Motion tracking (#216)

* Debug information on OSD
Add some debug info on OSD:
 * Hostname
 * IP
 * Transmitted bandwith
 * Rec bandwith
 * CPU usage (based on top command)
 * Freemem (based on free command)
 * Used memory (based on top command)
 * Free memory (based on top command)
This is controlable from scripts/debugInOsd.sh

* Motion tracking !
- Add motion tracking (basic)
- Need to add configuration
- Did small memory optimisation (no allocate memory for OSD if not needed)

firmware_mod/config/motion.conf

@@ -4,9 +4,11 @@
 
 # Configure motion core parameters
 
-region_of_interest=0,0,1280,720
+region_of_interest=0,0,0,0
 motion_sensitivity=4
 motion_indicator_color=2
+motion_timeout=-1
+motion_tracking=off
 
 # Configure how to deal with motion events
 

firmware_mod/controlscripts/configureMotion

@@ -8,4 +8,5 @@ if [ -f /system/sdcard/config/motion.conf ] ; then
     /system/sdcard/bin/setconf -k r -v ${region_of_interest} 2>/dev/null
     /system/sdcard/bin/setconf -k m -v ${motion_sensitivity} 2>/dev/null
     /system/sdcard/bin/setconf -k z -v ${motion_indicator_color} 2>/dev/null
+    /system/sdcard/bin/setconf -k t -v ${motion_tracking} 2>/dev/null
 fi;

