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* docs(plans): action-head v3 + branch sync notes Update plan header : - v2 (Task 18) + v3 (Task 19) extensions chronology - Studio train validated, ckpt action_head_v3.pt landed - Mesh NaN-guard debug trail (commit4e7101c) - Branch convergence main == feat/action-head - Pointers to memories project_action_head_v3, etc. * feat(av-live): openpos 3D + DINO reid + filter Three improvements wired end-to-end: 1. Openpos 3D skeleton visible: Skeleton3DRenderer attached to a RealityKit AnchorEntity in BodyView, toggled by showSkeleton or vizMode==9. PoseOSCListener now parses /pose3d/count and /pose3d/kp (plus restored /face/* and /hand/* paths). 2. DINO re-id (dinov2_vits14, ~9 ms ANE forward): MeshRigger combines Hungarian IoU with cosine similarity over a per-pid embedding history (deque maxlen=10), weighted by MULTIHMR_REID_ALPHA (default 0.5). Falls back to pure IoU if DINO mlpackage absent or scipy missing. state.last_frame_rgb buffer added so the rigger can crop bbox regions for embedding. 3. PoseFilterChain on pose_world_landmarks: median (anti-spike) -> Kalman constant-velocity -> 50 ms lookahead -> IK elbow/knee/ankle clamp. Configurable via POSE_FILTER env (default median+kalman+lookahead+ik). <2 ms per frame for typical 1-2 persons. Tests: 5 new in test_dino_reid.py + 6 new in test_pose_filter.py, all green. Live validated by user: skeleton spawns, mesh stays stable. * fix(av-live-body): restore face+hand+3D (f540158) Three regressions after recent merges, all restored to match the originalf540158design: 1. FaceHandOverlay was no longer instantiated in ContentView. Added back as a SwiftUI Canvas overlay (68 dlib face landmarks with mouth slots 48-67, plus 21x2 hand landmarks cyan/magenta). 2. Skeleton3DRenderer was not attached. BodyView now creates an AnchorEntity at (0,0,-2.5), instantiates Skeleton3DRenderer and ties its visibility to vizMode==9 or showSkeleton toggle. 3. Joint and bone radii bumped to 4.5 cm / 2.2 cm so the 3D skeleton actually reads as 3D instead of looking flat. MeshRenderer exposes pelvisWorld map per pid for future interconnect uses (not auto-applied -- design keeps mesh and skeleton each in their own coord space perf540158). * feat(av-live): wireframe skel + face/hand filter Skeleton3DRenderer now renders a wireframe: joint radius 1 mm (quasi-invisible), bone radius 3 mm (line-like). Replaces the chunky bead armature with a clean filaire silhouette covering body 33 joints + face 68 dlib + hands 21x2, all 3D. FaceHandOverlay 2D Canvas removed from ContentView -- face and hand landmarks now live in the same 3D RealityKit armature as the body skeleton (Skeleton3DRenderer.applyFace / applyHands, anchored on nose joint 0 + wrist joints 15/16). pose_filter.py extended with FaceFilterChain (alpha-beta + 30 ms lookahead) and HandFilterChain. multi.py wires them after the 2D smoothers, plus ghost rejection (POSE_GHOST_MIN_VISIBLE), bbox NMS (POSE_NMS_IOU), and pid hysteresis. 10 new tests, all green. CoreML perf audit (bench_multihmr_coreml.py): predict() = 99% of wall-time on FP32. ANE catastrophic for DINOv2 (1300 ms), INT8 weight quant = no live gain (GPU compute-bound). 6.4-6.8 fps live is the hardware ceiling on this model. quantize_multihmr_int8.py left in scripts/ for future trials. * deps(icp): add open3d optional extra + smoke test Context: Task 1 of the ICP LiDAR <-> SMPL-X fusion plan needs a point-cloud library to align iPhone LiDAR scans with Multi-HMR SMPL-X meshes. Open3D's CPU-only ICP is sufficient at the 5-10 Hz LiDAR cadence. Approach: Add a dedicated `lidar` optional-dep group so the heavy dependency stays opt-in. Pin Python to 3.12 implicitly via the regenerated uv.lock because open3d 0.18-0.19 only ships cp311/cp312 wheels (cp314 absent). Smoke test guards future regressions. Changes: - pyproject.toml: new `lidar` extra with `open3d>=0.18,<0.20` - uv.lock: regenerated with open3d 0.19 + transitive deps (scikit-learn, scipy, dash stack, etc.) - tests/test_open3d_smoke.py: two-test smoke suite (PointCloud roundtrip + ICP convergence on translated copy), gated by `pytest.importorskip("open3d")` Impact: Unlocks subsequent ICP fusion tasks (LiDAR ingest, mesh alignment, transform publication) without forcing open3d on contributors who