increase motion detection threshold when image is darker (#52)

FutureSharks · web-flow · commit a2951940e594 · 2020-01-05T22:36:15.000+01:00
* increase motion detection threshold when image is darker

* more log info

* still trying to stop false alarms in darkness

* add missing PiCameraRuntimeError

* misc fixes

* misc fixes

* Update README.md

* misc fixes

* switch to new context based telegram thing

* misc

* camera fixes

* switch back to kamene due to bug in scapy
diff --git a/README.md b/README.md
@@ -74,7 +74,7 @@ You can send the Telegram bot commands that trigger certain actions.
 The application is written in python 3 and large parts of the functionality are provided by the following pip packages:
 
   - [picamera](https://github.com/waveform80/picamera)
-  - [scapy](https://github.com/secdev/scapy)
+  - [kamene](https://github.com/phaethon/kamene)
   - [python-telegram-bot](https://github.com/python-telegram-bot/python-telegram-bot)
   - [opencv-python](https://github.com/skvark/opencv-python)
 
@@ -89,18 +89,26 @@ The application uses multithreading in order to process events asynchronously. T
 
 First ensure your WiFi is [set up correctly](#WiFi-adapter-arrangement)
 
-Install required packages:
+Ensure your GPU/memory split gives 128MB to the GPU. You can see or set this value with `raspi-config`.
+
+Install required packages for python:
 
 ```console
 sudo apt update
-sudo apt install -y libhdf5-100 libharfbuzz0b libwebp6 libjasper1 libilmbase12 libopenexr22 libgstreamer1.0-0 libavcodec-extra57 libavformat57 libswscale4 libgtk-3-0 libqtgui4 libqt4-test libatlas-base-dev tcpdump iw python3-dev python3-pip libjpeg8-dev zlib1g-dev libffi-dev python3-numpy libopenjp2-7-dev libtiff5
+sudo apt install -y tcpdump iw python3-dev python3-pip python3-numpy
+```
+
+Install required packages for OpenCV:
+
+```console
+sudo apt install -y libhdf5-103 libharfbuzz0b libwebp6 libjasper1 libopenexr23 libgstreamer1.0-0 libatlas-base-dev libgtk-3-0 libqtgui4 libqt4-test libilmbase23 libavcodec-extra58 libavformat58 libswscale5  libjpeg8-dev zlib1g-dev libffi-dev libopenjp2-7-dev libtiff5
 ```
 
-Install open-cv and rpi-security:
+Install OpenCV and rpi-security:
 
 ```console
-sudo pip3 install opencv-contrib-python opencv-contrib-python-headless
-sudo pip3 install --no-binary :all: https://github.com/FutureSharks/rpi-security/archive/1.4.zip
+sudo pip3 install opencv-contrib-python==3.4.6.27 opencv-contrib-python-headless==3.4.6.27
+sudo pip3 install --no-binary :all: https://github.com/FutureSharks/rpi-security/archive/1.5.zip
 ```
 
 Reload systemd configuration and enable the service:
@@ -185,16 +193,17 @@ phy#1
 	Interface mon0
 		ifindex 4
 		wdev 0x100000002
-		addr 00:0f:60:08:9c:01
+		addr 00:0e:8e:58:d6:af
 		type monitor
-		txpower 20.00 dBm
+		txpower 26.00 dBm
 	Interface wlan1
 		ifindex 3
 		wdev 0x100000001
-		addr 00:0f:60:08:9c:01
+		addr 00:0e:8e:58:d6:af
+		ssid Connecting...
 		type managed
-		channel 1 (2412 MHz), width: 20 MHz, center1: 2412 MHz
-		txpower 20.00 dBm
+		channel 124 (5620 MHz), width: 40 MHz, center1: 5630 MHz
+		txpower 26.00 dBm
 phy#0
 	Interface wlan0
 		ifindex 2
diff --git a/rpisec/rpis_camera.py b/rpisec/rpis_camera.py
@@ -9,12 +9,14 @@
 import cv2
 from picamera.array import PiMotionAnalysis
 from picamera import PiCamera
+from picamera import PiCameraRuntimeError
 import numpy as np
 from PIL import Image
 from threading import Lock, Event
 from queue import Queue
 from .exit_clean import exit_error
 from datetime import datetime
+from fractions import Fraction
 
 
 logger = logging.getLogger()
@@ -41,12 +43,13 @@ def __init__(self, photo_size, gif_size, motion_size, camera_vflip,
         self.camera_save_path = '/var/tmp'
         self.camera_capture_length = camera_capture_length
         self.camera_mode = camera_mode
+        self.motion_detection_running = False
+        self.too_dark_message_printed = False
 
         try:
             self.camera = PiCamera()
             self.camera.vflip = self.camera_vflip
             self.camera.hflip = self.camera_hflip
-            self.camera.awb_mode = 'off'
         except Exception as e:
             exit_error('Camera module failed to intialise with error {0}'.format(repr(e)))
 