firmware_mod/scripts/detectionTracking.sh

@@ -0,0 +1,198 @@
+#!/bin/sh
+
+# Script to calculate the camera movement
+# The screen is split as below (0,1,2,3 are the parameters of the script)
+#           +--------------------------------------+
+#           |                    |                 |
+#           |           0        |      1          |
+#           |                    |                 |
+#           +--------------------------------------+
+#           |                    |                 |
+#           |          2         |      3          |
+#           |                    |                 |
+#           +--------------------------------------+
+
+STEPS=100
+FILECAMERAPOS=/tmp/cameraposition
+
+motorLeft(){
+      /system/sdcard/bin/motor -d l -s ${1}
+}
+
+motorRight(){
+      /system/sdcard/bin/motor -d r -s ${1}
+}
+
+motorUp() {
+      /system/sdcard/bin/motor -d u -s ${1}
+}
+
+motorDown() {
+      /system/sdcard/bin/motor -d d -s ${1}
+}
+
+backtoOrigin() {
+    # return to origin for both axis
+
+    # Get values in saved config file
+    if [ -f ${FILECAMERAPOS} ]; then
+	    origin_x_axis=`grep "x_steps:" ${FILECAMERAPOS} | sed "s/x_steps: //"`
+	    origin_y_axis=`grep "y_steps:" ${FILECAMERAPOS} | sed "s/y_steps: //"`
+    else
+	    origin_x_axis=0
+        origin_y_axis=0
+    fi
+
+    # Get the current position
+    x_axis=`/system/sdcard/bin/motor -d s | grep "x_steps:" | sed "s/x_steps: //"`
+    y_axis=`/system/sdcard/bin/motor -d s | grep "y_steps:" | sed "s/y_steps: //"`
+
+	#--------------------------- X Position -------------------------------------------
+    #Calculate the difference between the origin and the position now
+    if [ ${origin_x_axis} -lt ${x_axis} ]
+    then
+	    diff=$((${origin_x_axis} - ${x_axis}))
+
+	    #This is a substitution trick to take the abs number
+	    diff=${diff#-}
+	    motorLeft "${diff}"
+    else
+	    diff=$((${x_axis} - ${origin_x_axis}))
+
+	    #This is a substitution trick to take the abs number
+	    diff=${diff#-}
+	    motorRight "${diff}"
+    fi
+    # Let some time for the motor to turn
+    sleep 1
+
+	#--------------------------- Y Position -------------------------------------------
+    #Calculate the difference between the origin and the position now
+    if [ ${origin_y_axis} -lt ${y_axis} ]
+    then
+        diff=$((${origin_y_axis} - ${y_axis}))
+
+        #This is a substitution trick to take the abs number
+        diff=${diff#-}
+
+        motorDown "${diff}"
+    else
+        diff=$((${y_axis} - ${origin_y_axis}))
+
+        #This is a substitution trick to take the abs number
+        diff=${diff#-}
+
+        motorUp "${diff}"
+    fi
+
+    # Let some time for the motor to turn
+    sleep 1
+}
+
+#################### Start ###
+
+# If no argument that's mean the camera need to return to its original position
+# the 5th arguments is '&'
+if [ $# -ne 5 ]
+then
+    backtoOrigin
+    return 0;
+fi
+
+# Now save the "origin" values of the camera
+# Save it to tmp as when the camera reboots the camera are set to 0
+if [ -f ${FILECAMERAPOS} ]; then
+	/system/sdcard/bin/motor -d s > ${FILECAMERAPOS}
+fi
+
+
+UP=0
+DOWN=0
+LEFT=0
+RIGHT=0
+
+# Display the areas ...
+echo $1 $2
+echo $3 $4
+
+
+# Sum all the parameters, that gives the number of region detected
+# Only 2 are supported
+if [ $((${1} + ${2} + ${3} +${4})) -gt 2 ]
+then
+	echo "No move if more than 3 detected regions"
+    return 0
+fi
+
+# Basic algorithm to calculate the movement
+# Not optimized, if you have ideas to simplify it ...
+
+if  [ "${1}" == "1" ] && [ "${2}" == "1" ]
+then
+	UP=1
+
+elif [ "${1}" == "1" ] && [ "${3}" == "1" ]
+then
+	LEFT=1
+
+elif [ "${2}" == "1" ] && [ "${4}" == "1" ]
+then
+	RIGHT=1
+
+elif [ "${3}" == "1" ] && [ "${4}" == "1" ]
+then
+	DOWN=1
+
+elif [ "${1}" == "1" ]
+then
+	UP=1
+	LEFT=1
+
+elif [ "${2}" == "1" ]
+then
+	UP=1
+	RIGHT=1
+
+elif [ "${3}" == "1" ]
+then
+	LEFT=1
+	DOWN=1
+
+elif [ "${4}" == "1" ]
+then
+	RIGHT=1
+	DOWN=1
+fi
+
+# Some sanity checks
+if [ "${UP}" != 0 ] && [ "${DOWN}" != 0 ]
+then
+	echo "no move: up and down at the same time"
+	return 0
+fi
+if [ "${RIGHT}" != 0 ] && [ "${LEFT}" != 0 ]
+then
+	echo "no move: right and left at the same time"
+	return 0
+fi
+
+if [ ${RIGHT} != 0 ]
+then
+	echo "Right move"
+	motorRight ${STEPS}
+fi
+if [ ${LEFT} != 0 ]
+then
+	echo "Left move"
+	motorLeft ${STEPS}
+fi
+if [ ${UP} != 0 ]
+then
+	echo "Up move"
+	motorUp ${STEPS}
+fi
+if [ ${DOWN} != 0 ]
+then
+	echo "Down move"
+	motorDown ${STEPS}
+fi

firmware_mod/www/cgi-bin/action.cgi

@@ -248,6 +248,15 @@ if [ -n "$F_cmd" ]; then
         rewrite_config /system/sdcard/config/motion.conf region_of_interest "${F_x0},${F_y0},${F_x1},${F_y1}"
         rewrite_config /system/sdcard/config/motion.conf motion_sensitivity "${F_motion_sensitivity}"
         rewrite_config /system/sdcard/config/motion.conf motion_indicator_color "${F_motion_indicator_color}"
+        rewrite_config /system/sdcard/config/motion.conf motion_timeout "${F_motion_timeout}"
+        if [ "${F_motion_tracking}X" == "X" ]
+        then
+            rewrite_config /system/sdcard/config/motion.conf motion_tracking off
+             /system/sdcard/bin/setconf -k t -v off
+        else
+            rewrite_config /system/sdcard/config/motion.conf motion_tracking on
+            /system/sdcard/bin/setconf -k t -v on
+        fi
 
