blakeblackshear.frigate/frigate/ptz/onvif.py

"""Configure and control camera via onvif."""

import datetime
import logging
import site
from enum import Enum

import numpy
from onvif import ONVIFCamera, ONVIFError

from frigate.config import FrigateConfig
from frigate.types import PTZMetricsTypes

logger = logging.getLogger(__name__)


class OnvifCommandEnum(str, Enum):
    """Holds all possible move commands"""

    init = "init"
    move_down = "move_down"
    move_left = "move_left"
    move_right = "move_right"
    move_up = "move_up"
    preset = "preset"
    stop = "stop"
    zoom_in = "zoom_in"
    zoom_out = "zoom_out"


class OnvifController:
    def __init__(
        self, config: FrigateConfig, ptz_metrics: dict[str, PTZMetricsTypes]
    ) -> None:
        self.cams: dict[str, ONVIFCamera] = {}
        self.ptz_metrics = ptz_metrics

        for cam_name, cam in config.cameras.items():
            if not cam.enabled:
                continue

            if cam.onvif.host:
                try:
                    self.cams[cam_name] = {
                        "onvif": ONVIFCamera(
                            cam.onvif.host,
                            cam.onvif.port,
                            cam.onvif.user,
                            cam.onvif.password,
                            wsdl_dir=site.getsitepackages()[0].replace(
                                "dist-packages", "site-packages"
                            )
                            + "/wsdl",
                        ),
                        "init": False,
                        "active": False,
                        "features": [],
                        "presets": {},
                    }
                except ONVIFError as e:
                    logger.error(f"Onvif connection to {cam.name} failed: {e}")

    def _init_onvif(self, camera_name: str) -> bool:
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]

        # create init services
        media = onvif.create_media_service()

        try:
            profile = media.GetProfiles()[0]
        except ONVIFError as e:
            logger.error(f"Unable to connect to camera: {camera_name}: {e}")
            return False

        ptz = onvif.create_ptz_service()
        request = ptz.create_type("GetConfigurationOptions")
        request.ConfigurationToken = profile.PTZConfiguration.token
        ptz_config = ptz.GetConfigurationOptions(request)
        logger.debug(f"Onvif config for {camera_name}: {ptz_config}")

        fov_space_id = next(
            (
                i
                for i, space in enumerate(
                    ptz_config.Spaces.RelativePanTiltTranslationSpace
                )
                if "TranslationSpaceFov" in space["URI"]
            ),
            None,
        )

        # setup continuous moving request
        move_request = ptz.create_type("ContinuousMove")
        move_request.ProfileToken = profile.token
        self.cams[camera_name]["move_request"] = move_request

        # setup relative moving request for autotracking
        move_request = ptz.create_type("RelativeMove")
        move_request.ProfileToken = profile.token
        if move_request.Translation is None and fov_space_id is not None:
            move_request.Translation = ptz.GetStatus(
                {"ProfileToken": profile.token}
            ).Position
            move_request.Translation.PanTilt.space = ptz_config["Spaces"][
                "RelativePanTiltTranslationSpace"
            ][fov_space_id]["URI"]

        try:
            move_request.Translation.Zoom.space = ptz_config["Spaces"][
                "RelativeZoomTranslationSpace"
            ][0]["URI"]
        except Exception:
            # camera does not support relative zoom
            pass

        if move_request.Speed is None:
            move_request.Speed = ptz.GetStatus({"ProfileToken": profile.token}).Position
        self.cams[camera_name]["relative_move_request"] = move_request

        # setup relative moving request for autotracking
        move_request = ptz.create_type("AbsoluteMove")
        move_request.ProfileToken = profile.token
        self.cams[camera_name]["absolute_move_request"] = move_request

        # status request for autotracking
        status_request = ptz.create_type("GetStatus")
        status_request.ProfileToken = profile.token
        self.cams[camera_name]["status_request"] = status_request

        # setup existing presets
        try:
            presets: list[dict] = ptz.GetPresets({"ProfileToken": profile.token})
        except ONVIFError as e:
            logger.warning(f"Unable to get presets from camera: {camera_name}: {e}")
            presets = []

        for preset in presets:
            self.cams[camera_name]["presets"][preset["Name"].lower()] = preset["token"]

