@camera.ui/server 0.0.69 → 0.0.71-dev.0

package/dist/server/src/camera/decoder/frame-source.js.map

@@ -0,0 +1 @@
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package/dist/server/src/camera/decoder/ptz-autotracker.d.ts

@@ -0,0 +1,57 @@
+import type { Logger } from '@camera.ui/common/logger';
+import type { RPCClient } from '@camera.ui/rpc';
+import type { Detection, PtzAutotrackSettings, TrackedDetection } from '@camera.ui/sdk';
+export interface PtzPoseDelta {
+    panDelta: number;
+    tiltDelta: number;
+}
+export interface PtzSensorInfo {
+    pluginId: string;
+    sensorId: string;
+    capabilities: string[];
+}
+export interface PtzAutotrackerDeps {
+    logger: Logger;
+    proxy: RPCClient;
+    cameraId: string;
+    settings?: PtzAutotrackSettings;
+    onSuppressionActivated: () => void;
+}
+export declare class PtzAutotracker {
+    private readonly deps;
+    private sensorInfo?;
+    private watcherUnsubscribe?;
+    private settings?;
+    private isPtzMoving;
+    private state;
+    private activeTrackId?;
+    private lostSinceTs;
+    private lastCommandAt;
+    private stopTimer?;
+    private lastStopIssuedAt;
+    private currentPose;
+    private referencePose?;
+    constructor(deps: PtzAutotrackerDeps);
+    updateSettings(settings: PtzAutotrackSettings | undefined): void;
+    get suppressionActive(): boolean;
+    isBoundTo(sensorId: string): boolean;
+    bind(info: PtzSensorInfo): Promise<void>;
+    unbind(sensorId: string): void;
+    setCapabilities(sensorId: string, capabilities: string[]): void;
+    handleObjectDetections(detections: readonly TrackedDetection[]): void;
+    handlePresenceDetections(detections: readonly Detection[]): void;
+    dispose(): void;
+    consumePoseDelta(): PtzPoseDelta | undefined;
+    private stepIdle;
+    private stepActive;
+    private clearStopTimer;
+    private stepLost;
+    private filterTargets;
+    private handlePositionChange;
+    private handleMovementChange;
+    private reset;
+    private teardown;
+    private sendVelocity;
+    private sendPosition;
+    private getPtzRpc;
+}

