i6: software motion detection with ONVIF MotionAlarm events

.gitignore

@@ -5,3 +5,4 @@
 /toolchain
 compile_flags.txt
 divinus
+/test/*_test

divinus.yaml

@@ -61,6 +61,11 @@ night_mode:
   adc_device: /dev/sar_adc_drv
   adc_threshold: 128
 
+motion_detect:
+  enable: false
+  sensitivity: 5
+  hold_s: 5
+
 http_post:
   enable: false
   host: <your host>

doc/config.md

@@ -30,6 +30,15 @@ This document describes the fields that can be found within a configuration file
 - **adc_device**: Path to the ADC device used for night mode.
 - **adc_threshold**: Threshold raw value to trigger night mode, depends on the bitness of the given ADC device.
 
+## Motion detection section
+
+Software motion detection, published as ONVIF `tns1:VideoSource/MotionAlarm` events
+(PullPoint). Only available on infinity6 for now.
+
+- **enable**: Boolean to activate motion detection (default: `false`).
+- **sensitivity**: From 1 (only large movements) to 10 (small movements) (default: `5`).
+- **hold_s**: Seconds without movement before the motion state goes back to false (default: `5`).
+
 ## ISP section
 
 - **mirror**: Boolean to turn on image mirroring (default: `false`).

res/onvif/capabilities.xml

@@ -49,7 +49,7 @@
         <tt:Events>
           <tt:XAddr>http://%s:%d/onvif/event_service</tt:XAddr>
           <tt:WSSubscriptionPolicySupport>false</tt:WSSubscriptionPolicySupport>
-          <tt:WSPullPointSupport>false</tt:WSPullPointSupport>
+          <tt:WSPullPointSupport>true</tt:WSPullPointSupport>
           <tt:WSPausableSubscriptionManagerInterfaceSupport>false</tt:WSPausableSubscriptionManagerInterfaceSupport>
         </tt:Events>
         <tt:Imaging>

res/onvif/event.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SOAP-ENV:Envelope xmlns:SOAP-ENV="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://www.w3.org/2005/08/addressing" xmlns:wsnt="http://docs.oasis-open.org/wsn/b-2" xmlns:wstop="http://docs.oasis-open.org/wsn/t-1" xmlns:tev="http://www.onvif.org/ver10/events/wsdl" xmlns:tt="http://www.onvif.org/ver10/schema" xmlns:tns1="http://www.onvif.org/ver10/topics" xmlns:xs="http://www.w3.org/2001/XMLSchema">
+  <SOAP-ENV:Header>
+    <wsa:Action>%s</wsa:Action>%s
+  </SOAP-ENV:Header>
+  <SOAP-ENV:Body>
+%s
+  </SOAP-ENV:Body>
+</SOAP-ENV:Envelope>

res/onvif/eventcaps.xml

@@ -0,0 +1,3 @@
+    <tev:GetServiceCapabilitiesResponse>
+      <tev:Capabilities WSSubscriptionPolicySupport="false" WSPullPointSupport="true" WSPausableSubscriptionManagerInterfaceSupport="false" MaxNotificationProducers="0" MaxPullPoints="4" PersistentNotificationStorage="false"/>
+    </tev:GetServiceCapabilitiesResponse>

res/onvif/eventprops.xml

@@ -0,0 +1,22 @@
+    <tev:GetEventPropertiesResponse>
+      <tev:TopicNamespaceLocation>http://www.onvif.org/onvif/ver10/topics/topicns.xml</tev:TopicNamespaceLocation>
+      <wsnt:FixedTopicSet>true</wsnt:FixedTopicSet>
+      <wstop:TopicSet>
+        <tns1:VideoSource>
+          <MotionAlarm wstop:topic="true">
+            <tt:MessageDescription IsProperty="true">
+              <tt:Source>
+                <tt:SimpleItemDescription Name="Source" Type="tt:ReferenceToken"/>
+              </tt:Source>
+              <tt:Data>
+                <tt:SimpleItemDescription Name="State" Type="xs:boolean"/>
+              </tt:Data>
+            </tt:MessageDescription>
+          </MotionAlarm>
+        </tns1:VideoSource>
+      </wstop:TopicSet>
+      <wsnt:TopicExpressionDialect>http://www.onvif.org/ver10/tev/topicExpression/ConcreteSet</wsnt:TopicExpressionDialect>
+      <wsnt:TopicExpressionDialect>http://docs.oasis-open.org/wsn/t-1/TopicExpression/Concrete</wsnt:TopicExpressionDialect>
+      <tev:MessageContentFilterDialect>http://www.onvif.org/ver10/tev/messageContentFilter/ItemFilter</tev:MessageContentFilterDialect>
+      <tev:MessageContentSchemaLocation>http://www.onvif.org/onvif/ver10/schema/onvif.xsd</tev:MessageContentSchemaLocation>
+    </tev:GetEventPropertiesResponse>

