"""Configure and control camera via onvif.""" import logging from enum import Enum from importlib.util import find_spec from pathlib import Path import numpy from onvif import ONVIFCamera, ONVIFError from zeep.exceptions import Fault, TransportError from zeep.transports import Transport from frigate.camera import PTZMetrics from frigate.config import FrigateConfig, ZoomingModeEnum 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_relative = "move_relative" move_right = "move_right" move_up = "move_up" preset = "preset" stop = "stop" zoom_in = "zoom_in" zoom_out = "zoom_out" class OnvifController: ptz_metrics: dict[str, PTZMetrics] def __init__( self, config: FrigateConfig, ptz_metrics: dict[str, PTZMetrics] ) -> 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: transport = Transport(timeout=10, operation_timeout=10) self.cams[cam_name] = { "onvif": ONVIFCamera( cam.onvif.host, cam.onvif.port, cam.onvif.user, cam.onvif.password, wsdl_dir=str( Path(find_spec("onvif").origin).parent / "wsdl" ).replace("dist-packages/onvif", "site-packages"), adjust_time=cam.onvif.ignore_time_mismatch, transport=transport, ), "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() logger.debug(f"Onvif media xaddr for {camera_name}: {media.xaddr}") 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}") except (ONVIFError, Fault, TransportError) as e: logger.error( f"Unable to get Onvif capabilities for camera: {camera_name}: {e}" ) return False try: profiles = media.GetProfiles() logger.debug(f"Onvif profiles for {camera_name}: {profiles}") except (ONVIFError, Fault, TransportError) as e: logger.error( f"Unable to get Onvif media profiles for camera: {camera_name}: {e}" ) return False profile = None for key, onvif_profile in enumerate(profiles): if ( onvif_profile.VideoEncoderConfiguration and onvif_profile.PTZConfiguration and ( onvif_profile.PTZConfiguration.DefaultContinuousPanTiltVelocitySpace is not None or onvif_profile.PTZConfiguration.DefaultContinuousZoomVelocitySpace is not None ) ): # use the first profile that has a valid ptz configuration profile = onvif_profile logger.debug(f"Selected Onvif profile for {camera_name}: {profile}") break if profile is None: logger.error( f"No appropriate Onvif profiles found for camera: {camera_name}." ) return False # get the PTZ config for the profile try: configs = profile.PTZConfiguration logger.debug( f"Onvif ptz config for media profile in {camera_name}: {configs}" ) except Exception as e: logger.error( f"Invalid Onvif PTZ configuration for camera: {camera_name}: {e}" ) return False ptz = onvif.create_ptz_service() # setup continuous moving request move_request = ptz.create_type("ContinuousMove") move_request.ProfileToken = profile.token self.cams[camera_name]["move_request"] = move_request # extra setup for autotracking cameras if ( self.config.cameras[camera_name].onvif.autotracking.enabled_in_config and self.config.cameras[camera_name].onvif.autotracking.enabled ): 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 # autotracking 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 != ZoomingModeEnum.disabled ): zoom_space_id = next( ( i for i, space in enumerate( ptz_config.Spaces.RelativeZoomTranslationSpace ) if "TranslationGenericSpace" in space["URI"] ), None, ) # 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.disabled ): if zoom_space_id is not None: move_request.Translation.Zoom.space = ptz_config["Spaces"][ "RelativeZoomTranslationSpace" ][zoom_space_id]["URI"] else: if "Zoom" in move_request["Translation"]: del move_request["Translation"]["Zoom"] if "Zoom" in move_request["Speed"]: del move_request["Speed"]["Zoom"] logger.debug( f"{camera_name}: Relative move request after deleting zoom: {move_request}" ) except Exception: 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") if ( self.config.cameras[camera_name].onvif.autotracking.enabled_in_config and self.config.cameras[camera_name].onvif.autotracking.enabled ): 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") if ( self.config.cameras[camera_name].onvif.autotracking.enabled_in_config and self.config.cameras[camera_name].onvif.autotracking.enabled ): 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 ( self.config.cameras[camera_name].onvif.autotracking.enabled_in_config and self.config.cameras[camera_name].onvif.autotracking.enabled and 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) if "pt" not in self.cams[camera_name]["features"]: logger.error(f"{camera_name} does not support ONVIF pan/tilt movement.") return 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, } } try: onvif.get_service("ptz").ContinuousMove(move_request) except ONVIFError as e: logger.warning(f"Onvif sending move request to {camera_name} failed: {e}") 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].motor_stopped.clear() logger.debug( f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name].frame_time.value}" ) self.ptz_metrics[camera_name].start_time.value = self.ptz_metrics[ camera_name ].frame_time.value self.ptz_metrics[camera_name].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"] and self.config.cameras[camera_name].onvif.autotracking.zooming == ZoomingModeEnum.relative ): 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"] and self.config.cameras[camera_name].onvif.autotracking.zooming == ZoomingModeEnum.relative ): 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].motor_stopped.clear() self.ptz_metrics[camera_name].start_time.value = 0 self.ptz_metrics[camera_name].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) if "zoom" not in self.cams[camera_name]["features"]: logger.error(f"{camera_name} does not support ONVIF zooming.") return 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].motor_stopped.clear() logger.debug( f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name].frame_time.value}" ) self.ptz_metrics[camera_name].start_time.value = self.ptz_metrics[ camera_name ].frame_time.value self.ptz_metrics[camera_name].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.move_relative: _, pan, tilt = param.split("_") self._move_relative(camera_name, float(pan), float(tilt), 0, 1) 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.debug(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" ] try: 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") except Exception: logger.warning( f"Camera {camera_name} does not support the ONVIF GetServiceCapabilities method. Autotracking will not function correctly and must be disabled in your config." ) return False 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. try: 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 not in [ "IDLE", "MOVING", ]: raise Exception except Exception: logger.warning( 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 == "IDLE" and (zoom_status is None or zoom_status == "IDLE"): self.cams[camera_name]["active"] = False if not self.ptz_metrics[camera_name].motor_stopped.is_set(): self.ptz_metrics[camera_name].motor_stopped.set() logger.debug( f"{camera_name}: PTZ stop time: {self.ptz_metrics[camera_name].frame_time.value}" ) self.ptz_metrics[camera_name].stop_time.value = self.ptz_metrics[ camera_name ].frame_time.value else: self.cams[camera_name]["active"] = True if self.ptz_metrics[camera_name].motor_stopped.is_set(): self.ptz_metrics[camera_name].motor_stopped.clear() logger.debug( f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name].frame_time.value}" ) self.ptz_metrics[camera_name].start_time.value = self.ptz_metrics[ camera_name ].frame_time.value self.ptz_metrics[camera_name].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].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].zoom_level.value}" ) # some hikvision cams won't update MoveStatus, so warn if it hasn't changed if ( not self.ptz_metrics[camera_name].motor_stopped.is_set() and not self.ptz_metrics[camera_name].reset.is_set() and self.ptz_metrics[camera_name].start_time.value != 0 and self.ptz_metrics[camera_name].frame_time.value > (self.ptz_metrics[camera_name].start_time.value + 10) and self.ptz_metrics[camera_name].stop_time.value == 0 ): logger.debug( f"Start time: {self.ptz_metrics[camera_name].start_time.value}, Stop time: {self.ptz_metrics[camera_name].stop_time.value}, Frame time: {self.ptz_metrics[camera_name].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].stop_time.value = self.ptz_metrics[ camera_name ].frame_time.value logger.warning(f"Camera {camera_name} is still in ONVIF 'MOVING' status.")