package/dist/server/src/camera/decoder/ptz-autotracker.js

@@ -0,0 +1,369 @@
+import { PTZCapability, PTZProperty } from '@camera.ui/sdk';
+import { NamespaceManager } from '../../rpc/namespaces.js';
+const MIN_SPEED = 0.4;
+const MAX_SPEED = 1.0;
+const SPEED_GAIN = 2.0;
+const PAN_RATE_AT_MAX_SPEED = 0.85;
+const MIN_PULSE_MS = 250;
+const MAX_PULSE_MS = 1000;
+// Prevents rapid-fire re-issues; also protects PTZ firmware.
+const MIN_COMMAND_INTERVAL_MS = 200;
+// Norfair Kalman speed below which we treat the target as standing still.
+// Bbox center jitter for a stationary person is ~0.002-0.005 normalized
+// units per frame (head sway, bbox size fluctuation). Replaces an older
+// per-frame "confirm streak" debounce.
+const STATIONARY_SPEED_THRESHOLD = 0.006;
+// How long `suppressionActive` stays true AFTER the motor stop command.
+// Frame-diff is unreliable during motor decel (~100-300ms physical), stream
+// buffer drain (~500-1500ms mid-pan frames), and frame-diff settling.
+const POST_STOP_MOTION_SETTLE_MS = 800;
+export class PtzAutotracker {
+    deps;
+    sensorInfo;
+    watcherUnsubscribe;
+    settings;
+    isPtzMoving = false;
+    state = 'idle';
+    activeTrackId;
+    lostSinceTs = 0;
+    lastCommandAt = 0;
+    stopTimer;
+    lastStopIssuedAt = 0;
+    currentPose = { pan: 0, tilt: 0 };
+    // PTZ pose at the first observed Position event. consumePoseDelta() returns
+    // the ACCUMULATED offset from this reference (not a per-frame delta) —
+    // Norfair's TranslationTransformation needs a consistent reference across
+    // all frames. Seeded lazily on the first real Position event (not in
+    // bind()) because getValues() during bind can race with the plugin's first
+    // pollStatus(), yielding a phantom (0,0) reference.
+    referencePose;
+    constructor(deps) {
+        this.deps = deps;
+        this.settings = deps.settings;
+    }
+    updateSettings(settings) {
+        this.settings = settings;
+        if (!settings?.enabled)
+            this.reset();
+    }
+    get suppressionActive() {
+        if (this.isPtzMoving)
+            return true;
+        if (this.lastStopIssuedAt > 0 && Date.now() - this.lastStopIssuedAt < POST_STOP_MOTION_SETTLE_MS)
+            return true;
+        return false;
+    }
+    isBoundTo(sensorId) {
+        return this.sensorInfo?.sensorId === sensorId;
+    }
+    async bind(info) {
+        this.teardown();
+        this.sensorInfo = { ...info, capabilities: [...info.capabilities] };
+        // Seed currentPose as a warm start — but NOT referencePose. SDK default
+        // is (0,0,0) and getValues() can race with the plugin's first pollStatus.
+        // Lazy-seeding referencePose on the first real Position event guarantees
+        // it matches the camera's actual pose.
+        try {
+            const values = await this.getPtzRpc(info).getValues();
+            const initialPos = values[PTZProperty.Position];
+            if (initialPos) {
+                this.currentPose = { pan: initialPos.pan ?? 0, tilt: initialPos.tilt ?? 0 };
+            }
+        }
+        catch {
+            // initial getValues() may fail before the camera reports a pose
+        }
+        const subject = NamespaceManager.sensorEventNamespaces(this.deps.cameraId, info.sensorId).sensorSubject;
+        this.watcherUnsubscribe = await this.deps.proxy.subscribe(subject, (msg) => {
+            if (msg.type !== 'property:changed')
+                return;
+            if (msg.data.sensorId !== this.sensorInfo?.sensorId)
+                return;
+            if (msg.data.property === PTZProperty.Moving) {
+                this.handleMovementChange(msg.data.value);
+            }
+            else if (msg.data.property === PTZProperty.Position) {
+                this.handlePositionChange(msg.data.value);
+            }
+        });
+    }
+    unbind(sensorId) {
+        if (this.sensorInfo?.sensorId !== sensorId)
+            return;
+        this.teardown();
+    }
+    setCapabilities(sensorId, capabilities) {
+        if (this.sensorInfo?.sensorId !== sensorId)
+            return;
+        this.sensorInfo.capabilities = [...capabilities];
+    }
+    handleObjectDetections(detections) {
+        const settings = this.settings;
+        if (!settings?.enabled)
+            return;
+        const ptz = this.sensorInfo;
+        if (!ptz)
+            return;
+        const now = Date.now();
+        // Gate on motor state. If the PTZ is moving (our command OR user via
+        // vendor app), we're in read-only mode — no decisions. The `moving`
+        // signal comes from the ONVIF plugin's GetStatus poller (not our own
+        // command echo) so it reflects the actual motor state. With Norfair's
+        // camera-motion compensation active the tracker still runs through the
+        // pan — we just don't issue new commands while one is in flight.
+        if (this.isPtzMoving) {
+            return;
+        }
+        const targets = this.filterTargets(detections, settings);
+        switch (this.state) {
+            case 'idle':
+                this.stepIdle(targets);
+                return;
+            case 'active':
+                this.stepActive(ptz, targets, settings, now);
+                return;