res/onvif/fault.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SOAP-ENV:Envelope xmlns:SOAP-ENV="http://www.w3.org/2003/05/soap-envelope" xmlns:ter="http://www.onvif.org/ver10/error" xmlns:wsrf-rw="http://docs.oasis-open.org/wsrf/rw-2">
+  <SOAP-ENV:Body>
+    <SOAP-ENV:Fault>
+      <SOAP-ENV:Code>
+        <SOAP-ENV:Value>SOAP-ENV:%s</SOAP-ENV:Value>
+        <SOAP-ENV:Subcode>
+          <SOAP-ENV:Value>%s</SOAP-ENV:Value>
+        </SOAP-ENV:Subcode>
+      </SOAP-ENV:Code>
+      <SOAP-ENV:Reason>
+        <SOAP-ENV:Text xml:lang="en">%s</SOAP-ENV:Text>
+      </SOAP-ENV:Reason>
+    </SOAP-ENV:Fault>
+  </SOAP-ENV:Body>
+</SOAP-ENV:Envelope>

res/onvif/notification.xml

@@ -0,0 +1,13 @@
+      <wsnt:NotificationMessage>
+        <wsnt:Topic Dialect="http://www.onvif.org/ver10/tev/topicExpression/ConcreteSet">tns1:VideoSource/MotionAlarm</wsnt:Topic>
+        <wsnt:Message>
+          <tt:Message UtcTime="%s" PropertyOperation="%s">
+            <tt:Source>
+              <tt:SimpleItem Name="Source" Value="%s"/>
+            </tt:Source>
+            <tt:Data>
+              <tt:SimpleItem Name="State" Value="%s"/>
+            </tt:Data>
+          </tt:Message>
+        </wsnt:Message>
+      </wsnt:NotificationMessage>

res/onvif/pullmessages.xml

@@ -0,0 +1,4 @@
+    <tev:PullMessagesResponse>
+      <tev:CurrentTime>%s</tev:CurrentTime>
+      <tev:TerminationTime>%s</tev:TerminationTime>%s
+    </tev:PullMessagesResponse>

res/onvif/pullpoint.xml

@@ -0,0 +1,7 @@
+    <tev:CreatePullPointSubscriptionResponse>
+      <tev:SubscriptionReference>
+        <wsa:Address>http://%s:%d/onvif/subscription?id=%d</wsa:Address>
+      </tev:SubscriptionReference>
+      <wsnt:CurrentTime>%s</wsnt:CurrentTime>
+      <wsnt:TerminationTime>%s</wsnt:TerminationTime>
+    </tev:CreatePullPointSubscriptionResponse>

res/onvif/renew.xml

@@ -0,0 +1,4 @@
+    <wsnt:RenewResponse>
+      <wsnt:TerminationTime>%s</wsnt:TerminationTime>
+      <wsnt:CurrentTime>%s</wsnt:CurrentTime>
+    </wsnt:RenewResponse>

res/onvif/services.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SOAP-ENV:Envelope xmlns:SOAP-ENV="http://www.w3.org/2003/05/soap-envelope" xmlns:tds="http://www.onvif.org/ver10/device/wsdl" xmlns:tt="http://www.onvif.org/ver10/schema">
+  <SOAP-ENV:Body>
+    <tds:GetServicesResponse>
+      <tds:Service>
+        <tds:Namespace>http://www.onvif.org/ver10/device/wsdl</tds:Namespace>
+        <tds:XAddr>http://%s:%d/onvif/device_service</tds:XAddr>
+        <tds:Version><tt:Major>2</tt:Major><tt:Minor>40</tt:Minor></tds:Version>
+      </tds:Service>
+      <tds:Service>
+        <tds:Namespace>http://www.onvif.org/ver10/media/wsdl</tds:Namespace>
+        <tds:XAddr>http://%s:%d/onvif/media_service</tds:XAddr>
+        <tds:Version><tt:Major>2</tt:Major><tt:Minor>40</tt:Minor></tds:Version>
+      </tds:Service>
+      <tds:Service>
+        <tds:Namespace>http://www.onvif.org/ver10/events/wsdl</tds:Namespace>
+        <tds:XAddr>http://%s:%d/onvif/event_service</tds:XAddr>
+        <tds:Version><tt:Major>2</tt:Major><tt:Minor>40</tt:Minor></tds:Version>
+      </tds:Service>
+    </tds:GetServicesResponse>
+  </SOAP-ENV:Body>
+</SOAP-ENV:Envelope>

res/onvif/syncpoint.xml

@@ -0,0 +1 @@
+    <tev:SetSynchronizationPointResponse/>

res/onvif/unsubscribe.xml

@@ -0,0 +1 @@
+    <wsnt:UnsubscribeResponse/>

src/app_config.c

@@ -105,6 +105,11 @@ int app_config_save(void) {
     fprintf(file, "  adc_device: %s\n", app_config.adc_device);
     fprintf(file, "  adc_threshold: %d\n", app_config.adc_threshold);
 
