fn image(
        width: usize,
        height: usize,
        format: PixelFormat,
        memory: Option<TensorMemory>,
    ) -> Result<Self> {
        let shape = match format.layout() {
            PixelLayout::Packed => vec![height, width, format.channels()],
            PixelLayout::Planar => vec![format.channels(), height, width],
            PixelLayout::SemiPlanar => {
                // Contiguous semi-planar: luma + interleaved chroma in one allocation.
                // NV12 (4:2:0): H lines luma + H/2 lines chroma = H * 3/2 total
                // NV16 (4:2:2): H lines luma + H lines chroma = H * 2 total
                let total_h = match format {
                    PixelFormat::Nv12 => {
                        if !height.is_multiple_of(2) {
                            return Err(Error::InvalidArgument(format!(
                                "NV12 requires even height, got {height}"
                            )));
                        }
                        height * 3 / 2
                    }
                    PixelFormat::Nv16 => height * 2,
                    _ => {
                        return Err(Error::InvalidArgument(format!(
                            "unknown semi-planar height multiplier for {format:?}"
                        )))
                    }
                };
                vec![total_h, width]
            }
        };
        let mut t = Self::new(&shape, memory, None)?;
        t.format = Some(format);
        Ok(t)
    }

    /// Create a DMA-backed image tensor with an explicit row stride that
    /// may exceed the natural `width * channels * sizeof(T)` pitch.
    ///
    /// Used for image tensors that need GPU pitch alignment padding: the
    /// underlying DMA-BUF is sized to `row_stride * height` bytes, but
    /// the tensor's logical shape stays at `[height, width, channels]`.
    /// `width()` / `height()` / `shape()` continue to report the
    /// user-requested values; the padding is visible only via
    /// `row_stride()` / `effective_row_stride()` and is automatically
    /// propagated to the GL backend's EGLImage import so Mali Valhall
    /// accepts the buffer.
    ///
    /// # Supported formats
    ///
    /// Currently only **packed** pixel layouts (RGBA8, BGRA8, RGB888,
    /// Grey, etc.) are supported — the formats the GL backend uses as
    /// render destinations. Semi-planar formats (NV12, NV16) come from
    /// external allocators (camera capture, video decoders) and are
    /// imported via `TensorDyn::from_fd` + `set_row_stride`, which
    /// already supports padded strides.
    ///
    /// # Supported memory
    ///
    /// Currently only `TensorMemory::Dma` is supported. PBO and Mem
    /// storage don't go through EGLImage import so they don't need
    /// pitch alignment; if you pass any other memory type this returns
    /// `NotImplemented`. `None` (auto-select) is treated as `Dma`.
    ///
    /// # Errors
    ///
    /// - `InvalidArgument` if `row_stride_bytes < width * channels * sizeof(T)`
    ///   (the requested stride would not fit a single row)
    /// - `NotImplemented` for non-packed formats or non-DMA memory
    /// - `IoError` if the DMA-heap allocation fails (propagated from
    ///   `DmaTensor::new_with_byte_size`)
    pub fn image_with_stride(
        width: usize,
        height: usize,
        format: PixelFormat,
        row_stride_bytes: usize,
        memory: Option<TensorMemory>,
    ) -> Result<Self> {
        // DMA backing (the only thing this constructor produces) is
        // Linux-only. On macOS/BSD/Windows the non-Linux block below is
        // the only compiled body and returns `NotImplemented` directly;
        // on Linux the non-Linux block is cfg-removed and the function
        // falls through to the real validation + allocation path. Each
        // target compiles exactly one of the two blocks, and the block
        // serves as the function's tail expression in both cases — so
        // neither needs an explicit `return` (avoids
        // `clippy::needless_return` on the macOS CI gate).
        #[cfg(not(target_os = "linux"))]
        {
            let _ = (width, height, format, row_stride_bytes, memory);
            Err(Error::NotImplemented(
                "image_with_stride requires DMA support (Linux only)".to_owned(),
            ))
        }

        #[cfg(target_os = "linux")]
        {
            if format.layout() != PixelLayout::Packed {
                return Err(Error::NotImplemented(format!(
                    "Tensor::image_with_stride only supports packed pixel layouts, got {format:?}"
                )));
            }
            let elem = std::mem::size_of::<T>();
            let min_stride = width
                .checked_mul(format.channels())
                .and_then(|p| p.checked_mul(elem))
                .ok_or_else(|| {
                    Error::InvalidArgument(format!(
                        "image_with_stride: width {width} × channels {} × sizeof::<T>={elem} \
                         overflows usize",
                        format.channels()
                    ))
                })?;
            if row_stride_bytes < min_stride {
                return Err(Error::InvalidArgument(format!(
                    "image_with_stride: row_stride {row_stride_bytes} < minimum {min_stride} \
                     ({width} px × {} ch × {elem} B)",
                    format.channels()
                )));
            }
            let total_byte_size = row_stride_bytes.checked_mul(height).ok_or_else(|| {
                Error::InvalidArgument(format!(
                    "image_with_stride: row_stride {row_stride_bytes} × height {height} overflows usize"
                ))
            })?;

            let shape = vec![height, width, format.channels()];

            let storage = match memory {
                Some(TensorMemory::Dma) | None => {
                    TensorStorage::<T>::new_dma_with_byte_size(&shape, total_byte_size, None)?
                }
                Some(other) => {
                    return Err(Error::NotImplemented(format!(
                        "image_with_stride: only TensorMemory::Dma is supported, got {other:?}"
                    )));
                }
            };

            let mut t = Self::wrap(storage);
            t.format = Some(format);
            t.row_stride = Some(row_stride_bytes);
            Ok(t)
        }
    }

    /// Attach format metadata to an existing tensor.
    ///
    /// # Arguments
    ///
    /// * `format` - The pixel format to attach
    ///
    /// # Returns
    ///
    /// `Ok(())` on success, with the format stored as metadata on the tensor.
    ///
    /// # Errors
    ///
    /// Returns `Error::InvalidShape` if the tensor shape is incompatible with
    /// the format's layout (packed expects `[H, W, C]`, planar expects
    /// `[C, H, W]`, semi-planar expects `[H*k, W]` with format-specific
    /// height constraints).
    pub fn set_format(&mut self, format: PixelFormat) -> Result<()> {
        let shape = self.shape();
        match format.layout() {
            PixelLayout::Packed => {
                if shape.len() != 3 || shape[2] != format.channels() {
                    return Err(Error::InvalidShape(format!(
                        "packed format {format:?} expects [H, W, {}], got {shape:?}",
                        format.channels()
                    )));
                }
            }
            PixelLayout::Planar => {
                if shape.len() != 3 || shape[0] != format.channels() {
                    return Err(Error::InvalidShape(format!(
                        "planar format {format:?} expects [{}, H, W], got {shape:?}",
                        format.channels()
                    )));
                }
            }
            PixelLayout::SemiPlanar => {
                if shape.len() != 2 {
                    return Err(Error::InvalidShape(format!(
                        "semi-planar format {format:?} expects [H*k, W], got {shape:?}"
                    )));
                }
                match format {
                    PixelFormat::Nv12 if !shape[0].is_multiple_of(3) => {
                        return Err(Error::InvalidShape(format!(
                            "NV12 contiguous shape[0] must be divisible by 3, got {}",
                            shape[0]
                        )));
                    }
                    PixelFormat::Nv16 if !shape[0].is_multiple_of(2) => {
                        return Err(Error::InvalidShape(format!(
                            "NV16 contiguous shape[0] must be even, got {}",
                            shape[0]
                        )));
                    }
                    _ => {}
                }
            }
        }
        // Clear stored stride/offset when format changes — they may be invalid
        // for the new format. Caller must re-set after changing format.
        if self.format != Some(format) {
            self.row_stride = None;
            self.plane_offset = None;
            #[cfg(target_os = "linux")]
            if let TensorStorage::Dma(ref mut dma) = self.storage {
                dma.mmap_offset = 0;
            }
        }
        self.format = Some(format);
        Ok(())
    }

    /// Pixel format (None if not an image).
    pub fn format(&self) -> Option<PixelFormat> {
        self.format
    }

    /// Image width (None if not an image).
    pub fn width(&self) -> Option<usize> {
        let fmt = self.format?;
        let shape = self.shape();
        match fmt.layout() {
            PixelLayout::Packed => Some(shape[1]),
            PixelLayout::Planar => Some(shape[2]),
            PixelLayout::SemiPlanar => Some(shape[1]),
        }
    }

