dsh/dual_camera_system/safety_coordinator.py

"""
安全联动控制器
整合安全检测、事件推送和语音播报功能
"""

import time
import threading
import queue
from typing import Optional, List, Dict, Tuple, Callable
from dataclasses import dataclass
from enum import Enum

import numpy as np
import cv2

from config import (
    COORDINATOR_CONFIG, 
    SAFETY_DETECTION_CONFIG,
    EVENT_PUSHER_CONFIG, 
    EVENT_LISTENER_CONFIG,
    VOICE_ANNOUNCER_CONFIG,
    SYSTEM_CONFIG
)
from safety_detector import (
    SafetyDetector, SafetyDetection, PersonSafetyStatus, 
    SafetyViolationType, draw_safety_result
)
from event_pusher import EventPusher, EventListener, SafetyEvent, EventType
from voice_announcer import VoiceAnnouncer, VoicePriority


class CoordinatorState(Enum):
    """控制器状态"""
    IDLE = 0           # 空闲
    DETECTING = 1      # 检测中
    TRACKING = 2       # 跟踪中
    ALERTING = 3       # 告警中


@dataclass
class AlertRecord:
    """告警记录"""
    track_id: int                    # 跟踪ID
    violation_type: str              # 违规类型
    description: str                 # 描述
    frame: Optional[np.ndarray]      # 图像
    timestamp: float                 # 时间戳
    pushed: bool = False             # 是否已推送
    announced: bool = False          # 是否已播报


class SafetyCoordinator:
    """安全联动控制器：协调摄像头、安全检测、事件推送、语音播报、PTZ跟踪"""
    
    def __init__(self, camera, config: Dict = None, ptz_camera=None, calibrator=None):
        self.camera = camera
        self.config = config or {}
        self.ptz = ptz_camera       # PTZ球机（可选）
        self.calibrator = calibrator  # 校准器（可选）
        
        self.detector = None
        self.event_pusher = None
        self.voice_announcer = None
        self.event_listener = None
        
        self.state = CoordinatorState.IDLE
        self.state_lock = threading.Lock()
        
        self.running = False
        self.worker_thread = None
        
        # PTZ跟踪线程（独立于检测线程）
        self._ptz_thread = None
        self._ptz_queue: queue.Queue = queue.Queue(maxsize=10)
        self._ptz_cooldown = 0.15
        self._last_ptz_time = 0.0
        
        # 跟踪状态
        self.tracks = {}
        self.next_track_id = 1
        
        self.alert_records: List[AlertRecord] = []
        self.alert_cooldown = {}
        
        self.stats = {
            'frames_processed': 0,
            'persons_detected': 0,
            'violations_detected': 0,
            'events_pushed': 0,
            'voice_announced': 0,
            'ptz_commands_sent': 0,
            'start_time': None
        }
        self.stats_lock = threading.Lock()
        
        self.on_violation_detected: Optional[Callable] = None
        self.on_frame_processed: Optional[Callable] = None
        
        self._init_components()
    
    def _init_components(self):
        """初始化各组件"""
        # 从 SYSTEM_CONFIG 读取功能开关
        enable_detection = SYSTEM_CONFIG.get('enable_detection', True)
        enable_safety_detection = SYSTEM_CONFIG.get('enable_safety_detection', True)
        enable_event_push = SYSTEM_CONFIG.get('enable_event_push', True)
        enable_voice_announce = SYSTEM_CONFIG.get('enable_voice_announce', True)
        
        # 安全检测器
        if enable_detection and enable_safety_detection:
            try:
                self.detector = SafetyDetector(
                    model_path=SAFETY_DETECTION_CONFIG.get('model_path'),
                    use_gpu=SAFETY_DETECTION_CONFIG.get('use_gpu', True),
                    conf_threshold=SAFETY_DETECTION_CONFIG.get('conf_threshold', 0.5),
                    person_threshold=SAFETY_DETECTION_CONFIG.get('person_threshold', 0.8)
                )
                print("安全检测器初始化成功")
            except Exception as e:
                print(f"安全检测器初始化失败: {e}")
        else:
            print("安全检测功能已禁用")
        
        # 事件推送器
        if enable_event_push:
            try:
                self.event_pusher = EventPusher(EVENT_PUSHER_CONFIG)
                print("事件推送器初始化成功")
            except Exception as e:
                print(f"事件推送器初始化失败: {e}")
        else:
            print("事件推送功能已禁用")
        