only run the base pose pipeline. * feat(icp): LiDAR TCP frame decoder + tests * feat(icp): LiDAR TCP socket reader with reconnect * feat(icp): extrinsic dataclass + JSON persistence * feat(icp): Kabsch + calibration CLI scaffold * feat(state): persons_arkit_joints fields * feat(viz): ARKit 91 -> MP 33 joint map * feat(viz): iphone OSC listener :57128 * feat(viz): arkit_fuse stage overrides 14 slots * feat(viz): arkit pelvis z locks cam translation * feat(viz): iphone OSC listener auto-start * docs: arkit fusion env vars * feat(icp): point-to-plane register + reject gate * feat(icp): partition LiDAR per pid by max-dist * feat(icp): FusionWorker + State.lidar_points * feat(icp): wire fusion thread behind ICP_FUSION Task 9 of the ICP LiDAR plan: integrate the FusionWorker built in earlier tasks into the live data_only_viz pipeline without disturbing the existing ARKit pelvis fuse path or the Multi-HMR worker thread. A new IcpFusionThread pulls LiDAR frames from LidarTCPReader, stages them into State, and applies in-place ICP registration on state.persons_smplx[*].vertices_3d. It runs as a separate daemon thread parallel to MultiHMRWorker rather than inline per frame — the autonomous-worker architecture didn't fit the plan's per-frame call site, so we adapted to a polling thread at 8 Hz. Activation is opt-in via ICP_FUSION=1 plus ICP_LIDAR_HOST; the default code path is untouched. Shutdown wired through applicationWillTerminate_. MultiHMRWorker.predict_once is added as a documented stub (NotImplementedError) because the existing PyTorch run loop is too coupled to the camera and MPS lifecycle for a clean single-shot extraction. calibrate_lidar.py keeps its placeholder until a follow-up refactor extracts a pure _infer(rgb) helper. * test(icp): synthetic latency + convergence bench * docs(icp): env vars + calibration procedure * docs(plans): icp lidar mesh + arkit joints Two complementary fusion plans landed in parallel on 2026-05-14: - iphone-lidar-multihmr-fusion : ARKit 91 joints -> MP33 fuse stage + pelvis z override (already implemented in 7 commits) - icp-lidar-smplx-fusion : LiDAR mesh point-to-plane ICP onto SMPL-X 10475 verts (12 tasks executed via subagent-driven-development) Both paths coexist; joints are sparse+fast (60 Hz), mesh is dense+slow (5-10 Hz). See docs/ICP_FUSION.md for the integration topology. * feat(icp): predict_once via CoreML backend * feat(av-live-body): wire ArkitOSCListener :57129 Receives /body3d/kp from iPhone ARBodyTracker on the diagnostic port (57129, distinct from Python's 57128 fuse input). Plumbed through ContentView -> BodyView -> Skeleton3DRenderer so the ARKit joints can be overlayed alongside Multi-HMR mesh. * feat(ios): iphone ARBodyTracker swiftpm app iOS 17+ Swift Package app (.swiftpm) streaming ARKit body joints via OSC UDP to two destinations: :57128 -> data_only_viz/iphone_osc_listener.py :57129 -> launcher/AV-Live-Body ArkitOSCListener.swift Features: - ARBodyTrackingConfiguration + sceneDepth (LiDAR) when supported - 91 joints per body, /body3d/kp pid joint_idx x y z - 30 fps throttle - SwiftUI UI: Host/Port fields, Start/Stop, live joints-per-second - Inline OSC encoder (no external dep) Env mesh (TCP :5500) NOT yet implemented; requires a separate ARWorldTrackingConfiguration session. ICP fusion path runs on bench data only until phase 2. * feat(data-feeds): 10 open-data OSC publisher * feat(viz): DataFeeds OSC listener + HUD * chore: gitignore tweaks * docs: network topology + mDNS hostnames Add a "Network topology" section to top-level CLAUDE.md doc the 3-host layout (GrosMac source, Supra-M1 sink via mDNS, iPhone via Personal Hotspot DHCP). mDNS is canonical now : AVBODY_HOST and MULTIHMR_REMOTE_HOST accept hostname.local instead of IPs, so the cluster survives DHCP rotations on iPhone hotspot (172.20.10.x). * fix(ios): add NSLocalNetworkUsageDescription iOS 14+ silently blocks UDP to LAN addresses without this key. The first time the app tries to send to 192.168.0.159, iOS will prompt the user to allow Local Network Access; the prompt must be accepted or the OSC stream never reaches the Mac. Also adds NSBonjourServices declaring _osc._udp so the system treats the connection as a recognised service. * docs: network topology + gitignore hygiene - CLAUDE.md: add mDNS hostname table (grosmac.local, supra-m1.local, iPhone hotspot 172.20.10.x). AVBODY_HOST / MULTIHMR_REMOTE_HOST accept hostnames — resilient to DHCP rotation. - .gitignore: exclude .remember/ tool state and iCloud '* 2' collision artifacts. * feat(ios): ARBody skeleton2D + overlay preview ARBodySession: publish 2D-projected skeleton snapshot for live overlay rendering on the iPhone screen alongside the camera feed. ContentView: SkeletonOverlay drawing on top of the AR view, with mock T-pose for Xcode previews (useMockBackground, useMockSkeleton). * docs: iPhone USB body-tracking link design Brainstormed design for replacing the OSC/network iPhone-Mac link with a wired USB transport via usbmuxd. iPhone streams ARKit skeleton + HEVC video; macOS app runs Multi-HMR CoreML and renders the mesh. Network-free, single native macOS app. * docs: iPhone USB transport plan (1 of 3) Bite-sized TDD plan for the network-free USB byte-pipe: shared AVLiveWire frame format, native usbmux client, iOS TCP frame server, incremental stream demuxer. * feat(avlivewire): shared wire package skeleton * feat(avlivewire): fixed 19-byte frame header codec Add FrameHeader, a fixed-size binary record so the demuxer can frame and resync the iPhone USB stream. Layout is big-endian: 4-byte magic AVL1, tag u8, pid i16, timestamp f64, length u32. The magic prefix lets a reader detect and skip corrupt bytes. Decoding rejects short buffers and bad magic by returning nil. Big-endian append/parse helpers are added as Data/UInt extensions to keep the codec self-contained. * chore: ignore SwiftPM .build artifacts Both AVLiveWire and AV-Live-Body produce .build/ on swift test; ignore them so they never get accidentally staged. * feat(avlivewire): skeleton and video codecs Add SkeletonPayload (91 ARKit joints + per-joint validity) and VideoPayload (one HEVC access unit + keyframe flag) with big-endian encode/decode. Reuses Task 2 Data/UInt32 helpers. * feat(avlivewire): incremental stream demuxer Add StreamDemuxer that accepts arbitrary byte chunks from a non-frame-aligned stream and emits complete (FrameHeader, Data) frames, resyncing on the magic prefix after corruption. * fix(avlivewire): cap demuxer payload length A corrupt header with a huge UInt32 length made feed buffer forever waiting for bytes that never arrive. Add an 8 MB max payload cap; a header exceeding it is treated as corrupt, its magic is skipped, and the demuxer resyncs on the next frame. * feat(av-live-body): usbmux message codec Add USBMuxProtocol, a codec for Apple's usbmuxd request/response protocol: a 16-byte little-endian header (length, version=1, message=8 plist, tag) followed by an XML property list. Wire an AVLiveBodyTests test target into Package.swift (none existed) so swift test runs the round-trip and header coverage. * feat(av-live-body): usbmux device client Add USBClient for usbmux device discovery and connect-to-port, with an injectable MuxTransport so tests need no real device. Harden USBMuxProtocol.readLE32 to return an optional with a bounds check, avoiding an out-of-range crash on truncated data. * feat(av-live-body): usbmuxd unix socket transport Add UnixMuxTransport, the production MuxTransport that opens a blocking AF_UNIX socket to /var/run/usbmuxd. Implements framed packet reads (4-byte LE length prefix) and raw stream reads for the tunneled byte stream after a successful Connect. * fix(av-live-body): harden unix socket transport Apply four code-review fixes to UnixMuxTransport: - send() now loops on partial writes and retries on EINTR instead of discarding write(2)'s return value. - Add deinit and an fd = -1 sentinel so close() is idempotent and the descriptor cannot leak. - precondition guards strcpy against sun_path overflow. - readN() distinguishes EOF from error and retries EINTR. * feat(ios): USB TCP frame server Add USBServer: an NWListener on a fixed local TCP port that usbmuxd tunnels to the tethered Mac. Sends AVLiveWire frames and exposes a connection-state callback. * build: depend on shared AVLiveWire package Both ARBodyTracker (iOS) and AVLiveBody (macOS) now depend on the local shared/AVLiveWire package so the wire format is defined once. iOS USBServer imports it; macOS use lands in Plan 3. * build(ios): add AVLiveWire package to xcodegen The xcodegen project did not declare