         # echo "region_of_interest=${F_x0},${F_y0},${F_x1},${F_y1}" >  /system/sdcard/config/motion.conf
         # echo "motion_sensitivity=${F_motion_sensitivity}" >>  /system/sdcard/config/motion.conf
@@ -256,10 +265,12 @@ if [ -n "$F_cmd" ]; then
         /system/sdcard/bin/setconf -k r -v ${F_x0},${F_y0},${F_x1},${F_y1}
         /system/sdcard/bin/setconf -k m -v ${F_motion_sensitivity}
         /system/sdcard/bin/setconf -k z -v ${F_motion_indicator_color}
+        /system/sdcard/bin/setconf -k u -v ${F_motion_timeout}
 
         # Changed the detection region, need to restart the server
         if [ ${F_restart_server} == "1" ]
         then
+
             processName="v4l2rtspserver-master"
             #get the process pid
             processId=`ps | grep ${processName} | grep -v grep | awk '{ printf $1 }'`
@@ -268,14 +279,18 @@ if [ -n "$F_cmd" ]; then
                     #found the process, now get the full path and the parameters in order to restart it
                     executable=`ls -l /proc/${processId}/exe | awk '{print $NF}'`
                     cmdLine=`tr '\0' ' ' < /proc/${processId}/cmdline | awk '{$1=""}1'`
-
                     kill ${processId} 2>/dev/null
+
+                    # Set the socket option in order to restart easily the server (socket in use)
+                    echo 1 > /proc/sys/net/ipv4/tcp_tw_recycle
+
                     sleep 2
                     cmdLine="/system/sdcard/bin/busybox nohup "${executable}${cmdLine} 2>/dev/null
-                    ${cmdLine} &>/dev/null
+                    ${cmdLine}  2>/dev/null >/dev/null &
 
             else
                     echo "process v4l2rtspserver-master was not found"
+                    echo "<BR>"
             fi
         fi
 

firmware_mod/www/cgi-bin/getMotionInfo.cgi

@@ -23,6 +23,20 @@ then
 fi
 echo "region_of_interest=[${region_of_interest}];"
 
+motion_tracking=`/system/sdcard/bin/setconf -g t 2>/dev/null`
+if [ "${motion_tracking}X" == "X" ]
+then
+    motion_tracking=false
+fi
+echo "motion_tracking=${motion_tracking};"
+
+
+motion_timeout=`/system/sdcard/bin/setconf -g u 2>/dev/null`
+if [ "${motion_timeout}X" == "X" ]
+then
+    motion_tracking=60
+fi
+echo "motion_timeout=${motion_timeout};"
 
 
 

firmware_mod/www/configmotion.html

@@ -52,6 +52,16 @@ http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
       overflow: hidden;
       word-break: normal;
     }
+    .img h2 {
+
+      position: absolute;
+      top: 20%;
+      left: 20%;
+      font-size: 28pt;
+      text-align: center;
+      background-color: #B0E0E6
+  }
+
   </style>
 
   <script type="text/javascript">
@@ -69,6 +79,37 @@ http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
       $('#restart_server').val(1);
     }
 
+    function setTracking(obj,init) {
+
+        var ias = $('#picture').imgAreaSelect({
+          instance: true
+        });
+
+      if($(obj).is(":checked")){
+        ias.setOptions({
+          hide: true
+        });
+        $('#picture').css('opacity',0.5);
+        $("#RegionDisabled").show();
+        document.getElementById('motion_timeout').readOnly = false;
+        document.getElementById('motion_timeout').style.backgroundColor = "#FFFFFF";
+
+      }else{
+        ias.setOptions({
+          show: true
+        });
+         $('#picture').css('opacity',1);
+         $("#RegionDisabled").hide();
+         document.getElementById('motion_timeout').readOnly = true;
+         document.getElementById('motion_timeout').style.backgroundColor = "#B0E0E6";
+    }
+    ias.update();
+
+    if (init == false) {
+      $('#restart_server').val(1);
+    }
+
+  }
     $(function() {
       var httpRequest = new XMLHttpRequest();
       httpRequest.open('GET', 'cgi-bin/getMotionInfo.cgi', false);
@@ -84,15 +125,16 @@ http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
       var ias = $('#picture').imgAreaSelect({
         instance: true
       });
-      ias.setOptions({
-        show: true
-      });
-      ias.update();
 