        # get list of supported features
        ptz_config = ptz.GetConfigurationOptions(request)
        supported_features = []

        if ptz_config.Spaces and ptz_config.Spaces.ContinuousPanTiltVelocitySpace:
            supported_features.append("pt")

        if ptz_config.Spaces and ptz_config.Spaces.ContinuousZoomVelocitySpace:
            supported_features.append("zoom")

        if ptz_config.Spaces and ptz_config.Spaces.RelativePanTiltTranslationSpace:
            supported_features.append("pt-r")

        if ptz_config.Spaces and ptz_config.Spaces.RelativeZoomTranslationSpace:
            supported_features.append("zoom-r")

        if fov_space_id is not None:
            supported_features.append("pt-r-fov")
            self.cams[camera_name][
                "relative_fov_range"
            ] = ptz_config.Spaces.RelativePanTiltTranslationSpace[fov_space_id]

        self.cams[camera_name]["relative_fov_supported"] = fov_space_id is not None

        self.cams[camera_name]["features"] = supported_features

        self.cams[camera_name]["init"] = True
        return True

    def _stop(self, camera_name: str) -> None:
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        move_request = self.cams[camera_name]["move_request"]
        onvif.get_service("ptz").Stop(
            {
                "ProfileToken": move_request.ProfileToken,
                "PanTilt": True,
                "Zoom": True,
            }
        )
        self.cams[camera_name]["active"] = False

    def _move(self, camera_name: str, command: OnvifCommandEnum) -> None:
        if self.cams[camera_name]["active"]:
            logger.warning(
                f"{camera_name} is already performing an action, stopping..."
            )
            self._stop(camera_name)

        self.cams[camera_name]["active"] = True
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        move_request = self.cams[camera_name]["move_request"]

        if command == OnvifCommandEnum.move_left:
            move_request.Velocity = {"PanTilt": {"x": -0.5, "y": 0}}
        elif command == OnvifCommandEnum.move_right:
            move_request.Velocity = {"PanTilt": {"x": 0.5, "y": 0}}
        elif command == OnvifCommandEnum.move_up:
            move_request.Velocity = {
                "PanTilt": {
                    "x": 0,
                    "y": 0.5,
                }
            }
        elif command == OnvifCommandEnum.move_down:
            move_request.Velocity = {
                "PanTilt": {
                    "x": 0,
                    "y": -0.5,
                }
            }

        onvif.get_service("ptz").ContinuousMove(move_request)

    def _move_relative(self, camera_name: str, pan, tilt, speed) -> None:
        if not self.cams[camera_name]["relative_fov_supported"]:
            logger.error(f"{camera_name} does not support ONVIF RelativeMove (FOV).")
            return

        logger.debug(f"{camera_name} called RelativeMove: pan: {pan} tilt: {tilt}")

        if self.cams[camera_name]["active"]:
            logger.warning(
                f"{camera_name} is already performing an action, not moving..."
            )
            return

        self.cams[camera_name]["active"] = True
        self.ptz_metrics[camera_name]["ptz_stopped"].clear()
        logger.debug(f"PTZ start time: {datetime.datetime.now().timestamp()}")
        self.ptz_metrics[camera_name][
            "ptz_start_time"
        ].value = datetime.datetime.now().timestamp()
        self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        move_request = self.cams[camera_name]["relative_move_request"]

        # function takes in -1 to 1 for pan and tilt, interpolate to the values of the camera.
        # The onvif spec says this can report as +INF and -INF, so this may need to be modified
        pan = numpy.interp(
            pan,
            [-1, 1],
            [
                self.cams[camera_name]["relative_fov_range"]["XRange"]["Min"],
                self.cams[camera_name]["relative_fov_range"]["XRange"]["Max"],
            ],
        )
        tilt = numpy.interp(
            tilt,
            [-1, 1],
            [
                self.cams[camera_name]["relative_fov_range"]["YRange"]["Min"],
                self.cams[camera_name]["relative_fov_range"]["YRange"]["Max"],
            ],
        )

        move_request.Speed = {
            "PanTilt": {
                "x": speed,
                "y": speed,
            },
            "Zoom": 0,
        }