        # 语音播报器
        if enable_voice_announce:
            try:
                self.voice_announcer = VoiceAnnouncer(
                    tts_config=VOICE_ANNOUNCER_CONFIG.get('tts', {}),
                    player_config=VOICE_ANNOUNCER_CONFIG.get('player', {})
                )
                print("语音播报器初始化成功")
            except Exception as e:
                print(f"语音播报器初始化失败: {e}")
        else:
            print("语音播报功能已禁用")
        
        # 事件监听器
        if EVENT_LISTENER_CONFIG.get('enabled', True):
            try:
                self.event_listener = EventListener(EVENT_LISTENER_CONFIG)
                # 设置语音播放回调
                self.event_listener.set_voice_callback(self._on_voice_command)
                print("事件监听器初始化成功")
            except Exception as e:
                print(f"事件监听器初始化失败: {e}")
    
    def _on_voice_command(self, cmd: Dict):
        """处理语音播放指令"""
        if not self.voice_announcer:
            return
        
        text = cmd.get('text', '')
        priority = VoicePriority(cmd.get('priority', 2))
        
        if text:
            self.voice_announcer.announce(text, priority=priority)
    
    def start(self) -> bool:
        """启动控制器"""
        if self.running:
            return True
        
        if self.event_pusher:
            self.event_pusher.start()
        
        if self.voice_announcer:
            self.voice_announcer.start()
        
        if self.event_listener:
            self.event_listener.start()
        
        self.running = True
        self.worker_thread = threading.Thread(target=self._worker, daemon=True)
        self.worker_thread.start()
        
        # 启动 PTZ 跟踪线程（如果 PTZ 可用）
        if self.ptz and SYSTEM_CONFIG.get('enable_ptz_tracking', True):
            self._ptz_thread = threading.Thread(target=self._ptz_worker, daemon=True)
            self._ptz_thread.start()
            print("[SafetyCoordinator] PTZ跟踪线程已启动")
        
        with self.stats_lock:
            self.stats['start_time'] = time.time()
        
        print("安全联动控制器已启动")
        return True
    
    def stop(self):
        """停止控制器"""
        self.running = False
        
        if self.worker_thread:
            self.worker_thread.join(timeout=3)
        
        # 停止 PTZ 跟踪线程
        if self._ptz_thread:
            self._ptz_thread.join(timeout=2)
            self._ptz_thread = None
        
        if self.event_pusher:
            self.event_pusher.stop()
        
        if self.voice_announcer:
            self.voice_announcer.stop()
        
        if self.event_listener:
            self.event_listener.stop()
        
        self._print_stats()
        print("安全联动控制器已停止")
    
    def _worker(self):
        """工作线程"""
        detection_interval = SAFETY_DETECTION_CONFIG.get('detection_interval', 0.1)
        last_detection_time = 0
        
        while self.running:
            try:
                current_time = time.time()
                
                # 获取帧
                frame = self.camera.get_frame() if self.camera else None
                if frame is None:
                    time.sleep(0.01)
                    continue
                
                self._update_stats('frames_processed')
                
                # 周期性检测
                if current_time - last_detection_time >= detection_interval:
                    last_detection_time = current_time
                    self._process_frame(frame)
                
                # 清理过期跟踪
                self._cleanup_tracks()
                
                time.sleep(0.01)
                
            except Exception as e:
                print(f"处理错误: {e}")
                time.sleep(0.1)
    
    def _process_frame(self, frame: np.ndarray):
        """处理帧"""
        if self.detector is None:
            return
        
        self._set_state(CoordinatorState.DETECTING)
        
        # 安全检测
        detections = self.detector.detect(frame)
        status_list = self.detector.check_safety(frame, detections)
        
        self._update_stats('persons_detected', len(status_list))
        
        # 更新跟踪
        self._update_tracks(detections)
        
        # 检查违规
        for status in status_list:
            if status.is_violation:
                self._handle_violation(status, frame)
        
        # 回调
        if self.on_frame_processed:
            self.on_frame_processed(frame, detections, status_list)
    
    def _update_tracks(self, detections: List[SafetyDetection]):
        """更新跟踪状态"""
        current_time = time.time()
        persons = [d for d in detections if d.class_id == 3]  # 人
        