-      if (region_of_interest[0] == 0 && region_of_interest[1] == 0 && region_of_interest[2] == 0 && region_of_interest[3] == 0)
-        ias.setSelection(0, 0, width, height, true);
+      if ((region_of_interest[0] == 0 && region_of_interest[1] == 0 && region_of_interest[2] == 0 && region_of_interest[3] == 0) ||
+          (region_of_interest[0] > width || region_of_interest[1] > height || region_of_interest[2] > width || region_of_interest[3] > height))
+      {
+            ias.setSelection(0, 0, width, height, true);
+      }
       else
+      {
         ias.setSelection(region_of_interest[0], region_of_interest[1], region_of_interest[2], region_of_interest[3], false);
+      }
 
       $('#x0').val(region_of_interest[0]);
       $('#y0').val(region_of_interest[1]);
@@ -101,7 +143,15 @@ http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
       $('#restart_server').val(0);
       $('#motion_indicator_color').val(motion_indicator_color).change();
       $('#motion_sensitivity').val(motion_sensitivity).change();
+      console.log(motion_tracking);
+      $('#motion_tracking').prop('checked',motion_tracking);
+      $('#motion_timeout').val(motion_timeout).change();
+      setTracking( $('#motion_tracking').get(0), true);
     });
+
+
+
+
   </script>
 
 
@@ -114,8 +164,11 @@ http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
         Select motion detection region (changing region will restart the rtsp server)
       </p>
 
-      <div class="frame" style="margin: 0 0.3em;">
+      <div class="img" style="margin: 0 0.3em;">
         <img id="picture" src="/cgi-bin/currentpic.cgi" />
+        <span id="RegionDisabled">
+          <h2> Region disabled</h2>
+        </span>
       </div>
       <form style="margin: 0px" action="/cgi-bin/action.cgi?cmd=set_region_of_interest" method="post">
         <input id="x0" name="x0" type="hidden" />
@@ -124,27 +177,31 @@ http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
         <input id="y1" name="y1" type="hidden" />
         <input id="restart_server" name="restart_server" type="hidden" /> Set sensitivity or deactivate
         <select name="motion_sensitivity" id="motion_sensitivity">
-        <option value="-1">Motion deactivated</option>
-        <option value="0">0</option>
-        <option value="1">1</option>
-        <option value="2">2</option>
-        <option value="3">3</option>
-        <option value="4">4</option>
-      </select>
+          <option value="-1">Motion deactivated</option>
+          <option value="0">0</option>
+          <option value="1">1</option>
+          <option value="2">2</option>
+          <option value="3">3</option>
+          <option value="4">4</option>
+        </select>
 
         <br>Display motion indicator if motion is detected
         <select name="motion_indicator_color" id="motion_indicator_color">
-        <option value="-1">Deactivated</option>
-        <option value="0">White</option>
-        <option value="1">Black</option>
-        <option value="2">Red</option>
-        <option value="3">Green</option>
-        <option value="4">Blue</option>
-        <option value="5">Cyan</option>
-        <option value="6">Yellow</option>
-        <option value="7">Purple</option>
-      </select>
-
+          <option value="-1">Deactivated</option>
+          <option value="0">White</option>
+          <option value="1">Black</option>
+          <option value="2">Red</option>
+          <option value="3">Green</option>
+          <option value="4">Blue</option>
+          <option value="5">Cyan</option>
+          <option value="6">Yellow</option>
+          <option value="7">Purple</option>
+         </select>
+        <br>
+        Enable motion tracking (when enabled no region of interest is no more used)
+        <input type="checkbox" name="motion_tracking" id="motion_tracking" onchange="setTracking(this, false)">
+        <br> Motion Timeout (restore camera position after x seconds) -1 to deactivate
+        <input id="motion_timeout" name="motion_timeout" type="number" size="6">
         <br>
         <input type="submit" value="Configure motion" />