make object processor resilient to plasma failures

Dockerfile

@@ -25,7 +25,6 @@ RUN apt -qq update && apt -qq install --no-install-recommends -y \
         imutils \
         scipy \
     && python3.7 -m pip install -U \
-        SharedArray \
         Flask \
         paho-mqtt \
         PyYAML \

detect_objects.py

@@ -1,4 +1,7 @@
 import os
+import sys
+import traceback
+import signal
 import cv2
 import time
 import datetime
@@ -9,7 +12,7 @@ import multiprocessing as mp
 import subprocess as sp
 import numpy as np
 import logging
-from flask import Flask, Response, make_response, jsonify
+from flask import Flask, Response, make_response, jsonify, request
 import paho.mqtt.client as mqtt
 
 from frigate.video import track_camera
@@ -58,14 +61,23 @@ GLOBAL_OBJECT_CONFIG = CONFIG.get('objects', {})
 WEB_PORT = CONFIG.get('web_port', 5000)
 DEBUG = (CONFIG.get('debug', '0') == '1')
 
+def start_plasma_store():
+    plasma_cmd = ['plasma_store', '-m', '400000000', '-s', '/tmp/plasma']
+    plasma_process = sp.Popen(plasma_cmd, stdout=sp.DEVNULL)
+    time.sleep(1)
+    rc = plasma_process.poll()
+    if rc is not None:
+        return None
+    return plasma_process
+
 class CameraWatchdog(threading.Thread):
-    def __init__(self, camera_processes, config, tflite_process, tracked_objects_queue, object_processor):
+    def __init__(self, camera_processes, config, tflite_process, tracked_objects_queue, plasma_process):
         threading.Thread.__init__(self)
         self.camera_processes = camera_processes
         self.config = config
         self.tflite_process = tflite_process
         self.tracked_objects_queue = tracked_objects_queue
-        self.object_processor = object_processor
+        self.plasma_process = plasma_process
 
     def run(self):
         time.sleep(10)
@@ -73,12 +85,25 @@ class CameraWatchdog(threading.Thread):
             # wait a bit before checking
             time.sleep(30)
             
+            # check the plasma process
+            rc = self.plasma_process.poll()
+            if rc != None:
+                print(f"plasma_process exited unexpectedly with {rc}")
+                self.plasma_process = start_plasma_store()
+                time.sleep(10)
+
+            # check the detection process
             if (self.tflite_process.detection_start.value > 0.0 and 
                 datetime.datetime.now().timestamp() - self.tflite_process.detection_start.value > 10):
                 print("Detection appears to be stuck. Restarting detection process")
                 self.tflite_process.start_or_restart()
                 time.sleep(30)
+            elif not self.tflite_process.detect_process.is_alive():
+                print("Detection appears to have stopped. Restarting detection process")
+                self.tflite_process.start_or_restart()
+                time.sleep(30)
 
+            # check the camera processes
             for name, camera_process in self.camera_processes.items():
                 process = camera_process['process']
                 if not process.is_alive():
@@ -86,14 +111,33 @@ class CameraWatchdog(threading.Thread):
                     camera_process['fps'].value = float(self.config[name]['fps'])
                     camera_process['skipped_fps'].value = 0.0
                     camera_process['detection_fps'].value = 0.0
+                    camera_process['read_start'].value = 0.0
+                    camera_process['ffmpeg_pid'].value = 0
                     process = mp.Process(target=track_camera, args=(name, self.config[name], FFMPEG_DEFAULT_CONFIG, GLOBAL_OBJECT_CONFIG, 
                         self.tflite_process.detection_queue, self.tracked_objects_queue, 
-                        camera_process['fps'], camera_process['skipped_fps'], camera_process['detection_fps']))
+                        camera_process['fps'], camera_process['skipped_fps'], camera_process['detection_fps'],
+                        camera_process['read_start'], camera_process['ffmpeg_pid']))
                     process.daemon = True
                     camera_process['process'] = process
                     process.start()
                     print(f"Camera_process started for {name}: {process.pid}")
 