+            case 'lost':
+                this.stepLost(ptz, targets, settings, now);
+                return;
+        }
+    }
+    handlePresenceDetections(detections) {
+        const settings = this.settings;
+        if (!settings?.enabled)
+            return;
+        if (!this.sensorInfo)
+            return;
+        let present = false;
+        for (const d of detections) {
+            if (!settings.targetLabels.includes(d.label))
+                continue;
+            if (d.confidence < settings.minConfidence)
+                continue;
+            present = true;
+            break;
+        }
+        // If presence is active and we're in LOST, reset the grace timer so a
+        // bracketing external sensor extends tracking intent. We don't upgrade
+        // to ACTIVE — only the drivable path owns motor decisions.
+        if (present && this.state === 'lost') {
+            this.lostSinceTs = Date.now();
+        }
+    }
+    dispose() {
+        this.teardown();
+    }
+    consumePoseDelta() {
+        if (!this.referencePose)
+            return undefined;
+        // Always return a delta once the reference is set — even (0,0). Switching
+        // between "no transform" and "transform applied" mid-session leaves
+        // earlier filter state in the old frame while new detections arrive in
+        // the new one.
+        return {
+            panDelta: this.currentPose.pan - this.referencePose.pan,
+            tiltDelta: this.currentPose.tilt - this.referencePose.tilt,
+        };
+    }
+    stepIdle(targets) {
+        if (targets.length === 0)
+            return;
+        // Pick the largest bbox as the one to follow. Skip Kalman-extrapolated
+        // tracks — those don't correspond to a fresh detection this frame and
+        // could be anywhere; locking onto one sends the motor chasing a guess.
+        // No user-facing priority setting — "largest" is the intuitive default.
+        let best;
+        let bestArea = -1;
+        for (const t of targets) {
+            if (typeof t.trackId !== 'number')
+                continue;
+            if (t.trackLost)
+                continue;
+            const area = t.box.width * t.box.height;
+            if (area > bestArea) {
+                best = t;
+                bestArea = area;
+            }
+        }
+        if (!best || typeof best.trackId !== 'number')
+            return;
+        this.activeTrackId = best.trackId;
+        this.state = 'active';
+    }
+    stepActive(ptz, targets, settings, now) {
+        const target = targets.find((t) => t.trackId === this.activeTrackId);
+        if (!target) {
+            this.state = 'lost';
+            this.lostSinceTs = now;
+            return;
+        }
+        // Extrapolated track (Kalman kept it alive through a detector miss).
+        // Don't drive the motor on a ghost: during a short blink the filter's
+        // predicted position is a reasonable guess, but over many frames it
+        // drifts outside the frame and commanding a chase sends the camera
+        // off into empty air. Wait it out — the track either matches again
+        // and we resume, or norfair drops it and we go LOST.
+        if (target.trackLost) {
+            return;
+        }
+        // Center-error tracking. Norfair gives us a stable track centroid and a
+        // Kalman-estimated velocity — we use both. `triggerDeadZone` defines a
+        // comfort box around frame center; inside it we do nothing. Outside it
+        // the camera pans proportionally to close the error in one pulse.
+        const cx = target.box.x + target.box.width * 0.5;
+        const cy = target.box.y + target.box.height * 0.5;
+        const errX = cx - 0.5;
+        const errY = cy - 0.5;
+        const deadZone = settings.triggerDeadZone;
+        const outsideDeadZone = Math.abs(errX) > deadZone || Math.abs(errY) > deadZone;
+        if (!outsideDeadZone) {
+            return;
+        }
+        // Velocity gate: don't chase a stationary target even when slightly off-
+        // center. Norfair's `track_speed` is the centroid speed from the Kalman
+        // filter in normalized units per frame step — below the noise floor we
+        // treat the track as "parked", which kills the ping-pong a non-moving
+        // person used to produce via bbox-size jitter.
+        //
+        // BYPASS the gate when the error is large (> 2x dead zone): a fresh
+        // detection can appear far off-center while Kalman's velocity estimate
+        // is still warming up — during those first ~10 frames `speed` reads
+        // artificially low and would otherwise freeze us. If the target is
+        // demonstrably far from center, move regardless.
+        const trackSpeed = target.trackSpeed ?? 0;
+        const errMag = Math.max(Math.abs(errX), Math.abs(errY));
+        const largeError = errMag > deadZone * 2;
+        if (!largeError && trackSpeed < STATIONARY_SPEED_THRESHOLD) {
+            return;
+        }
+        if (now - this.lastCommandAt < MIN_COMMAND_INTERVAL_MS)
+            return;
+        // Proportional-to-error velocity. Tilt is inverted: image Y goes down
+        // but positive ONVIF tilt rotates the camera up.
