Actual versions for electro-pribory

.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/CHAMELEON.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="Python 3.13 virtualenv at C:\Users\Legion\PycharmProjects\VideoStream\.venv" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="PLAIN" />
+    <option name="myDocStringFormat" value="Plain" />
+  </component>
+</module>

.idea/inspectionProfiles/Project_Default.xml

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+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="34">
+            <item index="0" class="java.lang.String" itemvalue="tensorflow" />
+            <item index="1" class="java.lang.String" itemvalue="traitlets" />
+            <item index="2" class="java.lang.String" itemvalue="decorator" />
+            <item index="3" class="java.lang.String" itemvalue="matplotlib-inline" />
+            <item index="4" class="java.lang.String" itemvalue="PyYAML" />
+            <item index="5" class="java.lang.String" itemvalue="python-dateutil" />
+            <item index="6" class="java.lang.String" itemvalue="wcwidth" />
+            <item index="7" class="java.lang.String" itemvalue="cycler" />
+            <item index="8" class="java.lang.String" itemvalue="numpy" />
+            <item index="9" class="java.lang.String" itemvalue="requests" />
+            <item index="10" class="java.lang.String" itemvalue="seaborn" />
+            <item index="11" class="java.lang.String" itemvalue="Pygments" />
+            <item index="12" class="java.lang.String" itemvalue="certifi" />
+            <item index="13" class="java.lang.String" itemvalue="prompt-toolkit" />
+            <item index="14" class="java.lang.String" itemvalue="urllib3" />
+            <item index="15" class="java.lang.String" itemvalue="pyparsing" />
+            <item index="16" class="java.lang.String" itemvalue="scipy" />
+            <item index="17" class="java.lang.String" itemvalue="six" />
+            <item index="18" class="java.lang.String" itemvalue="opencv-python" />
+            <item index="19" class="java.lang.String" itemvalue="parso" />
+            <item index="20" class="java.lang.String" itemvalue="ipython" />
+            <item index="21" class="java.lang.String" itemvalue="kiwisolver" />
+            <item index="22" class="java.lang.String" itemvalue="packaging" />
+            <item index="23" class="java.lang.String" itemvalue="typing-extensions" />
+            <item index="24" class="java.lang.String" itemvalue="psutil" />
+            <item index="25" class="java.lang.String" itemvalue="pandas" />
+            <item index="26" class="java.lang.String" itemvalue="tqdm" />
+            <item index="27" class="java.lang.String" itemvalue="fonttools" />
+            <item index="28" class="java.lang.String" itemvalue="jedi" />
+            <item index="29" class="java.lang.String" itemvalue="matplotlib" />
+            <item index="30" class="java.lang.String" itemvalue="charset-normalizer" />
+            <item index="31" class="java.lang.String" itemvalue="pytz" />
+            <item index="32" class="java.lang.String" itemvalue="idna" />
+            <item index="33" class="java.lang.String" itemvalue="Pillow" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

.idea/inspectionProfiles/profiles_settings.xml

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+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.13 virtualenv at C:\Users\Legion\PycharmProjects\VideoStream\.venv" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/CHAMELEON.iml" filepath="$PROJECT_DIR$/.idea/CHAMELEON.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

ptz_tracker_modular/README.md

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+# PTZ Tracker — Modular Version
+
+## Structure
+```
+ptz_tracker_modular/
+├── app.py                # entrypoint (async main)
+├── calibration.py        # preset/sector and pan-sign calibration
+├── config.py             # constants + camera config
+├── events.py             # alarms, detection event plumbing
+├── geom.py               # angular math and sector helpers
+├── heartbeat.py          # UDP heartbeat
+├── model.py              # YOLO loading + forward
+├── patrol.py             # patrol logic (bounded/smooth + sync)
+├── postprocess.py        # PTZ control + zoom + notify_detected
+├── preview.py            # JPEG encode and preview publishing
+├── ptz_io.py             # PTZ HTTP session + worker + bounded move
+├── sector.py             # sector init and autocalculation
+├── state.py              # runtime shared state
+├── status.py             # PTZ status poller
+├── streaming.py          # WS servers, MicroBatcher, CPP bridges
+└── __init__.py
+```
+
+## Run
+```bash
+python -m ptz_tracker_modular.app
+```
+
+Optional env:
+- `YOLO_WEIGHTS=/path/to/weights.pt`
+- `CAM_<ID>_PASSWORD=...` for every camera id
+
+Dependencies: `opencv-python`, `torch`, `ultralytics`, `websockets`, `requests`, `numpy`.

