Merge branch 'master' into m3u-update

cmd/revid-cli/main.go

@@ -128,6 +128,7 @@ func handleFlags() config.Config {
 		httpAddressPtr      = flag.String("HttpAddress", "", "Destination address of http posts")
 		verticalFlipPtr     = flag.Bool("VerticalFlip", false, "Flip video vertically: Yes, No")
 		horizontalFlipPtr   = flag.Bool("HorizontalFlip", false, "Flip video horizontally: Yes, No")
+		loopPtr             = flag.Bool("Loop", false, "Loop input source on completion (true/false)")
 		bitratePtr          = flag.Uint("Bitrate", 0, "Bitrate of recorded video")
 		heightPtr           = flag.Uint("Height", 0, "Height in pixels")
 		widthPtr            = flag.Uint("Width", 0, "Width in pixels")
@@ -138,6 +139,7 @@ func handleFlags() config.Config {
 		saturationPtr       = flag.Int("Saturation", 0, "Set Saturation. (100-100)")
 		exposurePtr         = flag.String("Exposure", "auto", "Set exposure mode. ("+strings.Join(raspivid.ExposureModes[:], ",")+")")
 		autoWhiteBalancePtr = flag.String("Awb", "auto", "Set automatic white balance mode. ("+strings.Join(raspivid.AutoWhiteBalanceModes[:], ",")+")")
+		fileFPSPtr          = flag.Int("FileFPS", 0, "File source frame processing FPS")
 
 		// Audio specific flags.
 		sampleRatePtr = flag.Int("SampleRate", 48000, "Sample rate of recorded audio")
@@ -254,6 +256,8 @@ func handleFlags() config.Config {
 		netsender.ConfigFile = *configFilePtr
 	}
 
+	cfg.FileFPS = *fileFPSPtr
+	cfg.Loop = *loopPtr
 	cfg.CameraIP = *cameraIPPtr
 	cfg.Rotation = *rotationPtr
 	cfg.HorizontalFlip = *horizontalFlipPtr

filter/difference.go

@@ -0,0 +1,129 @@
+// +build !circleci
+
+/*
+DESCRIPTION
+  A filter that detects motion and discards frames without motion. The
+  algorithm calculates the absolute difference for each pixel between
+  two frames, then finds the mean. If the mean is above a given threshold,
+  then it is considered motion.
+
+AUTHORS
+  Scott Barnard <scott@ausocean.org>
+
+LICENSE
+  difference.go is Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+package filter
+
+import (
+	"fmt"
+	"image"
+	"image/color"
+	"io"
+
+	"gocv.io/x/gocv"
+)
+
+// Difference is a filter that provides basic motion detection. Difference calculates
+// the absolute difference for each pixel between two frames, then finds the mean. If
+// the mean is above a given threshold, then it is considered motion.
+type Difference struct {
+	dst     io.WriteCloser
+	thresh  float64
+	prev    gocv.Mat
+	debug   bool
+	windows []*gocv.Window
+}
+
+// NewDifference returns a pointer to a new Difference struct.
+func NewDifference(dst io.WriteCloser, debug bool, threshold float64) *Difference {
+	var windows []*gocv.Window
+	if debug {
+		windows = []*gocv.Window{gocv.NewWindow("Diff: Bounding boxes"), gocv.NewWindow("Diff: Motion")}
+	}
+	return &Difference{dst, threshold, gocv.NewMat(), debug, windows}
+}
+
+// Implements io.Closer.
+// Close frees resources used by gocv, because it has to be done manually, due to
+// it using c-go.
+func (d *Difference) Close() error {
+	d.prev.Close()
+	for _, window := range d.windows {
+		window.Close()
+	}
+	return nil
+}
+
+// Implements io.Writer.
+// Write applies the motion filter to the video stream. Only frames with motion
+// are written to the destination encoder, frames without are discarded.
+func (d *Difference) Write(f []byte) (int, error) {
+	if d.prev.Empty() {
+		var err error
+		d.prev, err = gocv.IMDecode(f, gocv.IMReadColor)
+		if err != nil {
+			return 0, err
+		}
+		return len(f), nil
+	}
+
+	img, err := gocv.IMDecode(f, gocv.IMReadColor)
+	defer img.Close()
+	if err != nil {
+		return 0, err
+	}
+
+	imgDelta := gocv.NewMat()
+	defer imgDelta.Close()
+
+	// Seperate foreground and background.
+	gocv.AbsDiff(img, d.prev, &imgDelta)
+	gocv.CvtColor(imgDelta, &imgDelta, gocv.ColorBGRToGray)
+
+	mean := imgDelta.Mean().Val1
+
+	// Update History.
+	d.prev = img.Clone()
+
+	// Draw debug information.
+	if d.debug {
+		if mean >= d.thresh {
+			gocv.PutText(
+				&img,
+				fmt.Sprintf("motion - mean:%f", mean),
+				image.Pt(32, 32),
+				gocv.FontHersheyPlain,
+				2.0,
+				color.RGBA{255, 0, 0, 0},
+				2,
+			)
+		}
+
+		d.windows[0].IMShow(img)
+		d.windows[1].IMShow(imgDelta)
+		d.windows[0].WaitKey(1)
+	}
+
+	// Don't write to destination if there is no motion.
+	if mean < d.thresh {
+		return len(f), nil
+	}
+
+	// Write to destination.
+	return d.dst.Write(f)
+}