+    fprintf(file, "motion_detect:\n");
+    fprintf(file, "  enable: %s\n", app_config.motion_detect_enable ? "true" : "false");
+    fprintf(file, "  sensitivity: %d\n", app_config.motion_detect_sensitivity);
+    fprintf(file, "  hold_s: %d\n", app_config.motion_detect_hold_s);
+
     fprintf(file, "isp:\n");
     fprintf(file, "  mirror: %s\n", app_config.mirror ? "true" : "false");
     fprintf(file, "  flip: %s\n", app_config.flip ? "true" : "false");
@@ -281,6 +286,10 @@ enum ConfigError app_config_parse(void) {
     app_config.adc_device[0] = 0;
     app_config.adc_threshold = 128;
 
+    app_config.motion_detect_enable = false;
+    app_config.motion_detect_sensitivity = 5;
+    app_config.motion_detect_hold_s = 5;
+
     struct IniConfig ini;
     memset(&ini, 0, sizeof(struct IniConfig));
 
@@ -370,6 +379,14 @@ enum ConfigError app_config_parse(void) {
             &app_config.adc_threshold);
     }
 
+    parse_bool(&ini, "motion_detect", "enable", &app_config.motion_detect_enable);
+    if (app_config.motion_detect_enable) {
+        parse_int(&ini, "motion_detect", "sensitivity", 1, 10,
+            &app_config.motion_detect_sensitivity);
+        parse_int(&ini, "motion_detect", "hold_s", 1, 300,
+            &app_config.motion_detect_hold_s);
+    }
+
     err = parse_bool(&ini, "isp", "mirror", &app_config.mirror);
     if (err != CONFIG_OK)
         goto RET_ERR;

src/app_config.h

@@ -37,6 +37,11 @@ struct AppConfig {
     char adc_device[128];
     int adc_threshold;
 
+    // [motion_detect]
+    bool motion_detect_enable;
+    int motion_detect_sensitivity;
+    int motion_detect_hold_s;
+
     // [isp]
     bool mirror;
     bool flip;

src/hal/star/i6_hal.c

@@ -379,6 +379,69 @@ void i6_pipeline_destroy(void)
     i6_snr.fnDisable(_i6_snr_index);
 }
 
+int i6_raw_create(short width, short height)
+{
+    int ret;
+
+    if (!i6_sys.fnGetBuf || !i6_sys.fnPutBuf)
+        HAL_ERROR("i6_raw", "libmi_sys does not export the buffer functions!\n");
+    if (i6_state[I6_RAW_PORT].enable)
+        HAL_ERROR("i6_raw", "VPE port %d is already used by an encoder!\n", I6_RAW_PORT);
+
+    i6_vpe_port port;
+    port.output.width = width;
+    port.output.height = height;
+    port.mirror = 0;
+    port.flip = 0;
+    port.compress = I6_COMPR_NONE;
+    port.pixFmt = I6_PIXFMT_YUV420SP;
+    if (ret = i6_vpe.fnSetPortConfig(_i6_vpe_chn, I6_RAW_PORT, &port))
+        return ret;
+
+    i6_sys_bind bind = { .module = I6_SYS_MOD_VPE,
+        .device = _i6_vpe_dev, .channel = _i6_vpe_chn, .port = I6_RAW_PORT };
+    if (ret = i6_sys.fnSetOutputDepth(&bind, 1, 3))
+        return ret;
+
+    return i6_vpe.fnEnablePort(_i6_vpe_chn, I6_RAW_PORT);
+}
+
+int i6_raw_get(hal_rawframe *frame)
+{
+    i6_sys_bind bind = { .module = I6_SYS_MOD_VPE,
+        .device = _i6_vpe_dev, .channel = _i6_vpe_chn, .port = I6_RAW_PORT };
+    i6_sys_bufinfo info;
+    int handle;
+
+    if (i6_sys.fnGetBuf(&bind, &info, &handle))
+        return EXIT_FAILURE;
+
+    if (info.frame.pixFmt != I6_PIXFMT_YUV420SP) {
+        i6_sys.fnPutBuf(handle);
+        HAL_ERROR("i6_raw", "Unexpected frame format %d!\n", info.frame.pixFmt);
+    }
+
+    if (i6_sys.fnFlushInvCache)
+        i6_sys.fnFlushInvCache(info.frame.virtAddr[0], info.frame.stride[0] * info.frame.height);
+
+    frame->luma = info.frame.virtAddr[0];
+    frame->stride = info.frame.stride[0];
+    frame->width = info.frame.width;
+    frame->height = info.frame.height;
+    frame->handle = handle;
+    return EXIT_SUCCESS;
+}
+
+int i6_raw_release(hal_rawframe *frame)
+{
+    return i6_sys.fnPutBuf(frame->handle);
+}
+
+void i6_raw_destroy(void)
+{
+    i6_vpe.fnDisablePort(_i6_vpe_chn, I6_RAW_PORT);
+}
+
 int i6_region_create(char handle, hal_rect rect, short opacity)
 {
     int ret;