ptz_tracker_modular/__init__.py

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+# package

ptz_tracker_modular/alarms.py

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+# alarms.py
+
+from __future__ import annotations
+
+import asyncio
+import json
+import logging
+from datetime import datetime, timezone
+from typing import Any, Dict, Optional, List, Tuple
+
+# ====== Импорты локальных модулей с fallback (пакет/скрипт) ======
+try:
+    from . import config as _config
+    from . import state as _state          # ВАЖНО: модуль, а не значения
+    # для «живого» чтения камер из cameras.toml
+    try:
+        from . import cameras_io  # type: ignore
+    except Exception:
+        cameras_io = None  # type: ignore
+except Exception:  # запуск из корня проекта
+    import config as _config               # type: ignore
+    import state as _state                 # type: ignore
+    try:
+        import cameras_io  # type: ignore
+    except Exception:
+        cameras_io = None  # type: ignore
+
+config = _config
+logger = logging.getLogger("PTZTracker")
+
+# =====================================================================
+# Параметры (из config.py, с безопасными дефолтами)
+# =====================================================================
+
+# Пороги гистерезиса по кадрам
+ALARM_COUNT_ON: int  = int(getattr(config, "ALARM_COUNT_ON", 20))
+ALARM_COUNT_OFF: int = int(getattr(config, "ALARM_COUNT_OFF", 80))
+
+# WS для одно-битного флага video_alarm
+ALARM_WS_URL: str = getattr(config, "ALARM_WS_URL", "ws://127.0.0.1/api/core/ws")
+
+# HTTP bulk (всегда http/https, без /ws в конце)
+ALARM_HTTP_ENABLE: bool = bool(getattr(config, "ALARM_HTTP_ENABLE", True))
+ALARM_HTTP_BASE: str    = getattr(config, "ALARM_HTTP_BASE", "http://127.0.0.1/api/core")
+# bulk путь БЕЗ {mac}
+ALARM_HTTP_PATH: str    = getattr(config, "ALARM_HTTP_PATH", "/videodata")
+
+# минутный heartbeat (тот же bulk формат)
+ALARM_HEARTBEAT_SEND_EMPTY: bool = bool(getattr(config, "ALARM_HEARTBEAT_SEND_EMPTY", True))
+ALARM_HEARTBEAT_SEC: int = int(getattr(config, "ALARM_HEARTBEAT_SEC", 60))
+
+# Микробатчинг очередей
+HTTP_BATCH_MAX: int = int(getattr(config, "ALARM_HTTP_BATCH_MAX", 16))
+HTTP_BATCH_MS: int  = int(getattr(config, "ALARM_HTTP_BATCH_MS", 120))
+WS_BATCH_MAX: int   = int(getattr(config, "ALARM_WS_BATCH_MAX", 16))
+WS_BATCH_MS: int    = int(getattr(config, "ALARM_WS_BATCH_MS", 120))
+
+# =====================================================================
+# Очереди
+# =====================================================================
+
+def _ensure_ws_queue() -> asyncio.Queue:
+    if _state.alarm_queue is None:
+        _state.alarm_queue = asyncio.Queue()
+        logger.debug("[ALARM] created alarm_queue")
+    return _state.alarm_queue
+
+_http_queue: Optional[asyncio.Queue] = None
+def _ensure_http_queue() -> asyncio.Queue:
+    global _http_queue
+    if _http_queue is None:
+        _http_queue = asyncio.Queue()
+        logger.debug("[ALARM][HTTP] created _http_queue")
+    return _http_queue
+
+# =====================================================================
+# Утилиты
+# =====================================================================
+
+def _now_iso_ms_utc() -> str:
+    return (
+        datetime.now(timezone.utc)
+        .isoformat(timespec="milliseconds")
+        .replace("+00:00", "Z")
+    )
+
+def _norm_mac(s: str) -> str:
+    s = (s or "").strip().upper().replace("-", ":")
+    parts = s.split(":")
+    if len(parts) != 6 or any(len(p) != 2 for p in parts):
+        raise ValueError(f"Bad MAC: {s!r}")
+    return s
+
+def _get_cam_mac(cam_idx: int) -> Optional[str]:
+    # 1) предпочтительно читаем cameras_io (актуально по файлу)
+    if cameras_io is not None:
+        try:
+            rec = cameras_io.get_all().get(int(cam_idx))  # type: ignore[attr-defined]
+            mac = (rec or {}).get("mac")
+            if isinstance(mac, str) and mac:
+                return _norm_mac(mac)
+        except Exception:
+            pass
+    # 2) фоллбэк — config (если кто-то синхронизирует его отдельно)
+    try:
