blakeblackshear.frigate/frigate/app.py

import argparse
import datetime
import logging
import multiprocessing as mp
import os
import shutil
import signal
import sys
import traceback
from multiprocessing import Queue
from multiprocessing.synchronize import Event as MpEvent
from types import FrameType
from typing import Optional

import psutil
from peewee_migrate import Router
from playhouse.sqlite_ext import SqliteExtDatabase
from playhouse.sqliteq import SqliteQueueDatabase

from frigate.comms.dispatcher import Communicator, Dispatcher
from frigate.comms.inter_process import InterProcessCommunicator
from frigate.comms.mqtt import MqttClient
from frigate.comms.ws import WebSocketClient
from frigate.config import BirdseyeModeEnum, FrigateConfig
from frigate.const import (
    CACHE_DIR,
    CLIPS_DIR,
    CONFIG_DIR,
    DEFAULT_DB_PATH,
    EXPORT_DIR,
    MODEL_CACHE_DIR,
    RECORD_DIR,
)
from frigate.events.audio import listen_to_audio
from frigate.events.cleanup import EventCleanup
from frigate.events.external import ExternalEventProcessor
from frigate.events.maintainer import EventProcessor
from frigate.http import create_app
from frigate.log import log_process, root_configurer
from frigate.models import Event, Recordings, RecordingsToDelete, Regions, Timeline
from frigate.object_detection import ObjectDetectProcess
from frigate.object_processing import TrackedObjectProcessor
from frigate.output import output_frames
from frigate.plus import PlusApi
from frigate.ptz.autotrack import PtzAutoTrackerThread
from frigate.ptz.onvif import OnvifController
from frigate.record.cleanup import RecordingCleanup
from frigate.record.record import manage_recordings
from frigate.stats import StatsEmitter, stats_init
from frigate.storage import StorageMaintainer
from frigate.timeline import TimelineProcessor
from frigate.types import CameraMetricsTypes, FeatureMetricsTypes, PTZMetricsTypes
from frigate.util.object import get_camera_regions_grid
from frigate.version import VERSION
from frigate.video import capture_camera, track_camera
from frigate.watchdog import FrigateWatchdog

logger = logging.getLogger(__name__)


class FrigateApp:
    def __init__(self) -> None:
        self.stop_event: MpEvent = mp.Event()
        self.detection_queue: Queue = mp.Queue()
        self.detectors: dict[str, ObjectDetectProcess] = {}
        self.detection_out_events: dict[str, MpEvent] = {}
        self.detection_shms: list[mp.shared_memory.SharedMemory] = []
        self.log_queue: Queue = mp.Queue()
        self.plus_api = PlusApi()
        self.camera_metrics: dict[str, CameraMetricsTypes] = {}
        self.feature_metrics: dict[str, FeatureMetricsTypes] = {}
        self.ptz_metrics: dict[str, PTZMetricsTypes] = {}
        self.processes: dict[str, int] = {}
        self.region_grids: dict[str, list[list[dict[str, int]]]] = {}

    def set_environment_vars(self) -> None:
        for key, value in self.config.environment_vars.items():
            os.environ[key] = value

    def ensure_dirs(self) -> None:
        for d in [
            CONFIG_DIR,
            RECORD_DIR,
            CLIPS_DIR,
            CACHE_DIR,
            MODEL_CACHE_DIR,
            EXPORT_DIR,
        ]:
            if not os.path.exists(d) and not os.path.islink(d):
                logger.info(f"Creating directory: {d}")
                os.makedirs(d)
            else:
                logger.debug(f"Skipping directory: {d}")

    def init_logger(self) -> None:
        self.log_process = mp.Process(
            target=log_process, args=(self.log_queue,), name="log_process"
        )
        self.log_process.daemon = True
        self.log_process.start()
        self.processes["logger"] = self.log_process.pid or 0
        root_configurer(self.log_queue)

    def init_config(self) -> None:
        config_file = os.environ.get("CONFIG_FILE", "/config/config.yml")