filter/filters_circleci.go

@@ -36,6 +36,12 @@ func NewMOGFilter(dst io.WriteCloser, area, threshold float64, history int, debu
 	return &NoOp{dst: dst}
 }
 
+// NewKNNFilter returns a pointer to a new NoOp struct for testing purposes only.
 func NewKNNFilter(dst io.WriteCloser, area, threshold float64, history, kernelSize int, debug bool, hf int) *NoOp {
 	return &NoOp{dst: dst}
 }
+
+// NewDiffference returns a pointer to a new NoOp struct for testing purposes only.
+func NewDifference(dst io.WriteCloser, debug bool, threshold float64) *NoOp {
+	return &NoOp{dst: dst}
+}

go.mod

@@ -4,7 +4,7 @@ go 1.13
 
 require (
 	bitbucket.org/ausocean/iot v1.2.13
-	bitbucket.org/ausocean/utils v1.2.12
+	bitbucket.org/ausocean/utils v1.2.13
 	github.com/Comcast/gots v0.0.0-20190305015453-8d56e473f0f7
 	github.com/go-audio/audio v0.0.0-20181013203223-7b2a6ca21480
 	github.com/go-audio/wav v0.0.0-20181013172942-de841e69b884

go.sum

@@ -12,6 +12,8 @@ bitbucket.org/ausocean/utils v1.2.11 h1:zA0FOaPjN960ryp8PKCkV5y50uWBYrIxCVnXjwbv
 bitbucket.org/ausocean/utils v1.2.11/go.mod h1:uXzX9z3PLemyURTMWRhVI8uLhPX4uuvaaO85v2hcob8=
 bitbucket.org/ausocean/utils v1.2.12 h1:VnskjWTDM475TnQRhBQE0cNp9D6Y6OELrd4UkD2VVIQ=
 bitbucket.org/ausocean/utils v1.2.12/go.mod h1:uXzX9z3PLemyURTMWRhVI8uLhPX4uuvaaO85v2hcob8=
+bitbucket.org/ausocean/utils v1.2.13 h1:tUaIywtoMc1+zl1GCVQokX4mL5X7LNHX5O51AgAPrWA=
+bitbucket.org/ausocean/utils v1.2.13/go.mod h1:uXzX9z3PLemyURTMWRhVI8uLhPX4uuvaaO85v2hcob8=
 github.com/BurntSushi/toml v0.3.1 h1:WXkYYl6Yr3qBf1K79EBnL4mak0OimBfB0XUf9Vl28OQ=
 github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
 github.com/Comcast/gots v0.0.0-20190305015453-8d56e473f0f7 h1:LdOc9B9Bj6LEsKiXShkLA3/kpxXb6LJpH+ekU2krbzw=