@@ -57,10 +60,10 @@ def take_photo(self, filename_extra_suffix=''):
         timestamp = datetime.now().strftime("%Y-%m-%d-%H%M%S")
         photo = '{0}/rpi-security-{1}{2}.jpeg'.format(self.camera_save_path, timestamp, filename_extra_suffix)
         try:
-            self.camera.resolution = self.photo_size
             with self.lock:
                 while self.camera.recording:
                     time.sleep(0.1)
+                time.sleep(1)
                 self.camera.resolution = self.photo_size
                 self.camera.capture(photo, use_video_port=False)
         except PiCameraRuntimeError as e:
@@ -79,11 +82,11 @@ def take_gif(self):
         temp_jpeg_path = '{0}/rpi-security-{1}-gif-part'.format(self.temp_directory, timestamp)
         jpeg_files = ['{0}-{1}.jpg'.format(temp_jpeg_path, i) for i in range(self.camera_capture_length*3)]
         try:
-            self.camera.resolution = self.gif_size
             for jpeg in jpeg_files:
                 with self.lock:
                     while self.camera.recording:
                         time.sleep(0.1)
+                    time.sleep(1)
                     self.camera.resolution = self.gif_size
                     self.camera.capture(jpeg)
             im=Image.open(jpeg_files[0])
@@ -112,10 +115,12 @@ def trigger_camera(self):
 
     def start_motion_detection(self, rpis):
         past_frame = None
-        logger.debug("Starting motion detection")
-        self.camera.resolution = self.motion_size
         while not self.lock.locked() and rpis.state.current == 'armed':
+            if not self.motion_detection_running:
+                logger.debug("Starting motion detection")
+                self.motion_detection_running = True
             stream = io.BytesIO()
+            self.camera.resolution = self.motion_size
             self.camera.capture(stream, format='jpeg', use_video_port=False)
             data = np.fromstring(stream.getvalue(), dtype=np.uint8)
             frame = cv2.imdecode(data, 1)
@@ -126,7 +131,7 @@ def start_motion_detection(self, rpis):
             else:
                 logger.error("No more frame")
             rpis.state.check()
-            time.sleep(0.3)
+            time.sleep(0.2)
         else:
             self.stop_motion_detection()
 
@@ -135,7 +140,6 @@ def handle_new_frame(self, frame, past_frame):
         r = 500 / float(w)
         dim = (500, int(h * r))
         frame = cv2.resize(frame, dim, cv2.INTER_AREA) # We resize the frame
-
         gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) # We apply a black & white filter
         gray = cv2.GaussianBlur(gray, (21, 21), 0) # Then we blur the picture
 
@@ -151,10 +155,19 @@ def handle_new_frame(self, frame, past_frame):
             logger.error('Past frame and current frame do not have the same sizes {0} {1} {2} {3}'.format(h_past_frame, w_past_frame, h_current_frame, w_current_frame))
             return
 
+        # Detect when too dark to reduce false alarms
+        if self.camera.digital_gain == Fraction(187/128) and self.camera.analog_gain == Fraction(8):
+            if not self.too_dark_message_printed:
+                logger.info("Too dark to run motion detection")
+                self.too_dark_message_printed = True
+            return None
+        else:
+            self.too_dark_message_printed = False
+
         # compute the absolute difference between the current frame and first frame
-        frame_detla = cv2.absdiff(past_frame, gray)
+        frame_delta = cv2.absdiff(past_frame, gray)
         # then apply a threshold to remove camera motion and other false positives (like light changes)
-        thresh = cv2.threshold(frame_detla, 50, 255, cv2.THRESH_BINARY)[1]
+        thresh = cv2.threshold(frame_delta, 50, 255, cv2.THRESH_BINARY)[1]
 
         # dilate the thresholded image to fill in holes, then find contours on thresholded image
         thresh = cv2.dilate(thresh, None, iterations=2)
@@ -165,19 +178,20 @@ def handle_new_frame(self, frame, past_frame):
         for c in cnts:
             # if the contour is too small, ignore it
             countour_area = cv2.contourArea(c)
+
             if countour_area < self.motion_detection_threshold:
                 continue
 