        move_request.Translation.PanTilt.x = pan
        move_request.Translation.PanTilt.y = tilt
        move_request.Translation.Zoom.x = 0

        onvif.get_service("ptz").RelativeMove(move_request)

        self.cams[camera_name]["active"] = False

    def _move_to_preset(self, camera_name: str, preset: str) -> None:
        if preset not in self.cams[camera_name]["presets"]:
            logger.error(f"{preset} is not a valid preset for {camera_name}")
            return

        self.cams[camera_name]["active"] = True
        self.ptz_metrics[camera_name]["ptz_stopped"].clear()
        move_request = self.cams[camera_name]["move_request"]
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        preset_token = self.cams[camera_name]["presets"][preset]
        onvif.get_service("ptz").GotoPreset(
            {
                "ProfileToken": move_request.ProfileToken,
                "PresetToken": preset_token,
            }
        )
        self.ptz_metrics[camera_name]["ptz_stopped"].set()
        self.cams[camera_name]["active"] = False

    def _zoom(self, camera_name: str, command: OnvifCommandEnum) -> None:
        if self.cams[camera_name]["active"]:
            logger.warning(
                f"{camera_name} is already performing an action, stopping..."
            )
            self._stop(camera_name)

        self.cams[camera_name]["active"] = True
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        move_request = self.cams[camera_name]["move_request"]

        if command == OnvifCommandEnum.zoom_in:
            move_request.Velocity = {"Zoom": {"x": 0.5}}
        elif command == OnvifCommandEnum.zoom_out:
            move_request.Velocity = {"Zoom": {"x": -0.5}}

        onvif.get_service("ptz").ContinuousMove(move_request)

    def handle_command(
        self, camera_name: str, command: OnvifCommandEnum, param: str = ""
    ) -> None:
        if camera_name not in self.cams.keys():
            logger.error(f"Onvif is not setup for {camera_name}")
            return

        if not self.cams[camera_name]["init"]:
            if not self._init_onvif(camera_name):
                return

        if command == OnvifCommandEnum.init:
            # already init
            return
        elif command == OnvifCommandEnum.stop:
            self._stop(camera_name)
        elif command == OnvifCommandEnum.preset:
            self._move_to_preset(camera_name, param)
        elif (
            command == OnvifCommandEnum.zoom_in or command == OnvifCommandEnum.zoom_out
        ):
            self._zoom(camera_name, command)
        else:
            self._move(camera_name, command)

    def get_camera_info(self, camera_name: str) -> dict[str, any]:
        if camera_name not in self.cams.keys():
            logger.error(f"Onvif is not setup for {camera_name}")
            return {}

        if not self.cams[camera_name]["init"]:
            self._init_onvif(camera_name)

        return {
            "name": camera_name,
            "features": self.cams[camera_name]["features"],
            "presets": list(self.cams[camera_name]["presets"].keys()),
        }

    def get_camera_status(self, camera_name: str) -> dict[str, any]:
        if camera_name not in self.cams.keys():
            logger.error(f"Onvif is not setup for {camera_name}")
            return {}

        if not self.cams[camera_name]["init"]:
            self._init_onvif(camera_name)

        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        status_request = self.cams[camera_name]["status_request"]
        status = onvif.get_service("ptz").GetStatus(status_request)

        if status.MoveStatus.PanTilt == "IDLE" and status.MoveStatus.Zoom == "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()

                logger.debug(f"PTZ stop time: {datetime.datetime.now().timestamp()}")

                self.ptz_metrics[camera_name][
                    "ptz_stop_time"
                ].value = datetime.datetime.now().timestamp()
        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()

                logger.debug(f"PTZ start time: {datetime.datetime.now().timestamp()}")

                self.ptz_metrics[camera_name][
                    "ptz_start_time"
                ].value = datetime.datetime.now().timestamp()
                self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0

        return {
            "pan": status.Position.PanTilt.x,
            "tilt": status.Position.PanTilt.y,
            "zoom": status.Position.Zoom.x,
            "pantilt_moving": status.MoveStatus.PanTilt,
            "zoom_moving": status.MoveStatus.Zoom,
        }