vixy-vision/server/motion.py

#!/usr/bin/env python3
"""
Motion Detection Module

Simple frame-differencing motion detection with event reporting.
Runs as background thread, POSTs events to collector on Mac mini.
"""

import os
import cv2
import time
import threading
import logging
import httpx
import base64
from datetime import datetime
from typing import Optional, Callable
from dataclasses import dataclass, asdict
from pathlib import Path

logger = logging.getLogger(__name__)


@dataclass
class MotionEvent:
    """Motion detection event"""
    timestamp: str
    camera_id: str
    event_type: str = "motion"
    confidence: float = 0.0
    region: str = "full"  # Could be "left", "right", "center" etc.
    area_percent: float = 0.0  # % of frame with motion


class MotionDetector:
    """
    Background motion detection with event reporting.
    
    Uses frame differencing to detect motion and reports
    events to a collector endpoint.
    """
    
    def __init__(
        self,
        camera_id: str,
        collector_url: Optional[str] = None,
        collector_api_key: Optional[str] = None,
        threshold: int = 25,           # Pixel difference threshold
        min_area_percent: float = 0.5, # Minimum % of frame to trigger
        cooldown_seconds: float = 5.0, # Seconds between events
        check_interval: float = 0.5,   # Seconds between frame checks
    ):
        self.camera_id = camera_id
        self.collector_url = collector_url
        self.collector_api_key = collector_api_key
        self.threshold = threshold
        self.min_area_percent = min_area_percent
        self.cooldown_seconds = cooldown_seconds
        self.check_interval = check_interval
        
        self._previous_frame: Optional[any] = None
        self._last_event_time: float = 0
        self._running = False
        self._thread: Optional[threading.Thread] = None
        self._get_frame: Optional[Callable] = None
        
        # Stats
        self.events_detected = 0
        self.events_reported = 0
        self.last_event: Optional[MotionEvent] = None
    
    def start(self, get_frame_func: Callable):
        """
        Start motion detection in background thread.
        
        Args:
            get_frame_func: Function that returns current frame as numpy array
        """
        if self._running:
            logger.warning("Motion detector already running")
            return
        
        self._get_frame = get_frame_func
        self._running = True
        self._thread = threading.Thread(target=self._detection_loop, daemon=True)
        self._thread.start()
        logger.info(f"Motion detection started (threshold={self.threshold}, cooldown={self.cooldown_seconds}s)")
    
    def stop(self):
        """Stop motion detection"""
        self._running = False
        if self._thread:
            self._thread.join(timeout=2.0)
        logger.info("Motion detection stopped")
    
    def _detection_loop(self):
        """Main detection loop - runs in background thread"""
        while self._running:
            try:
                self._check_for_motion()
            except Exception as e:
                logger.error(f"Motion detection error: {e}")
            
            time.sleep(self.check_interval)
    
    def _check_for_motion(self):
        """Check current frame for motion"""
        if not self._get_frame:
            return
        
        # Get current frame
        frame = self._get_frame()
        if frame is None:
            return
        
        # Convert to grayscale for comparison
        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
        gray = cv2.GaussianBlur(gray, (21, 21), 0)
        
        # Need previous frame to compare
        if self._previous_frame is None:
            self._previous_frame = gray
            return
        
        # Compute difference
        frame_delta = cv2.absdiff(self._previous_frame, gray)
        thresh = cv2.threshold(frame_delta, self.threshold, 255, cv2.THRESH_BINARY)[1]
        
        # Dilate to fill gaps
        thresh = cv2.dilate(thresh, None, iterations=2)
        
        # Calculate motion area percentage
        motion_pixels = cv2.countNonZero(thresh)
        total_pixels = thresh.shape[0] * thresh.shape[1]
        area_percent = (motion_pixels / total_pixels) * 100
        
        # Update previous frame
        self._previous_frame = gray
        
        # Check if motion exceeds threshold
        if area_percent >= self.min_area_percent:
            self._handle_motion(frame, area_percent)
    
    def _handle_motion(self, frame, area_percent: float):
        """Handle detected motion"""
        now = time.time()
        
        # Check cooldown
        if now - self._last_event_time < self.cooldown_seconds:
            return
        
        self._last_event_time = now
        self.events_detected += 1
        
        # Create event
        event = MotionEvent(
            timestamp=datetime.utcnow().isoformat() + "Z",
            camera_id=self.camera_id,
            confidence=min(area_percent / 10.0, 1.0),  # Normalize to 0-1
            area_percent=round(area_percent, 2),
        )
        self.last_event = event
        
        logger.info(f"Motion detected: {area_percent:.1f}% of frame (confidence: {event.confidence:.2f})")
        
        # Report to collector
        if self.collector_url:
            self._report_event(event, frame)
    
    def _report_event(self, event: MotionEvent, frame):
        """POST event to collector endpoint"""
        try:
            # Encode frame as JPEG
            _, buffer = cv2.imencode('.jpg', frame, [cv2.IMWRITE_JPEG_QUALITY, 85])
            snapshot_b64 = base64.b64encode(buffer.tobytes()).decode('utf-8')
            
            # Build payload
            payload = {
                "event": asdict(event),
                "snapshot": snapshot_b64,
            }
            
            # POST to collector
            headers = {"Content-Type": "application/json"}
            if self.collector_api_key:
                headers["X-API-Key"] = self.collector_api_key
            
            # Use sync client (we're in a thread)
            with httpx.Client(timeout=5.0, verify=False) as client:
                response = client.post(
                    self.collector_url,
                    json=payload,
                    headers=headers,
                )
                
                if response.status_code == 200:
                    self.events_reported += 1
                    logger.info(f"Event reported to collector ({self.events_reported} total)")
                else:
                    logger.warning(f"Collector returned {response.status_code}: {response.text[:100]}")
        
        except Exception as e:
            logger.error(f"Failed to report event: {e}")
    
    def get_stats(self) -> dict:
        """Get detection statistics"""
        return {
            "running": self._running,
            "events_detected": self.events_detected,
            "events_reported": self.events_reported,
            "last_event": asdict(self.last_event) if self.last_event else None,
            "config": {
                "threshold": self.threshold,
                "min_area_percent": self.min_area_percent,
                "cooldown_seconds": self.cooldown_seconds,
                "collector_url": self.collector_url,
            }
        }