-            logger.debug("Motion detected! Motion level is {0} (threshold is {1})".format(countour_area, self.motion_detection_threshold))
+            logger.info("Motion detected! Motion level is {0}, threshold is {1}".format(countour_area, self.motion_detection_threshold))
             # Motion detected because there is a contour that is larger than the specified self.motion_detection_threshold
             # compute the bounding box for the contour, draw it on the frame,
             (x, y, w, h) = cv2.boundingRect(c)
             cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
-            self.handle_motion_detected(frame, gray, frame_detla, thresh)
+            self.handle_motion_detected(frame)
 
         return None
 
-    def handle_motion_detected(self, frame, gray, frame_detla, thresh):
+    def handle_motion_detected(self, frame):
         timestamp = datetime.now().strftime("%Y-%m-%d-%H%M%S")
         bounding_box_path = '{0}/rpi-security-{1}-box.jpeg'.format(self.camera_save_path, timestamp)
         cv2.imwrite(bounding_box_path, frame)
@@ -187,10 +201,12 @@ def handle_motion_detected(self, frame, gray, frame_detla, thresh):
 
     def stop_motion_detection(self):
         try:
+            if self.motion_detection_running:
+                logger.debug("Stopping motion detection")
+                self.motion_detection_running = False
             if not self.camera.recording:
                 return
             else:
-                logger.debug("Stopping motion detection")
                 self.camera.stop_recording()
         except Exception as e:
             logger.error('Error in stop_motion_detection: {0}'.format(repr(e)))
diff --git a/rpisec/rpis_security.py b/rpisec/rpis_security.py
@@ -6,12 +6,12 @@
 import yaml
 import logging
 
-logging.getLogger("scapy.runtime").setLevel(logging.ERROR)
+logging.getLogger("kamene.runtime").setLevel(logging.ERROR)
 
 from configparser import SafeConfigParser
 from netaddr import IPNetwork
 from netifaces import ifaddresses
-from scapy.all import srp, Ether, ARP
+from kamene.all import srp, Ether, ARP
 from telegram import Bot as TelegramBot
 from .exit_clean import exit_error
 from .rpis_state import RpisState
@@ -63,7 +63,7 @@ def _read_data_file(self):
         result = None
         try:
             with open(self.data_file, 'r') as stream:
-                result = yaml.load(stream) or {}
+                result = yaml.load(stream, Loader=yaml.FullLoader)
         except Exception as e:
             logger.error('Failed to read data file {0}: {1}'.format(self.data_file, repr(e)))
         else:
diff --git a/rpisec/threads/capture_packets.py b/rpisec/threads/capture_packets.py
@@ -2,21 +2,21 @@
 
 import _thread
 import logging
-from scapy.all import sniff
-from scapy.all import conf as scapy_conf
-scapy_conf.promisc=0
-scapy_conf.sniff_promisc=0
+from kamene.all import sniff
+from kamene.all import conf as kamene_conf
+kamene_conf.promisc=0
+kamene_conf.sniff_promisc=0
 
 
 logger = logging.getLogger()
 
 
 def capture_packets(rpis):
     """
-    This function uses scapy to sniff packets for our MAC addresses and updates
+    This function uses kamene to sniff packets for our MAC addresses and updates
     the alarm state when packets are detected.
     """
-    logging.getLogger("scapy.runtime").setLevel(logging.ERROR)
+    logging.getLogger("kamene.runtime").setLevel(logging.ERROR)
     def update_time(packet):
         packet_mac = set(rpis.mac_addresses) & set([packet[0].addr2, packet[0].addr3])
         packet_mac_str = list(packet_mac)[0]
@@ -36,5 +36,5 @@ def calculate_filter(mac_addresses):
         try:
             sniff(iface=rpis.network_interface, store=0, prn=update_time, filter=calculate_filter(rpis.mac_addresses))
         except Exception as e:
-            logger.error('scapy failed to sniff packets with error {0}'.format(repr(e)))
+            logger.error('kamene failed to sniff packets with error {0}'.format(repr(e)))
             _thread.interrupt_main()
diff --git a/rpisec/threads/telegram_bot.py b/rpisec/threads/telegram_bot.py
@@ -2,7 +2,7 @@
 
 import logging
 import os
-from telegram.ext import Updater, CommandHandler, RegexHandler
+from telegram.ext import Updater, CommandHandler, Filters, MessageHandler
 import _thread
 
