forked from Github/frigate
Basic PTZ object autotracking functionality (#6913)
* Basic functionality
* Threaded motion estimator
* Revert "Threaded motion estimator"
This reverts commit 3171801607.
* Don't detect motion when ptz is moving
* fix motion logic
* fix mypy error
* Add threaded queue for movement for slower ptzs
* Move queues per camera
* Move autotracker start to app.py
* iou value for tracked object
* mqtt callback
* tracked object should be initially motionless
* only draw thicker box if autotracking is enabled
* Init if enabled when initially disabled in config
* Fix init
* Thread names
* Always use motion estimator
* docs
* clarify fov support
* remove size ratio
* use mp event instead of value for ptz status
* update autotrack at half fps
* fix merge conflict
* fix event type for mypy
* clean up
* Clean up
* remove unused code
* merge conflict fix
* docs: update link to object_detectors page
* Update docs/docs/configuration/autotracking.md
Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>
* clarify wording
* pass actual instances directly
* default return preset
* fix type
* Error message when onvif init fails
* disable autotracking if onvif init fails
* disable autotracking if onvif init fails
* ptz module
* verify required_zones in config
* update util after dev merge
---------
Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>
This commit is contained in:
Josh Hawkins
366
frigate/ptz/onvif.py
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366
frigate/ptz/onvif.py
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"""Configure and control camera via onvif."""
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import logging
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import site
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from enum import Enum
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import numpy
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from onvif import ONVIFCamera, ONVIFError
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from frigate.config import FrigateConfig
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from frigate.types import CameraMetricsTypes
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logger = logging.getLogger(__name__)
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class OnvifCommandEnum(str, Enum):
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"""Holds all possible move commands"""
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init = "init"
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move_down = "move_down"
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move_left = "move_left"
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move_right = "move_right"
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move_up = "move_up"
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preset = "preset"
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stop = "stop"
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zoom_in = "zoom_in"
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zoom_out = "zoom_out"
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class OnvifController:
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def __init__(
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self, config: FrigateConfig, camera_metrics: dict[str, CameraMetricsTypes]
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) -> None:
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self.cams: dict[str, ONVIFCamera] = {}
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self.camera_metrics = camera_metrics
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for cam_name, cam in config.cameras.items():
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if not cam.enabled:
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continue
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if cam.onvif.host:
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try:
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self.cams[cam_name] = {
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"onvif": ONVIFCamera(
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cam.onvif.host,
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cam.onvif.port,
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cam.onvif.user,
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cam.onvif.password,
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wsdl_dir=site.getsitepackages()[0].replace(
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"dist-packages", "site-packages"
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)
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+ "/wsdl",
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),
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"init": False,
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"active": False,
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"presets": {},
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}
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except ONVIFError as e:
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logger.error(f"Onvif connection to {cam.name} failed: {e}")
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def _init_onvif(self, camera_name: str) -> bool:
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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# create init services
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media = onvif.create_media_service()
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try:
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profile = media.GetProfiles()[0]
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except ONVIFError as e:
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logger.error(f"Unable to connect to camera: {camera_name}: {e}")
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return False
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ptz = onvif.create_ptz_service()
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request = ptz.create_type("GetConfigurationOptions")
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request.ConfigurationToken = profile.PTZConfiguration.token
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ptz_config = ptz.GetConfigurationOptions(request)
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fov_space_id = next(
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(
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i
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for i, space in enumerate(
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ptz_config.Spaces.RelativePanTiltTranslationSpace
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)
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if "TranslationSpaceFov" in space["URI"]
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),
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None,
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)
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# setup continuous moving request
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move_request = ptz.create_type("ContinuousMove")
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move_request.ProfileToken = profile.token
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self.cams[camera_name]["move_request"] = move_request
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# setup relative moving request for autotracking
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move_request = ptz.create_type("RelativeMove")
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move_request.ProfileToken = profile.token
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if move_request.Translation is None and fov_space_id is not None:
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move_request.Translation = ptz.GetStatus(
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{"ProfileToken": profile.token}
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).Position
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move_request.Translation.PanTilt.space = ptz_config["Spaces"][
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"RelativePanTiltTranslationSpace"
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][fov_space_id]["URI"]
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move_request.Translation.Zoom.space = ptz_config["Spaces"][
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"RelativeZoomTranslationSpace"
