fpltool extract: parallel video decoding, optional hw (VA-API) decoding

.devcontainer/helper.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+set -eEu -o pipefail
+
+scriptdir=$(dirname $(realpath $0))
+
+command=${1:-}
+workspace=${2:-}
+shift 2
+
+# echo "scriptdir=${scriptdir}"
+# echo "command=${command}"
+# echo "workspace=${workspace}"
+# echo "args=$*"
+
+PERSISTENT_DIRS=".local .claude .bash_history.d .vscode-server"
+
+case ${command} in
+    initializeCommand)
+        # Make the persistent directories (see compose.yaml .services.dev.volumes)
+        for dir in ${PERSISTENT_DIRS}; do
+            if [ ! -d ${workspace}/.devcontainer/.persist/${dir} ]; then
+                echo "Making ${workspace}/.devcontainer/.persist/${dir}"
+                mkdir -p ${workspace}/.devcontainer/.persist/${dir}
+            fi
+        done
+        # Thank you Claudine, for using .claude AND .claude.json... :-/
+        if [ ! -f ${workspace}/.devcontainer/.persist/.claude.json ]; then
+            echo "Making ${workspace}/.devcontainer/.persist/.claude.json"
+            echo "{}" > ${workspace}/.devcontainer/.persist/.claude.json
+        fi
+        ;;
+    onCreateCommand)
+        id
+        ;;
+    *)
+        echo "bad command: ${command}"
+        exit 1
+        ;;
+esac
+
+exit 0

.devcontainer/jazzy/devcontainer.json

@@ -12,6 +12,9 @@
     // compare .services.jazzy-dev.volumes in ../../docker/docker-compose.yaml
     "workspaceFolder": "/home/fpsdk/fixposition-sdk",
 
+    "initializeCommand": "${localWorkspaceFolder}/.devcontainer/helper.sh initializeCommand ${localWorkspaceFolder}",
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+
     // Deliberately empty, see fpsdk.code-workspace instead
     "customizations": {}
 }

.devcontainer/lyrical/devcontainer.json

@@ -12,6 +12,9 @@
     // compare .services.lyrical-dev.volumes in ../../docker/docker-compose.yaml
     "workspaceFolder": "/home/fpsdk/fixposition-sdk",
 
+    "initializeCommand": "${localWorkspaceFolder}/.devcontainer/helper.sh initializeCommand ${localWorkspaceFolder}",
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+
     // Deliberately empty, see fpsdk.code-workspace instead
     "customizations": {}
 }

.devcontainer/noetic/devcontainer.json

@@ -12,6 +12,9 @@
     // compare .services.noetic-dev.volumes in ../../docker/docker-compose.yaml
     "workspaceFolder": "/home/fpsdk/fixposition-sdk",
 
+    "initializeCommand": "${localWorkspaceFolder}/.devcontainer/helper.sh initializeCommand ${localWorkspaceFolder}",
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+
     // Deliberately empty, see fpsdk.code-workspace instead
     "customizations": {}
 }

.devcontainer/trixie/devcontainer.json

@@ -12,6 +12,9 @@
     // compare .services.trixie-dev.volumes in ../../docker/docker-compose.yaml
     "workspaceFolder": "/home/fpsdk/fixposition-sdk",
 
+    "initializeCommand": "${localWorkspaceFolder}/.devcontainer/helper.sh initializeCommand ${localWorkspaceFolder}",
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+
     // Deliberately empty, see fpsdk.code-workspace instead
     "customizations": {}
 }

.gitignore

@@ -15,13 +15,8 @@ CMakeCache.txt
 *.fpl.gz
 *.bag
 *.bak
-/.devcontainer/.bash_history.d
-/.devcontainer/.claude
-/.devcontainer/.local
-/.devcontainer/.vscode-server
-/.devcontainer/.claude
-/.devcontainer/.local
-.devcontainer/.gdb/__pycache__
+/.devcontainer/.persist
+__pycache__
 /ws
 /ws2
 /ros_ws
@@ -46,6 +41,9 @@ baz*
 /*.json
 /.claude
 /*_bag
+/prompt.md
+/notes.md
+
 