+        const panMag = Math.abs(errX) * SPEED_GAIN;
+        const tiltMag = Math.abs(errY) * SPEED_GAIN;
+        const finalPan = Math.abs(errX) <= deadZone ? 0 : Math.sign(errX) * Math.min(MAX_SPEED, Math.max(MIN_SPEED, panMag));
+        const finalTilt = Math.abs(errY) <= deadZone ? 0 : -Math.sign(errY) * Math.min(MAX_SPEED, Math.max(MIN_SPEED, tiltMag));
+        // Proportional pulse duration — stop once we've closed roughly the
+        // error. Prevents overshoot on tiny adjustments.
+        const speedMag = Math.max(Math.abs(finalPan), Math.abs(finalTilt));
+        const pulseErrMag = Math.max(Math.abs(finalPan) > 0 ? Math.abs(errX) : 0, Math.abs(finalTilt) > 0 ? Math.abs(errY) : 0);
+        const estMs = (pulseErrMag / Math.max(0.01, speedMag * PAN_RATE_AT_MAX_SPEED)) * 1000;
+        const pulseMs = Math.max(MIN_PULSE_MS, Math.min(MAX_PULSE_MS, estMs));
+        this.sendVelocity(ptz, { panSpeed: finalPan, tiltSpeed: finalTilt, zoomSpeed: 0 });
+        this.lastCommandAt = now;
+        // Schedule the stop. Clear any earlier pending stop — if we issue two
+        // moves back-to-back (shouldn't happen given the moving-gate but be
+        // defensive), the more recent stop is the one that matters.
+        this.clearStopTimer();
+        this.stopTimer = setTimeout(() => {
+            this.stopTimer = undefined;
+            if (!this.sensorInfo)
+                return;
+            this.sendVelocity(this.sensorInfo, { panSpeed: 0, tiltSpeed: 0, zoomSpeed: 0 });
+        }, pulseMs);
+    }
+    clearStopTimer() {
+        if (this.stopTimer) {
+            clearTimeout(this.stopTimer);
+            this.stopTimer = undefined;
+        }
+    }
+    stepLost(ptz, targets, settings, now) {
+        const reappeared = targets.find((t) => t.trackId === this.activeTrackId);
+        if (reappeared) {
+            this.state = 'active';
+            return;
+        }
+        if (!settings.returnToHome)
+            return;
+        if (now - this.lostSinceTs < settings.homeWaitMs)
+            return;
+        if (ptz.capabilities.includes(PTZCapability.Home)) {
+            this.sendPosition(ptz, { pan: 0, tilt: 0, zoom: 0 });
+        }
+        this.activeTrackId = undefined;
+        this.state = 'idle';
+    }
+    filterTargets(detections, settings) {
+        const out = [];
+        for (const d of detections) {
+            if (!settings.targetLabels.includes(d.label))
+                continue;
+            if (d.confidence < settings.minConfidence)
+                continue;
+            out.push(d);
+        }
+        return out;
+    }
+    handlePositionChange(pos) {
+        if (!pos)
+            return;
+        this.currentPose = { pan: pos.pan ?? this.currentPose.pan, tilt: pos.tilt ?? this.currentPose.tilt };
+        // Seed the Norfair reference frame on the very first real position
+        // event so it matches whatever pose the camera is actually at. Must
+        // wait for a real event because the SDK's default is (0,0) and using
+        // that as reference would produce a spurious offset of "real pose
+        // minus zero" on frame 1 — a world-scale shift fed to the tracker.
+        this.referencePose ??= { ...this.currentPose };
+    }
+    handleMovementChange(moving) {
+        const was = this.isPtzMoving;
+        this.isPtzMoving = moving;
+        if (was === moving)
+            return;
+        if (moving && !was) {
+            // Transition into motion (our command OR user via vendor app).
+            // Notify the coordinator so it can blank motion bboxes for the
+            // duration — frame-diff is unusable during ego-motion.
+            this.deps.onSuppressionActivated();
+        }
+    }
+    reset() {
+        this.state = 'idle';
+        this.activeTrackId = undefined;
+        this.lostSinceTs = 0;
+        this.lastCommandAt = 0;
+        this.lastStopIssuedAt = 0;
+        this.clearStopTimer();
+    }
+    teardown() {
+        if (this.watcherUnsubscribe) {
+            try {
+                this.watcherUnsubscribe();
+            }
+            catch {
+                // ignore
+            }
+            this.watcherUnsubscribe = undefined;
+        }
+        this.sensorInfo = undefined;
+        this.isPtzMoving = false;
+        this.currentPose = { pan: 0, tilt: 0 };
+        this.referencePose = undefined;
+        this.reset();
+    }
+    sendVelocity(ptz, v) {
+        const isStop = v.panSpeed === 0 && v.tiltSpeed === 0 && v.zoomSpeed === 0;
+        const wasMoving = this.isPtzMoving;
+        this.isPtzMoving = !isStop;
+        if (!isStop && !wasMoving) {
+            this.deps.onSuppressionActivated();
+        }
+        if (isStop) {
+            this.lastStopIssuedAt = Date.now();
+        }
+        this.getPtzRpc(ptz)
+            .updateValue(PTZProperty.Velocity, v)
+            .catch(() => { });
+    }
+    sendPosition(ptz, p) {
+        this.getPtzRpc(ptz)
+            .updateValue(PTZProperty.Position, p)
+            .catch(() => { });
+    }
+    getPtzRpc(ptz) {
+        const ns = NamespaceManager.sensorProviderNamespaces(ptz.pluginId, this.deps.cameraId, ptz.sensorId).sensorRpc;
+        return this.deps.proxy.createProxy(ns);
+    }
+}
+//# sourceMappingURL=ptz-autotracker.js.map

