Add MQTT topic for active autotracking (#8419)

* prevent estimate clipping when autotracking

* use unclipped estimate in distance function only

* remove autotracking velocity changes

* publish on init

docs/docs/integrations/mqtt.md

@@ -221,6 +221,10 @@ Topic to turn the PTZ autotracker for a camera on and off. Expected values are `
 
 Topic with current state of the PTZ autotracker for a camera. Published values are `ON` and `OFF`.
 
+### `frigate/<camera_name>/ptz_autotracker/active`
+
+Topic to determine if PTZ autotracker is actively tracking an object. Published values are `ON` and `OFF`.
+
 ### `frigate/<camera_name>/birdseye/set`
 
 Topic to turn Birdseye for a camera on and off. Expected values are `ON` and `OFF`. Birdseye mode

frigate/app.py

@@ -191,7 +191,8 @@ class FrigateApp:
                     "i",
                     self.config.cameras[camera_name].onvif.autotracking.enabled,
                 ),
-                "ptz_stopped": mp.Event(),
+                "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
@@ -212,7 +213,7 @@ class FrigateApp:
                 # issue https://github.com/python/typeshed/issues/8799
                 # from mypy 0.981 onwards
             }
-            self.ptz_metrics[camera_name]["ptz_stopped"].set()
+            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
@@ -444,6 +445,7 @@ class FrigateApp:
             self.config,
             self.onvif_controller,
             self.ptz_metrics,
+            self.dispatcher,
             self.stop_event,
         )
         self.ptz_autotracker_thread.start()

frigate/ptz/autotrack.py

@@ -18,6 +18,7 @@ from norfair.camera_motion import (
     TranslationTransformationGetter,
 )
 
+from frigate.comms.dispatcher import Dispatcher
 from frigate.config import CameraConfig, FrigateConfig, ZoomingModeEnum
 from frigate.const import (
     AUTOTRACKING_MAX_AREA_RATIO,
@@ -144,11 +145,12 @@ class PtzAutoTrackerThread(threading.Thread):
         config: FrigateConfig,
         onvif: OnvifController,
         ptz_metrics: dict[str, PTZMetricsTypes],
+        dispatcher: Dispatcher,
         stop_event: MpEvent,
     ) -> None:
         threading.Thread.__init__(self)
         self.name = "ptz_autotracker"
-        self.ptz_autotracker = PtzAutoTracker(config, onvif, ptz_metrics)
+        self.ptz_autotracker = PtzAutoTracker(config, onvif, ptz_metrics, dispatcher)
         self.stop_event = stop_event
         self.config = config
 
@@ -175,10 +177,12 @@ class PtzAutoTracker:
         config: FrigateConfig,
         onvif: OnvifController,
         ptz_metrics: PTZMetricsTypes,
+        dispatcher: Dispatcher,
     ) -> None:
         self.config = config
         self.onvif = onvif
         self.ptz_metrics = ptz_metrics
+        self.dispatcher = dispatcher
         self.tracked_object: dict[str, object] = {}
         self.tracked_object_history: dict[str, object] = {}
         self.tracked_object_metrics: dict[str, object] = {}
@@ -294,6 +298,8 @@ class PtzAutoTracker:
             if camera_config.onvif.autotracking.calibrate_on_startup:
                 self._calibrate_camera(camera)
 
+        self.ptz_metrics[camera]["ptz_tracking_active"].clear()
+        self.dispatcher.publish(f"{camera}/ptz_autotracker/active", "OFF", retain=False)
         self.autotracker_init[camera] = True
 
     def _write_config(self, camera):
@@ -338,7 +344,7 @@ class PtzAutoTracker:
                     1,
                 )
 
-                while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+                while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                     self.onvif.get_camera_status(camera)
 
                 zoom_out_values.append(self.ptz_metrics[camera]["ptz_zoom_level"].value)
@@ -349,7 +355,7 @@ class PtzAutoTracker:
                     1,
                 )
 
-                while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+                while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                     self.onvif.get_camera_status(camera)
 
                 zoom_in_values.append(self.ptz_metrics[camera]["ptz_zoom_level"].value)
@@ -367,7 +373,7 @@ class PtzAutoTracker:
                         1,
                     )
 
-                    while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+                    while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                         self.onvif.get_camera_status(camera)
 
                     zoom_out_values.append(
@@ -383,7 +389,7 @@ class PtzAutoTracker:
                         1,
                     )
 
-                    while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+                    while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                         self.onvif.get_camera_status(camera)
 
                     zoom_in_values.append(
@@ -406,10 +412,10 @@ class PtzAutoTracker:
             self.config.cameras[camera].onvif.autotracking.return_preset.lower(),
         )
         self.ptz_metrics[camera]["ptz_reset"].set()
-        self.ptz_metrics[camera]["ptz_stopped"].clear()
+        self.ptz_metrics[camera]["ptz_motor_stopped"].clear()
 
         # Wait until the camera finishes moving
-        while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+        while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
             self.onvif.get_camera_status(camera)
 
         for step in range(num_steps):
@@ -420,7 +426,7 @@ class PtzAutoTracker:
             self.onvif._move_relative(camera, pan, tilt, 0, 1)
 
             # Wait until the camera finishes moving
-            while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+            while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                 self.onvif.get_camera_status(camera)
             stop_time = time.time()
 