    /// Image height (None if not an image).
    pub fn height(&self) -> Option<usize> {
        let fmt = self.format?;
        let shape = self.shape();
        match fmt.layout() {
            PixelLayout::Packed => Some(shape[0]),
            PixelLayout::Planar => Some(shape[1]),
            PixelLayout::SemiPlanar => {
                if self.is_multiplane() {
                    Some(shape[0])
                } else {
                    match fmt {
                        PixelFormat::Nv12 => Some(shape[0] * 2 / 3),
                        PixelFormat::Nv16 => Some(shape[0] / 2),
                        _ => None,
                    }
                }
            }
        }
    }

    /// Create from separate Y and UV planes (multiplane NV12/NV16).
    pub fn from_planes(luma: Tensor<T>, chroma: Tensor<T>, format: PixelFormat) -> Result<Self> {
        if format.layout() != PixelLayout::SemiPlanar {
            return Err(Error::InvalidArgument(format!(
                "from_planes requires a semi-planar format, got {format:?}"
            )));
        }
        if chroma.format.is_some() || chroma.chroma.is_some() {
            return Err(Error::InvalidArgument(
                "chroma tensor must be a raw tensor (no format or chroma metadata)".into(),
            ));
        }
        let luma_shape = luma.shape();
        let chroma_shape = chroma.shape();
        if luma_shape.len() != 2 || chroma_shape.len() != 2 {
            return Err(Error::InvalidArgument(format!(
                "from_planes expects 2D shapes, got luma={luma_shape:?} chroma={chroma_shape:?}"
            )));
        }
        if luma_shape[1] != chroma_shape[1] {
            return Err(Error::InvalidArgument(format!(
                "luma width {} != chroma width {}",
                luma_shape[1], chroma_shape[1]
            )));
        }
        match format {
            PixelFormat::Nv12 => {
                if luma_shape[0] % 2 != 0 {
                    return Err(Error::InvalidArgument(format!(
                        "NV12 requires even luma height, got {}",
                        luma_shape[0]
                    )));
                }
                if chroma_shape[0] != luma_shape[0] / 2 {
                    return Err(Error::InvalidArgument(format!(
                        "NV12 chroma height {} != luma height / 2 ({})",
                        chroma_shape[0],
                        luma_shape[0] / 2
                    )));
                }
            }
            PixelFormat::Nv16 => {
                if chroma_shape[0] != luma_shape[0] {
                    return Err(Error::InvalidArgument(format!(
                        "NV16 chroma height {} != luma height {}",
                        chroma_shape[0], luma_shape[0]
                    )));
                }
            }
            _ => {
                return Err(Error::InvalidArgument(format!(
                    "from_planes only supports NV12 and NV16, got {format:?}"
                )));
            }
        }

        Ok(Tensor {
            storage: luma.storage,
            format: Some(format),
            chroma: Some(Box::new(chroma)),
            row_stride: luma.row_stride,
            plane_offset: luma.plane_offset,
            quantization: luma.quantization,
        })
    }

    /// Whether this tensor uses separate plane allocations.
    pub fn is_multiplane(&self) -> bool {
        self.chroma.is_some()
    }

    /// Access the chroma plane for multiplane semi-planar images.
    pub fn chroma(&self) -> Option<&Tensor<T>> {
        self.chroma.as_deref()
    }

    /// Mutable access to the chroma plane for multiplane semi-planar images.
    pub fn chroma_mut(&mut self) -> Option<&mut Tensor<T>> {
        self.chroma.as_deref_mut()
    }

    /// Row stride in bytes (`None` = tightly packed).
    pub fn row_stride(&self) -> Option<usize> {
        self.row_stride
    }

    /// Effective row stride in bytes: the stored stride if set, otherwise the
    /// minimum stride computed from the format, width, and element size.
    /// Returns `None` only when no format is set and no explicit stride was
    /// stored via [`set_row_stride`](Self::set_row_stride).
    pub fn effective_row_stride(&self) -> Option<usize> {
        if let Some(s) = self.row_stride {
            return Some(s);
        }
        let fmt = self.format?;
        let w = self.width()?;
        let elem = std::mem::size_of::<T>();
        Some(match fmt.layout() {
            PixelLayout::Packed => w * fmt.channels() * elem,
            PixelLayout::Planar | PixelLayout::SemiPlanar => w * elem,
        })
    }

    /// Set the row stride in bytes for externally allocated buffers with
    /// row padding (e.g. V4L2 or GStreamer allocators).
    ///
    /// The stride is propagated to the EGL DMA-BUF import attributes so
    /// the GPU interprets the padded buffer layout correctly. Must be
    /// called after [`set_format`](Self::set_format) and before the tensor
    /// is first passed to [`ImageProcessor::convert`]. The stored stride
    /// is cleared automatically if the pixel format is later changed.
    ///
    /// No stride-vs-buffer-size validation is performed because the
    /// backing allocation size is not reliably known: external DMA-BUFs
    /// may be over-allocated by the allocator, and internal tensors store
    /// a logical (unpadded) shape. An incorrect stride will be caught by
    /// the EGL driver at import time.
    ///
    /// # Arguments
    ///
    /// * `stride` - Row stride in bytes. Must be >= the minimum stride for
    ///   the format (width * channels * sizeof(T) for packed,
    ///   width * sizeof(T) for planar/semi-planar).
    ///
    /// # Errors
    ///
    /// * `InvalidArgument` if no pixel format is set on this tensor
    /// * `InvalidArgument` if `stride` is less than the minimum for the
    ///   format and width
    pub fn set_row_stride(&mut self, stride: usize) -> Result<()> {
        let fmt = self.format.ok_or_else(|| {
            Error::InvalidArgument("cannot set row_stride without a pixel format".into())
        })?;
        let w = self.width().ok_or_else(|| {
            Error::InvalidArgument("cannot determine width for row_stride validation".into())
        })?;
        let elem = std::mem::size_of::<T>();
        let min_stride = match fmt.layout() {
            PixelLayout::Packed => w * fmt.channels() * elem,
            PixelLayout::Planar | PixelLayout::SemiPlanar => w * elem,
        };
        if stride < min_stride {
            return Err(Error::InvalidArgument(format!(
                "row_stride {stride} < minimum {min_stride} for {fmt:?} at width {w}"
            )));
        }
        self.row_stride = Some(stride);
        Ok(())
    }

    /// Set the row stride without format validation.
    ///
    /// Use this for raw sub-tensors (e.g. chroma planes) that don't carry
    /// format metadata. The caller is responsible for ensuring the stride
    /// is valid.
    pub fn set_row_stride_unchecked(&mut self, stride: usize) {
        self.row_stride = Some(stride);
    }

    /// Builder-style variant of [`set_row_stride`](Self::set_row_stride),
    /// consuming and returning `self`.
    ///
    /// # Errors
    ///
    /// Same conditions as [`set_row_stride`](Self::set_row_stride).
    pub fn with_row_stride(mut self, stride: usize) -> Result<Self> {
        self.set_row_stride(stride)?;
        Ok(self)
    }

    /// Byte offset within the DMA-BUF where image data starts (`None` = 0).
    pub fn plane_offset(&self) -> Option<usize> {
        self.plane_offset
    }

    /// Set the byte offset within the DMA-BUF where image data starts.
    ///
    /// Propagated to `EGL_DMA_BUF_PLANE0_OFFSET_EXT` on GPU import.
    /// Unlike [`set_row_stride`](Self::set_row_stride), no format is required
    /// since the offset is format-independent.
    pub fn set_plane_offset(&mut self, offset: usize) {
        self.plane_offset = Some(offset);
        #[cfg(target_os = "linux")]
        if let TensorStorage::Dma(ref mut dma) = self.storage {
            dma.mmap_offset = offset;
        }
    }

    /// Builder-style variant of [`set_plane_offset`](Self::set_plane_offset),
    /// consuming and returning `self`.
    pub fn with_plane_offset(mut self, offset: usize) -> Self {
        self.set_plane_offset(offset);
        self
    }

    /// Downcast to PBO tensor reference (for GL backends).
    pub fn as_pbo(&self) -> Option<&PboTensor<T>> {
        match &self.storage {
            TensorStorage::Pbo(p) => Some(p),
            _ => None,
        }
    }