 
@@ -16,7 +16,7 @@ def telegram_bot(rpis, camera):
     """
     This function runs the telegram bot that responds to commands like /enable, /disable or /status.
     """
-    def save_chat_id(bot, update):
+    def save_chat_id(update, context):
         if 'telegram_chat_ids' not in rpis.saved_data or rpis.saved_data['telegram_chat_ids'] is None:
             rpis.save_telegram_chat_id(update.message.chat_id)
             logger.debug('Set Telegram chat_id {0}'.format(update.message.chat_id))
@@ -26,7 +26,7 @@ def save_chat_id(bot, update):
                     rpis.save_telegram_chat_id(update.message.chat_id)
                     logger.debug('Set Telegram chat_id {0}'.format(update.message.chat_id))
 
-    def debug(bot, update):
+    def debug(update, context):
         logger.debug('Received Telegram bot message: {0}'.format(update.message.text))
 
     def check_chat_id(update):
@@ -36,44 +36,44 @@ def check_chat_id(update):
         else:
             return True
 
-    def help(bot, update):
+    def help(update, context):
         if check_chat_id(update):
-            bot.sendMessage(update.message.chat_id, parse_mode='Markdown', text='/status: Request status\n/disable: Disable alarm\n/enable: Enable alarm\n/photo: Take a photo\n/gif: Take a gif\n/reboot: reboot\n', timeout=10)
+            update.message.reply_text(parse_mode='Markdown', text='/status: Request status\n/disable: Disable alarm\n/enable: Enable alarm\n/photo: Take a photo\n/gif: Take a gif\n/reboot: reboot\n', timeout=10)
 
-    def status(bot, update):
+    def status(update, context):
         if check_chat_id(update):
-            bot.sendMessage(update.message.chat_id, parse_mode='Markdown', text=rpis.state.generate_status_text(), timeout=10)
+            update.message.reply_text(parse_mode='Markdown', text=rpis.state.generate_status_text(), timeout=10)
 
-    def disable(bot, update):
+    def disable(update, context):
         if check_chat_id(update):
             rpis.state.update_state('disabled')
 
-    def enable(bot, update):
+    def enable(update, context):
         if check_chat_id(update):
             rpis.state.update_state('disarmed')
 
-    def photo(bot, update):
+    def photo(update, context):
         if check_chat_id(update):
             photo = camera.take_photo()
             rpis.telegram_send_file(photo)
 
-    def gif(bot, update):
+    def gif(update, context):
         if check_chat_id(update):
             gif = camera.take_gif()
             rpis.telegram_send_file(gif)
 
-    def reboot(bot, update):
+    def reboot(update, context):
         logger.info('Rebooting after receiving reboot command')
         os.system('reboot')
 
-    def error_callback(bot, update, error):
-        logger.error('Update "{0}" caused error "{1}"'.format(update, error))
+    def error_callback(update, context):
+        logger.error('Update "{0}" caused error "{1}"'.format(update, context.error))
 
     try:
-        updater = Updater(rpis.telegram_bot_token)
+        updater = Updater(rpis.telegram_bot_token, use_context=True)
         dp = updater.dispatcher
-        dp.add_handler(RegexHandler('.*', save_chat_id), group=1)
-        dp.add_handler(RegexHandler('.*', debug), group=2)
+        dp.add_handler(MessageHandler(Filters.regex('.*'), save_chat_id), group=1)
+        dp.add_handler(MessageHandler(Filters.regex('.*'), debug), group=2)
         dp.add_handler(CommandHandler("help", help), group=3)
         dp.add_handler(CommandHandler("status", status), group=3)
         dp.add_handler(CommandHandler("disable", disable), group=3)
diff --git a/setup.py b/setup.py
@@ -2,7 +2,7 @@
 
 setup(
     name = 'rpi-security',
-    version = '1.4',
+    version = '1.5',
     author = 'Max Williams',
     author_email = 'futuresharks@gmail.com',
     url = 'https://github.com/FutureSharks/rpi-security',
@@ -30,10 +30,10 @@
         'netaddr',
         'netifaces',
         'pyyaml',
-        'scapy==2.4.3',
+        'kamene==0.32',
         'Pillow==6.2.1',
-        'opencv-contrib-python',
-        'opencv-contrib-python-headless',
+        'opencv-contrib-python==3.4.6.27',
+        'opencv-contrib-python-headless==3.4.6.27',
     ],
     classifiers = [
         'Environment :: Console',