        # 匹配现有跟踪
        used_ids = set()
        
        for person in persons:
            best_id = None
            min_dist = float('inf')
            
            for track_id, track in self.tracks.items():
                if track_id in used_ids:
                    continue
                
                dist = np.sqrt(
                    (person.center[0] - track['center'][0])**2 +
                    (person.center[1] - track['center'][1])**2
                )
                
                if dist < min_dist and dist < 100:  # 距离阈值
                    min_dist = dist
                    best_id = track_id
            
            if best_id is not None:
                # 更新现有跟踪
                self.tracks[best_id]['center'] = person.center
                self.tracks[best_id]['last_update'] = current_time
                person.track_id = best_id
                used_ids.add(best_id)
            else:
                # 新跟踪
                track_id = self.next_track_id
                self.next_track_id += 1
                person.track_id = track_id
                self.tracks[track_id] = {
                    'center': person.center,
                    'last_update': current_time,
                    'alerts': []
                }
    
    def _cleanup_tracks(self):
        """清理过期跟踪"""
        current_time = time.time()
        timeout = COORDINATOR_CONFIG.get('tracking_timeout', 5.0)
        
        expired = [
            tid for tid, t in self.tracks.items()
            if current_time - t['last_update'] > timeout
        ]
        
        for tid in expired:
            del self.tracks[tid]
            self.alert_cooldown.pop(tid, None)
    
    def _handle_violation(self, status: PersonSafetyStatus, frame: np.ndarray):
        """处理违规"""
        current_time = time.time()
        track_id = status.track_id
        
        # 检查冷却时间
        cooldown = SAFETY_DETECTION_CONFIG.get('alert_cooldown', 3.0)
        if track_id in self.alert_cooldown:
            if current_time - self.alert_cooldown[track_id] < cooldown:
                return
        
        # 记录告警
        self.alert_cooldown[track_id] = current_time
        
        description = status.get_violation_desc()
        violation_type = status.violation_types[0].value if status.violation_types else "未知"
        
        # 裁剪人体区域
        x1, y1, x2, y2 = status.person_bbox
        margin = 20
        x1 = max(0, x1 - margin)
        y1 = max(0, y1 - margin)
        x2 = min(frame.shape[1], x2 + margin)
        y2 = min(frame.shape[0], y2 + margin)
        person_image = frame[y1:y2, x1:x2].copy()
        
        record = AlertRecord(
            track_id=track_id,
            violation_type=violation_type,
            description=description,
            frame=person_image,
            timestamp=current_time
        )
        
        self.alert_records.append(record)
        self._update_stats('violations_detected')
        
        # PTZ 跟踪违规人员（如果 PTZ 可用且启用）
        if self.ptz and SYSTEM_CONFIG.get('enable_ptz_tracking', True):
            self._track_violator_ptz(status, frame)
        
        # 回调
        if self.on_violation_detected:
            self.on_violation_detected(status, frame)
        
        # 推送事件
        if self.event_pusher:
            self.event_pusher.push_safety_violation(
                description=description,
                image=person_image,
                track_id=track_id,
                confidence=status.person_conf
            )
            self._update_stats('events_pushed')
        
        # 语音播报
        if self.voice_announcer:
            self.voice_announcer.announce_violation(description, urgent=True)
            self._update_stats('voice_announced')
        
        print(f"[告警] {description}, 跟踪ID: {track_id}")
    
    def _track_violator_ptz(self, status: PersonSafetyStatus, frame: np.ndarray):
        """违规人员PTZ跟踪：将违规人员在全景画面中的位置发送给PTZ线程"""
        if self.ptz is None:
            return
        
        frame_h, frame_w = frame.shape[:2]
        x1, y1, x2, y2 = status.person_bbox
        
        # 计算违规人员在全景画面中的相对位置
        center_x = (x1 + x2) / 2
        center_y = (y1 + y2) / 2
        x_ratio = center_x / frame_w
        y_ratio = center_y / frame_h
        
        # 冷却检查
        current_time = time.time()
        if current_time - self._last_ptz_time < self._ptz_cooldown:
            return
        
        # 发送PTZ命令
        try:
            self._ptz_queue.put_nowait({
                'x_ratio': x_ratio,
                'y_ratio': y_ratio,
                'track_id': status.track_id,
                'violation_type': status.violation_types[0].value if status.violation_types else 'unknown'
            })
            self._last_ptz_time = current_time
            self._update_stats('ptz_commands_sent')
        except queue.Full:
            pass  # 队列满则丢弃，下一个检测周期会重发
    
    def _ptz_worker(self):
        """PTZ控制工作线程：独立处理所有PTZ命令"""
        while self.running:
            try:
                try:
                    cmd = self._ptz_queue.get(timeout=0.1)
                except queue.Empty:
                    continue
                
                if self.ptz is None:
                    continue
                
                x_ratio = cmd['x_ratio']
                y_ratio = cmd['y_ratio']
                