revid/config/config.go

@@ -86,6 +86,7 @@ const (
 	defaultAudioInputCodec = codecutil.ADPCM
 	defaultPSITime         = 2
 	defaultMotionInterval  = 5
+	defaultFileFPS         = 0
 
 	// Ring buffer defaults.
 	defaultRBMaxElements  = 10000
@@ -126,6 +127,7 @@ const (
 	FilterMOG
 	FilterVariableFPS
 	FilterKNN
+	FilterDifference
 )
 
 // OS names
@@ -297,6 +299,14 @@ type Config struct {
 	MOGMinArea   float64 // Used to ignore small areas of motion detection.
 	MOGThreshold float64 // Intensity value from the KNN motion detection algorithm that is considered motion.
 	MOGHistory   uint    // Length of MOG filter's history
+
+	// If true will restart reading of input after an io.EOF.
+	Loop bool
+
+	// Defines the rate at which frames from a file source are processed.
+	FileFPS int
+	// Difference filter parameters.
+	DiffThreshold float64 // Intensity value from the Difference motion detection algorithm that is considered motion.
 }
 
 // TypeData contains information about all of the variables that
@@ -310,8 +320,10 @@ var TypeData = map[string]string{
 	"CameraIP":         "string",
 	"CBR":              "bool",
 	"ClipDuration":     "uint",
+	"DiffThreshold":    "float",
 	"Exposure":         "enum:auto,night,nightpreview,backlight,spotlight,sports,snow,beach,verylong,fixedfps,antishake,fireworks",
-	"Filters":          "enums:NoOp,MOG,VariableFPS,KNN",
+	"FileFPS":          "int",
+	"Filters":          "enums:NoOp,MOG,VariableFPS,KNN,Difference",
 	"FrameRate":        "uint",
 	"Height":           "uint",
 	"HorizontalFlip":   "bool",
@@ -324,20 +336,21 @@ var TypeData = map[string]string{
 	"KNNMinArea":       "float",
 	"KNNThreshold":     "float",
 	"logging":          "enum:Debug,Info,Warning,Error,Fatal",
+	"Loop":             "bool",
 	"MinFPS":           "float",
 	"MinFrames":        "uint",
-	"mode":             "enum:Normal,Paused,Burst",
+	"mode":             "enum:Normal,Paused,Burst,Loop",
 	"MOGHistory":       "uint",
 	"MOGMinArea":       "float",
 	"MOGThreshold":     "float",
 	"MotionInterval":   "int",
-	"RBCapacity":       "uint",
-	"RBMaxElements":    "uint",
-	"RBWriteTimeout":   "uint",
 	"Output":           "enum:File,Http,Rtmp,Rtp",
 	"OutputPath":       "string",
 	"Outputs":          "enums:File,Http,Rtmp,Rtp",
 	"Quantization":     "uint",
+	"RBCapacity":       "uint",
+	"RBMaxElements":    "uint",
+	"RBWriteTimeout":   "uint",
 	"Rotation":         "uint",
 	"RTMPURL":          "string",
 	"RTPAddress":       "string",
@@ -521,6 +534,11 @@ func (c *Config) Validate() error {
 		}
 	}
 
+	if c.FileFPS <= 0 || (c.FileFPS > 0 && c.Input != InputFile) {
+		c.Logger.Log(logger.Info, pkg+"FileFPS bad or unset, defaulting", "FileFPS", defaultFileFPS)
+		c.FileFPS = defaultFileFPS
+	}
+
 	return nil
 }
 

revid/revid.go

@@ -7,6 +7,7 @@ AUTHORS
   Alan Noble <alan@ausocean.org>
   Dan Kortschak <dan@ausocean.org>
   Trek Hopton <trek@ausocean.org>
+  Scott Barnard <scott@ausocean.org>
 