    /// Downcast to DMA tensor reference (for EGL import, G2D).
    #[cfg(target_os = "linux")]
    pub fn as_dma(&self) -> Option<&DmaTensor<T>> {
        match &self.storage {
            TensorStorage::Dma(d) => Some(d),
            _ => None,
        }
    }

    /// Borrow the DMA-BUF file descriptor backing this tensor.
    ///
    /// # Returns
    ///
    /// A borrowed reference to the DMA-BUF file descriptor, tied to `self`'s
    /// lifetime.
    ///
    /// # Errors
    ///
    /// Returns `Error::NotImplemented` if the tensor is not DMA-backed.
    #[cfg(target_os = "linux")]
    pub fn dmabuf(&self) -> Result<std::os::fd::BorrowedFd<'_>> {
        use std::os::fd::AsFd;
        match &self.storage {
            TensorStorage::Dma(dma) => Ok(dma.fd.as_fd()),
            _ => Err(Error::NotImplemented(format!(
                "dmabuf requires DMA-backed tensor, got {:?}",
                self.storage.memory()
            ))),
        }
    }

    /// Construct a Tensor from a PBO tensor (for GL backends that allocate PBOs).
    pub fn from_pbo(pbo: PboTensor<T>) -> Self {
        Self {
            storage: TensorStorage::Pbo(pbo),
            format: None,
            chroma: None,
            row_stride: None,
            plane_offset: None,
            quantization: None,
        }
    }
}

// Quantization accessors — type-gated to integer element types via the
// sealed `IntegerType` trait. Calling `.quantization()` on a `Tensor<f32>`
// produces a compile error, not a runtime one.
impl<T> Tensor<T>
where
    T: IntegerType + Num + Clone + fmt::Debug + Send + Sync,
{
    /// Quantization metadata for this tensor, if set.
    pub fn quantization(&self) -> Option<&Quantization> {
        self.quantization.as_ref()
    }

    /// Attach quantization metadata to this tensor. Validates against the
    /// tensor's shape — returns [`Error::QuantizationInvalid`] on any
    /// inconsistency (mismatched scale/zp lengths, out-of-range axis, etc.).
    pub fn set_quantization(&mut self, q: Quantization) -> Result<()> {
        q.validate(self.shape())?;
        self.quantization = Some(q);
        Ok(())
    }

    /// Builder-style variant of [`Self::set_quantization`]. Consumes `self`
    /// and returns `Result<Self>` — on success yields the tensor with the
    /// attached quantization; on validation failure returns
    /// [`Error::QuantizationInvalid`] and drops `self` (the tensor is not
    /// returned in the error arm).
    pub fn with_quantization(mut self, q: Quantization) -> Result<Self> {
        self.set_quantization(q)?;
        Ok(self)
    }

    /// Clear any quantization metadata on this tensor.
    pub fn clear_quantization(&mut self) {
        self.quantization = None;
    }
}

impl<T> TensorTrait<T> for Tensor<T>
where
    T: Num + Clone + fmt::Debug + Send + Sync,
{
    fn new(shape: &[usize], name: Option<&str>) -> Result<Self>
    where
        Self: Sized,
    {
        Self::new(shape, None, name)
    }

    #[cfg(unix)]
    fn from_fd(fd: std::os::fd::OwnedFd, shape: &[usize], name: Option<&str>) -> Result<Self>
    where
        Self: Sized,
    {
        Ok(Self::wrap(TensorStorage::from_fd(fd, shape, name)?))
    }

    #[cfg(unix)]
    fn clone_fd(&self) -> Result<std::os::fd::OwnedFd> {
        self.storage.clone_fd()
    }

    fn memory(&self) -> TensorMemory {
        self.storage.memory()
    }

    fn name(&self) -> String {
        self.storage.name()
    }

    fn shape(&self) -> &[usize] {
        self.storage.shape()
    }

    fn reshape(&mut self, shape: &[usize]) -> Result<()> {
        if self.chroma.is_some() {
            return Err(Error::InvalidOperation(
                "cannot reshape a multiplane tensor — decompose planes first".into(),
            ));
        }
        self.storage.reshape(shape)?;
        self.format = None;
        self.row_stride = None;
        self.plane_offset = None;
        #[cfg(target_os = "linux")]
        if let TensorStorage::Dma(ref mut dma) = self.storage {
            dma.mmap_offset = 0;
        }
        Ok(())
    }

    fn map(&self) -> Result<TensorMap<T>> {
        // CPU mapping of strided tensors is allowed only when the HAL
        // owns the underlying allocation — i.e. self-allocated DMA
        // tensors with pitch padding added by `image_with_stride()`
        // for GPU import alignment. In that case we know the buffer
        // is exactly `row_stride × height` bytes (for packed formats)
        // and callers that respect the stride can iterate rows
        // correctly via `effective_row_stride()`.
        //
        // Foreign DMA-BUFs imported via `from_fd()` + `set_row_stride()`
        // (the V4L2 / GStreamer case) are rejected: their layout comes
        // from an external allocator and the HAL cannot validate what
        // the caller expects the mapping to look like. Those tensors
        // are intended for the GPU path only.
        //
        // The cfg split keeps `stride` from being an unused binding on
        // non-Linux builds (the Linux branch is the only consumer).
        #[cfg(target_os = "linux")]
        if let Some(stride) = self.row_stride {
            if let TensorStorage::Dma(dma) = &self.storage {
                if !dma.is_imported {
                    // Self-allocated strided DMA tensor — expose the
                    // full stride×height padded mmap via the override
                    // constructor so callers can iterate rows with
                    // `effective_row_stride()` without going past
                    // the end of the returned slice.
                    //
                    // Validate the requested mapping fits inside the
                    // actual DMA-BUF. `set_row_stride()` is a public
                    // API and only validates `stride >= min_stride`,
                    // not `stride × height <= buf_size`, so a caller
                    // that tampers with the stride after allocation
                    // could otherwise request a slice larger than the
                    // underlying mmap — which would be undefined
                    // behaviour in `DmaMap::as_slice`.
                    //
                    // Refuse to map if `height()` can't be derived
                    // (e.g. raw 2D tensors without a PixelFormat that
                    // got a `row_stride` set via `set_row_stride_unchecked`).
                    // Returning a 0-byte view would silently truncate
                    // rather than surface the misuse.
                    let height = self.height().ok_or_else(|| {
                        Error::InvalidOperation(
                            "Tensor::map: strided DMA mapping requires a PixelFormat \
                             so height() can be derived; set a format before mapping \
                             or clear row_stride for raw tensor access"
                                .into(),
                        )
                    })?;
                    let total_bytes = stride.checked_mul(height).ok_or_else(|| {
                        Error::InvalidOperation(format!(
                            "Tensor::map: row_stride {stride} × height {height} overflows usize"
                        ))
                    })?;
                    let available_bytes = dma.buf_size.saturating_sub(dma.mmap_offset);
                    if total_bytes > available_bytes {
                        return Err(Error::InvalidOperation(format!(
                            "Tensor::map: strided mapping needs {total_bytes} bytes \
                             but DMA buffer only has {available_bytes} available \
                             (buf_size={}, mmap_offset={}, stride={stride}, height={height}); \
                             the row_stride was likely set larger than the original allocation",
                            dma.buf_size, dma.mmap_offset
                        )));
                    }
                    return dma.map_with_byte_size(total_bytes).map(TensorMap::Dma);
                }
            }
            return Err(Error::InvalidOperation(
                "CPU mapping of strided foreign tensors is not supported; \
                 use GPU path only"
                    .into(),
            ));
        }
        #[cfg(not(target_os = "linux"))]
        if self.row_stride.is_some() {
            return Err(Error::InvalidOperation(
                "CPU mapping of strided tensors is not supported on this \
                 platform (DMA backing is Linux-only)"
                    .into(),
            ));
        }
        // Offset tensors are supported for DMA storage — DmaMap adjusts the
        // mmap range and slice start position.  Non-DMA offset tensors are
        // not meaningful (offset only applies to DMA-BUF sub-regions).
        if self.plane_offset.is_some_and(|o| o > 0) {
            #[cfg(target_os = "linux")]
            if !matches!(self.storage, TensorStorage::Dma(_)) {
                return Err(Error::InvalidOperation(
                    "plane offset only supported for DMA tensors".into(),
                ));
            }
            #[cfg(not(target_os = "linux"))]
            return Err(Error::InvalidOperation(
                "plane offset only supported for DMA tensors".into(),
            ));
        }
        self.storage.map()
    }