        # Check if we can use .yaml instead of .yml
        config_file_yaml = config_file.replace(".yml", ".yaml")
        if os.path.isfile(config_file_yaml):
            config_file = config_file_yaml

        user_config = FrigateConfig.parse_file(config_file)
        self.config = user_config.runtime_config(self.plus_api)

        for camera_name in self.config.cameras.keys():
            # create camera_metrics
            self.camera_metrics[camera_name] = {
                "camera_fps": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "skipped_fps": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "process_fps": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "detection_enabled": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].detect.enabled,
                ),
                "motion_enabled": mp.Value("i", True),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "improve_contrast_enabled": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].motion.improve_contrast,
                ),
                "motion_threshold": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].motion.threshold,
                ),
                "motion_contour_area": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].motion.contour_area,
                ),
                "detection_fps": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "detection_frame": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "read_start": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "ffmpeg_pid": mp.Value("i", 0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "frame_queue": mp.Queue(maxsize=2),
                "region_grid_queue": mp.Queue(maxsize=1),
                "capture_process": None,
                "process": None,
                "audio_rms": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                "audio_dBFS": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                "birdseye_enabled": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].birdseye.enabled,
                ),
                "birdseye_mode": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    BirdseyeModeEnum.get_index(
                        self.config.cameras[camera_name].birdseye.mode.value
                    ),
                ),
            }
            self.ptz_metrics[camera_name] = {
                "ptz_autotracker_enabled": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].onvif.autotracking.enabled,
                ),
                "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
                # from mypy 0.981 onwards
                "ptz_stop_time": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "ptz_frame_time": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "ptz_zoom_level": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "ptz_max_zoom": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
                "ptz_min_zoom": mp.Value("d", 0.0),  # type: ignore[typeddict-item]
                # issue https://github.com/python/typeshed/issues/8799
                # from mypy 0.981 onwards
            }
            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
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].audio.enabled,
                ),
                "record_enabled": mp.Value(  # type: ignore[typeddict-item]
                    # issue https://github.com/python/typeshed/issues/8799
                    # from mypy 0.981 onwards
                    "i",
                    self.config.cameras[camera_name].record.enabled,
                ),
            }

    def set_log_levels(self) -> None:
        logging.getLogger().setLevel(self.config.logger.default.value.upper())
        for log, level in self.config.logger.logs.items():
            logging.getLogger(log).setLevel(level.value.upper())

        if "werkzeug" not in self.config.logger.logs:
            logging.getLogger("werkzeug").setLevel("ERROR")

        if "ws4py" not in self.config.logger.logs:
            logging.getLogger("ws4py").setLevel("ERROR")

    def init_queues(self) -> None:
        # Queues for clip processing
        self.event_queue: Queue = mp.Queue()
        self.event_processed_queue: Queue = mp.Queue()
        self.video_output_queue: Queue = mp.Queue(
            maxsize=sum(camera.enabled for camera in self.config.cameras.values()) * 2
        )

        # Queue for cameras to push tracked objects to
        self.detected_frames_queue: Queue = mp.Queue(
            maxsize=sum(camera.enabled for camera in self.config.cameras.values()) * 2
        )

        # Queue for object recordings info
        self.object_recordings_info_queue: Queue = mp.Queue()

        # Queue for audio recordings info if enabled
        self.audio_recordings_info_queue: Optional[Queue] = (
            mp.Queue()
            if len([c for c in self.config.cameras.values() if c.audio.enabled]) > 0
            else None
        )

        # Queue for timeline events
        self.timeline_queue: Queue = mp.Queue()

        # Queue for inter process communication
        self.inter_process_queue: Queue = mp.Queue()

    def init_database(self) -> None:
        def vacuum_db(db: SqliteExtDatabase) -> None:
            logger.info("Running database vacuum")
            db.execute_sql("VACUUM;")

            try:
                with open(f"{CONFIG_DIR}/.vacuum", "w") as f:
                    f.write(str(datetime.datetime.now().timestamp()))
            except PermissionError:
                logger.error("Unable to write to /config to save DB state")

        def cleanup_timeline_db(db: SqliteExtDatabase) -> None:
            db.execute_sql(
                "DELETE FROM timeline WHERE source_id NOT IN (SELECT id FROM event);"
            )

            try:
                with open(f"{CONFIG_DIR}/.timeline", "w") as f:
                    f.write(str(datetime.datetime.now().timestamp()))
            except PermissionError:
                logger.error("Unable to write to /config to save DB state")

        # Migrate DB location
        old_db_path = DEFAULT_DB_PATH
        if not os.path.isfile(self.config.database.path) and os.path.isfile(
            old_db_path
        ):
            os.rename(old_db_path, self.config.database.path)

        # Migrate DB schema
        migrate_db = SqliteExtDatabase(self.config.database.path)

        # Run migrations
        del logging.getLogger("peewee_migrate").handlers[:]
        router = Router(migrate_db)
        router.run()