+        mac = (_config.CAMERA_CONFIG[int(cam_idx)]).get("mac")  # type: ignore[attr-defined]
+    except Exception:
+        mac = None
+    if not isinstance(mac, str) or not mac:
+        return None
+    try:
+        return _norm_mac(mac)
+    except Exception:
+        return None
+
+def _build_swagger_camera(mac: str, alarm: bool, status: bool = True) -> Dict[str, Any]:
+    return {"mac": _norm_mac(mac), "status": bool(status), "alarm": bool(alarm)}
+
+def _build_swagger_payload(cameras: List[Dict[str, Any]]) -> Dict[str, Any]:
+    return {"registeredAt": _now_iso_ms_utc(), "cameras": cameras}
+
+def _sanitize_http_base(v: str) -> str:
+    """Лечим ошибки вида ws://... или хвост /ws у базы HTTP."""
+    v = (v or "").strip()
+    if v.startswith("ws://"):
+        v = "http://" + v[5:]
+    if v.startswith("wss://"):
+        v = "https://" + v[6:]
+    if v.endswith("/ws"):
+        v = v[:-3]
+    return v.rstrip("/")
+
+def _bulk_snapshot_for_all_cams() -> Tuple[str, Dict[str, Any]]:
+    """
+    Собираем bulk-payload по всем камерам (mac/status/alarm).
+    Возвращает (url, json_body).
+    """
+    # первоисточник камер
+    if cameras_io is not None:
+        try:
+            src = cameras_io.get_all()  # type: ignore[attr-defined]
+        except Exception:
+            src = None
+    else:
+        src = None
+    if src is None:
+        src = getattr(config, "CAMERA_CONFIG", {})
+
+    detected = getattr(_state, "detected_cameras", set()) or set()
+    cameras_payload: List[Dict[str, Any]] = []
+
+    try:
+        items = sorted(src.items(), key=lambda kv: int(kv[0]))
+    except Exception:
+        items = list((src or {}).items())
+
+    for cid, cfg in items:
+        try:
+            cam_id = int(cid)
+        except Exception:
+            continue
+        mac = (cfg or {}).get("mac")
+        if not isinstance(mac, str) or not mac:
+            continue
+        try:
+            mac_n = _norm_mac(mac)
+        except Exception:
+            continue
+        online = bool(cam_id in detected)
+        armed = bool((_H.get(cam_id) or {}).get("armed", False))
+        cameras_payload.append(_build_swagger_camera(mac_n, alarm=armed, status=online))
+
+    base = _sanitize_http_base(ALARM_HTTP_BASE)
+    path = str(ALARM_HTTP_PATH)
+    # heartbeat/bulk путь обязан быть БЕЗ {mac}
+    if "{mac}" in path:
+        path = path.replace("{mac}", "")
+    url = f"{base}/{path.lstrip('/')}"
+    return url, _build_swagger_payload(cameras_payload)
+
+def _dispatch_ws(minimal: Dict[str, Any]) -> None:
+    q = _ensure_ws_queue()
+    loop = _state.MAIN_LOOP
+    if loop is not None:
+        try:
+            loop.call_soon_threadsafe(q.put_nowait, minimal)
+            return
+        except Exception:
+            pass
+    q.put_nowait(minimal)
+
+def _dispatch_http(url: str, body: Dict[str, Any]) -> None:
+    q = _ensure_http_queue()
+    loop = _state.MAIN_LOOP
+    item = {"url": url, "json": body}
+    if loop is not None:
+        try:
+            loop.call_soon_threadsafe(q.put_nowait, item)
+            return
+        except Exception:
+            pass
+    q.put_nowait(item)
+
+# =====================================================================
+# Гистерезис по кадрам (состояние «armed» на камеру)
+# =====================================================================
+
+_H: Dict[int, Dict[str, Any]] = {}  # cam_idx -> {"on":int, "off":int, "armed":bool}
+
+def _hyst_state(cam_idx: int) -> Dict[str, Any]:
+    st = _H.get(cam_idx)
+    if st is None:
+        st = {"on": 0, "off": 0, "armed": False}
+        _H[cam_idx] = st
+    return st
+
+def _prune_hysteresis(valid_ids: set[int]) -> None:
+    """Удалить состояния для камер, которых больше нет в конфиге."""
+    for cid in list(_H.keys()):
+        if cid not in valid_ids:
+            _H.pop(cid, None)
+
+def ingest_detection(cam_idx: int, detected: bool) -> None:
+    """
+    True  -> есть детект на кадре
+    False -> нет детекта
+    При изменении «armed»:
+      - шлём WS одно событие {"type":"video_alarm","data": <bool>} (для совместимости)
+      - параллельно шлём HTTP bulk со всеми камерами (mac/status/alarm)