    fn buffer_identity(&self) -> &BufferIdentity {
        self.storage.buffer_identity()
    }
}

pub enum TensorMap<T>
where
    T: Num + Clone + fmt::Debug,
{
    #[cfg(target_os = "linux")]
    Dma(DmaMap<T>),
    #[cfg(unix)]
    Shm(ShmMap<T>),
    Mem(MemMap<T>),
    Pbo(PboMap<T>),
}

impl<T> TensorMapTrait<T> for TensorMap<T>
where
    T: Num + Clone + fmt::Debug,
{
    fn shape(&self) -> &[usize] {
        match self {
            #[cfg(target_os = "linux")]
            TensorMap::Dma(map) => map.shape(),
            #[cfg(unix)]
            TensorMap::Shm(map) => map.shape(),
            TensorMap::Mem(map) => map.shape(),
            TensorMap::Pbo(map) => map.shape(),
        }
    }

    fn unmap(&mut self) {
        match self {
            #[cfg(target_os = "linux")]
            TensorMap::Dma(map) => map.unmap(),
            #[cfg(unix)]
            TensorMap::Shm(map) => map.unmap(),
            TensorMap::Mem(map) => map.unmap(),
            TensorMap::Pbo(map) => map.unmap(),
        }
    }

    fn as_slice(&self) -> &[T] {
        match self {
            #[cfg(target_os = "linux")]
            TensorMap::Dma(map) => map.as_slice(),
            #[cfg(unix)]
            TensorMap::Shm(map) => map.as_slice(),
            TensorMap::Mem(map) => map.as_slice(),
            TensorMap::Pbo(map) => map.as_slice(),
        }
    }

    fn as_mut_slice(&mut self) -> &mut [T] {
        match self {
            #[cfg(target_os = "linux")]
            TensorMap::Dma(map) => map.as_mut_slice(),
            #[cfg(unix)]
            TensorMap::Shm(map) => map.as_mut_slice(),
            TensorMap::Mem(map) => map.as_mut_slice(),
            TensorMap::Pbo(map) => map.as_mut_slice(),
        }
    }
}

impl<T> Deref for TensorMap<T>
where
    T: Num + Clone + fmt::Debug,
{
    type Target = [T];

    fn deref(&self) -> &[T] {
        match self {
            #[cfg(target_os = "linux")]
            TensorMap::Dma(map) => map.deref(),
            #[cfg(unix)]
            TensorMap::Shm(map) => map.deref(),
            TensorMap::Mem(map) => map.deref(),
            TensorMap::Pbo(map) => map.deref(),
        }
    }
}

impl<T> DerefMut for TensorMap<T>
where
    T: Num + Clone + fmt::Debug,
{
    fn deref_mut(&mut self) -> &mut [T] {
        match self {
            #[cfg(target_os = "linux")]
            TensorMap::Dma(map) => map.deref_mut(),
            #[cfg(unix)]
            TensorMap::Shm(map) => map.deref_mut(),
            TensorMap::Mem(map) => map.deref_mut(),
            TensorMap::Pbo(map) => map.deref_mut(),
        }
    }
}

// ============================================================================
// Platform availability helpers
// ============================================================================

/// Check if DMA memory allocation is available on this system.
///
/// Returns `true` only on Linux systems with DMA-BUF heap access (typically
/// requires running as root or membership in a video/render group).
/// Always returns `false` on non-Linux platforms (macOS, Windows, etc.).
///
/// This function caches its result after the first call for efficiency.
#[cfg(target_os = "linux")]
static DMA_AVAILABLE: std::sync::OnceLock<bool> = std::sync::OnceLock::new();

/// Check if DMA memory allocation is available on this system.
#[cfg(target_os = "linux")]
pub fn is_dma_available() -> bool {
    *DMA_AVAILABLE.get_or_init(|| Tensor::<u8>::new(&[64], Some(TensorMemory::Dma), None).is_ok())
}

/// Check if DMA memory allocation is available on this system.
///
/// Always returns `false` on non-Linux platforms since DMA-BUF is Linux-specific.
#[cfg(not(target_os = "linux"))]
pub fn is_dma_available() -> bool {
    false
}

/// Check if POSIX shared memory allocation is available on this system.
///
/// Returns `true` on Unix systems (Linux, macOS, BSD) where POSIX shared memory
/// is supported. Always returns `false` on non-Unix platforms (Windows).
///
/// This function caches its result after the first call for efficiency.
#[cfg(unix)]
static SHM_AVAILABLE: std::sync::OnceLock<bool> = std::sync::OnceLock::new();

/// Check if POSIX shared memory allocation is available on this system.
#[cfg(unix)]
pub fn is_shm_available() -> bool {
    *SHM_AVAILABLE.get_or_init(|| Tensor::<u8>::new(&[64], Some(TensorMemory::Shm), None).is_ok())
}

/// Check if POSIX shared memory allocation is available on this system.
///
/// Always returns `false` on non-Unix platforms since POSIX SHM is Unix-specific.
#[cfg(not(unix))]
pub fn is_shm_available() -> bool {
    false
}

#[cfg(test)]
mod dtype_tests {
    use super::*;

    #[test]
    fn dtype_size() {
        assert_eq!(DType::U8.size(), 1);
        assert_eq!(DType::I8.size(), 1);
        assert_eq!(DType::U16.size(), 2);
        assert_eq!(DType::I16.size(), 2);
        assert_eq!(DType::U32.size(), 4);
        assert_eq!(DType::I32.size(), 4);
        assert_eq!(DType::U64.size(), 8);
        assert_eq!(DType::I64.size(), 8);
        assert_eq!(DType::F16.size(), 2);
        assert_eq!(DType::F32.size(), 4);
        assert_eq!(DType::F64.size(), 8);
    }

    #[test]
    fn dtype_name() {
        assert_eq!(DType::U8.name(), "u8");
        assert_eq!(DType::F16.name(), "f16");
        assert_eq!(DType::F32.name(), "f32");
    }

    #[test]
    fn dtype_serde_roundtrip() {
        use serde_json;
        let dt = DType::F16;
        let json = serde_json::to_string(&dt).unwrap();
        let back: DType = serde_json::from_str(&json).unwrap();
        assert_eq!(dt, back);
    }
}

#[cfg(test)]
mod image_tests {
    use super::*;

    #[test]
    fn raw_tensor_has_no_format() {
        let t = Tensor::<u8>::new(&[480, 640, 3], None, None).unwrap();
        assert!(t.format().is_none());
        assert!(t.width().is_none());
        assert!(t.height().is_none());
        assert!(!t.is_multiplane());
        assert!(t.chroma().is_none());
    }

    #[test]
    fn image_tensor_packed() {
        let t = Tensor::<u8>::image(640, 480, PixelFormat::Rgba, None).unwrap();
        assert_eq!(t.format(), Some(PixelFormat::Rgba));
        assert_eq!(t.width(), Some(640));
        assert_eq!(t.height(), Some(480));
        assert_eq!(t.shape(), &[480, 640, 4]);
        assert!(!t.is_multiplane());
    }

    #[test]
    fn image_tensor_planar() {
        let t = Tensor::<u8>::image(640, 480, PixelFormat::PlanarRgb, None).unwrap();
        assert_eq!(t.format(), Some(PixelFormat::PlanarRgb));
        assert_eq!(t.width(), Some(640));
        assert_eq!(t.height(), Some(480));
        assert_eq!(t.shape(), &[3, 480, 640]);
    }

