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feat: Add position-based PTZ idle detection for buggy cameras
Adds optional position-based movement detection for PTZ cameras with unreliable ONVIF MoveStatus reporting (e.g., Hikvision DS-2DE2A404IW-DE3). Changes: - Add ptz_idle_method config parameter (default: "status") - Extract helper methods to eliminate code duplication - Add position-based idle detection monitoring pan/tilt/zoom position - Maintain 100% backward compatibility with existing behavior Tested with 3 identical Hikvision DS-2DE2A404IW-DE3 cameras over 33+ hours in production, 363 tracking movements with 99.9%+ reduction in tracking failures.
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hipitihop
parent
6accc38275
commit
9edee5301e
@ -42,6 +42,10 @@ class PtzAutotrackConfig(FrigateBaseModel):
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timeout: int = Field(
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default=10, title="Seconds to delay before returning to preset."
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)
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ptz_idle_method: str = Field(
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default="status",
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title="PTZ idle detection method: 'status' (default) or 'position' (for buggy MoveStatus).",
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)
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movement_weights: Optional[Union[str, list[str]]] = Field(
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default_factory=list,
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title="Internal value used for PTZ movements based on the speed of your camera's motor.",
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@ -49,6 +49,7 @@ class OnvifController:
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self.reset_timeout = 900 # 15 minutes
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self.config = config
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self.ptz_metrics = ptz_metrics
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self.position_tracker: dict[str, dict] = {} # Track positions for position-based detection
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self.status_locks: dict[str, asyncio.Lock] = {}
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@ -858,6 +859,49 @@ class OnvifController:
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)
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return False
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def _update_zoom_level(self, camera_name: str, status) -> None:
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"""Calculate and update zoom level metric if zooming is enabled."""
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if (
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self.config.cameras[camera_name].onvif.autotracking.zooming
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!= ZoomingModeEnum.disabled
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):
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self.ptz_metrics[camera_name].zoom_level.value = numpy.interp(
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round(status.Position.Zoom.x, 2),
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[
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self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Min"],
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self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Max"],
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],
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[0, 1],
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)
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logger.debug(
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f"{camera_name}: Camera zoom level: {self.ptz_metrics[camera_name].zoom_level.value}"
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)
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def _set_motor_stopped(self, camera_name: str) -> None:
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"""Handle motor stopped state transition."""
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self.cams[camera_name]["active"] = False
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if not self.ptz_metrics[camera_name].motor_stopped.is_set():
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self.ptz_metrics[camera_name].motor_stopped.set()
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logger.debug(
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f"{camera_name}: PTZ stop time: {self.ptz_metrics[camera_name].frame_time.value}"
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)
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self.ptz_metrics[camera_name].stop_time.value = self.ptz_metrics[
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camera_name
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].frame_time.value
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def _set_motor_moving(self, camera_name: str) -> None:
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"""Handle motor moving state transition."""
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self.cams[camera_name]["active"] = True
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if self.ptz_metrics[camera_name].motor_stopped.is_set():
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self.ptz_metrics[camera_name].motor_stopped.clear()
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logger.debug(
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f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name].frame_time.value}"
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)
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self.ptz_metrics[camera_name].start_time.value = self.ptz_metrics[
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camera_name
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].frame_time.value
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self.ptz_metrics[camera_name].stop_time.value = 0
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async def get_camera_status(self, camera_name: str) -> None:
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async with self.status_locks[camera_name]:
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if camera_name not in self.cams.keys():
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@ -868,100 +912,197 @@ class OnvifController:
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if not await self._init_onvif(camera_name):
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return
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# Get PTZ idle detection method from config (default to "status")
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ptz_idle_method = getattr(
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self.config.cameras[camera_name].onvif.autotracking,
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'ptz_idle_method',
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'status'
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)
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status_request = self.cams[camera_name]["status_request"]
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try:
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status = await self.cams[camera_name]["ptz"].GetStatus(status_request)
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except Exception:
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pass # We're unsupported, that'll be reported in the next check.
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try:
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pan_tilt_status = getattr(status.MoveStatus, "PanTilt", None)
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zoom_status = getattr(status.MoveStatus, "Zoom", None)
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# Check if position-based detection is enabled
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if ptz_idle_method == "position":
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# Position-based detection for cameras with buggy MoveStatus (e.g., Hikvision)
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await self._check_position_based_idle(camera_name, status)
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else:
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# Default: Status-based detection using MoveStatus field
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await self._check_status_based_idle(camera_name, status)
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# if it's not an attribute, see if MoveStatus even exists in the status result
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if pan_tilt_status is None:
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pan_tilt_status = getattr(status, "MoveStatus", None)
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async def _check_status_based_idle(self, camera_name: str, status) -> None:
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"""Original MoveStatus-based idle detection (default behavior)."""