+    """
+    st = _hyst_state(cam_idx)
+    if detected:
+        st["on"]  += 1
+        st["off"]  = 0
+        if (not st["armed"]) and st["on"] >= ALARM_COUNT_ON:
+            st["armed"] = True
+            _emit_alarm_change(True)
+    else:
+        st["off"] += 1
+        st["on"]   = 0
+        if st["armed"] and st["off"] >= ALARM_COUNT_OFF:
+            st["armed"] = False
+            _emit_alarm_change(False)
+
+# =====================================================================
+# Эмиттер: WS + HTTP bulk
+# =====================================================================
+
+def _emit_alarm_change(alarm_state: bool) -> None:
+    # 1) WS минимальный флаг (оставляем — «как раньше»)
+    minimal = {"type": "video_alarm", "data": bool(alarm_state)}
+    logger.info("[ALARM][WS][ENQ] data=%s", minimal["data"])
+    _dispatch_ws(minimal)
+
+    # 2) HTTP bulk по всем камерам
+    if ALARM_HTTP_ENABLE:
+        url, body = _bulk_snapshot_for_all_cams()
+        cams_cnt = len(body.get("cameras") or [])
+        logger.info("[ALARM][HTTP-BULK][ENQ] url=%s cameras=%d", url, cams_cnt)
+        _dispatch_http(url, body)
+
+# =====================================================================
+# Дополнительно: прямой smoke-тест по конкретному MAC (bulk + опц. WS)
+# =====================================================================
+
+def queue_alarm_mac(mac: str, alarm: bool, also_ws: bool = True) -> None:
+    """
+    Вручную положить тревогу: на WS один бит, а на HTTP — bulk со всеми камерами,
+    где у камеры с данным MAC выставлен alarm, остальные — по текущему _H/online.
+    """
+    try:
+        mac_n = _norm_mac(mac)
+    except Exception:
+        logger.error("[ALARM][SMOKE] bad MAC: %r", mac)
+        return
+
+    # WS (минимальный формат) — опционально, чтобы сразу засветить on/off
+    if also_ws:
+        minimal = {"type": "video_alarm", "data": bool(alarm)}
+        logger.info("[ALARM][WS][ENQ][SMOKE] data=%s", minimal["data"])
+        _dispatch_ws(minimal)
+
+    # HTTP bulk — строим полный срез и принудительно меняем alarm у данного MAC
+    if not ALARM_HTTP_ENABLE:
+        return
+    url, body = _bulk_snapshot_for_all_cams()
+    # подменим/добавим запись с mac_n
+    cams = body.get("cameras") or []
+    found = False
+    for c in cams:
+        if str(c.get("mac", "")).upper() == mac_n:
+            c["alarm"] = bool(alarm)
+            found = True
+            break
+    if not found:
+        # если в конфиге нет — добавим как online с заданной тревогой
+        cams.append(_build_swagger_camera(mac_n, alarm=bool(alarm), status=True))
+    body["cameras"] = cams
+    logger.info("[ALARM][HTTP-BULK][ENQ][SMOKE] url=%s cameras=%d", url, len(cams))
+    _dispatch_http(url, body)
+
+# =====================================================================
+# Отправители: WS и HTTP
+# =====================================================================
+
+async def _wait_state_ready(kind: str = "WS") -> None:
+    t0 = asyncio.get_running_loop().time()
+    while _state.MAIN_LOOP is None or (kind == "WS" and _state.alarm_queue is None):
+        await asyncio.sleep(0.05)
+        if asyncio.get_running_loop().time() - t0 > 5.0:
+            if _state.MAIN_LOOP is None:
+                _state.MAIN_LOOP = asyncio.get_running_loop()
+            if kind == "WS" and _state.alarm_queue is None:
+                _ensure_ws_queue()
+            break
+
+async def alarm_sender() -> None:
+    """
+    Отправка video_alarm по WS c микробатчем (сливаем X сообщений за WS_BATCH_MS и отправляем последнее значение).
+    """
+    await _wait_state_ready("WS")
+    import websockets
+    q = _ensure_ws_queue()
+    backoff = 1.0
+
+    while True:
+        try:
+            logger.info("[ALARM][WS] Connecting to %s ...", ALARM_WS_URL)
+            async with websockets.connect(
+                ALARM_WS_URL,
+                ping_interval=20,
+                close_timeout=1.0,
+                compression=None,
+            ) as ws:
+                logger.info("[ALARM][WS] Connected")
+                backoff = 1.0
+                while True:
