mirror of
https://github.com/blakeblackshear/frigate.git
synced 2026-05-04 04:27:42 +03:00
use asyncio for autotracking move queues
This commit is contained in:
Josh Hawkins
parent
20647ce891
commit
9c97b89aed
@ -3,11 +3,9 @@
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import asyncio
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import copy
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import logging
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import queue
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import threading
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import time
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from collections import deque
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from functools import partial
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from multiprocessing.synchronize import Event as MpEvent
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import cv2
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@ -251,8 +249,8 @@ class PtzAutoTracker:
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self.intercept[camera] = None
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self.move_coefficients[camera] = []
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self.move_queues[camera] = queue.Queue()
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self.move_queue_locks[camera] = threading.Lock()
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self.move_queues[camera] = asyncio.Queue()
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self.move_queue_locks[camera] = asyncio.Lock()
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# handle onvif constructor failing due to no connection
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if camera not in self.onvif.cams:
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@ -298,13 +296,10 @@ class PtzAutoTracker:
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if self.onvif.cams[camera]["init"]:
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await self.onvif.get_camera_status(camera)
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# movement thread per camera
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self.move_threads[camera] = threading.Thread(
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name=f"ptz_move_thread_{camera}",
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target=partial(self._process_move_queue, camera),
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# movement queue with asyncio on OnvifController loop
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asyncio.run_coroutine_threadsafe(
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self._process_move_queue(camera), self.onvif.loop
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)
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self.move_threads[camera].daemon = True
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self.move_threads[camera].start()
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if camera_config.onvif.autotracking.movement_weights:
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if len(camera_config.onvif.autotracking.movement_weights) == 6:
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@ -718,18 +713,17 @@ class PtzAutoTracker:
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centroid_distance < self.tracked_object_metrics[camera]["distance"]
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)
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def _process_move_queue(self, camera):
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camera_config = self.config.cameras[camera]
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camera_config.frame_shape[1]
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camera_config.frame_shape[0]
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async def _process_move_queue(self, camera):
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move_queue = self.move_queues[camera]
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while not self.stop_event.is_set():
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try:
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move_data = self.move_queues[camera].get(True, 0.1)
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except queue.Empty:
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# Asynchronously wait for move data with a timeout
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move_data = await asyncio.wait_for(move_queue.get(), timeout=0.1)
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except asyncio.TimeoutError:
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continue
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with self.move_queue_locks[camera]:
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async with self.move_queue_locks[camera]:
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frame_time, pan, tilt, zoom = move_data
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# if we're receiving move requests during a PTZ move, ignore them
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@ -738,8 +732,6 @@ class PtzAutoTracker:
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self.ptz_metrics[camera].start_time.value,
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self.ptz_metrics[camera].stop_time.value,
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):
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# instead of dequeueing this might be a good place to preemptively move based
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# on an estimate - for fast moving objects, etc.
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logger.debug(
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f"{camera}: Move queue: PTZ moving, dequeueing move request - frame time: {frame_time}, final pan: {pan}, final tilt: {tilt}, final zoom: {zoom}"
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)
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@ -750,44 +742,24 @@ class PtzAutoTracker:
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self.config.cameras[camera].onvif.autotracking.zooming
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== ZoomingModeEnum.relative
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):
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future = asyncio.run_coroutine_threadsafe(
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self.onvif._move_relative(camera, pan, tilt, zoom, 1),
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self.onvif.loop,
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)
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future.result()
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await self.onvif._move_relative(camera, pan, tilt, zoom, 1)
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else:
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if pan != 0 or tilt != 0:
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future = asyncio.run_coroutine_threadsafe(
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self.onvif._move_relative(camera, pan, tilt, 0, 1),
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self.onvif.loop,
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)
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future.result()
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await self.onvif._move_relative(camera, pan, tilt, 0, 1)
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# Wait until the camera finishes moving
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while not self.ptz_metrics[camera].motor_stopped.is_set():
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future = asyncio.run_coroutine_threadsafe(
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self.onvif.get_camera_status(camera),
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self.onvif.loop,
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)
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future.result()
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await self.onvif.get_camera_status(camera)
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if (
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zoom > 0
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and self.ptz_metrics[camera].zoom_level.value != zoom
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):
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future = asyncio.run_coroutine_threadsafe(
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self.onvif._zoom_absolute(camera, zoom, 1),
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self.onvif.loop,
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)
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future.result()
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await self.onvif._zoom_absolute(camera, zoom, 1)
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# Wait until the camera finishes moving
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while not self.ptz_metrics[camera].motor_stopped.is_set():
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future = asyncio.run_coroutine_threadsafe(
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self.onvif.get_camera_status(camera), self.onvif.loop
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)
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future.result()
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await self.onvif.get_camera_status(camera)
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if self.config.cameras[camera].onvif.autotracking.movement_weights:
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logger.debug(
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@ -824,6 +796,10 @@ class PtzAutoTracker:
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# calculate new coefficients if we have enough data
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self._calculate_move_coefficients(camera)
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# Clean up the queue on exit
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while not move_queue.empty():
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await move_queue.get()
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def _enqueue_move(self, camera, frame_time, pan, tilt, zoom):
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def split_value(value, suppress_diff=True):
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clipped = np.clip(value, -1, 1)
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@ -852,7 +828,9 @@ class PtzAutoTracker:
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f"{camera}: Enqueue movement for frame time: {frame_time} pan: {pan}, tilt: {tilt}, zoom: {zoom}"
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)
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move_data = (frame_time, pan, tilt, zoom)
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self.move_queues[camera].put(move_data)
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self.onvif.loop.call_soon_threadsafe(
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self.move_queues[camera].put_nowait, move_data
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)
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# reset values to not split up large movements
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pan = 0
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@ -1483,10 +1461,6 @@ class PtzAutoTracker:
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self.tracked_object[camera] = None
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self.tracked_object_history[camera].clear()
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# empty move queue
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while not self.move_queues[camera].empty():
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self.move_queues[camera].get()
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self.ptz_metrics[camera].motor_stopped.wait()
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logger.debug(
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f"{camera}: Time is {self.ptz_metrics[camera].frame_time.value}, returning to preset: {autotracker_config.return_preset}"
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