    #[test]
    fn image_tensor_semi_planar_contiguous() {
        let t = Tensor::<u8>::image(640, 480, PixelFormat::Nv12, None).unwrap();
        assert_eq!(t.format(), Some(PixelFormat::Nv12));
        assert_eq!(t.width(), Some(640));
        assert_eq!(t.height(), Some(480));
        // NV12: H*3/2 = 720
        assert_eq!(t.shape(), &[720, 640]);
        assert!(!t.is_multiplane());
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn image_tensor_with_stride_preserves_logical_width() {
        // Skip if DMA not available (e.g. sandboxed CI lacking dma_heap access).
        if !is_dma_available() {
            eprintln!("SKIPPED: DMA heap not available");
            return;
        }
        // 3004×1688 RGBA8: natural pitch 12016, padded to 12032 (64-aligned).
        let stride = 12032;
        let t = Tensor::<u8>::image_with_stride(
            3004,
            1688,
            PixelFormat::Rgba,
            stride,
            Some(TensorMemory::Dma),
        )
        .unwrap();
        // Logical dimensions unchanged by padding — this is the contract.
        assert_eq!(t.width(), Some(3004));
        assert_eq!(t.height(), Some(1688));
        assert_eq!(t.shape(), &[1688, 3004, 4]);
        // Stride is carried separately and reports the padded pitch.
        assert_eq!(t.effective_row_stride(), Some(stride));
        // Buffer is sized to stride × height so the full padded layout fits,
        // and CPU map() works for self-allocated strided DMA tensors.
        use crate::TensorMapTrait;
        {
            let map = t.map().unwrap();
            assert!(
                map.as_slice().len() >= stride * 1688,
                "mapped buffer {} bytes < expected {}",
                map.as_slice().len(),
                stride * 1688
            );
        }
        // CPU write access works too — iterate rows using the padded stride,
        // touch only the active `width × bpp` region, verify it round-trips.
        {
            let mut map = t.map().unwrap();
            let slice = map.as_mut_slice();
            for y in 0..1688 {
                let row_start = y * stride;
                for x in 0..3004 {
                    let p = row_start + x * 4;
                    slice[p] = (y & 0xFF) as u8;
                    slice[p + 1] = (x & 0xFF) as u8;
                    slice[p + 2] = 0x42;
                    slice[p + 3] = 0xFF;
                }
            }
        }
        {
            let map = t.map().unwrap();
            let slice = map.as_slice();
            // Sample a few pixels to confirm the round-trip.
            assert_eq!(slice[0], 0x00);
            assert_eq!(slice[1], 0x00);
            assert_eq!(slice[2], 0x42);
            assert_eq!(slice[3], 0xFF);
            let mid = 100 * stride + 50 * 4;
            assert_eq!(slice[mid], 100);
            assert_eq!(slice[mid + 1], 50);
            assert_eq!(slice[mid + 2], 0x42);
        }
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn image_tensor_with_stride_rejects_foreign_strided_map() {
        // A FOREIGN (imported via from_fd) DMA tensor with row_stride set
        // should still refuse CPU mapping — external allocator owns the
        // layout. This protects the V4L2 / GStreamer use case.
        //
        // We simulate a foreign import by wrapping our own allocation's
        // fd via `from_fd` and calling set_row_stride manually. The
        // `is_imported` flag on from_fd is true by construction.
        if !is_dma_available() {
            eprintln!("SKIPPED: DMA heap not available");
            return;
        }
        // Allocate a backing buffer large enough for a 320×240 BGRA8 image.
        let backing = Tensor::<u8>::new(&[240 * 320 * 4], Some(TensorMemory::Dma), None).unwrap();
        let fd = backing.clone_fd().unwrap();
        // Import it via from_fd — this marks is_imported=true.
        let shape = [240usize, 320, 4];
        let storage = TensorStorage::<u8>::from_fd(fd, &shape, None).unwrap();
        let mut t = Tensor::<u8>::wrap(storage);
        t.set_format(PixelFormat::Bgra).unwrap();
        t.set_row_stride(320 * 4).unwrap(); // natural, but still marks it as strided
        let err = t.map();
        assert!(
            matches!(err, Err(Error::InvalidOperation(_))),
            "foreign strided map should error"
        );
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn image_tensor_with_stride_map_rejects_tampered_stride() {
        // Round-3 PR feedback (C1): `set_row_stride` is public and only
        // validates `stride >= min_stride`, not that the new stride × height
        // fits the underlying buffer. A caller that tampers with the stride
        // after allocation must not be able to coerce `Tensor::map()` into
        // returning a slice larger than the backing mmap (that would be UB
        // in `DmaMap::as_slice`).
        if !is_dma_available() {
            eprintln!("SKIPPED: DMA heap not available");
            return;
        }
        // Allocate a 640×480 RGBA8 padded canvas (stride = 3072 = 768 px).
        // Backing buffer is 3072 × 480 = 1,474,560 bytes.
        let mut t = Tensor::<u8>::image_with_stride(
            640,
            480,
            PixelFormat::Rgba,
            3072,
            Some(TensorMemory::Dma),
        )
        .unwrap();
        // Tamper: push the stride up to 4 × the original. This is >=
        // min_stride (2560), so `set_row_stride` accepts it.
        t.set_row_stride(12288).unwrap();
        // Map must now refuse — 12288 × 480 = 5,898,240 > 1,474,560.
        let err = t.map();
        assert!(
            matches!(err, Err(Error::InvalidOperation(_))),
            "map() with oversized stride must return InvalidOperation"
        );
    }

    #[test]
    fn dma_tensor_new_with_byte_size_rejects_shape_overflow() {
        // Round-3 PR feedback (C3): shape.product() * sizeof(T) must use
        // checked arithmetic so a pathological shape can't wrap usize and
        // make the byte_size-vs-logical-size comparison incorrect.
        //
        // This test only exercises the overflow rejection path, which is
        // pure-Rust and doesn't touch dma_heap — safe to run on any target.
        #[cfg(target_os = "linux")]
        {
            let err = crate::dma::DmaTensor::<u64>::new_with_byte_size(
                &[usize::MAX, 2, 2],
                usize::MAX,
                None,
            );
            assert!(
                matches!(err, Err(Error::InvalidArgument(_))),
                "new_with_byte_size must detect shape.product() overflow"
            );
        }
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn image_tensor_with_stride_rejects_too_small_stride() {
        // 640×480 RGBA8 natural pitch = 2560, request 2400 → should error.
        let err = Tensor::<u8>::image_with_stride(
            640,
            480,
            PixelFormat::Rgba,
            2400,
            Some(TensorMemory::Dma),
        );
        assert!(matches!(err, Err(Error::InvalidArgument(_))));
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn image_tensor_with_stride_rejects_non_packed() {
        // NV12 is SemiPlanar → not supported. (Linux-only because
        // `TensorMemory::Dma` itself is a Linux-only enum variant.)
        let err = Tensor::<u8>::image_with_stride(
            640,
            480,
            PixelFormat::Nv12,
            640,
            Some(TensorMemory::Dma),
        );
        assert!(matches!(err, Err(Error::NotImplemented(_))));
    }

    #[test]
    fn set_format_valid() {
        let mut t = Tensor::<u8>::new(&[480, 640, 3], None, None).unwrap();
        assert!(t.format().is_none());
        t.set_format(PixelFormat::Rgb).unwrap();
        assert_eq!(t.format(), Some(PixelFormat::Rgb));
        assert_eq!(t.width(), Some(640));
        assert_eq!(t.height(), Some(480));
    }

    #[test]
    fn set_format_invalid_shape() {
        let mut t = Tensor::<u8>::new(&[480, 640, 4], None, None).unwrap();
        // RGB expects 3 channels, not 4
        let err = t.set_format(PixelFormat::Rgb);
        assert!(err.is_err());
        // Original tensor is unmodified
        assert!(t.format().is_none());
    }

    #[test]
    fn reshape_clears_format() {
        let mut t = Tensor::<u8>::image(640, 480, PixelFormat::Rgba, None).unwrap();
        assert_eq!(t.format(), Some(PixelFormat::Rgba));
        // Reshape to flat — format cleared
        t.reshape(&[480 * 640 * 4]).unwrap();
        assert!(t.format().is_none());
    }

    #[test]
    fn from_planes_nv12() {
        let y = Tensor::<u8>::new(&[480, 640], None, None).unwrap();
        let uv = Tensor::<u8>::new(&[240, 640], None, None).unwrap();
        let img = Tensor::from_planes(y, uv, PixelFormat::Nv12).unwrap();
        assert_eq!(img.format(), Some(PixelFormat::Nv12));
        assert!(img.is_multiplane());
        assert!(img.chroma().is_some());
        assert_eq!(img.width(), Some(640));
        assert_eq!(img.height(), Some(480));
    }

    #[test]
    fn from_planes_rejects_non_semiplanar() {
        let y = Tensor::<u8>::new(&[480, 640], None, None).unwrap();
        let uv = Tensor::<u8>::new(&[240, 640], None, None).unwrap();
        let err = Tensor::from_planes(y, uv, PixelFormat::Rgb);
        assert!(err.is_err());
    }