+                if (camera_process['read_start'].value > 0.0 and 
+                    datetime.datetime.now().timestamp() - camera_process['read_start'].value > 10):
+                    print(f"Process for {name} has been reading from ffmpeg for over 10 seconds long. Killing ffmpeg...")
+                    ffmpeg_pid = camera_process['ffmpeg_pid'].value
+                    if ffmpeg_pid != 0:
+                        try:
+                            os.kill(ffmpeg_pid, signal.SIGTERM)
+                        except OSError:
+                            print(f"Unable to terminate ffmpeg with pid {ffmpeg_pid}")
+                        time.sleep(10)
+                        try:
+                            os.kill(ffmpeg_pid, signal.SIGKILL)
+                            print(f"Unable to kill ffmpeg with pid {ffmpeg_pid}")
+                        except OSError:
+                            pass
+
 def main():
     # connect to mqtt and setup last will
     def on_connect(client, userdata, flags, rc):
@@ -117,14 +161,7 @@ def main():
     client.connect(MQTT_HOST, MQTT_PORT, 60)
     client.loop_start()
 
-    # start plasma store
+    plasma_process = start_plasma_store()
-    plasma_cmd = ['plasma_store', '-m', '400000000', '-s', '/tmp/plasma']
-    plasma_process = sp.Popen(plasma_cmd, stdout=sp.DEVNULL)
-    time.sleep(1)
-    rc = plasma_process.poll()
-    if rc is not None:
-        raise RuntimeError("plasma_store exited unexpectedly with "
-                            "code %d" % (rc,))
 
     ##
     # Setup config defaults for cameras
@@ -135,7 +172,7 @@ def main():
         }
 
     # Queue for cameras to push tracked objects to
-    tracked_objects_queue = mp.Queue()
+    tracked_objects_queue = mp.SimpleQueue()
     
     # Start the shared tflite process
     tflite_process = EdgeTPUProcess()
@@ -146,11 +183,14 @@ def main():
         camera_processes[name] = {
             'fps': mp.Value('d', float(config['fps'])),
             'skipped_fps': mp.Value('d', 0.0),
-            'detection_fps': mp.Value('d', 0.0)
+            'detection_fps': mp.Value('d', 0.0),
+            'read_start': mp.Value('d', 0.0),
+            'ffmpeg_pid': mp.Value('i', 0)
         }
         camera_process = mp.Process(target=track_camera, args=(name, config, FFMPEG_DEFAULT_CONFIG, GLOBAL_OBJECT_CONFIG, 
-            tflite_process.detection_queue, tracked_objects_queue, 
+            tflite_process.detection_queue, tracked_objects_queue, camera_processes[name]['fps'], 
-            camera_processes[name]['fps'], camera_processes[name]['skipped_fps'], camera_processes[name]['detection_fps']))
+            camera_processes[name]['skipped_fps'], camera_processes[name]['detection_fps'], 
+            camera_processes[name]['read_start'], camera_processes[name]['ffmpeg_pid']))
         camera_process.daemon = True
         camera_processes[name]['process'] = camera_process
 
@@ -161,7 +201,7 @@ def main():
     object_processor = TrackedObjectProcessor(CONFIG['cameras'], client, MQTT_TOPIC_PREFIX, tracked_objects_queue)
     object_processor.start()
     
-    camera_watchdog = CameraWatchdog(camera_processes, CONFIG['cameras'], tflite_process, tracked_objects_queue, object_processor)
+    camera_watchdog = CameraWatchdog(camera_processes, CONFIG['cameras'], tflite_process, tracked_objects_queue, plasma_process)
     camera_watchdog.start()
 
     # create a flask app that encodes frames a mjpeg on demand
@@ -174,6 +214,23 @@ def main():
         # return a healh
         return "Frigate is running. Alive and healthy!"
 
+    @app.route('/debug/stack')
+    def processor_stack():
+        frame = sys._current_frames().get(object_processor.ident, None)
+        if frame:
+            return "<br>".join(traceback.format_stack(frame)), 200
+        else:
+            return "no frame found", 200
+
+    @app.route('/debug/print_stack')
+    def print_stack():
+        pid = int(request.args.get('pid', 0))
+        if pid == 0:
+            return "missing pid", 200
+        else:
+            os.kill(pid, signal.SIGUSR1)
+            return "check logs", 200
+
     @app.route('/debug/stats')
     def stats():
         stats = {}
@@ -185,21 +242,22 @@ def main():
             stats[name] = {
                 'fps': round(camera_stats['fps'].value, 2),
                 'skipped_fps': round(camera_stats['skipped_fps'].value, 2),
-                'detection_fps': round(camera_stats['detection_fps'].value, 2)
+                'detection_fps': round(camera_stats['detection_fps'].value, 2),
+                'read_start': camera_stats['read_start'].value,
+                'pid': camera_stats['process'].pid,
+                'ffmpeg_pid': camera_stats['ffmpeg_pid'].value
             }
         