 LICENSE
   revid is Copyright (C) 2017-2020 the Australian Ocean Lab (AusOcean)
@@ -52,6 +53,7 @@ import (
 	"bitbucket.org/ausocean/av/filter"
 	"bitbucket.org/ausocean/av/revid/config"
 	"bitbucket.org/ausocean/iot/pi/netsender"
+	"bitbucket.org/ausocean/utils/bitrate"
 	"bitbucket.org/ausocean/utils/ioext"
 	"bitbucket.org/ausocean/utils/logger"
 	"bitbucket.org/ausocean/utils/vring"
@@ -115,6 +117,9 @@ type Revid struct {
 
 	// err will channel errors from revid routines to the handle errors routine.
 	err chan error
+
+	// bitrate is used for bitrate calculations.
+	bitrate bitrate.Calculator
 }
 
 // New returns a pointer to a new Revid with the desired configuration, and/or
@@ -148,10 +153,8 @@ func (r *Revid) handleErrors() {
 }
 
 // Bitrate returns the result of the  most recent bitrate check.
-//
-// TODO: get this working again.
 func (r *Revid) Bitrate() int {
-	return -1
+	return r.bitrate.Bitrate()
 }
 
 // reset swaps the current config of a Revid with the passed
@@ -266,14 +269,14 @@ func (r *Revid) setupPipeline(mtsEnc func(dst io.WriteCloser, rate float64) (io.
 				return fmt.Errorf("could not initialise MTS ring buffer: %w", err)
 			}
 			w = newMtsSender(
-				newHttpSender(r.ns, r.cfg.Logger.Log),
+				newHttpSender(r.ns, r.cfg.Logger.Log, r.bitrate.Report),
 				r.cfg.Logger.Log,
 				rb,
 				r.cfg.ClipDuration,
 			)
 			mtsSenders = append(mtsSenders, w)
 		case config.OutputRTP:
-			w, err := newRtpSender(r.cfg.RTPAddress, r.cfg.Logger.Log, r.cfg.FrameRate)
+			w, err := newRtpSender(r.cfg.RTPAddress, r.cfg.Logger.Log, r.cfg.FrameRate, r.bitrate.Report)
 			if err != nil {
 				r.cfg.Logger.Log(logger.Warning, pkg+"rtp connect error", "error", err.Error())
 			}
@@ -295,6 +298,7 @@ func (r *Revid) setupPipeline(mtsEnc func(dst io.WriteCloser, rate float64) (io.
 				rtmpConnectionMaxTries,
 				rb,
 				r.cfg.Logger.Log,
+				r.bitrate.Report,
 			)
 			if err != nil {
 				r.cfg.Logger.Log(logger.Warning, pkg+"rtmp connect error", "error", err.Error())
@@ -342,6 +346,8 @@ func (r *Revid) setupPipeline(mtsEnc func(dst io.WriteCloser, rate float64) (io.
 				r.filters[i] = filter.NewVariableFPSFilter(dst, r.cfg.MinFPS, filter.NewMOGFilter(dst, r.cfg.MOGMinArea, r.cfg.MOGThreshold, int(r.cfg.MOGHistory), r.cfg.ShowWindows, r.cfg.MotionInterval))
 			case config.FilterKNN:
 				r.filters[i] = filter.NewKNNFilter(dst, r.cfg.KNNMinArea, r.cfg.KNNThreshold, int(r.cfg.KNNHistory), int(r.cfg.KNNKernel), r.cfg.ShowWindows, r.cfg.MotionInterval)
+			case config.FilterDifference:
+				r.filters[i] = filter.NewDifference(dst, r.cfg.ShowWindows, r.cfg.DiffThreshold)
 			default:
 				panic("Undefined Filter")
 			}
@@ -428,13 +434,14 @@ func (r *Revid) Start() error {
 		return err
 	}
 