    #[test]
    fn reshape_multiplane_errors() {
        let y = Tensor::<u8>::new(&[480, 640], None, None).unwrap();
        let uv = Tensor::<u8>::new(&[240, 640], None, None).unwrap();
        let mut img = Tensor::from_planes(y, uv, PixelFormat::Nv12).unwrap();
        let err = img.reshape(&[480 * 640 + 240 * 640]);
        assert!(err.is_err());
    }
}

#[cfg(test)]
mod tests {
    #[cfg(target_os = "linux")]
    use nix::unistd::{access, AccessFlags};
    #[cfg(target_os = "linux")]
    use std::io::Write as _;
    use std::sync::RwLock;

    use super::*;

    #[ctor::ctor]
    fn init() {
        env_logger::Builder::from_env(env_logger::Env::default().default_filter_or("info")).init();
    }

    /// Macro to get the current function name for logging in tests.
    #[cfg(target_os = "linux")]
    macro_rules! function {
        () => {{
            fn f() {}
            fn type_name_of<T>(_: T) -> &'static str {
                std::any::type_name::<T>()
            }
            let name = type_name_of(f);

            // Find and cut the rest of the path
            match &name[..name.len() - 3].rfind(':') {
                Some(pos) => &name[pos + 1..name.len() - 3],
                None => &name[..name.len() - 3],
            }
        }};
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn test_tensor() {
        let _lock = FD_LOCK.read().unwrap();
        let shape = vec![1];
        let tensor = DmaTensor::<f32>::new(&shape, Some("dma_tensor"));
        let dma_enabled = tensor.is_ok();

        let tensor = Tensor::<f32>::new(&shape, None, None).expect("Failed to create tensor");
        match dma_enabled {
            true => assert_eq!(tensor.memory(), TensorMemory::Dma),
            false => assert_eq!(tensor.memory(), TensorMemory::Shm),
        }
    }

    #[test]
    #[cfg(all(unix, not(target_os = "linux")))]
    fn test_tensor() {
        let shape = vec![1];
        let tensor = Tensor::<f32>::new(&shape, None, None).expect("Failed to create tensor");
        // On macOS/BSD, auto-detection tries SHM first, falls back to Mem
        assert!(
            tensor.memory() == TensorMemory::Shm || tensor.memory() == TensorMemory::Mem,
            "Expected SHM or Mem on macOS, got {:?}",
            tensor.memory()
        );
    }

    #[test]
    #[cfg(not(unix))]
    fn test_tensor() {
        let shape = vec![1];
        let tensor = Tensor::<f32>::new(&shape, None, None).expect("Failed to create tensor");
        assert_eq!(tensor.memory(), TensorMemory::Mem);
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn test_dma_tensor() {
        let _lock = FD_LOCK.read().unwrap();
        match access(
            "/dev/dma_heap/linux,cma",
            AccessFlags::R_OK | AccessFlags::W_OK,
        ) {
            Ok(_) => println!("/dev/dma_heap/linux,cma is available"),
            Err(_) => match access(
                "/dev/dma_heap/system",
                AccessFlags::R_OK | AccessFlags::W_OK,
            ) {
                Ok(_) => println!("/dev/dma_heap/system is available"),
                Err(e) => {
                    writeln!(
                        &mut std::io::stdout(),
                        "[WARNING] DMA Heap is unavailable: {e}"
                    )
                    .unwrap();
                    return;
                }
            },
        }

        let shape = vec![2, 3, 4];
        let tensor =
            DmaTensor::<f32>::new(&shape, Some("test_tensor")).expect("Failed to create tensor");

        const DUMMY_VALUE: f32 = 12.34;

        assert_eq!(tensor.memory(), TensorMemory::Dma);
        assert_eq!(tensor.name(), "test_tensor");
        assert_eq!(tensor.shape(), &shape);
        assert_eq!(tensor.size(), 2 * 3 * 4 * std::mem::size_of::<f32>());
        assert_eq!(tensor.len(), 2 * 3 * 4);

        {
            let mut tensor_map = tensor.map().expect("Failed to map DMA memory");
            tensor_map.fill(42.0);
            assert!(tensor_map.iter().all(|&x| x == 42.0));
        }

        {
            let shared = Tensor::<f32>::from_fd(
                tensor
                    .clone_fd()
                    .expect("Failed to duplicate tensor file descriptor"),
                &shape,
                Some("test_tensor_shared"),
            )
            .expect("Failed to create tensor from fd");

            assert_eq!(shared.memory(), TensorMemory::Dma);
            assert_eq!(shared.name(), "test_tensor_shared");
            assert_eq!(shared.shape(), &shape);

            let mut tensor_map = shared.map().expect("Failed to map DMA memory from fd");
            tensor_map.fill(DUMMY_VALUE);
            assert!(tensor_map.iter().all(|&x| x == DUMMY_VALUE));
        }

        {
            let tensor_map = tensor.map().expect("Failed to map DMA memory");
            assert!(tensor_map.iter().all(|&x| x == DUMMY_VALUE));
        }

        let mut tensor = DmaTensor::<u8>::new(&shape, None).expect("Failed to create tensor");
        assert_eq!(tensor.shape(), &shape);
        let new_shape = vec![3, 4, 4];
        assert!(
            tensor.reshape(&new_shape).is_err(),
            "Reshape should fail due to size mismatch"
        );
        assert_eq!(tensor.shape(), &shape, "Shape should remain unchanged");

        let new_shape = vec![2, 3, 4];
        tensor.reshape(&new_shape).expect("Reshape should succeed");
        assert_eq!(
            tensor.shape(),
            &new_shape,
            "Shape should be updated after successful reshape"
        );

        {
            let mut tensor_map = tensor.map().expect("Failed to map DMA memory");
            tensor_map.fill(1);
            assert!(tensor_map.iter().all(|&x| x == 1));
        }

        {
            let mut tensor_map = tensor.map().expect("Failed to map DMA memory");
            tensor_map[2] = 42;
            assert_eq!(tensor_map[1], 1, "Value at index 1 should be 1");
            assert_eq!(tensor_map[2], 42, "Value at index 2 should be 42");
        }
    }

    #[test]
    #[cfg(unix)]
    fn test_shm_tensor() {
        let _lock = FD_LOCK.read().unwrap();
        let shape = vec![2, 3, 4];
        let tensor =
            ShmTensor::<f32>::new(&shape, Some("test_tensor")).expect("Failed to create tensor");
        assert_eq!(tensor.shape(), &shape);
        assert_eq!(tensor.size(), 2 * 3 * 4 * std::mem::size_of::<f32>());
        assert_eq!(tensor.name(), "test_tensor");

        const DUMMY_VALUE: f32 = 12.34;
        {
            let mut tensor_map = tensor.map().expect("Failed to map shared memory");
            tensor_map.fill(42.0);
            assert!(tensor_map.iter().all(|&x| x == 42.0));
        }

        {
            let shared = Tensor::<f32>::from_fd(
                tensor
                    .clone_fd()
                    .expect("Failed to duplicate tensor file descriptor"),
                &shape,
                Some("test_tensor_shared"),
            )
            .expect("Failed to create tensor from fd");

            assert_eq!(shared.memory(), TensorMemory::Shm);
            assert_eq!(shared.name(), "test_tensor_shared");
            assert_eq!(shared.shape(), &shape);

            let mut tensor_map = shared.map().expect("Failed to map shared memory from fd");
            tensor_map.fill(DUMMY_VALUE);
            assert!(tensor_map.iter().all(|&x| x == DUMMY_VALUE));
        }

        {
            let tensor_map = tensor.map().expect("Failed to map shared memory");
            assert!(tensor_map.iter().all(|&x| x == DUMMY_VALUE));
        }

        let mut tensor = ShmTensor::<u8>::new(&shape, None).expect("Failed to create tensor");
        assert_eq!(tensor.shape(), &shape);
        let new_shape = vec![3, 4, 4];
        assert!(
            tensor.reshape(&new_shape).is_err(),
            "Reshape should fail due to size mismatch"
        );
        assert_eq!(tensor.shape(), &shape, "Shape should remain unchanged");

        let new_shape = vec![2, 3, 4];
        tensor.reshape(&new_shape).expect("Reshape should succeed");
        assert_eq!(
            tensor.shape(),
            &new_shape,
            "Shape should be updated after successful reshape"
        );