         stats['coral'] = {
             'fps': round(total_detection_fps, 2),
             'inference_speed': round(tflite_process.avg_inference_speed.value*1000, 2),
-            'detection_queue': tflite_process.detection_queue.qsize(),
+            'detection_start': tflite_process.detection_start.value,
-            'detection_start': tflite_process.detection_start.value
+            'pid': tflite_process.detect_process.pid
         }
 
-        rc = plasma_process.poll()
+        rc = camera_watchdog.plasma_process.poll()
         stats['plasma_store_rc'] = rc
 
-        stats['tracked_objects_queue'] = tracked_objects_queue.qsize()
-
         return jsonify(stats)
 
     @app.route('/<camera_name>/<label>/best.jpg')
@@ -218,21 +276,26 @@ def main():
 
     @app.route('/<camera_name>')
     def mjpeg_feed(camera_name):
+        fps = int(request.args.get('fps', '3'))
+        height = int(request.args.get('h', '360'))
         if camera_name in CONFIG['cameras']:
             # return a multipart response
-            return Response(imagestream(camera_name),
+            return Response(imagestream(camera_name, fps, height),
                             mimetype='multipart/x-mixed-replace; boundary=frame')
         else:
             return "Camera named {} not found".format(camera_name), 404
 
-    def imagestream(camera_name):
+    def imagestream(camera_name, fps, height):
         while True:
-            # max out at 1 FPS
+            # max out at specified FPS
-            time.sleep(1)
+            time.sleep(1/fps)
             frame = object_processor.get_current_frame(camera_name)
             if frame is None:
-                frame = np.zeros((720,1280,3), np.uint8)
+                frame = np.zeros((height,int(height*16/9),3), np.uint8)
+
+            frame = cv2.resize(frame, dsize=(int(height*16/9), height), interpolation=cv2.INTER_LINEAR)
             frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
+
             ret, jpg = cv2.imencode('.jpg', frame)
             yield (b'--frame\r\n'
                 b'Content-Type: image/jpeg\r\n\r\n' + jpg.tobytes() + b'\r\n\r\n')

frigate/edgetpu.py

@@ -3,11 +3,10 @@ import datetime
 import hashlib
 import multiprocessing as mp
 import numpy as np
-import SharedArray as sa
 import pyarrow.plasma as plasma
 import tflite_runtime.interpreter as tflite
 from tflite_runtime.interpreter import load_delegate
-from frigate.util import EventsPerSecond
+from frigate.util import EventsPerSecond, listen
 
 def load_labels(path, encoding='utf-8'):
   """Loads labels from file (with or without index numbers).
@@ -64,6 +63,7 @@ class ObjectDetector():
 
 def run_detector(detection_queue, avg_speed, start):
     print(f"Starting detection process: {os.getpid()}")
+    listen()
     plasma_client = plasma.connect("/tmp/plasma")
     object_detector = ObjectDetector()
 
@@ -87,7 +87,7 @@ def run_detector(detection_queue, avg_speed, start):
         
 class EdgeTPUProcess():
     def __init__(self):
-        self.detection_queue = mp.Queue()
+        self.detection_queue = mp.SimpleQueue()
         self.avg_inference_speed = mp.Value('d', 0.01)
         self.detection_start = mp.Value('d', 0.0)
         self.detect_process = None

frigate/object_processing.py

@@ -1,6 +1,7 @@
 import json
 import hashlib
 import datetime
+import time
 import copy
 import cv2
 import threading
@@ -8,7 +9,6 @@ import numpy as np
 from collections import Counter, defaultdict
 import itertools
 import pyarrow.plasma as plasma
-import SharedArray as sa
 import matplotlib.pyplot as plt
 from frigate.util import draw_box_with_label
 from frigate.edgetpu import load_labels
@@ -29,7 +29,6 @@ class TrackedObjectProcessor(threading.Thread):
         self.client = client
         self.topic_prefix = topic_prefix
         self.tracked_objects_queue = tracked_objects_queue
-        self.plasma_client = plasma.connect("/tmp/plasma")
         self.camera_data = defaultdict(lambda: {
             'best_objects': {},
             'object_status': defaultdict(lambda: defaultdict(lambda: 'OFF')),
@@ -47,7 +46,34 @@ class TrackedObjectProcessor(threading.Thread):
     def get_current_frame(self, camera):
         return self.camera_data[camera]['current_frame']
     