-	err = r.input.Start()
+	// Calculate delay between frames based on FileFPS.
-	if err != nil {
+	d := time.Duration(0)
-		return fmt.Errorf("could not start input device: %w", err)
+	if r.cfg.FileFPS != 0 {
+		d = time.Duration(1000/r.cfg.FileFPS) * time.Millisecond
 	}
 
 	r.wg.Add(1)
-	go r.processFrom(r.input, 0)
+	go r.processFrom(r.input, d)
 
 	r.running = true
 	return nil
@@ -662,7 +669,7 @@ func (r *Revid) Update(vars map[string]string) error {
 			}
 		case "Filters":
 			filters := strings.Split(value, ",")
-			m := map[string]int{"NoOp": config.FilterNoOp, "MOG": config.FilterMOG, "VariableFPS": config.FilterVariableFPS, "KNN": config.FilterKNN}
+			m := map[string]int{"NoOp": config.FilterNoOp, "MOG": config.FilterMOG, "VariableFPS": config.FilterVariableFPS, "KNN": config.FilterKNN, "Difference": config.FilterDifference}
 			r.cfg.Filters = make([]int, len(filters))
 			for i, filter := range filters {
 				v, ok := m[filter]
@@ -810,6 +817,13 @@ func (r *Revid) Update(vars map[string]string) error {
 				break
 			}
 			r.cfg.KNNThreshold = v
+		case "DiffThreshold":
+			v, err := strconv.ParseFloat(value, 64)
+			if err != nil {
+				r.cfg.Logger.Log(logger.Warning, pkg+"invalid DiffThreshold var", "value", value)
+				break
+			}
+			r.cfg.DiffThreshold = v
 		case "KNNKernel":
 			v, err := strconv.Atoi(value)
 			if err != nil {
@@ -845,6 +859,18 @@ func (r *Revid) Update(vars map[string]string) error {
 				break
 			}
 			r.cfg.MOGHistory = uint(v)
+		case "FileFPS":
+			v, err := strconv.Atoi(value)
+			if err != nil {
+				r.cfg.Logger.Log(logger.Warning, pkg+"invalid FileFPS var", "value", value)
+				break
+			}
+			r.cfg.FileFPS = v
+		case "mode":
+			r.cfg.Loop = false
+			if value == "Loop" {
+				r.cfg.Loop = true
+			}
 		}
 	}
 	r.cfg.Logger.Log(logger.Info, pkg+"revid config changed", "config", fmt.Sprintf("%+v", r.cfg))
@@ -853,14 +879,34 @@ func (r *Revid) Update(vars map[string]string) error {
 
 // processFrom is run as a routine to read from a input data source, lex and
 // then send individual access units to revid's encoders.
-func (r *Revid) processFrom(read io.Reader, delay time.Duration) {
+func (r *Revid) processFrom(in device.AVDevice, delay time.Duration) {
-	err := r.lexTo(r.filters[0], read, delay)
+	defer r.wg.Done()
-	r.cfg.Logger.Log(logger.Debug, pkg+"finished lexing")
+
+	for l := true; l; l = r.cfg.Loop {
+		err := in.Start()
+		if err != nil {
+			r.err <- fmt.Errorf("could not start input device: %w", err)
+			return
+		}
+
+		// Lex data from input device, in, until finished or an error is encountered.
+		// For a continuous source e.g. a camera or microphone, we should remain
+		// in this call indefinitely unless in.Stop() is called and an io.EOF is forced.
+		r.cfg.Logger.Log(logger.Info, pkg+"lexing")
+		err = r.lexTo(r.filters[0], in, delay)
 		switch err {
-	case nil: // Do nothing.
+		case nil, io.EOF:
-	case io.EOF: // TODO: handle this depending on loop mode.
+		case io.ErrUnexpectedEOF:
+			r.cfg.Logger.Log(logger.Info, pkg+"unexpected EOF from input")
 		default:
 			r.err <- err
 		}
-	r.wg.Done()
+
+		err = in.Stop()
+		if err != nil {
+			r.err <- fmt.Errorf("could not stop input source: %w", err)
+		}
+	}
+
+	r.cfg.Logger.Log(logger.Info, pkg+"finished lexing")
 }