 # We must not commit such files ever. See section FPSDK_BUILD_ROS in fpsdk_doc/fpsdk_build.hpp
 CATKIN_IGNORE

docker/docker-compose.yaml

@@ -46,12 +46,15 @@ services:
             - ../.devcontainer/.bashrc:/home/fpsdk/.bashrc
             - ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
             # Persistent stuff
-            - ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
-            - ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
-            - ../.devcontainer/.claude:/home/fpsdk/.claude
-            - ../.devcontainer/.local:/home/fpsdk/.local
+            - ../.devcontainer/.persist/.bash_history.d:/home/fpsdk/.bash_history.d
+            - ../.devcontainer/.persist/.vscode-server:/home/fpsdk/.vscode-server
+            - ../.devcontainer/.persist/.claude:/home/fpsdk/.claude
+            - ../.devcontainer/.persist/.claude.json:/home/fpsdk/.claude.json
+            - ../.devcontainer/.persist/.local:/home/fpsdk/.local
             # Workspace
             - ../.:/home/fpsdk/fixposition-sdk
+        devices:
+            - /dev/dri
         cap_add:
             - SYS_PTRACE # Set kernel.yama.ptrace_scope = 0 in /etc/sysctl.d/10-ptrace.conf
         hostname: fpsdk-trixie-dev-${USER}
@@ -95,10 +98,11 @@ services:
         volumes:
             - ../.devcontainer/.bashrc:/home/fpsdk/.bashrc
             - ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
-            - ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
-            - ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
-            - ../.devcontainer/.claude:/home/fpsdk/.claude
-            - ../.devcontainer/.local:/home/fpsdk/.local
+            - ../.devcontainer/.persist/.bash_history.d:/home/fpsdk/.bash_history.d
+            - ../.devcontainer/.persist/.vscode-server:/home/fpsdk/.vscode-server
+            - ../.devcontainer/.persist/.claude:/home/fpsdk/.claude
+            - ../.devcontainer/.persist/.claude.json:/home/fpsdk/.claude.json
+            - ../.devcontainer/.persist/.local:/home/fpsdk/.local
             - ../.:/home/fpsdk/fixposition-sdk
         cap_add:
             - SYS_PTRACE
@@ -142,10 +146,11 @@ services:
         volumes:
             - ../.devcontainer/.bashrc:/home/fpsdk/.bashrc
             - ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
-            - ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
-            - ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
-            - ../.devcontainer/.claude:/home/fpsdk/.claude
-            - ../.devcontainer/.local:/home/fpsdk/.local
+            - ../.devcontainer/.persist/.bash_history.d:/home/fpsdk/.bash_history.d
+            - ../.devcontainer/.persist/.vscode-server:/home/fpsdk/.vscode-server
+            - ../.devcontainer/.persist/.claude:/home/fpsdk/.claude
+            - ../.devcontainer/.persist/.claude.json:/home/fpsdk/.claude.json
+            - ../.devcontainer/.persist/.local:/home/fpsdk/.local
             - ../.:/home/fpsdk/fixposition-sdk
         cap_add:
             - SYS_PTRACE
@@ -186,10 +191,11 @@ services:
         volumes:
             - ../.devcontainer/.bashrc:/home/fpsdk/.bashrc
             - ../.devcontainer/.bash_logout:/home/fpsdk/.bash_logout
-            - ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
-            - ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
-            - ../.devcontainer/.claude:/home/fpsdk/.claude
-            - ../.devcontainer/.local:/home/fpsdk/.local
+            - ../.devcontainer/.persist/.bash_history.d:/home/fpsdk/.bash_history.d
+            - ../.devcontainer/.persist/.vscode-server:/home/fpsdk/.vscode-server
+            - ../.devcontainer/.persist/.claude:/home/fpsdk/.claude
+            - ../.devcontainer/.persist/.claude.json:/home/fpsdk/.claude.json
+            - ../.devcontainer/.persist/.local:/home/fpsdk/.local
             - ../.:/home/fpsdk/fixposition-sdk
         cap_add:
             - SYS_PTRACE
@@ -233,6 +239,7 @@ services:
             - ../.devcontainer/.bash_history.d:/home/fpsdk/.bash_history.d
             - ../.devcontainer/.vscode-server:/home/fpsdk/.vscode-server
             - ../.devcontainer/.claude:/home/fpsdk/.claude
+            - ../.devcontainer/.claude.json:/home/fpsdk/.claude.json
             - ../.devcontainer/.local:/home/fpsdk/.local
             - ../.:/home/fpsdk/fixposition-sdk
         cap_add:

docker/scripts/install_apt_base.sh

@@ -83,6 +83,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic............................      ros-noetic-tf2-geometry-msgs
     noetic.humble.jazzy.lyrical.trixie      sqlite3
     noetic.humble.jazzy.lyrical.trixie      sudo
+    noetic.humble.jazzy.lyrical.trixie      time
     ..............jazzy.lyrical.......      unminimize
     noetic.humble.jazzy.lyrical.trixie      unzip
     noetic.humble.jazzy.lyrical.trixie      zlib1g-dev

docker/scripts/install_ffmpeg.sh

@@ -52,6 +52,8 @@ tar --strip-components=1 -xvf ../ffmpeg.tar.gz
   --enable-parser=hevc \
   --enable-parser=mjpeg \
   --enable-vaapi \
+  --enable-hwaccel=h264_vaapi \
+  --enable-hwaccel=hevc_vaapi \
   \
   --disable-static \
   --enable-shared \

fpsdk.code-workspace

@@ -26,8 +26,7 @@
             ".vscode-cache": true,
             "**/*~": true,
             ".vstags": true,
-            "core": true,
-            ".devcontainer/.vscode-server/**": true
+            "core": true
         },
         // Exclude things from search (this automatically uses files.exclude + what you add here)
         "search.exclude": {
@@ -38,8 +37,7 @@
             "build/**": true,
             "install/**": true,
             "ws/**": true,
-            ".devcontainer/.vscode-server/**": true,
-            ".devcontainer/.bash_history.d/history": true,
+            ".devcontainer/.persist/**": true
         },
         // Exclude some things from the files watcher
         "files.watcherExclude": {
@@ -74,7 +72,7 @@
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": false,
         //"C_Cpp.clang_format_style": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 120 }",
         "C_Cpp.files.exclude": {
-            ".devcontainer/.vscode-server/**": true
+            ".devcontainer/.persist/**": true
         },
         "editor.formatOnSave": false,