the shared AVLiveWire package, so USBServer.swift would fail to import it in the generated Xcode project. Add it as a local package dep. * test(avlivewire): end-to-end chunked loopback Feeds 20 framed skeleton payloads through StreamDemuxer in 7-byte chunks (worst-case TCP fragmentation). Fixed a split range operator from the plan that did not parse. * fix(ios): guard USBServer listener and payload Report .idle (not .listening) when NWListener creation fails, and drop payloads larger than the demuxer's 8 MB cap so the receiver never silently discards an oversized frame. * chore: ignore .swiftpm editor state dirs swift test / Xcode create hidden .swiftpm dirs inside packages; ignore them so they never get staged. * docs: iPhone capture plan (2 of 3) Plan for HEVC video capture (VideoToolbox) over the USB transport and removal of the legacy OSC sender. Skeleton USB path already exists; this adds the video half. * feat(ios): HEVC video capture, drop OSC Add VideoEncoder (VideoToolbox HEVC) and stream encoded frames over USB as .video AVLiveWire frames alongside the skeleton. Remove the legacy OSC/UDP fanout and its host/port config UI — the iPhone link is now USB-only. * docs(ios): refresh stale OSC references ARBodySession header comment and Info.plist usage strings still described the removed OSC/UDP path; update them to the USB transport and drop the dead _osc._udp Bonjour service. * docs: macOS USB consumer plan (3a of 3) Plan for consuming the iPhone USB stream in AVLiveBody: USBSkeletonConsumer, VideoDecoder, 91-joint skeleton render. Multi-HMR dense mesh deferred to Plan 3b. * feat(av-live-body): USB skeleton consumer Background usbmux read loop feeding StreamDemuxer; republishes .skeleton frames as 91-joint ArkitBodyFrames and forwards .video payloads. Removed stale iCloud collision duplicate source files that broke the build. * fix(data-only): CoreML Multi-HMR usage bugs The CoreML Multi-HMR model was fine; the "0 detections" bug was caller-side. Add ImageNet normalization in infer() (the DINOv2 backbone needs it; raw [0,1] input collapsed all scores) and update stale hardcoded output var names to match the re-converted mlpackage. Bump the latency test threshold to the realistic ~140 ms full-model figure. * feat(av-live-body): HEVC video decoder VTDecompressionSession decoder for .video VideoPayloads. Rebuilds the format description from the parameter sets prepended to keyframe payloads by the iOS VideoEncoder. * feat(av-live-body): render 91-joint USB skeleton Complete the long-standing TODO: draw the 91 ARKit/USB skeleton joints as yellow markers, fed from lastArkit. Spawn entity trees for ARKit-only pids so the USB skeleton shows without a MediaPipe pose. * feat(av-live-body): wire USB consumer to renderer ContentView owns and starts a USBSkeletonConsumer, threaded through BodyView into Skeleton3DRenderer.attach. The renderer subscribes its $bodies into lastArkit, so the iPhone's USB skeleton drives the on-screen 91-joint markers. * docs: macOS Multi-HMR mesh plan (3b of 3) Final plan: bundle the validated FP32 mlpackage, MultiHMRCoreML Swift wrapper, BodyFusion (ARKit depth correction), mesh pipeline wiring. Completes the spec. * docs: AVLiveBody macOS rewrite design Clean-rewrite spec: fresh native macOS Xcode app for the iPhone-USB body pipeline. Reuses the tested USB components, single RealityKit scene (video quad + skeleton + mesh), drops all legacy MediaPipe/viz/data-feed code. * docs: AVLiveBody macOS rewrite plan 10-task plan: scaffold the xcodegen app, migrate the USB pipeline, build the RealityKit scene (video quad, skeleton, mesh), wire it, archive the legacy app. * feat(avlivebody-mac): scaffold xcode app Add an empty buildable native macOS app generated via xcodegen, sibling of iphone-arbody. Depends on the shared AVLiveWire package. Later tasks add the USB pipeline and RealityKit scene. * feat(avlivebody-mac): migrate usb transport Context: the new native AVLiveBody app needs the proven iPhone-Mac usbmux transport layer. These files are self-contained, depending only on AVLiveWire plus Apple system frameworks, so they cross the rewrite boundary unchanged. Approach: copy the three transport files and their unit tests byte-for-byte from launcher/AV-Live-Body, then make the test target buildable. Changes: - Add usb/USBMuxProtocol.swift, usb/USBClient.swift and usb/VideoDecoder.swift under Sources/AVLiveBody. - Add USBMuxProtocolTests.swift and USBClientTests.swift under Tests/AVLiveBodyTests. - Set GENERATE_INFOPLIST_FILE=YES on the AVLiveBodyTests target so xcodebuild can code sign the now-populated test bundle. Impact: the usbmux pipeline is available in the rewrite and its six unit tests run green under xcodebuild test. * feat(avlivebody-mac): usb skeleton consumer Add a cleaned USBSkeletonConsumer that publishes SkeletonPayload keyed by pid and owns video decoding directly, dropping the legacy ArkitOSCListener conversion layer. * fix(avlivebody-mac): guard thread store with lock Move the `thread` property write inside the stateLock-held region in start(); t.start() stays outside since the thread cannot run before start() is called. Removes a latent race. * feat(avlivebody-mac): multi-hmr and body fusion Context: Task 4 of the macOS rewrite needs the dense-mesh half of the pipeline alongside the USB skeleton consumer landed in task 3. Approach: Add a CoreML wrapper that mirrors the validated Python reference (data_only_viz/multihmr_coreml.py) and a pure-logic fusion stage that corrects the mesh pelvis depth using the LiDAR-precise USB skeleton. Changes: - MultiHMRCoreML.swift: 1x3x672x672 ImageNet-normalized image input, 1x3x3 cam_K input, K=4 SMPL-X person outputs at 10475 vertices, det threshold 0.3. - BodyFusion.swift: stateless fuse(persons, skeletons) overrides the highest-score mesh translation.z with the skeleton pelvis Z when available, passes through otherwise. - BodyFusionTests.swift: pelvis override and pass-through cases. Impact: Unlocks the mesh renderer wiring in later tasks and gives the macOS app metrically-correct depth in front of the camera. * fix(avlivebody-mac): load mlmodelc, clarify fusion Xcode compiles .mlpackage resources to .mlmodelc at build time; look up the compiled artifact directly and drop the redundant MLModel.compileModel step. Also rewrite BodyFusion docstring to match actual single-person pelvis-z override behaviour. * feat(avlivebody-mac): scene controller + view RealityKit scene plumbing: SceneController owns ARView, orbital camera, and holders for VideoQuad/SkeletonEntity/MeshEntity. SceneView is the SwiftUI NSViewRepresentable bridge. Build intentionally deferred to T8 (holder types land in T6-T8). * fix(avlivebody): orbit gesture + setUp guard Filter NSPanGestureRecognizer state in OrbitTarget.handlePan to dispatch only on .changed, replacing the Task wrapper with MainActor.assumeIsolated. Guard SceneController.setUp() with a didSetUp flag so duplicate makeNSView calls do not re-install gestures or re-add anchors. * feat(avlivebody-mac): 91-joint skeleton entity Yellow marker spheres pooled per pid; ARKit (x,y,z) -> RealityKit (x,-y,-z). Adapted .systemYellow to NSColor for macOS RealityKit Material.Color. Build deferred to T8. * feat(avlivebody-mac): video quad Flat 1.6x0.9m plane at z=-2m, textured per-frame from CVPixelBuffer via CIImage -> CGImage -> TextureResource. Per-frame TextureResource creation is the known perf hot spot, isolated here for later LowLevelTexture upgrade. * fix(avlivebody-mac): appkit import for orbit NSPanGestureRecognizer lives in AppKit on macOS; without the import the AVLiveBody module failed to emit. T5 leftover surfaced once T6/T7/T8 made the target compilable. * feat(avlivebody-mac): smpl-x mesh entity Render SMPL-X dense meshes (10475 verts) from Multi-HMR with pooled ModelEntity per person. Triangle indices loaded from the bundled smplx_faces.bin (flat UInt32 triplets, copied from the legacy launcher target). xcodegen folder-scanning bundles the .bin under Contents/Resources/ — no project.yml change needed. * feat(avlivebody-mac): wire scene + status bar Replace placeholder window with ContentView wiring USBSkeletonConsumer, SceneController, MultiHMRCoreML and BodyFusion per the T9 dataflow plan. * chore: archive legacy AV-Live-Body Superseded by avlivebody-mac/ on 2026-05-18. See docs/superpowers/specs/2026-05-18-avlivebody-macos-rewrite-design.md for the rewrite design and rationale. * fix(avlivebody): break onVideoFrame retain cycle Capture consumer weakly in the onVideoFrame closure so the USBSkeletonConsumer can be deallocated and its background