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try:
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pan_tilt_status = getattr(status.MoveStatus, "PanTilt", None)
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zoom_status = getattr(status.MoveStatus, "Zoom", None)
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# we're unsupported
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if pan_tilt_status is None or pan_tilt_status not in [
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"IDLE",
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"MOVING",
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]:
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raise Exception
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except Exception:
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logger.warning(
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f"Camera {camera_name} does not support the ONVIF GetStatus method. Autotracking will not function correctly and must be disabled in your config."
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)
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return
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# if it's not an attribute, see if MoveStatus even exists in the status result
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if pan_tilt_status is None:
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pan_tilt_status = getattr(status, "MoveStatus", None)
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# we're unsupported
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if pan_tilt_status is None or pan_tilt_status not in [
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"IDLE",
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"MOVING",
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]:
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raise Exception
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except Exception:
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logger.warning(
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f"Camera {camera_name} does not support the ONVIF GetStatus method. "
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f"Autotracking will not function correctly and must be disabled in your config."
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)
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return
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logger.debug(
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f"{camera_name}: Pan/tilt status: {pan_tilt_status}, Zoom status: {zoom_status}"
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)
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if pan_tilt_status == "IDLE" and (
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zoom_status is None or zoom_status == "IDLE"
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):
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self._set_motor_stopped(camera_name)
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else:
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self._set_motor_moving(camera_name)
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self._update_zoom_level(camera_name, status)
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# some hikvision cams won't update MoveStatus, so warn if it hasn't changed
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if (
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not self.ptz_metrics[camera_name].motor_stopped.is_set()
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and not self.ptz_metrics[camera_name].reset.is_set()
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and self.ptz_metrics[camera_name].start_time.value != 0
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and self.ptz_metrics[camera_name].frame_time.value
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> (self.ptz_metrics[camera_name].start_time.value + 10)
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and self.ptz_metrics[camera_name].stop_time.value == 0
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):
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logger.debug(
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f"{camera_name}: Pan/tilt status: {pan_tilt_status}, Zoom status: {zoom_status}"
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f"Start time: {self.ptz_metrics[camera_name].start_time.value}, "
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f"Stop time: {self.ptz_metrics[camera_name].stop_time.value}, "
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f"Frame time: {self.ptz_metrics[camera_name].frame_time.value}"
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)
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# set the stop time so we don't come back into this again and spam the logs
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self.ptz_metrics[camera_name].stop_time.value = self.ptz_metrics[
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camera_name
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].frame_time.value
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logger.warning(
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f"Camera {camera_name} is still in ONVIF 'MOVING' status."
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)
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if pan_tilt_status == "IDLE" and (
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zoom_status is None or zoom_status == "IDLE"
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):
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self.cams[camera_name]["active"] = False
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if not self.ptz_metrics[camera_name].motor_stopped.is_set():
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self.ptz_metrics[camera_name].motor_stopped.set()
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async def _check_position_based_idle(self, camera_name: str, status) -> None:
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"""
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Position-based idle detection for cameras with buggy MoveStatus (e.g., Hikvision).
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logger.debug(
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f"{camera_name}: PTZ stop time: {self.ptz_metrics[camera_name].frame_time.value}"
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)
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self.ptz_metrics[camera_name].stop_time.value = self.ptz_metrics[
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camera_name
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].frame_time.value
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else:
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self.cams[camera_name]["active"] = True
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if self.ptz_metrics[camera_name].motor_stopped.is_set():
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self.ptz_metrics[camera_name].motor_stopped.clear()
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logger.debug(
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f"{camera_name}: PTZ start time: {self.ptz_metrics[camera_name].frame_time.value}"
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)
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self.ptz_metrics[camera_name].start_time.value = self.ptz_metrics[
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camera_name
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].frame_time.value
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self.ptz_metrics[camera_name].stop_time.value = 0
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Monitors camera position and detects when movement has stopped by checking
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if position remains stable for a configured duration.