+    def connect_plasma_client(self):
+        while True:
+            try:
+                self.plasma_client = plasma.connect("/tmp/plasma")
+                return
+            except:
+                print(f"TrackedObjectProcessor: unable to connect plasma client")
+                time.sleep(10)
+    
+    def get_from_plasma(self, object_id):
+        while True:
+            try:
+                return self.plasma_client.get(object_id, timeout_ms=0)
+            except:
+                self.connect_plasma_client()
+                time.sleep(1)
+    
+    def delete_from_plasma(self, object_ids):
+        while True:
+            try:
+                self.plasma_client.delete(object_ids)
+                return
+            except:
+                self.connect_plasma_client()
+                time.sleep(1)
+
     def run(self):
+        self.connect_plasma_client()
         while True:
             camera, frame_time, tracked_objects = self.tracked_objects_queue.get()
 
@@ -62,7 +88,7 @@ class TrackedObjectProcessor(threading.Thread):
             object_id_hash = hashlib.sha1(str.encode(f"{camera}{frame_time}"))
             object_id_bytes = object_id_hash.digest()
             object_id = plasma.ObjectID(object_id_bytes)
-            current_frame = self.plasma_client.get(object_id, timeout_ms=0)
+            current_frame = self.get_from_plasma(object_id)
 
             if not current_frame is plasma.ObjectNotAvailable:
                 # draw the bounding boxes on the frame
@@ -93,7 +119,7 @@ class TrackedObjectProcessor(threading.Thread):
                 # store the object id, so you can delete it at the next loop
                 previous_object_id = self.camera_data[camera]['object_id']
                 if not previous_object_id is None:
-                    self.plasma_client.delete([previous_object_id])
+                    self.delete_from_plasma([previous_object_id])
                 self.camera_data[camera]['object_id'] = object_id
             
             ###

frigate/util.py

@@ -1,4 +1,6 @@
 import datetime
+import signal
+import traceback
 import collections
 import numpy as np
 import cv2
@@ -127,3 +129,9 @@ class EventsPerSecond:
         now = datetime.datetime.now().timestamp()
         seconds = min(now-self._start, last_n_seconds)
         return len([t for t in self._timestamps if t > (now-last_n_seconds)]) / seconds
+
+def print_stack(sig, frame):
+    traceback.print_stack(frame)
+
+def listen():
+    signal.signal(signal.SIGUSR1, print_stack)

frigate/video.py

@@ -10,12 +10,11 @@ import subprocess as sp
 import numpy as np
 import hashlib
 import pyarrow.plasma as plasma
-import SharedArray as sa
 import copy
 import itertools
 import json
 from collections import defaultdict
-from frigate.util import draw_box_with_label, area, calculate_region, clipped, intersection_over_union, intersection, EventsPerSecond
+from frigate.util import draw_box_with_label, area, calculate_region, clipped, intersection_over_union, intersection, EventsPerSecond, listen
 from frigate.objects import ObjectTracker
 from frigate.edgetpu import RemoteObjectDetector
 from frigate.motion import MotionDetector
@@ -98,28 +97,33 @@ def create_tensor_input(frame, region):
     # Expand dimensions since the model expects images to have shape: [1, 300, 300, 3]
     return np.expand_dims(cropped_frame, axis=0)
 
