blakeblackshear.frigate/frigate/ptz/onvif.py

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

import logging
import site
from enum import Enum

import numpy
from onvif import ONVIFCamera, ONVIFError
from zeep.exceptions import Fault, TransportError

from frigate.config import FrigateConfig, ZoomingModeEnum
from frigate.types import PTZMetricsTypes
from frigate.util.builtin import find_by_key

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.config = config
        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:
            # this will fire an exception if camera is not a ptz
            capabilities = onvif.get_definition("ptz")
            logger.debug(f"Onvif capabilities for {camera_name}: {capabilities}")
            profile = media.GetProfiles()[0]
        except (ONVIFError, Fault, TransportError) as e:
            logger.error(f"Unable to connect to camera: {camera_name}: {e}")
            return False

        ptz = onvif.create_ptz_service()

        # get the PTZ config for the first onvif profile
        configs = profile.PTZConfiguration
        logger.debug(f"Onvif ptz config for media profile in {camera_name}: {configs}")

        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}")

        service_capabilities_request = ptz.create_type("GetServiceCapabilities")
        self.cams[camera_name][
            "service_capabilities_request"
        ] = service_capabilities_request

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

        # status request for autotracking and filling ptz-parameters
        status_request = ptz.create_type("GetStatus")
        status_request.ProfileToken = profile.token
        self.cams[camera_name]["status_request"] = status_request
        try:
            status = ptz.GetStatus(status_request)
            logger.debug(f"Onvif status config for {camera_name}: {status}")
        except Exception as e:
            logger.warning(f"Unable to get status from camera: {camera_name}: {e}")
            status = None

        # autoracking relative panning/tilting needs a relative zoom value set to 0
        # if camera supports relative movement
        if self.config.cameras[camera_name].onvif.autotracking.zooming:
            zoom_space_id = next(
                (
                    i
                    for i, space in enumerate(
                        ptz_config.Spaces.RelativeZoomTranslationSpace
                    )
                    if "TranslationGenericSpace" 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
        logger.debug(f"{camera_name}: Relative move request: {move_request}")
        if move_request.Translation is None and fov_space_id is not None:
            move_request.Translation = status.Position
            move_request.Translation.PanTilt.space = ptz_config["Spaces"][
                "RelativePanTiltTranslationSpace"
            ][fov_space_id]["URI"]

        # try setting relative zoom translation space
        try:
            if (
                self.config.cameras[camera_name].onvif.autotracking.zooming
                == ZoomingModeEnum.relative
            ):
                if zoom_space_id is not None:
                    move_request.Translation.Zoom.space = ptz_config["Spaces"][
                        "RelativeZoomTranslationSpace"
                    ][0]["URI"]
        except Exception:
            if (
                self.config.cameras[camera_name].onvif.autotracking.zooming
                == ZoomingModeEnum.relative
            ):
                self.config.cameras[
                    camera_name
                ].onvif.autotracking.zooming = ZoomingModeEnum.disabled
                logger.warning(
                    f"Disabling autotracking zooming for {camera_name}: Relative zoom not supported"
                )

        if move_request.Speed is None:
            move_request.Speed = configs.DefaultPTZSpeed if configs else None
        logger.debug(
            f"{camera_name}: Relative move request after setup: {move_request}"
        )
        self.cams[camera_name]["relative_move_request"] = move_request

        # setup absolute moving request for autotracking zooming
        move_request = ptz.create_type("AbsoluteMove")
        move_request.ProfileToken = profile.token
        self.cams[camera_name]["absolute_move_request"] = move_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"][
                (getattr(preset, "Name") or f"preset {preset['token']}").lower()
            ] = preset["token"]