revid/senders.go

@@ -61,19 +61,25 @@ const (
 type httpSender struct {
 	client *netsender.Sender
 	log    func(lvl int8, msg string, args ...interface{})
+	report func(sent int)
 }
 
 // newHttpSender returns a pointer to a new httpSender.
-func newHttpSender(ns *netsender.Sender, log func(lvl int8, msg string, args ...interface{})) *httpSender {
+func newHttpSender(ns *netsender.Sender, log func(lvl int8, msg string, args ...interface{}), report func(sent int)) *httpSender {
 	return &httpSender{
 		client: ns,
 		log:    log,
+		report: report,
 	}
 }
 
 // Write implements io.Writer.
 func (s *httpSender) Write(d []byte) (int, error) {
-	return len(d), httpSend(d, s.client, s.log)
+	err := httpSend(d, s.client, s.log)
+	if err == nil {
+		s.report(len(d))
+	}
+	return len(d), err
 }
 
 func (s *httpSender) Close() error { return nil }
@@ -276,9 +282,10 @@ type rtmpSender struct {
 	ring    *vring.Buffer
 	done    chan struct{}
 	wg      sync.WaitGroup
+	report  func(sent int)
 }
 
-func newRtmpSender(url string, timeout uint, retries int, rb *vring.Buffer, log func(lvl int8, msg string, args ...interface{})) (*rtmpSender, error) {
+func newRtmpSender(url string, timeout uint, retries int, rb *vring.Buffer, log func(lvl int8, msg string, args ...interface{}), report func(sent int)) (*rtmpSender, error) {
 	var conn *rtmp.Conn
 	var err error
 	for n := 0; n < retries; n++ {
@@ -299,6 +306,7 @@ func newRtmpSender(url string, timeout uint, retries int, rb *vring.Buffer, log
 		log:     log,
 		ring:    rb,
 		done:    make(chan struct{}),
+		report:  report,
 	}
 	s.wg.Add(1)
 	go s.output()
@@ -364,6 +372,7 @@ func (s *rtmpSender) Write(d []byte) (int, error) {
 	if err != nil {
 		s.log(logger.Warning, pkg+"rtmpSender: ring buffer write error", "error", err.Error())
 	}
+	s.report(len(d))
 	return len(d), nil
 }
 
@@ -404,9 +413,10 @@ type rtpSender struct {
 	log     func(lvl int8, msg string, args ...interface{})
 	encoder *rtp.Encoder
 	data    []byte
+	report  func(sent int)
 }
 
-func newRtpSender(addr string, log func(lvl int8, msg string, args ...interface{}), fps uint) (*rtpSender, error) {
+func newRtpSender(addr string, log func(lvl int8, msg string, args ...interface{}), fps uint, report func(sent int)) (*rtpSender, error) {
 	conn, err := net.Dial("udp", addr)
 	if err != nil {
 		return nil, err
@@ -414,6 +424,7 @@ func newRtpSender(addr string, log func(lvl int8, msg string, args ...interface{
 	s := &rtpSender{
 		log:     log,
 		encoder: rtp.NewEncoder(conn, int(fps)),
+		report:  report,
 	}
 	return s, nil
 }
@@ -426,6 +437,7 @@ func (s *rtpSender) Write(d []byte) (int, error) {
 	if err != nil {
 		s.log(logger.Warning, pkg+"rtpSender: write error", err.Error())
 	}
+	s.report(len(d))
 	return len(d), nil
 }