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Add MQTT topic for active autotracking #8419

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merged 4 commits into from Nov 1, 2023
Merged

Add MQTT topic for active autotracking #8419

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e49f034
prevent estimate clipping when autotracking
hawkeye217 Nov 1, 2023
2433b9e
use unclipped estimate in distance function only
hawkeye217 Nov 1, 2023
9cba0ad
remove autotracking velocity changes
hawkeye217 Nov 1, 2023
7d807b1
publish on init
hawkeye217 Nov 1, 2023
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4 changes: 4 additions & 0 deletions docs/docs/integrations/mqtt.md
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Expand Up @@ -221,6 +221,10 @@ Topic to turn the PTZ autotracker for a camera on and off. Expected values are `

Topic with current state of the PTZ autotracker for a camera. Published values are `ON` and `OFF`.

### `frigate/<camera_name>/ptz_autotracker/active`

Topic to determine if PTZ autotracker is actively tracking an object. Published values are `ON` and `OFF`.

### `frigate/<camera_name>/birdseye/set`

Topic to turn Birdseye for a camera on and off. Expected values are `ON` and `OFF`. Birdseye mode
Expand Down
6 changes: 4 additions & 2 deletions frigate/app.py
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Expand Up @@ -191,7 +191,8 @@ def init_config(self) -> None:
"i",
self.config.cameras[camera_name].onvif.autotracking.enabled,
),
"ptz_stopped": mp.Event(),
"ptz_tracking_active": mp.Event(),
"ptz_motor_stopped": mp.Event(),
"ptz_reset": mp.Event(),
"ptz_start_time": mp.Value("d", 0.0), # type: ignore[typeddict-item]
# issue https://github.com/python/typeshed/issues/8799
Expand All @@ -212,7 +213,7 @@ def init_config(self) -> None:
# issue https://github.com/python/typeshed/issues/8799
# from mypy 0.981 onwards
}
self.ptz_metrics[camera_name]["ptz_stopped"].set()
self.ptz_metrics[camera_name]["ptz_motor_stopped"].set()
self.feature_metrics[camera_name] = {
"audio_enabled": mp.Value( # type: ignore[typeddict-item]
# issue https://github.com/python/typeshed/issues/8799
Expand Down Expand Up @@ -444,6 +445,7 @@ def start_ptz_autotracker(self) -> None:
self.config,
self.onvif_controller,
self.ptz_metrics,
self.dispatcher,
self.stop_event,
)
self.ptz_autotracker_thread.start()
Expand Down
44 changes: 29 additions & 15 deletions frigate/ptz/autotrack.py
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Expand Up @@ -18,6 +18,7 @@
TranslationTransformationGetter,
)

from frigate.comms.dispatcher import Dispatcher
from frigate.config import CameraConfig, FrigateConfig, ZoomingModeEnum
from frigate.const import (
AUTOTRACKING_MAX_AREA_RATIO,
Expand Down Expand Up @@ -144,11 +145,12 @@ def __init__(
config: FrigateConfig,
onvif: OnvifController,
ptz_metrics: dict[str, PTZMetricsTypes],
dispatcher: Dispatcher,
stop_event: MpEvent,
) -> None:
threading.Thread.__init__(self)
self.name = "ptz_autotracker"
self.ptz_autotracker = PtzAutoTracker(config, onvif, ptz_metrics)
self.ptz_autotracker = PtzAutoTracker(config, onvif, ptz_metrics, dispatcher)
self.stop_event = stop_event
self.config = config

Expand All @@ -175,10 +177,12 @@ def __init__(
config: FrigateConfig,
onvif: OnvifController,
ptz_metrics: PTZMetricsTypes,
dispatcher: Dispatcher,
) -> None:
self.config = config
self.onvif = onvif
self.ptz_metrics = ptz_metrics
self.dispatcher = dispatcher
self.tracked_object: dict[str, object] = {}
self.tracked_object_history: dict[str, object] = {}
self.tracked_object_metrics: dict[str, object] = {}
Expand Down Expand Up @@ -338,7 +342,7 @@ def _calibrate_camera(self, camera):
1,
)

while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

zoom_out_values.append(self.ptz_metrics[camera]["ptz_zoom_level"].value)
Expand All @@ -349,7 +353,7 @@ def _calibrate_camera(self, camera):
1,
)

while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

zoom_in_values.append(self.ptz_metrics[camera]["ptz_zoom_level"].value)
Expand All @@ -367,7 +371,7 @@ def _calibrate_camera(self, camera):
1,
)

while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

zoom_out_values.append(
Expand All @@ -383,7 +387,7 @@ def _calibrate_camera(self, camera):
1,
)

while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

zoom_in_values.append(
Expand All @@ -406,10 +410,10 @@ def _calibrate_camera(self, camera):
self.config.cameras[camera].onvif.autotracking.return_preset.lower(),
)
self.ptz_metrics[camera]["ptz_reset"].set()
self.ptz_metrics[camera]["ptz_stopped"].clear()
self.ptz_metrics[camera]["ptz_motor_stopped"].clear()

# Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

for step in range(num_steps):
Expand All @@ -420,7 +424,7 @@ def _calibrate_camera(self, camera):
self.onvif._move_relative(camera, pan, tilt, 0, 1)

# Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)
stop_time = time.time()

Expand All @@ -438,10 +442,10 @@ def _calibrate_camera(self, camera):
self.config.cameras[camera].onvif.autotracking.return_preset.lower(),
)
self.ptz_metrics[camera]["ptz_reset"].set()
self.ptz_metrics[camera]["ptz_stopped"].clear()
self.ptz_metrics[camera]["ptz_motor_stopped"].clear()

# Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

logger.info(
Expand Down Expand Up @@ -606,7 +610,9 @@ def _process_move_queue(self, camera):
self.onvif._move_relative(camera, pan, tilt, 0, 1)

# Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera][
"ptz_motor_stopped"
].is_set():
self.onvif.get_camera_status(camera)

if (
Expand All @@ -616,7 +622,7 @@ def _process_move_queue(self, camera):
self.onvif._zoom_absolute(camera, zoom, 1)

# Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

if self.config.cameras[camera].onvif.autotracking.movement_weights:
Expand Down Expand Up @@ -1118,6 +1124,10 @@ def autotrack_object(self, camera, obj):
logger.debug(
f"{camera}: New object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
)
self.ptz_metrics[camera]["ptz_tracking_active"].set()
self.dispatcher.publish(
f"{camera}/ptz_autotracker/active", "ON", retain=False
)
self.tracked_object[camera] = obj

self.tracked_object_history[camera].append(copy.deepcopy(obj.obj_data))
Expand Down Expand Up @@ -1220,7 +1230,7 @@ def camera_maintenance(self, camera):
if not self.autotracker_init[camera]:
self._autotracker_setup(self.config.cameras[camera], camera)
# regularly update camera status
if not self.ptz_metrics[camera]["ptz_stopped"].is_set():
if not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

# return to preset if tracking is over
Expand All @@ -1243,7 +1253,7 @@ def camera_maintenance(self, camera):
while not self.move_queues[camera].empty():
self.move_queues[camera].get()

self.ptz_metrics[camera]["ptz_stopped"].wait()
self.ptz_metrics[camera]["ptz_motor_stopped"].wait()
logger.debug(
f"{camera}: Time is {self.ptz_metrics[camera]['ptz_frame_time'].value}, returning to preset: {autotracker_config.return_preset}"
)
Expand All @@ -1253,7 +1263,11 @@ def camera_maintenance(self, camera):
)

# update stored zoom level from preset
if not self.ptz_metrics[camera]["ptz_stopped"].is_set():
if not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
self.onvif.get_camera_status(camera)

self.ptz_metrics[camera]["ptz_tracking_active"].clear()
self.dispatcher.publish(
f"{camera}/ptz_autotracker/active", "OFF", retain=False
)
self.ptz_metrics[camera]["ptz_reset"].set()
16 changes: 8 additions & 8 deletions frigate/ptz/onvif.py
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Expand Up @@ -299,7 +299,7 @@ def _move_relative(self, camera_name: str, pan, tilt, zoom, speed) -> None:
return

self.cams[camera_name]["active"] = True
self.ptz_metrics[camera_name]["ptz_stopped"].clear()
self.ptz_metrics[camera_name]["ptz_motor_stopped"].clear()
logger.debug(
f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
)
Expand Down Expand Up @@ -366,7 +366,7 @@ def _move_to_preset(self, camera_name: str, preset: str) -> None:
return

self.cams[camera_name]["active"] = True
self.ptz_metrics[camera_name]["ptz_stopped"].clear()
self.ptz_metrics[camera_name]["ptz_motor_stopped"].clear()
self.ptz_metrics[camera_name]["ptz_start_time"].value = 0
self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0
move_request = self.cams[camera_name]["move_request"]
Expand Down Expand Up @@ -413,7 +413,7 @@ def _zoom_absolute(self, camera_name: str, zoom, speed) -> None:
return

self.cams[camera_name]["active"] = True
self.ptz_metrics[camera_name]["ptz_stopped"].clear()
self.ptz_metrics[camera_name]["ptz_motor_stopped"].clear()
logger.debug(
f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
)
Expand Down Expand Up @@ -543,8 +543,8 @@ def get_camera_status(self, camera_name: str) -> None:
zoom_status is None or zoom_status.lower() == "idle"
):
self.cams[camera_name]["active"] = False
if not self.ptz_metrics[camera_name]["ptz_stopped"].is_set():
self.ptz_metrics[camera_name]["ptz_stopped"].set()
if not self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set():
self.ptz_metrics[camera_name]["ptz_motor_stopped"].set()

logger.debug(
f"{camera_name}: PTZ stop time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
Expand All @@ -555,8 +555,8 @@ def get_camera_status(self, camera_name: str) -> None:
]["ptz_frame_time"].value
else:
self.cams[camera_name]["active"] = True
if self.ptz_metrics[camera_name]["ptz_stopped"].is_set():
self.ptz_metrics[camera_name]["ptz_stopped"].clear()
if self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set():
self.ptz_metrics[camera_name]["ptz_motor_stopped"].clear()

logger.debug(
f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
Expand Down Expand Up @@ -586,7 +586,7 @@ def get_camera_status(self, camera_name: str) -> None:

# some hikvision cams won't update MoveStatus, so warn if it hasn't changed
if (
not self.ptz_metrics[camera_name]["ptz_stopped"].is_set()
not self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set()
and not self.ptz_metrics[camera_name]["ptz_reset"].is_set()
and self.ptz_metrics[camera_name]["ptz_start_time"].value != 0
and self.ptz_metrics[camera_name]["ptz_frame_time"].value
Expand Down
3 changes: 2 additions & 1 deletion frigate/types.py
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Expand Up @@ -31,7 +31,8 @@ class CameraMetricsTypes(TypedDict):

class PTZMetricsTypes(TypedDict):
ptz_autotracker_enabled: Synchronized
ptz_stopped: Event
ptz_tracking_active: Event
ptz_motor_stopped: Event
ptz_reset: Event
ptz_start_time: Synchronized
ptz_stop_time: Synchronized
Expand Down