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][0]["URI"]
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if move_request.Speed is None:
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move_request.Speed = ptz.GetStatus({"ProfileToken": profile.token}).Position
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self.cams[camera_name]["relative_move_request"] = move_request
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# setup relative moving request for autotracking
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move_request = ptz.create_type("AbsoluteMove")
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move_request.ProfileToken = profile.token
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self.cams[camera_name]["absolute_move_request"] = move_request
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# status request for autotracking
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status_request = ptz.create_type("GetStatus")
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status_request.ProfileToken = profile.token
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self.cams[camera_name]["status_request"] = status_request
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# setup existing presets
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try:
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presets: list[dict] = ptz.GetPresets({"ProfileToken": profile.token})
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except ONVIFError as e:
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logger.warning(f"Unable to get presets from camera: {camera_name}: {e}")
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presets = []
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for preset in presets:
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self.cams[camera_name]["presets"][preset["Name"].lower()] = preset["token"]
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# get list of supported features
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ptz_config = ptz.GetConfigurationOptions(request)
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supported_features = []
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if ptz_config.Spaces and ptz_config.Spaces.ContinuousPanTiltVelocitySpace:
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supported_features.append("pt")
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if ptz_config.Spaces and ptz_config.Spaces.ContinuousZoomVelocitySpace:
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supported_features.append("zoom")
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if ptz_config.Spaces and ptz_config.Spaces.RelativePanTiltTranslationSpace:
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supported_features.append("pt-r")
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if ptz_config.Spaces and ptz_config.Spaces.RelativeZoomTranslationSpace:
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supported_features.append("zoom-r")
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if fov_space_id is not None:
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supported_features.append("pt-r-fov")
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self.cams[camera_name][
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"relative_fov_range"
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] = ptz_config.Spaces.RelativePanTiltTranslationSpace[fov_space_id]
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self.cams[camera_name]["relative_fov_supported"] = fov_space_id is not None
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self.cams[camera_name]["features"] = supported_features
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self.cams[camera_name]["init"] = True
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return True
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def _stop(self, camera_name: str) -> None:
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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move_request = self.cams[camera_name]["move_request"]
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onvif.get_service("ptz").Stop(
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{
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"ProfileToken": move_request.ProfileToken,
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"PanTilt": True,
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"Zoom": True,
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}
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)
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self.cams[camera_name]["active"] = False
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def _move(self, camera_name: str, command: OnvifCommandEnum) -> None:
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if self.cams[camera_name]["active"]:
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logger.warning(
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f"{camera_name} is already performing an action, stopping..."
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)
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self._stop(camera_name)
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self.cams[camera_name]["active"] = True
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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move_request = self.cams[camera_name]["move_request"]
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if command == OnvifCommandEnum.move_left:
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move_request.Velocity = {"PanTilt": {"x": -0.5, "y": 0}}
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elif command == OnvifCommandEnum.move_right:
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move_request.Velocity = {"PanTilt": {"x": 0.5, "y": 0}}
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elif command == OnvifCommandEnum.move_up:
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move_request.Velocity = {
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"PanTilt": {
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"x": 0,
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"y": 0.5,
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}
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}
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elif command == OnvifCommandEnum.move_down:
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move_request.Velocity = {
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"PanTilt": {
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"x": 0,
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"y": -0.5,
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}
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}
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onvif.get_service("ptz").ContinuousMove(move_request)
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def _move_relative(self, camera_name: str, pan, tilt, speed) -> None:
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if not self.cams[camera_name]["relative_fov_supported"]:
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logger.error(f"{camera_name} does not support ONVIF RelativeMove (FOV).")
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return
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logger.debug(f"{camera_name} called RelativeMove: pan: {pan} tilt: {tilt}")
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self.get_camera_status(camera_name)
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if self.cams[camera_name]["active"]:
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logger.warning(
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f"{camera_name} is already performing an action, not moving..."
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)
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return
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self.cams[camera_name]["active"] = True
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self.camera_metrics[camera_name]["ptz_stopped"].clear()
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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move_request = self.cams[camera_name]["relative_move_request"]
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# function takes in -1 to 1 for pan and tilt, interpolate to the values of the camera.