        # get list of supported features
        supported_features = []

        if configs.DefaultContinuousPanTiltVelocitySpace:
            supported_features.append("pt")

        if configs.DefaultContinuousZoomVelocitySpace:
            supported_features.append("zoom")

        if configs.DefaultRelativePanTiltTranslationSpace:
            supported_features.append("pt-r")

        if configs.DefaultRelativeZoomTranslationSpace:
            supported_features.append("zoom-r")
            try:
                # get camera's zoom limits from onvif config
                self.cams[camera_name][
                    "relative_zoom_range"
                ] = ptz_config.Spaces.RelativeZoomTranslationSpace[0]
            except Exception:
                if (
                    self.config.cameras[camera_name].onvif.autotracking.zooming
                    == ZoomingModeEnum.relative
                ):
                    self.config.cameras[
                        camera_name
                    ].onvif.autotracking.zooming = ZoomingModeEnum.disabled
                    logger.warning(
                        f"Disabling autotracking zooming for {camera_name}: Relative zoom not supported"
                    )

        if configs.DefaultAbsoluteZoomPositionSpace:
            supported_features.append("zoom-a")
            try:
                # get camera's zoom limits from onvif config
                self.cams[camera_name][
                    "absolute_zoom_range"
                ] = ptz_config.Spaces.AbsoluteZoomPositionSpace[0]
                self.cams[camera_name]["zoom_limits"] = configs.ZoomLimits
            except Exception:
                if self.config.cameras[camera_name].onvif.autotracking.zooming:
                    self.config.cameras[
                        camera_name
                    ].onvif.autotracking.zooming = ZoomingModeEnum.disabled
                    logger.warning(
                        f"Disabling autotracking zooming for {camera_name}: Absolute zoom not supported"
                    )

        # set relative pan/tilt space for autotracker
        if (
            fov_space_id is not None
            and configs.DefaultRelativePanTiltTranslationSpace 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]["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, zoom, speed) -> None:
        if "pt-r-fov" not in self.cams[camera_name]["features"]:
            logger.error(f"{camera_name} does not support ONVIF RelativeMove (FOV).")
            return

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

        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_motor_stopped"].clear()
        logger.debug(
            f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
        )
        self.ptz_metrics[camera_name]["ptz_start_time"].value = self.ptz_metrics[
            camera_name
        ]["ptz_frame_time"].value
        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,
            },
        }

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

        if "zoom-r" in self.cams[camera_name]["features"]:
            move_request.Speed = {
                "PanTilt": {
                    "x": speed,
                    "y": speed,
                },
                "Zoom": {"x": speed},
            }
            move_request.Translation.Zoom.x = zoom

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

        # reset after the move request
        move_request.Translation.PanTilt.x = 0
        move_request.Translation.PanTilt.y = 0

        if "zoom-r" in self.cams[camera_name]["features"]:
            move_request.Translation.Zoom.x = 0

        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_motor_stopped"].clear()
        self.ptz_metrics[camera_name]["ptz_start_time"].value = 0
        self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0
        move_request = self.cams[camera_name]["move_request"]
        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.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 _zoom_absolute(self, camera_name: str, zoom, speed) -> None:
        if "zoom-a" not in self.cams[camera_name]["features"]:
            logger.error(f"{camera_name} does not support ONVIF AbsoluteMove zooming.")
            return

        logger.debug(f"{camera_name} called AbsoluteMove: zoom: {zoom}")

        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_motor_stopped"].clear()
        logger.debug(
            f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
        )
        self.ptz_metrics[camera_name]["ptz_start_time"].value = self.ptz_metrics[
            camera_name
        ]["ptz_frame_time"].value
        self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0
        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        move_request = self.cams[camera_name]["absolute_move_request"]

        # function takes in 0 to 1 for zoom, interpolate to the values of the camera.
        zoom = numpy.interp(
            zoom,
            [0, 1],
            [
                self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Min"],
                self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Max"],
            ],
        )

        move_request.Speed = {"Zoom": speed}
        move_request.Position = {"Zoom": zoom}

        logger.debug(f"{camera_name}: Absolute zoom: {zoom}")

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

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

    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_service_capabilities(self, camera_name: 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"]:
            self._init_onvif(camera_name)