thread exits cleanly. Guard the mesh-fusion path when consumer is gone. * fix(launcher): disable body spawn post-archive Legacy SwiftPM target archived to launcher/_archive-AV-Live-Body/. New native Xcode app lives at avlivebody-mac/; no swift run path. startBodyApp now logs + no-ops with FIXME(rewrite-2026-05-18). * docs(avlivebody-mac): contributor setup README Document prerequisites, mlpackage copy, signing xcconfig, and xcodegen/xcodebuild commands. Points at design spec and plan. * refactor(avlivebody): axis helper + cleanups - Extract arkitToRealityKit helper, dedupe 3 call sites. - Add onDisappear consumer.stop() to terminate USB read loop. - Replace @State with let for SceneController (stable class id). - Add NSLog diagnostics in VideoQuad+MeshEntity silent guards. * fix(avlivebody): ad-hoc signing for local dev Apple Development cert + Automatic signing makes Xcode demand a Mac Development cert that no one has. Switch to manual ad-hoc (CODE_SIGN_IDENTITY = -) so any contributor can build. Drop hardened runtime; re-enable for distribution builds. * feat(arbody): keep iphone awake while streaming iOS auto-lock tears down the USBServer TCP listener within seconds, breaking AVLiveBody Mac-side connect. Disable the idle timer for the lifetime of ContentView, restore on exit. * docs: add AGENTS.md skeleton
39 lines
1.4 KiB
Swift
39 lines
1.4 KiB
Swift
import Foundation
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/// Codec for the usbmuxd request/response protocol. 16-byte
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/// little-endian header (length, version=1, message=8, tag) then an
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/// XML property list.
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enum USBMuxProtocol {
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static func encode(plist: [String: Any], tag: UInt32) -> Data {
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let body = (try? PropertyListSerialization.data(
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fromPropertyList: plist, format: .xml, options: 0))
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?? Data()
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var d = Data()
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appendLE32(&d, UInt32(16 + body.count)) // length
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appendLE32(&d, 1) // version
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appendLE32(&d, 8) // message: plist
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appendLE32(&d, tag)
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d.append(body)
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return d
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}
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static func decode(_ packet: Data) -> [String: Any]? {
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guard packet.count >= 16 else { return nil }
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let body = packet.dropFirst(16)
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return (try? PropertyListSerialization.propertyList(
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from: body, options: [], format: nil)) as? [String: Any]
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}
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static func appendLE32(_ d: inout Data, _ v: UInt32) {
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for i in 0..<4 { d.append(UInt8((v >> (8 * i)) & 0xFF)) }
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}
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static func readLE32(_ d: Data, _ offset: Int) -> UInt32? {
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guard offset >= 0, d.count >= offset + 4 else { return nil }
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let b = [UInt8](d)
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var v: UInt32 = 0
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for i in 0..<4 { v |= UInt32(b[offset + i]) << (8 * i) }
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return v
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}
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}
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