                # 使用校准器转换坐标，或使用估算
                if self.calibrator and self.calibrator.is_calibrated():
                    pan, tilt = self.calibrator.transform(x_ratio, y_ratio)
                    zoom = self.ptz.ptz_config.get('default_zoom', 8)
                    if self.ptz.ptz_config.get('pan_flip', False):
                        pan = (pan + 180) % 360
                    self.ptz.goto_exact_position(pan, tilt, zoom)
                else:
                    self.ptz.track_target(x_ratio, y_ratio)
                
            except Exception as e:
                print(f"[SafetyCoordinator] PTZ跟踪错误: {e}")
                time.sleep(0.05)
    
    def _set_state(self, state: CoordinatorState):
        """设置状态"""
        with self.state_lock:
            self.state = state
    
    def get_state(self) -> CoordinatorState:
        """获取状态"""
        with self.state_lock:
            return self.state
    
    def _update_stats(self, key: str, value: int = 1):
        """更新统计"""
        with self.stats_lock:
            if key in self.stats:
                self.stats[key] += value
    
    def _print_stats(self):
        """打印统计"""
        with self.stats_lock:
            if self.stats['start_time']:
                elapsed = time.time() - self.stats['start_time']
                print("\n=== 安全检测统计 ===")
                print(f"运行时长: {elapsed:.1f}秒")
                print(f"处理帧数: {self.stats['frames_processed']}")
                print(f"检测人员: {self.stats['persons_detected']}次")
                print(f"违规检测: {self.stats['violations_detected']}次")
                print(f"事件推送: {self.stats['events_pushed']}次")
                print(f"语音播报: {self.stats['voice_announced']}次")
                
                if self.event_pusher:
                    push_stats = self.event_pusher.get_stats()
                    print(f"推送详情: 成功{push_stats['pushed_events']}, 失败{push_stats['failed_events']}")
                
                if self.voice_announcer:
                    voice_stats = self.voice_announcer.get_stats()
                    print(f"播报详情: 成功{voice_stats['played_commands']}, 失败{voice_stats['failed_commands']}")
                
                print("===================\n")
    
    def get_stats(self) -> Dict:
        """获取统计"""
        with self.stats_lock:
            return self.stats.copy()
    
    def get_alerts(self) -> List[AlertRecord]:
        """获取告警记录"""
        return self.alert_records.copy()
    
    def announce(self, text: str, priority: VoicePriority = VoicePriority.NORMAL):
        """
        手动播报语音
        
        Args:
            text: 播报文本
            priority: 优先级
        """
        if self.voice_announcer:
            self.voice_announcer.announce(text, priority=priority)
    
    def force_detect(self, frame: np.ndarray = None) -> Tuple[List[SafetyDetection], List[PersonSafetyStatus]]:
        """
        强制执行一次检测
        
        Args:
            frame: 输入帧，如果为 None 则从摄像头获取
            
        Returns:
            (检测结果, 安全状态列表)
        """
        if frame is None:
            frame = self.camera.get_frame() if self.camera else None
        
        if frame is None or self.detector is None:
            return [], []
        
        detections = self.detector.detect(frame)
        status_list = self.detector.check_safety(frame, detections)
        
        return detections, status_list


class SimpleCamera:
    """简单摄像头封装（用于测试）"""
    
    def __init__(self, source=0):
        """
        初始化摄像头
        
        Args:
            source: 视频源 (摄像头索引、RTSP地址、视频文件路径)
        """
        self.cap = None
        self.source = source
        self.connected = False
    
    def connect(self) -> bool:
        """连接摄像头"""
        try:
            # 使用 FFmpeg 单线程模式避免线程安全崩溃
            import os
            os.environ['OPENCV_FFMPEG_CAPTURE_OPTIONS'] = 'threads;1'
            self.cap = cv2.VideoCapture(self.source, cv2.CAP_FFMPEG)
            self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
            self.connected = self.cap.isOpened()
            return self.connected
        except Exception as e:
            print(f"连接摄像头失败: {e}")
            return False
    
    def disconnect(self):
        """断开连接"""
        if self.cap:
            self.cap.release()
        self.connected = False
    
    def get_frame(self) -> Optional[np.ndarray]:
        """获取帧"""
        if self.cap is None or not self.cap.isOpened():
            return None
        
        ret, frame = self.cap.read()
        return frame if ret else None


def create_coordinator(camera_source=0, config: Dict = None) -> SafetyCoordinator:
    """
    创建安全联动控制器
    
    Args:
        camera_source: 摄像头源
        config: 配置
        
    Returns:
        SafetyCoordinator 实例
    """
    camera = SimpleCamera(camera_source)
    return SafetyCoordinator(camera, config)