-def start_or_restart_ffmpeg(ffmpeg_cmd, frame_size, ffmpeg_process=None):
+def start_or_restart_ffmpeg(ffmpeg_cmd, frame_size, pid, ffmpeg_process=None):
     if not ffmpeg_process is None:
         print("Terminating the existing ffmpeg process...")
         ffmpeg_process.terminate()
         try:
             print("Waiting for ffmpeg to exit gracefully...")
-            ffmpeg_process.wait(timeout=30)
+            ffmpeg_process.communicate(timeout=30)
         except sp.TimeoutExpired:
             print("FFmpeg didnt exit. Force killing...")
             ffmpeg_process.kill()
-            ffmpeg_process.wait()
+            ffmpeg_process.communicate()
+        ffmpeg_process = None
 
     print("Creating ffmpeg process...")
     print(" ".join(ffmpeg_cmd))
-    return sp.Popen(ffmpeg_cmd, stdout = sp.PIPE, bufsize=frame_size*10)
+    process = sp.Popen(ffmpeg_cmd, stdout = sp.PIPE, bufsize=frame_size*10)
+    pid.value = process.pid
+    return process
 
-def track_camera(name, config, ffmpeg_global_config, global_objects_config, detection_queue, detected_objects_queue, fps, skipped_fps, detection_fps):
+def track_camera(name, config, ffmpeg_global_config, global_objects_config, detection_queue, detected_objects_queue, fps, skipped_fps, detection_fps, read_start, ffmpeg_pid):
     print(f"Starting process for {name}: {os.getpid()}")
+    listen()
 
     # Merge the ffmpeg config with the global config
     ffmpeg = config.get('ffmpeg', {})
     ffmpeg_input = get_ffmpeg_input(ffmpeg['input'])
+    ffmpeg_restart_delay = ffmpeg.get('restart_delay', 0)
     ffmpeg_global_args = ffmpeg.get('global_args', ffmpeg_global_config['global_args'])
     ffmpeg_hwaccel_args = ffmpeg.get('hwaccel_args', ffmpeg_global_config['hwaccel_args'])
     ffmpeg_input_args = ffmpeg.get('input_args', ffmpeg_global_config['input_args'])
@@ -154,12 +158,7 @@ def track_camera(name, config, ffmpeg_global_config, global_objects_config, dete
 
     frame_size = frame_shape[0] * frame_shape[1] * frame_shape[2]
 
-    try:
+    frame = np.zeros(frame_shape, np.uint8)
-        sa.delete(name)
-    except:
-        pass
-
-    frame = sa.create(name, shape=frame_shape, dtype=np.uint8)
 
     # load in the mask for object detection
     if 'mask' in config:
@@ -176,7 +175,7 @@ def track_camera(name, config, ffmpeg_global_config, global_objects_config, dete
 
     object_tracker = ObjectTracker(10)
     
-    ffmpeg_process = start_or_restart_ffmpeg(ffmpeg_cmd, frame_size)
+    ffmpeg_process = start_or_restart_ffmpeg(ffmpeg_cmd, frame_size, ffmpeg_pid)
     
     plasma_client = plasma.connect("/tmp/plasma")
     frame_num = 0
@@ -187,19 +186,22 @@ def track_camera(name, config, ffmpeg_global_config, global_objects_config, dete
     skipped_fps_tracker.start()
     object_detector.fps.start()
     while True:
-        start = datetime.datetime.now().timestamp()
+        rc = ffmpeg_process.poll()
+        if rc != None:
+            print(f"{name}: ffmpeg_process exited unexpectedly with {rc}")
+            print(f"Letting {name} rest for {ffmpeg_restart_delay} seconds before restarting...")
+            time.sleep(ffmpeg_restart_delay)
+            ffmpeg_process = start_or_restart_ffmpeg(ffmpeg_cmd, frame_size, ffmpeg_pid, ffmpeg_process)
+            time.sleep(10)
+
+        read_start.value = datetime.datetime.now().timestamp()
         frame_bytes = ffmpeg_process.stdout.read(frame_size)
-        duration = datetime.datetime.now().timestamp()-start
+        duration = datetime.datetime.now().timestamp()-read_start.value
+        read_start.value = 0.0
         avg_wait = (avg_wait*99+duration)/100
 
-        if not frame_bytes:
+        if len(frame_bytes) == 0:
-            rc = ffmpeg_process.poll()
+            print(f"{name}: ffmpeg_process didnt return any bytes")
-            if rc is not None:
-                print(f"{name}: ffmpeg_process exited unexpectedly with {rc}")
-                ffmpeg_process = start_or_restart_ffmpeg(ffmpeg_cmd, frame_size, ffmpeg_process)
-                time.sleep(10)
-            else:
-                print(f"{name}: ffmpeg_process is still running but didnt return any bytes")
             continue
 
         # limit frame rate