package/dist/server/src/camera/decoder/ptz-autotracker.js.map

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package/dist/server/src/camera/decoder/types.d.ts

@@ -0,0 +1,7 @@
+import type { MotionResolution } from '@camera.ui/sdk';
+export type PixelFormat = 'yuv420p' | 'rgb24' | 'nv12';
+export declare const MOTION_WIDTH_MAP: Record<MotionResolution, number>;
+export interface WorkerToMainMessage {
+    message: 'started';
+    data: Record<string, any>;
+}

package/dist/server/src/camera/decoder/types.js

@@ -0,0 +1,6 @@
+export const MOTION_WIDTH_MAP = {
+    low: 320,
+    medium: 480,
+    high: 640,
+};
+//# sourceMappingURL=types.js.map

package/dist/server/src/camera/decoder/types.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../../src/camera/decoder/types.ts"],"names":[],"mappings":"AAIA,MAAM,CAAC,MAAM,gBAAgB,GAAqC;IAChE,GAAG,EAAE,GAAG;IACR,MAAM,EAAE,GAAG;IACX,IAAI,EAAE,GAAG;CACV,CAAC"}

package/dist/server/src/camera/decoder/worker.d.ts

@@ -0,0 +1,48 @@
+import { Subscribed } from '@camera.ui/common/utils';
+import { PLUGIN_STATUS } from '../../plugins/types.js';
+import type { CameraController } from '../controller.js';
+export declare class FrameWorker extends Subscribed {
+    private readonly camera;
+    private readonly configService;
+    private readonly socketService;
+    private readonly proxyServer;
+    private readonly logManager;
+    private readonly py;
+    private readonly workerManager;
+    private isClosed;
+    private isRestarting;
+    private isRemote;
+    private process?;
+    private retryTimeout?;
+    private channel?;
+    private namespaces;
+    private _status;
+    private readonly logger;
+    private logBuffer;
+    get name(): string;
+    get status(): PLUGIN_STATUS;
+    get isRemoteWorker(): boolean;
+    constructor(camera: CameraController);
+    start(): Promise<void>;
+    stop(): Promise<void>;
+    close(): Promise<void>;
+    restart(): Promise<void>;
+    getPID(): number;
+    private setupEventListeners;
+    private startWorkerProcess;
+    private terminateProcess;
+    private setupProcessListeners;
+    private handleWorkerMessage;
+    private get frameWorkerChildProxy();
+    private handleProcessExit;
+    private attemptRestart;
+    private clearProcessState;
+    private setStatus;
+    private handleLogData;
+    private processLogLine;
+    private buildWorkerEnv;
+    private rewriteForRemote;
+    private getVideoSource;
+    private getAudioSource;
+    private getSnapshotSource;
+}