src/hal/star/i6_hal.h

@@ -38,6 +38,14 @@ int i6_config_load(char *path);
 int i6_pipeline_create(char index, short width, short height, char mirror, char flip, char framerate);
 void i6_pipeline_destroy(void);
 
+// Port 3 of the SSC323 VPE hands out buffers that are never written
+#define I6_RAW_PORT 2
+
+int i6_raw_create(short width, short height);
+int i6_raw_get(hal_rawframe *frame);
+int i6_raw_release(hal_rawframe *frame);
+void i6_raw_destroy(void);
+
 int i6_region_create(char handle, hal_rect rect, short opacity);
 void i6_region_deinit(void);
 void i6_region_destroy(char handle);

src/hal/star/i6_sys.h

@@ -68,6 +68,31 @@ typedef struct {
     unsigned char version[128];
 } i6_sys_ver;
 
+typedef struct {
+    unsigned long long pts;
+    int type;
+    unsigned int flags;
+    union {
+        // Layout measured on SSC323 (infinity6), the first five words are unknown
+        struct {
+            int tileMode;
+            unsigned int unknown[4];
+            i6_common_pixfmt pixFmt;
+            i6_common_compr compress;
+            int scanMode;
+            int fieldType;
+            int ispInfoType;
+            unsigned short width;
+            unsigned short height;
+            void *virtAddr[3];
+            unsigned long long physAddr[3];
+            unsigned int stride[3];
+            unsigned int bufSize;
+        } frame;
+        unsigned char reserved[240];
+    };
+} i6_sys_bufinfo;
+
 typedef struct {
     void *handle, *handleCamOsWrapper;
 
@@ -81,6 +106,10 @@ typedef struct {
         unsigned int dstFps, i6_sys_link link, unsigned int linkParam);
     int (*fnSetOutputDepth)(i6_sys_bind *bind, unsigned int usrDepth, unsigned int bufDepth);
     int (*fnUnbind)(i6_sys_bind *source, i6_sys_bind *dest);
+
+    int (*fnFlushInvCache)(void *address, unsigned int length);
+    int (*fnGetBuf)(i6_sys_bind *bind, i6_sys_bufinfo *info, int *handle);
+    int (*fnPutBuf)(int handle);
 } i6_sys_impl;
 
 static int i6_sys_load(i6_sys_impl *sys_lib) {
@@ -119,6 +148,15 @@ static int i6_sys_load(i6_sys_impl *sys_lib) {
         hal_symbol_load("i6_sys", sys_lib->handle, "MI_SYS_UnBindChnPort")))
         return EXIT_FAILURE;
 
+    sys_lib->fnFlushInvCache = (int(*)(void *address, unsigned int length))
+        hal_symbol_load("i6_sys", sys_lib->handle, "MI_SYS_FlushInvCache");
+
+    sys_lib->fnGetBuf = (int(*)(i6_sys_bind *bind, i6_sys_bufinfo *info, int *handle))
+        hal_symbol_load("i6_sys", sys_lib->handle, "MI_SYS_ChnOutputPortGetBuf");
+
+    sys_lib->fnPutBuf = (int(*)(int handle))
+        hal_symbol_load("i6_sys", sys_lib->handle, "MI_SYS_ChnOutputPortPutBuf");
+
     return EXIT_SUCCESS;
 }
 

src/hal/tools.c

@@ -35,9 +35,9 @@ int base64_decode(char *decoded, const char *string, int maxLen) {
         }
     }
 
-    if (buflen > 0 && i + buflen <= maxLen) {
-        memcpy(decoded + i, buf, buflen);
-        i += buflen;
+    if (buflen > 1 && i + buflen - 1 <= maxLen) {
+        memcpy(decoded + i, buf, buflen - 1);
+        i += buflen - 1;
     }
 
     return i;

src/hal/types.h

@@ -70,6 +70,13 @@ typedef struct {
     hal_vidcodec payload;
 } hal_chnstate;
 
+typedef struct {
+    unsigned char *luma;
+    int stride;
+    short width, height;
+    int handle;
+} hal_rawframe;
+
 typedef struct {
     unsigned short width, height;
 } hal_dim;