        # this is a temporary check to clean up user DB from beta
        # will be removed before final release
        if not os.path.exists(f"{CONFIG_DIR}/.timeline"):
            cleanup_timeline_db(migrate_db)

        # check if vacuum needs to be run
        if os.path.exists(f"{CONFIG_DIR}/.vacuum"):
            with open(f"{CONFIG_DIR}/.vacuum") as f:
                try:
                    timestamp = round(float(f.readline()))
                except Exception:
                    timestamp = 0

                if (
                    timestamp
                    < (
                        datetime.datetime.now() - datetime.timedelta(weeks=2)
                    ).timestamp()
                ):
                    vacuum_db(migrate_db)
        else:
            vacuum_db(migrate_db)

        migrate_db.close()

    def init_go2rtc(self) -> None:
        for proc in psutil.process_iter(["pid", "name"]):
            if proc.info["name"] == "go2rtc":
                logger.info(f"go2rtc process pid: {proc.info['pid']}")
                self.processes["go2rtc"] = proc.info["pid"]

    def init_recording_manager(self) -> None:
        recording_process = mp.Process(
            target=manage_recordings,
            name="recording_manager",
            args=(
                self.config,
                self.inter_process_queue,
                self.object_recordings_info_queue,
                self.audio_recordings_info_queue,
                self.feature_metrics,
            ),
        )
        recording_process.daemon = True
        self.recording_process = recording_process
        recording_process.start()
        self.processes["recording"] = recording_process.pid or 0
        logger.info(f"Recording process started: {recording_process.pid}")

    def bind_database(self) -> None:
        """Bind db to the main process."""
        # NOTE: all db accessing processes need to be created before the db can be bound to the main process
        self.db = SqliteQueueDatabase(
            self.config.database.path,
            pragmas={
                "auto_vacuum": "FULL",  # Does not defragment database
                "cache_size": -512 * 1000,  # 512MB of cache,
                "synchronous": "NORMAL",  # Safe when using WAL https://www.sqlite.org/pragma.html#pragma_synchronous
            },
            timeout=max(
                60, 10 * len([c for c in self.config.cameras.values() if c.enabled])
            ),
        )
        models = [Event, Recordings, RecordingsToDelete, Regions, Timeline]
        self.db.bind(models)

    def init_stats(self) -> None:
        self.stats_tracking = stats_init(
            self.config, self.camera_metrics, self.detectors, self.processes
        )

    def init_external_event_processor(self) -> None:
        self.external_event_processor = ExternalEventProcessor(
            self.config, self.event_queue
        )

    def init_inter_process_communicator(self) -> None:
        self.inter_process_communicator = InterProcessCommunicator(
            self.inter_process_queue
        )

    def init_web_server(self) -> None:
        self.flask_app = create_app(
            self.config,
            self.db,
            self.stats_tracking,
            self.detected_frames_processor,
            self.storage_maintainer,
            self.onvif_controller,
            self.external_event_processor,
            self.plus_api,
        )

    def init_onvif(self) -> None:
        self.onvif_controller = OnvifController(self.config, self.ptz_metrics)

    def init_dispatcher(self) -> None:
        comms: list[Communicator] = []

        if self.config.mqtt.enabled:
            comms.append(MqttClient(self.config))

        comms.append(WebSocketClient(self.config))
        comms.append(self.inter_process_communicator)

        self.dispatcher = Dispatcher(
            self.config,
            self.onvif_controller,
            self.camera_metrics,
            self.feature_metrics,
            self.ptz_metrics,
            comms,
        )

    def start_detectors(self) -> None:
        for name in self.config.cameras.keys():
            self.detection_out_events[name] = mp.Event()

            try:
                largest_frame = max(
                    [
                        det.model.height * det.model.width * 3
                        for (name, det) in self.config.detectors.items()
                    ]
                )
                shm_in = mp.shared_memory.SharedMemory(
                    name=name,
                    create=True,
                    size=largest_frame,
                )
            except FileExistsError:
                shm_in = mp.shared_memory.SharedMemory(name=name)

            try:
                shm_out = mp.shared_memory.SharedMemory(
                    name=f"out-{name}", create=True, size=20 * 6 * 4
                )
            except FileExistsError:
                shm_out = mp.shared_memory.SharedMemory(name=f"out-{name}")

            self.detection_shms.append(shm_in)
            self.detection_shms.append(shm_out)

        for name, detector_config in self.config.detectors.items():
            self.detectors[name] = ObjectDetectProcess(
                name,
                self.detection_queue,
                self.detection_out_events,
                detector_config,
            )