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# The onvif spec says this can report as +INF and -INF, so this may need to be modified
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pan = numpy.interp(
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pan,
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[-1, 1],
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[
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self.cams[camera_name]["relative_fov_range"]["XRange"]["Min"],
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self.cams[camera_name]["relative_fov_range"]["XRange"]["Max"],
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],
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)
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tilt = numpy.interp(
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tilt,
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[-1, 1],
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[
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self.cams[camera_name]["relative_fov_range"]["YRange"]["Min"],
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self.cams[camera_name]["relative_fov_range"]["YRange"]["Max"],
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],
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)
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move_request.Speed = {
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"PanTilt": {
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"x": speed,
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"y": speed,
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},
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"Zoom": 0,
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}
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# move pan and tilt separately
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move_request.Translation.PanTilt.x = pan
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move_request.Translation.PanTilt.y = 0
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move_request.Translation.Zoom.x = 0
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onvif.get_service("ptz").RelativeMove(move_request)
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move_request.Translation.PanTilt.x = 0
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move_request.Translation.PanTilt.y = tilt
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move_request.Translation.Zoom.x = 0
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onvif.get_service("ptz").RelativeMove(move_request)
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self.cams[camera_name]["active"] = False
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def _move_to_preset(self, camera_name: str, preset: str) -> None:
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if preset not in self.cams[camera_name]["presets"]:
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logger.error(f"{preset} is not a valid preset for {camera_name}")
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return
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self.cams[camera_name]["active"] = True
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self.camera_metrics[camera_name]["ptz_stopped"].clear()
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move_request = self.cams[camera_name]["move_request"]
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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preset_token = self.cams[camera_name]["presets"][preset]
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onvif.get_service("ptz").GotoPreset(
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{
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"ProfileToken": move_request.ProfileToken,
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"PresetToken": preset_token,
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}
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)
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self.camera_metrics[camera_name]["ptz_stopped"].set()
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self.cams[camera_name]["active"] = False
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def _zoom(self, camera_name: str, command: OnvifCommandEnum) -> None:
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if self.cams[camera_name]["active"]:
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logger.warning(
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f"{camera_name} is already performing an action, stopping..."
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)
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self._stop(camera_name)
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self.cams[camera_name]["active"] = True
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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move_request = self.cams[camera_name]["move_request"]
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if command == OnvifCommandEnum.zoom_in:
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move_request.Velocity = {"Zoom": {"x": 0.5}}
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elif command == OnvifCommandEnum.zoom_out:
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move_request.Velocity = {"Zoom": {"x": -0.5}}
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onvif.get_service("ptz").ContinuousMove(move_request)
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def handle_command(
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self, camera_name: str, command: OnvifCommandEnum, param: str = ""
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) -> None:
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if camera_name not in self.cams.keys():
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logger.error(f"Onvif is not setup for {camera_name}")
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return
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if not self.cams[camera_name]["init"]:
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if not self._init_onvif(camera_name):
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return
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if command == OnvifCommandEnum.init:
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# already init
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return
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elif command == OnvifCommandEnum.stop:
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self._stop(camera_name)
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elif command == OnvifCommandEnum.preset:
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self._move_to_preset(camera_name, param)
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elif (
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command == OnvifCommandEnum.zoom_in or command == OnvifCommandEnum.zoom_out
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):
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self._zoom(camera_name, command)
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else:
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self._move(camera_name, command)
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def get_camera_info(self, camera_name: str) -> dict[str, any]:
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if camera_name not in self.cams.keys():
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logger.error(f"Onvif is not setup for {camera_name}")
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return {}
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if not self.cams[camera_name]["init"]:
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self._init_onvif(camera_name)
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return {
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"name": camera_name,
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"features": self.cams[camera_name]["features"],
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"presets": list(self.cams[camera_name]["presets"].keys()),
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}
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def get_camera_status(self, camera_name: str) -> dict[str, any]:
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if camera_name not in self.cams.keys():
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logger.error(f"Onvif is not setup for {camera_name}")
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return {}
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if not self.cams[camera_name]["init"]:
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self._init_onvif(camera_name)
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onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
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status_request = self.cams[camera_name]["status_request"]
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status = onvif.get_service("ptz").GetStatus(status_request)
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if status.MoveStatus.PanTilt == "IDLE" or status.MoveStatus.Zoom == "IDLE":
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self.cams[camera_name]["active"] = False
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self.camera_metrics[camera_name]["ptz_stopped"].set()
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else:
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self.cams[camera_name]["active"] = True
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self.camera_metrics[camera_name]["ptz_stopped"].clear()
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return {
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"pan": status.Position.PanTilt.x,
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"tilt": status.Position.PanTilt.y,
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"zoom": status.Position.Zoom.x,
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"pantilt_moving": status.MoveStatus.PanTilt,
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"zoom_moving": status.MoveStatus.Zoom,
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}
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Block a user