        {
            let mut tensor_map = tensor.map().expect("Failed to map shared memory");
            tensor_map.fill(1);
            assert!(tensor_map.iter().all(|&x| x == 1));
        }

        {
            let mut tensor_map = tensor.map().expect("Failed to map shared memory");
            tensor_map[2] = 42;
            assert_eq!(tensor_map[1], 1, "Value at index 1 should be 1");
            assert_eq!(tensor_map[2], 42, "Value at index 2 should be 42");
        }
    }

    #[test]
    fn test_mem_tensor() {
        let shape = vec![2, 3, 4];
        let tensor =
            MemTensor::<f32>::new(&shape, Some("test_tensor")).expect("Failed to create tensor");
        assert_eq!(tensor.shape(), &shape);
        assert_eq!(tensor.size(), 2 * 3 * 4 * std::mem::size_of::<f32>());
        assert_eq!(tensor.name(), "test_tensor");

        {
            let mut tensor_map = tensor.map().expect("Failed to map memory");
            tensor_map.fill(42.0);
            assert!(tensor_map.iter().all(|&x| x == 42.0));
        }

        let mut tensor = MemTensor::<u8>::new(&shape, None).expect("Failed to create tensor");
        assert_eq!(tensor.shape(), &shape);
        let new_shape = vec![3, 4, 4];
        assert!(
            tensor.reshape(&new_shape).is_err(),
            "Reshape should fail due to size mismatch"
        );
        assert_eq!(tensor.shape(), &shape, "Shape should remain unchanged");

        let new_shape = vec![2, 3, 4];
        tensor.reshape(&new_shape).expect("Reshape should succeed");
        assert_eq!(
            tensor.shape(),
            &new_shape,
            "Shape should be updated after successful reshape"
        );

        {
            let mut tensor_map = tensor.map().expect("Failed to map memory");
            tensor_map.fill(1);
            assert!(tensor_map.iter().all(|&x| x == 1));
        }

        {
            let mut tensor_map = tensor.map().expect("Failed to map memory");
            tensor_map[2] = 42;
            assert_eq!(tensor_map[1], 1, "Value at index 1 should be 1");
            assert_eq!(tensor_map[2], 42, "Value at index 2 should be 42");
        }
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn test_dma_no_fd_leaks() {
        let _lock = FD_LOCK.write().unwrap();
        if !is_dma_available() {
            log::warn!(
                "SKIPPED: {} - DMA memory allocation not available (permission denied or no DMA-BUF support)",
                function!()
            );
            return;
        }

        let proc = procfs::process::Process::myself()
            .expect("Failed to get current process using /proc/self");

        let start_open_fds = proc
            .fd_count()
            .expect("Failed to get open file descriptor count");

        for _ in 0..100 {
            let tensor = Tensor::<u8>::new(&[100, 100], Some(TensorMemory::Dma), None)
                .expect("Failed to create tensor");
            let mut map = tensor.map().unwrap();
            map.as_mut_slice().fill(233);
        }

        let end_open_fds = proc
            .fd_count()
            .expect("Failed to get open file descriptor count");

        assert_eq!(
            start_open_fds, end_open_fds,
            "File descriptor leak detected: {} -> {}",
            start_open_fds, end_open_fds
        );
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn test_dma_from_fd_no_fd_leaks() {
        let _lock = FD_LOCK.write().unwrap();
        if !is_dma_available() {
            log::warn!(
                "SKIPPED: {} - DMA memory allocation not available (permission denied or no DMA-BUF support)",
                function!()
            );
            return;
        }

        let proc = procfs::process::Process::myself()
            .expect("Failed to get current process using /proc/self");

        let start_open_fds = proc
            .fd_count()
            .expect("Failed to get open file descriptor count");

        let orig = Tensor::<u8>::new(&[100, 100], Some(TensorMemory::Dma), None).unwrap();

        for _ in 0..100 {
            let tensor =
                Tensor::<u8>::from_fd(orig.clone_fd().unwrap(), orig.shape(), None).unwrap();
            let mut map = tensor.map().unwrap();
            map.as_mut_slice().fill(233);
        }
        drop(orig);

        let end_open_fds = proc.fd_count().unwrap();

        assert_eq!(
            start_open_fds, end_open_fds,
            "File descriptor leak detected: {} -> {}",
            start_open_fds, end_open_fds
        );
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn test_shm_no_fd_leaks() {
        let _lock = FD_LOCK.write().unwrap();
        if !is_shm_available() {
            log::warn!(
                "SKIPPED: {} - SHM memory allocation not available (permission denied or no SHM support)",
                function!()
            );
            return;
        }

        let proc = procfs::process::Process::myself()
            .expect("Failed to get current process using /proc/self");

        let start_open_fds = proc
            .fd_count()
            .expect("Failed to get open file descriptor count");

        for _ in 0..100 {
            let tensor = Tensor::<u8>::new(&[100, 100], Some(TensorMemory::Shm), None)
                .expect("Failed to create tensor");
            let mut map = tensor.map().unwrap();
            map.as_mut_slice().fill(233);
        }

        let end_open_fds = proc
            .fd_count()
            .expect("Failed to get open file descriptor count");

        assert_eq!(
            start_open_fds, end_open_fds,
            "File descriptor leak detected: {} -> {}",
            start_open_fds, end_open_fds
        );
    }

    #[test]
    #[cfg(target_os = "linux")]
    fn test_shm_from_fd_no_fd_leaks() {
        let _lock = FD_LOCK.write().unwrap();
        if !is_shm_available() {
            log::warn!(
                "SKIPPED: {} - SHM memory allocation not available (permission denied or no SHM support)",
                function!()
            );
            return;
        }

        let proc = procfs::process::Process::myself()
            .expect("Failed to get current process using /proc/self");

        let start_open_fds = proc
            .fd_count()
            .expect("Failed to get open file descriptor count");

        let orig = Tensor::<u8>::new(&[100, 100], Some(TensorMemory::Shm), None).unwrap();

        for _ in 0..100 {
            let tensor =
                Tensor::<u8>::from_fd(orig.clone_fd().unwrap(), orig.shape(), None).unwrap();
            let mut map = tensor.map().unwrap();
            map.as_mut_slice().fill(233);
        }
        drop(orig);

        let end_open_fds = proc.fd_count().unwrap();

        assert_eq!(
            start_open_fds, end_open_fds,
            "File descriptor leak detected: {} -> {}",
            start_open_fds, end_open_fds
        );
    }

    #[cfg(feature = "ndarray")]
    #[test]
    fn test_ndarray() {
        let _lock = FD_LOCK.read().unwrap();
        let shape = vec![2, 3, 4];
        let tensor = Tensor::<f32>::new(&shape, None, None).expect("Failed to create tensor");

        let mut tensor_map = tensor.map().expect("Failed to map tensor memory");
        tensor_map.fill(1.0);

        let view = tensor_map.view().expect("Failed to get ndarray view");
        assert_eq!(view.shape(), &[2, 3, 4]);
        assert!(view.iter().all(|&x| x == 1.0));

        let mut view_mut = tensor_map
            .view_mut()
            .expect("Failed to get mutable ndarray view");
        view_mut[[0, 0, 0]] = 42.0;
        assert_eq!(view_mut[[0, 0, 0]], 42.0);
        assert_eq!(tensor_map[0], 42.0, "Value at index 0 should be 42");
    }

    #[test]
    fn test_buffer_identity_unique() {
        let id1 = BufferIdentity::new();
        let id2 = BufferIdentity::new();
        assert_ne!(
            id1.id(),
            id2.id(),
            "Two identities should have different ids"
        );
    }

    #[test]
    fn test_buffer_identity_clone_shares_guard() {
        let id1 = BufferIdentity::new();
        let weak = id1.weak();
        assert!(
            weak.upgrade().is_some(),
            "Weak should be alive while original exists"
        );

        let id2 = id1.clone();
        assert_eq!(id1.id(), id2.id(), "Cloned identity should have same id");

        drop(id1);
        assert!(
            weak.upgrade().is_some(),
            "Weak should still be alive (clone holds Arc)"
        );

        drop(id2);
        assert!(
            weak.upgrade().is_none(),
            "Weak should be dead after all clones dropped"
        );
    }