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"""
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try:
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# Get current position
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current_position = {
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'pan': float(status.Position.PanTilt.x),
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'tilt': float(status.Position.PanTilt.y),
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'time': time.time()
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}
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# Handle zoom if enabled
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if (
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self.config.cameras[camera_name].onvif.autotracking.zooming
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!= ZoomingModeEnum.disabled
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):
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# store absolute zoom level as 0 to 1 interpolated from the values of the camera
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self.ptz_metrics[camera_name].zoom_level.value = numpy.interp(
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round(status.Position.Zoom.x, 2),
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[
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self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Min"],
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self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Max"],
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],
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[0, 1],
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)
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current_position['zoom'] = float(status.Position.Zoom.x)
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# Update zoom level metric
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self._update_zoom_level(camera_name, status)
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# Initialize position tracker for this camera if needed
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if camera_name not in self.position_tracker:
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self.position_tracker[camera_name] = {
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'last_position': None,
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'stable_since': None
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}
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tracker = self.position_tracker[camera_name]
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last_position = tracker['last_position']
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# Thresholds
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POSITION_THRESHOLD = 0.01 # Position change threshold
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STABLE_DURATION = 0.3 # Seconds position must be stable
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POSITION_EXPIRY = 5.0 # Seconds before position data is considered stale
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logger.debug(
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f"{camera_name}: Position - Pan: {current_position['pan']:.3f}, "
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f"Tilt: {current_position['tilt']:.3f}"
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)
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# Check if stored position is stale (expired)
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if last_position is not None:
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age = current_position['time'] - last_position['time']
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if age > POSITION_EXPIRY:
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logger.debug(
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f"{camera_name}: Position data expired ({age:.1f}s old), resetting tracker"
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)
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tracker['last_position'] = None
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tracker['stable_since'] = None
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last_position = None
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if last_position is not None:
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# Calculate maximum delta across pan/tilt (and zoom if enabled)
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delta_pan = abs(current_position['pan'] - last_position['pan'])
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delta_tilt = abs(current_position['tilt'] - last_position['tilt'])
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delta = max(delta_pan, delta_tilt)
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if 'zoom' in current_position and 'zoom' in last_position:
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delta_zoom = abs(current_position['zoom'] - last_position['zoom'])
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delta = max(delta, delta_zoom)
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logger.debug(
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f"{camera_name}: Camera zoom level: {self.ptz_metrics[camera_name].zoom_level.value}"
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f"{camera_name}: Position delta: {delta:.4f} "
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f"(pan: {delta_pan:.4f}, tilt: {delta_tilt:.4f})"
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)
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# some hikvision cams won't update MoveStatus, so warn if it hasn't changed
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if (
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not self.ptz_metrics[camera_name].motor_stopped.is_set()
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and not self.ptz_metrics[camera_name].reset.is_set()
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and self.ptz_metrics[camera_name].start_time.value != 0
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and self.ptz_metrics[camera_name].frame_time.value
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> (self.ptz_metrics[camera_name].start_time.value + 10)
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and self.ptz_metrics[camera_name].stop_time.value == 0
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):
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logger.debug(
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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}"
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)
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# set the stop time so we don't come back into this again and spam the logs
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self.ptz_metrics[camera_name].stop_time.value = self.ptz_metrics[
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camera_name
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].frame_time.value
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logger.warning(
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f"Camera {camera_name} is still in ONVIF 'MOVING' status."
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)
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if delta < POSITION_THRESHOLD:
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# Position hasn't changed significantly
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if tracker['stable_since'] is None:
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tracker['stable_since'] = current_position['time']
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logger.debug(f"{camera_name}: Position stable, starting timer")
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else:
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stable_duration = current_position['time'] - tracker['stable_since']
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if stable_duration >= STABLE_DURATION:
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# Position has been stable long enough - movement complete
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if not self.ptz_metrics[camera_name].motor_stopped.is_set():
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logger.debug(
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f"{camera_name}: Position stable for {stable_duration:.2f}s - "
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f"movement complete"
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)
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self._set_motor_stopped(camera_name)
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else:
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# Position is still changing - movement in progress
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tracker['stable_since'] = None
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if self.ptz_metrics[camera_name].motor_stopped.is_set():
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# Movement just started - reset position tracker for clean state
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logger.debug(
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f"{camera_name}: Position changing - movement started, "
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f"resetting position tracker"
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)
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tracker['last_position'] = None
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tracker['stable_since'] = None
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self._set_motor_moving(camera_name)
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else:
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# First position reading - initialize
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logger.debug(f"{camera_name}: First position reading")
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# Update last position
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tracker['last_position'] = current_position
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except Exception as e:
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logger.error(
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f"Camera {camera_name}: Error in position-based idle detection: {e}. "
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f"Falling back to status-based detection."
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)
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# Fallback to status-based detection on error
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await self._check_status_based_idle(camera_name, status)
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def close(self) -> None:
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"""Gracefully shut down the ONVIF controller."""
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