@@ -438,10 +444,10 @@ class PtzAutoTracker:
                 self.config.cameras[camera].onvif.autotracking.return_preset.lower(),
             )
             self.ptz_metrics[camera]["ptz_reset"].set()
-            self.ptz_metrics[camera]["ptz_stopped"].clear()
+            self.ptz_metrics[camera]["ptz_motor_stopped"].clear()
 
             # Wait until the camera finishes moving
-            while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+            while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                 self.onvif.get_camera_status(camera)
 
             logger.info(
@@ -606,7 +612,9 @@ class PtzAutoTracker:
                             self.onvif._move_relative(camera, pan, tilt, 0, 1)
 
                             # Wait until the camera finishes moving
-                            while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+                            while not self.ptz_metrics[camera][
+                                "ptz_motor_stopped"
+                            ].is_set():
                                 self.onvif.get_camera_status(camera)
 
                         if (
@@ -616,7 +624,7 @@ class PtzAutoTracker:
                             self.onvif._zoom_absolute(camera, zoom, 1)
 
                     # Wait until the camera finishes moving
-                    while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+                    while not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                         self.onvif.get_camera_status(camera)
 
                     if self.config.cameras[camera].onvif.autotracking.movement_weights:
@@ -1118,6 +1126,10 @@ class PtzAutoTracker:
                 logger.debug(
                     f"{camera}: New object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
                 )
+                self.ptz_metrics[camera]["ptz_tracking_active"].set()
+                self.dispatcher.publish(
+                    f"{camera}/ptz_autotracker/active", "ON", retain=False
+                )
                 self.tracked_object[camera] = obj
 
                 self.tracked_object_history[camera].append(copy.deepcopy(obj.obj_data))
@@ -1220,7 +1232,7 @@ class PtzAutoTracker:
         if not self.autotracker_init[camera]:
             self._autotracker_setup(self.config.cameras[camera], camera)
         # regularly update camera status
-        if not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+        if not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
             self.onvif.get_camera_status(camera)
 
         # return to preset if tracking is over
@@ -1243,7 +1255,7 @@ class PtzAutoTracker:
             while not self.move_queues[camera].empty():
                 self.move_queues[camera].get()
 
-            self.ptz_metrics[camera]["ptz_stopped"].wait()
+            self.ptz_metrics[camera]["ptz_motor_stopped"].wait()
             logger.debug(
                 f"{camera}: Time is {self.ptz_metrics[camera]['ptz_frame_time'].value}, returning to preset: {autotracker_config.return_preset}"
             )
@@ -1253,7 +1265,11 @@ class PtzAutoTracker:
             )
 
             # update stored zoom level from preset
-            if not self.ptz_metrics[camera]["ptz_stopped"].is_set():
+            if not self.ptz_metrics[camera]["ptz_motor_stopped"].is_set():
                 self.onvif.get_camera_status(camera)
 
+            self.ptz_metrics[camera]["ptz_tracking_active"].clear()
+            self.dispatcher.publish(
+                f"{camera}/ptz_autotracker/active", "OFF", retain=False
+            )
             self.ptz_metrics[camera]["ptz_reset"].set()

frigate/ptz/onvif.py

@@ -299,7 +299,7 @@ class OnvifController:
             return
 
         self.cams[camera_name]["active"] = True
-        self.ptz_metrics[camera_name]["ptz_stopped"].clear()
+        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}"
         )
@@ -366,7 +366,7 @@ class OnvifController:
             return
 
         self.cams[camera_name]["active"] = True
-        self.ptz_metrics[camera_name]["ptz_stopped"].clear()
+        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"]
@@ -413,7 +413,7 @@ class OnvifController:
             return
 
         self.cams[camera_name]["active"] = True
-        self.ptz_metrics[camera_name]["ptz_stopped"].clear()
+        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}"
         )
@@ -543,8 +543,8 @@ class OnvifController:
             zoom_status is None or zoom_status.lower() == "idle"
         ):
             self.cams[camera_name]["active"] = False
-            if not self.ptz_metrics[camera_name]["ptz_stopped"].is_set():
+            if not self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set():
-                self.ptz_metrics[camera_name]["ptz_stopped"].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}"
@@ -555,8 +555,8 @@ class OnvifController:
                 ]["ptz_frame_time"].value
         else:
             self.cams[camera_name]["active"] = True
-            if self.ptz_metrics[camera_name]["ptz_stopped"].is_set():
+            if self.ptz_metrics[camera_name]["ptz_motor_stopped"].is_set():
-                self.ptz_metrics[camera_name]["ptz_stopped"].clear()
+                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}"
@@ -586,7 +586,7 @@ class OnvifController:
 
         # some hikvision cams won't update MoveStatus, so warn if it hasn't changed
         if (
-            not self.ptz_metrics[camera_name]["ptz_stopped"].is_set()
+            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

frigate/types.py

@@ -31,7 +31,8 @@ class CameraMetricsTypes(TypedDict):
 
 class PTZMetricsTypes(TypedDict):
     ptz_autotracker_enabled: Synchronized
-    ptz_stopped: Event
+    ptz_tracking_active: Event
+    ptz_motor_stopped: Event
     ptz_reset: Event
     ptz_start_time: Synchronized
     ptz_stop_time: Synchronized