    #[test]
    fn test_tensor_buffer_identity() {
        let t1 = Tensor::<u8>::new(&[100], Some(TensorMemory::Mem), Some("t1")).unwrap();
        let t2 = Tensor::<u8>::new(&[100], Some(TensorMemory::Mem), Some("t2")).unwrap();
        assert_ne!(
            t1.buffer_identity().id(),
            t2.buffer_identity().id(),
            "Different tensors should have different buffer ids"
        );
    }

    // ------------------------------------------------------------------------
    // Quantization — constructor validation + accessor correctness.
    // ------------------------------------------------------------------------

    #[test]
    fn test_quantization_per_tensor_constructors() {
        let q = Quantization::per_tensor(0.1, -5);
        assert!(q.is_per_tensor());
        assert!(!q.is_per_channel());
        assert!(!q.is_symmetric());
        assert_eq!(q.scale(), &[0.1]);
        assert_eq!(q.zero_point(), Some(&[-5][..]));

        let qs = Quantization::per_tensor_symmetric(0.05);
        assert!(qs.is_per_tensor());
        assert!(qs.is_symmetric());
        assert_eq!(qs.zero_point(), None);
    }

    #[test]
    fn test_quantization_per_channel_constructors() {
        let q = Quantization::per_channel(vec![0.1, 0.2, 0.3], vec![0, -1, 1], 2).unwrap();
        assert!(q.is_per_channel());
        assert!(!q.is_symmetric());
        assert_eq!(q.axis(), Some(2));
        assert_eq!(q.scale().len(), 3);

        let qs = Quantization::per_channel_symmetric(vec![0.054, 0.089, 0.195], 0).unwrap();
        assert!(qs.is_per_channel());
        assert!(qs.is_symmetric());
        assert_eq!(qs.axis(), Some(0));
    }

    #[test]
    fn test_quantization_per_channel_length_mismatch_rejected() {
        // len(scales) != len(zero_points) → rejected at construction.
        let err = Quantization::per_channel(vec![0.1, 0.2], vec![0, 0, 0], 0).unwrap_err();
        assert!(matches!(err, Error::QuantizationInvalid { .. }));
    }

    #[test]
    fn test_quantization_per_channel_empty_rejected() {
        let err = Quantization::per_channel_symmetric(vec![], 0).unwrap_err();
        assert!(matches!(err, Error::QuantizationInvalid { .. }));
    }

    /// Constructors guard scale/zero_point length invariants, but
    /// `Quantization` is `Deserialize`, so malformed JSON (e.g. an
    /// empty `scale` array, or `zero_point` length that disagrees with
    /// `scale`) bypasses the constructor checks. `set_quantization`
    /// must reject these via `validate()` so they don't poison
    /// downstream `mode()` selection or per-channel kernel indexing.
    #[test]
    fn test_quantization_validate_rejects_malformed_deserialize() {
        let mut t = Tensor::<i8>::new(&[1, 1, 4], Some(TensorMemory::Mem), None).unwrap();

        // Empty scale array: must be rejected.
        let q: Quantization = serde_json::from_str(r#"{"scale": []}"#).unwrap();
        assert!(matches!(
            t.set_quantization(q).unwrap_err(),
            Error::QuantizationInvalid { .. }
        ));

        // Per-tensor with multi-element zero_point: must be rejected.
        let q: Quantization =
            serde_json::from_str(r#"{"scale": 0.1, "zero_point": [0, 0, 0]}"#).unwrap();
        assert!(matches!(
            t.set_quantization(q).unwrap_err(),
            Error::QuantizationInvalid { .. }
        ));

        // Per-channel zero_point length != scale length: must be rejected.
        let q: Quantization = serde_json::from_str(
            r#"{"scale": [0.1, 0.2, 0.3, 0.4], "zero_point": [0, 0], "axis": 2}"#,
        )
        .unwrap();
        assert!(matches!(
            t.set_quantization(q).unwrap_err(),
            Error::QuantizationInvalid { .. }
        ));
    }

    #[test]
    fn test_quantization_mode_dispatch() {
        let pt = Quantization::per_tensor(0.1, -5);
        assert!(matches!(
            pt.mode(),
            QuantMode::PerTensor { scale, zero_point } if scale == 0.1 && zero_point == -5
        ));

        let pts = Quantization::per_tensor_symmetric(0.05);
        assert!(matches!(
            pts.mode(),
            QuantMode::PerTensorSymmetric { scale } if scale == 0.05
        ));

        let pc = Quantization::per_channel(vec![0.1, 0.2], vec![0, -1], 2).unwrap();
        assert!(matches!(pc.mode(), QuantMode::PerChannel { axis: 2, .. }));

        let pcs = Quantization::per_channel_symmetric(vec![0.1, 0.2], 0).unwrap();
        assert!(matches!(
            pcs.mode(),
            QuantMode::PerChannelSymmetric { axis: 0, .. }
        ));
    }

    #[test]
    fn test_tensor_quantization_roundtrip_integer() {
        let mut t = Tensor::<i8>::new(&[2, 3, 4], Some(TensorMemory::Mem), None).unwrap();
        assert!(t.quantization().is_none());
        t.set_quantization(Quantization::per_tensor(0.1, -5))
            .unwrap();
        let q = t.quantization().unwrap();
        assert_eq!(q.scale(), &[0.1]);
        t.clear_quantization();
        assert!(t.quantization().is_none());
    }

    #[test]
    fn test_tensor_with_quantization_builder() {
        let t = Tensor::<i8>::new(&[4, 4], Some(TensorMemory::Mem), None)
            .unwrap()
            .with_quantization(Quantization::per_tensor_symmetric(0.05))
            .unwrap();
        assert!(t.quantization().is_some());
    }

    #[test]
    fn test_tensor_dyn_quantization_float_arm_returns_none() {
        let t = Tensor::<f32>::new(&[2, 2], Some(TensorMemory::Mem), None).unwrap();
        let td = TensorDyn::F32(t);
        assert!(td.quantization().is_none());
    }

    #[test]
    fn test_tensor_dyn_set_quantization_float_arm_errors() {
        let t = Tensor::<f32>::new(&[2, 2], Some(TensorMemory::Mem), None).unwrap();
        let mut td = TensorDyn::F32(t);
        let err = td
            .set_quantization(Quantization::per_tensor(0.1, 0))
            .unwrap_err();
        // float path returns a QuantizationInvalid error.
        assert!(matches!(err, Error::QuantizationInvalid { .. }));
    }

    /// Compile-time type gate — calling `Tensor::<f32>::quantization()` must
    /// fail to compile (the `IntegerType` trait bound is not satisfied by
    /// `f32`). This doctest anchors the invariant.
    ///
    /// ```compile_fail
    /// use edgefirst_tensor::{Tensor, TensorMemory};
    /// let t = Tensor::<f32>::new(&[2, 2], Some(TensorMemory::Mem), None).unwrap();
    /// let _ = t.quantization(); // compile error: f32 not IntegerType
    /// ```
    fn _compile_fail_doctest_anchor() {}

    // Any test that cares about the fd count must grab it exclusively.
    // Any tests which modifies the fd count by opening or closing fds must grab it
    // shared.
    pub static FD_LOCK: RwLock<()> = RwLock::new(());

    /// Test that DMA is NOT available on non-Linux platforms.
    /// This verifies the cross-platform behavior of is_dma_available().
    #[test]
    #[cfg(not(target_os = "linux"))]
    fn test_dma_not_available_on_non_linux() {
        assert!(
            !is_dma_available(),
            "DMA memory allocation should NOT be available on non-Linux platforms"
        );
    }

    /// Test that SHM memory allocation is available and usable on Unix systems.
    /// This is a basic functional test; Linux has additional FD leak tests using procfs.
    #[test]
    #[cfg(unix)]
    fn test_shm_available_and_usable() {
        assert!(
            is_shm_available(),
            "SHM memory allocation should be available on Unix systems"
        );

        // Create a tensor with SHM backing
        let tensor = Tensor::<u8>::new(&[100, 100], Some(TensorMemory::Shm), None)
            .expect("Failed to create SHM tensor");

        // Verify we can map and write to it
        let mut map = tensor.map().expect("Failed to map SHM tensor");
        map.as_mut_slice().fill(0xAB);

        // Verify the data was written correctly
        assert!(
            map.as_slice().iter().all(|&b| b == 0xAB),
            "SHM tensor data should be writable and readable"
        );
    }
}