    def start_ptz_autotracker(self) -> None:
        self.ptz_autotracker_thread = PtzAutoTrackerThread(
            self.config,
            self.onvif_controller,
            self.ptz_metrics,
            self.dispatcher,
            self.stop_event,
        )
        self.ptz_autotracker_thread.start()

    def start_detected_frames_processor(self) -> None:
        self.detected_frames_processor = TrackedObjectProcessor(
            self.config,
            self.dispatcher,
            self.detected_frames_queue,
            self.event_queue,
            self.event_processed_queue,
            self.video_output_queue,
            self.object_recordings_info_queue,
            self.ptz_autotracker_thread,
            self.stop_event,
        )
        self.detected_frames_processor.start()

    def start_video_output_processor(self) -> None:
        output_processor = mp.Process(
            target=output_frames,
            name="output_processor",
            args=(
                self.config,
                self.video_output_queue,
                self.camera_metrics,
            ),
        )
        output_processor.daemon = True
        self.output_processor = output_processor
        output_processor.start()
        logger.info(f"Output process started: {output_processor.pid}")

    def init_historical_regions(self) -> None:
        # delete region grids for removed or renamed cameras
        cameras = list(self.config.cameras.keys())
        Regions.delete().where(~(Regions.camera << cameras)).execute()

        # create or update region grids for each camera
        for camera in self.config.cameras.values():
            self.region_grids[camera.name] = get_camera_regions_grid(
                camera.name,
                camera.detect,
                max(self.config.model.width, self.config.model.height),
            )

    def start_camera_processors(self) -> None:
        for name, config in self.config.cameras.items():
            if not self.config.cameras[name].enabled:
                logger.info(f"Camera processor not started for disabled camera {name}")
                continue

            camera_process = mp.Process(
                target=track_camera,
                name=f"camera_processor:{name}",
                args=(
                    name,
                    config,
                    self.config.model,
                    self.config.model.merged_labelmap,
                    self.detection_queue,
                    self.detection_out_events[name],
                    self.detected_frames_queue,
                    self.inter_process_queue,
                    self.camera_metrics[name],
                    self.ptz_metrics[name],
                    self.region_grids[name],
                ),
            )
            camera_process.daemon = True
            self.camera_metrics[name]["process"] = camera_process
            camera_process.start()
            logger.info(f"Camera processor started for {name}: {camera_process.pid}")

    def start_camera_capture_processes(self) -> None:
        for name, config in self.config.cameras.items():
            if not self.config.cameras[name].enabled:
                logger.info(f"Capture process not started for disabled camera {name}")
                continue

            capture_process = mp.Process(
                target=capture_camera,
                name=f"camera_capture:{name}",
                args=(name, config, self.camera_metrics[name]),
            )
            capture_process.daemon = True
            self.camera_metrics[name]["capture_process"] = capture_process
            capture_process.start()
            logger.info(f"Capture process started for {name}: {capture_process.pid}")

    def start_audio_processors(self) -> None:
        if len([c for c in self.config.cameras.values() if c.audio.enabled]) > 0:
            audio_process = mp.Process(
                target=listen_to_audio,
                name="audio_capture",
                args=(
                    self.config,
                    self.audio_recordings_info_queue,
                    self.camera_metrics,
                    self.feature_metrics,
                    self.inter_process_communicator,
                ),
            )
            audio_process.daemon = True
            audio_process.start()
            self.processes["audioDetector"] = audio_process.pid or 0
            logger.info(f"Audio process started: {audio_process.pid}")

    def start_timeline_processor(self) -> None:
        self.timeline_processor = TimelineProcessor(
            self.config, self.timeline_queue, self.stop_event
        )
        self.timeline_processor.start()

    def start_event_processor(self) -> None:
        self.event_processor = EventProcessor(
            self.config,
            self.camera_metrics,
            self.event_queue,
            self.event_processed_queue,
            self.timeline_queue,
            self.stop_event,
        )
        self.event_processor.start()

    def start_event_cleanup(self) -> None:
        self.event_cleanup = EventCleanup(self.config, self.stop_event)
        self.event_cleanup.start()

    def start_record_cleanup(self) -> None:
        self.record_cleanup = RecordingCleanup(self.config, self.stop_event)
        self.record_cleanup.start()

    def start_storage_maintainer(self) -> None:
        self.storage_maintainer = StorageMaintainer(self.config, self.stop_event)
        self.storage_maintainer.start()

    def start_stats_emitter(self) -> None:
        self.stats_emitter = StatsEmitter(
            self.config,
            self.stats_tracking,
            self.dispatcher,
            self.stop_event,
        )
        self.stats_emitter.start()