        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        service_capabilities_request = self.cams[camera_name][
            "service_capabilities_request"
        ]
        service_capabilities = onvif.get_service("ptz").GetServiceCapabilities(
            service_capabilities_request
        )

        logger.debug(
            f"Onvif service capabilities for {camera_name}: {service_capabilities}"
        )

        # MoveStatus is required for autotracking - should return "true" if supported
        return find_by_key(vars(service_capabilities), "MoveStatus")

    def get_camera_status(self, camera_name: 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"]:
            self._init_onvif(camera_name)

        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
        status_request = self.cams[camera_name]["status_request"]
        try:
            status = onvif.get_service("ptz").GetStatus(status_request)
        except Exception:
            pass  # We're unsupported, that'll be reported in the next check.

        # there doesn't seem to be an onvif standard with this optional parameter
        # some cameras can report MoveStatus with or without PanTilt or Zoom attributes
        pan_tilt_status = getattr(status.MoveStatus, "PanTilt", None)
        zoom_status = getattr(status.MoveStatus, "Zoom", None)

        # if it's not an attribute, see if MoveStatus even exists in the status result
        if pan_tilt_status is None:
            pan_tilt_status = getattr(status, "MoveStatus", None)

            # we're unsupported
            if pan_tilt_status is None or pan_tilt_status.lower() not in [
                "idle",
                "moving",
            ]:
                logger.error(
                    f"Camera {camera_name} does not support the ONVIF GetStatus method. Autotracking will not function correctly and must be disabled in your config."
                )
                return

        if pan_tilt_status.lower() == "idle" and (
            zoom_status is None or zoom_status.lower() == "idle"
        ):
            self.cams[camera_name]["active"] = False
            if not self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set():
                self.ptz_metrics[camera_name]["ptz_motor_stopped"].set()

                logger.debug(
                    f"{camera_name}: PTZ stop time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
                )

                self.ptz_metrics[camera_name]["ptz_stop_time"].value = self.ptz_metrics[
                    camera_name
                ]["ptz_frame_time"].value
        else:
            self.cams[camera_name]["active"] = True
            if self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set():
                self.ptz_metrics[camera_name]["ptz_motor_stopped"].clear()

                logger.debug(
                    f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
                )

                self.ptz_metrics[camera_name][
                    "ptz_start_time"
                ].value = self.ptz_metrics[camera_name]["ptz_frame_time"].value
                self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0

        if (
            self.config.cameras[camera_name].onvif.autotracking.zooming
            != ZoomingModeEnum.disabled
        ):
            # store absolute zoom level as 0 to 1 interpolated from the values of the camera
            self.ptz_metrics[camera_name]["ptz_zoom_level"].value = numpy.interp(
                round(status.Position.Zoom.x, 2),
                [0, 1],
                [
                    self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Min"],
                    self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Max"],
                ],
            )
            logger.debug(
                f'{camera_name}: Camera zoom level: {self.ptz_metrics[camera_name]["ptz_zoom_level"].value}'
            )

        # some hikvision cams won't update MoveStatus, so warn if it hasn't changed
        if (
            not self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set()
            and not self.ptz_metrics[camera_name]["ptz_reset"].is_set()
            and self.ptz_metrics[camera_name]["ptz_start_time"].value != 0
            and self.ptz_metrics[camera_name]["ptz_frame_time"].value
            > (self.ptz_metrics[camera_name]["ptz_start_time"].value + 10)
            and self.ptz_metrics[camera_name]["ptz_stop_time"].value == 0
        ):
            logger.debug(
                f'Start time: {self.ptz_metrics[camera_name]["ptz_start_time"].value}, Stop time: {self.ptz_metrics[camera_name]["ptz_stop_time"].value}, Frame time: {self.ptz_metrics[camera_name]["ptz_frame_time"].value}'
            )
            # set the stop time so we don't come back into this again and spam the logs
            self.ptz_metrics[camera_name]["ptz_stop_time"].value = self.ptz_metrics[
                camera_name
            ]["ptz_frame_time"].value
            logger.warning(f"Camera {camera_name} is still in ONVIF 'MOVING' status.")