night: switch day/night from the ISP gain when there is no light sensor

.gitignore

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

divinus.yaml

@@ -60,6 +60,15 @@ night_mode:
   pin_switch_delay_us: 150
   adc_device: /dev/sar_adc_drv
   adc_threshold: 128
+  night_gain: 8
+  day_gain: 2
+  night_hold_s: 15
+  day_hold_s: 60
+
+motion_detect:
+  enable: false
+  sensitivity: 5
+  hold_s: 5
 
 http_post:
   enable: false

doc/config.md

@@ -29,6 +29,19 @@ This document describes the fields that can be found within a configuration file
 - **pin_switch_delay_us**: Delay in microseconds before switching GPIO pins, must be used to protect cut filter coils from burning.
 - **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.
+- **night_gain**: Without a light sensor or ADC, total ISP gain (×) that switches to night mode (default: `8`).
+- **day_gain**: Without a light sensor or ADC, total ISP gain (×) below which night mode switches back to day; keep it under the gain reached with the IR LED on (default: `2`).
+- **night_hold_s**: Seconds the gain must stay above `night_gain` before switching to night (default: `15`).
+- **day_hold_s**: Seconds the gain must stay below `day_gain` before switching back to day (default: `60`).
+
+## 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
 

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

@@ -104,6 +104,15 @@ int app_config_save(void) {
     fprintf(file, "  pin_switch_delay_us: %d\n", app_config.pin_switch_delay_us);
     fprintf(file, "  adc_device: %s\n", app_config.adc_device);
     fprintf(file, "  adc_threshold: %d\n", app_config.adc_threshold);
+    fprintf(file, "  night_gain: %d\n", app_config.night_gain);
+    fprintf(file, "  day_gain: %d\n", app_config.day_gain);
+    fprintf(file, "  night_hold_s: %d\n", app_config.night_hold_s);
+    fprintf(file, "  day_hold_s: %d\n", app_config.day_hold_s);
+
+    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");
@@ -280,6 +289,14 @@ enum ConfigError app_config_parse(void) {
     app_config.check_interval_s = 10;
     app_config.adc_device[0] = 0;
     app_config.adc_threshold = 128;
+    app_config.night_gain = 8;
+    app_config.day_gain = 2;
+    app_config.night_hold_s = 15;
+    app_config.day_hold_s = 60;
+
+    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));
@@ -368,6 +385,24 @@ enum ConfigError app_config_parse(void) {
         parse_int(
             &ini, "night_mode", "adc_threshold", INT_MIN, INT_MAX,
             &app_config.adc_threshold);
+        parse_int(&ini, "night_mode", "night_gain", 1, 1024, &app_config.night_gain);
+        parse_int(&ini, "night_mode", "day_gain", 1, 1024, &app_config.day_gain);
+        parse_int(&ini, "night_mode", "night_hold_s", 1, 3600, &app_config.night_hold_s);
+        parse_int(&ini, "night_mode", "day_hold_s", 1, 3600, &app_config.day_hold_s);
+        if (!app_config.adc_device[0] && app_config.ir_sensor_pin == 999 &&
+            app_config.day_gain >= app_config.night_gain) {
+            HAL_DANGER("app_config", "night_mode.day_gain must be lower than night_gain!\n");
+            err = CONFIG_PARAM_ISNT_IN_RANGE;
+            goto RET_ERR;
+        }
+    }
+
+    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);

src/app_config.h

@@ -36,6 +36,15 @@ struct AppConfig {
     unsigned int pin_switch_delay_us;
     char adc_device[128];
     int adc_threshold;
+    unsigned int night_gain;
+    unsigned int day_gain;
+    unsigned int night_hold_s;
+    unsigned int day_hold_s;
+
+    // [motion_detect]
+    bool motion_detect_enable;
+    int motion_detect_sensitivity;
+    int motion_detect_hold_s;
 
     // [isp]
     bool mirror;

src/gpio.c

@@ -118,15 +118,13 @@ int gpio_read(char pin, bool *value) {
 
     char val = 0;
     lseek(fd, 0, SEEK_SET);
-    read(fd, &val, 0);
-    if (!val) {
+    if (read(fd, &val, 1) != 1) {
         close(fd);
         HAL_ERROR("gpio", "Unable to read from GPIO pin %d!\n", pin);
     }
     *value = val - 0x30;
     close(fd);
 
-    if (gpio_direction(pin, "out")) return EXIT_FAILURE;
     if (gpio_export(pin, false)) return EXIT_FAILURE;
 
     return EXIT_SUCCESS;

src/hal/star/i6_hal.c

@@ -183,7 +183,8 @@ int i6_channel_create(char index, short width, short height, char jpeg)
 
 int i6_channel_grayscale(char enable)
 {
-    return i6_isp.fnSetColorToGray(0, &enable);
+    int active = enable;
+    return i6_isp.fnSetColorToGray(0, &active);
 }
 
 int i6_channel_unbind(char index)
@@ -379,6 +380,69 @@ 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;
@@ -492,6 +556,20 @@ int i6_sensor_exposure(unsigned int micros)
     return ret;
 }
 
+int i6_isp_gain(unsigned int *gain)
+{
+    i6_isp_expinfo exp;
+    int ret;
+
+    if (!i6_isp.fnQueryExposureInfo)
+        return EXIT_FAILURE;
+    if (ret = i6_isp.fnQueryExposureInfo(_i6_isp_chn, &exp))
+        return ret;
+
+    *gain = (unsigned long long)exp.info.longExp.sensorGain * exp.info.longExp.ispGain / 1024;
+    return EXIT_SUCCESS;
+}
+
 int i6_video_create(char index, hal_vidconfig *config)
 {
     int ret;

src/hal/star/i6_hal.h

@@ -38,12 +38,21 @@ 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);
 void i6_region_init(void);
 int i6_region_setbitmap(int handle, hal_bitmap *bitmap);
 
+int i6_isp_gain(unsigned int *gain);
 int i6_sensor_exposure(unsigned int micros);
 
 int i6_video_create(char index, hal_vidconfig *config);