    def start_watchdog(self) -> None:
        self.frigate_watchdog = FrigateWatchdog(self.detectors, self.stop_event)
        self.frigate_watchdog.start()

    def check_shm(self) -> None:
        available_shm = round(shutil.disk_usage("/dev/shm").total / pow(2, 20), 1)
        min_req_shm = 30

        for _, camera in self.config.cameras.items():
            min_req_shm += round(
                (camera.detect.width * camera.detect.height * 1.5 * 9 + 270480)
                / 1048576,
                1,
            )

        if available_shm < min_req_shm:
            logger.warning(
                f"The current SHM size of {available_shm}MB is too small, recommend increasing it to at least {min_req_shm}MB."
            )

    def start(self) -> None:
        parser = argparse.ArgumentParser(
            prog="Frigate",
            description="An NVR with realtime local object detection for IP cameras.",
        )
        parser.add_argument("--validate-config", action="store_true")
        args = parser.parse_args()

        self.init_logger()
        logger.info(f"Starting Frigate ({VERSION})")
        try:
            self.ensure_dirs()
            try:
                self.init_config()
            except Exception as e:
                print("*************************************************************")
                print("*************************************************************")
                print("***    Your config file is not valid!                     ***")
                print("***    Please check the docs at                           ***")
                print("***    https://docs.frigate.video/configuration/index     ***")
                print("*************************************************************")
                print("*************************************************************")
                print("***    Config Validation Errors                           ***")
                print("*************************************************************")
                print(e)
                print(traceback.format_exc())
                print("*************************************************************")
                print("***    End Config Validation Errors                       ***")
                print("*************************************************************")
                self.log_process.terminate()
                sys.exit(1)
            if args.validate_config:
                print("*************************************************************")
                print("*** Your config file is valid.                            ***")
                print("*************************************************************")
                self.log_process.terminate()
                sys.exit(0)
            self.set_environment_vars()
            self.set_log_levels()
            self.init_queues()
            self.init_database()
            self.init_onvif()
            self.init_recording_manager()
            self.init_go2rtc()
            self.bind_database()
            self.init_inter_process_communicator()
            self.init_dispatcher()
        except Exception as e:
            print(e)
            self.log_process.terminate()
            sys.exit(1)
        self.start_detectors()
        self.start_video_output_processor()
        self.start_ptz_autotracker()
        self.init_historical_regions()
        self.start_detected_frames_processor()
        self.start_camera_processors()
        self.start_camera_capture_processes()
        self.start_audio_processors()
        self.start_storage_maintainer()
        self.init_stats()
        self.init_external_event_processor()
        self.init_web_server()
        self.start_timeline_processor()
        self.start_event_processor()
        self.start_event_cleanup()
        self.start_record_cleanup()
        self.start_stats_emitter()
        self.start_watchdog()
        self.check_shm()

        def receiveSignal(signalNumber: int, frame: Optional[FrameType]) -> None:
            self.stop()
            sys.exit()

        signal.signal(signal.SIGTERM, receiveSignal)

        try:
            self.flask_app.run(host="127.0.0.1", port=5001, debug=False, threaded=True)
        except KeyboardInterrupt:
            pass

        self.stop()

    def stop(self) -> None:
        logger.info("Stopping...")
        self.stop_event.set()

        for detector in self.detectors.values():
            detector.stop()

        # Empty the detection queue and set the events for all requests
        while not self.detection_queue.empty():
            connection_id = self.detection_queue.get(timeout=1)
            self.detection_out_events[connection_id].set()
        self.detection_queue.close()
        self.detection_queue.join_thread()

        self.dispatcher.stop()
        self.detected_frames_processor.join()
        self.ptz_autotracker_thread.join()
        self.event_processor.join()
        self.event_cleanup.join()
        self.record_cleanup.join()
        self.stats_emitter.join()
        self.frigate_watchdog.join()
        self.db.stop()

        while len(self.detection_shms) > 0:
            shm = self.detection_shms.pop()
            shm.close()
            shm.unlink()

        for queue in [
            self.event_queue,
            self.event_processed_queue,
            self.video_output_queue,
            self.detected_frames_queue,
            self.object_recordings_info_queue,
            self.audio_recordings_info_queue,
            self.log_queue,
            self.inter_process_queue,
        ]:
            if queue is not None:
                while not queue.empty():
                    queue.get_nowait()
                queue.close()
                queue.join_thread()