+                    item = await q.get()
+                    try:
+                        # коалесцируем и берём последнее значение
+                        last = item
+                        t0 = asyncio.get_running_loop().time()
+                        bucket = 1
+                        while bucket < WS_BATCH_MAX and (asyncio.get_running_loop().time() - t0) < (WS_BATCH_MS / 1000.0):
+                            try:
+                                nxt = q.get_nowait()
+                                last = nxt
+                                bucket += 1
+                            except asyncio.QueueEmpty:
+                                await asyncio.sleep(0.01)
+
+                        data_bit = bool(last.get("data", False)) if isinstance(last, dict) else bool(last)
+                        to_send = {"type": "video_alarm", "data": data_bit}
+                        await ws.send(json.dumps(to_send, separators=(",", ":")))
+                        logger.info("[ALARM][WS][SENT] data=%s (batched=%d)", data_bit, bucket)
+                    except Exception as exc:
+                        logger.error("[ALARM][WS] send failed: %s", exc)
+                        try:
+                            q.put_nowait(item)
+                        except Exception:
+                            pass
+                        break
+                    finally:
+                        try:
+                            q.task_done()
+                        except Exception:
+                            pass
+        except Exception as exc:
+            logger.error("[ALARM][WS] connection error: %s", exc)
+
+        await asyncio.sleep(backoff)
+        logger.info("[ALARM][WS] reconnect in %.1fs", backoff)
+        backoff = min(backoff * 2, 10.0)
+
+async def alarm_http_sender() -> None:
+    """
+    POST bulk-payload на HTTP с коалесцированием по URL (оставляем последний body для данного URL).
+    """
+    if not ALARM_HTTP_ENABLE:
+        logger.info("[ALARM][HTTP] disabled")
+        return
+
+    import requests
+    from requests.adapters import HTTPAdapter
+    try:
+        from urllib3.util.retry import Retry  # type: ignore
+    except Exception:
+        Retry = None  # type: ignore
+
+    sess = requests.Session()
+    sess.trust_env = False
+    if Retry is not None:
+        adapter = HTTPAdapter(
+            pool_connections=16,
+            pool_maxsize=16,
+            max_retries=Retry(
+                total=2,
+                backoff_factor=0.3,
+                status_forcelist=[500, 502, 503, 504],
+                raise_on_status=False,
+            ),
+        )
+    else:
+        adapter = HTTPAdapter(pool_connections=16, pool_maxsize=16, max_retries=0)
+    sess.mount("http://", adapter)
+    sess.mount("https://", adapter)
+    headers = {"Content-Type": "application/json", "Connection": "keep-alive"}
+
+    q = _ensure_http_queue()
+    loop = asyncio.get_running_loop()
+
+    def _merge_http_bucket(bucket: List[Dict[str, Any]]) -> Tuple[str, Dict[str, Any]]:
+        # Все элементы в bucket — с одинаковым URL. Берём ПОСЛЕДНИЙ body.
+        url = bucket[0].get("url", "")
+        last_body = bucket[-1].get("json") or {}
+        return url, last_body
+
+    while True:
+        item = await q.get()
+        try:
+            bucket = [item]
+            t0 = asyncio.get_running_loop().time()
+            while len(bucket) < HTTP_BATCH_MAX and (asyncio.get_running_loop().time() - t0) < (HTTP_BATCH_MS / 1000.0):
+                try:
+                    nxt = q.get_nowait()
+                    if nxt.get("url") != bucket[0].get("url"):
+                        # другой URL — вернём назад
+                        q.put_nowait(nxt)
+                        break
+                    bucket.append(nxt)
+                except asyncio.QueueEmpty:
+                    await asyncio.sleep(0.01)
+
+            url_raw, body = _merge_http_bucket(bucket)
+            base = _sanitize_http_base(ALARM_HTTP_BASE)
+            # если кто-то положил в элемент абсолютный url — используем его; иначе соберём из base
+            if url_raw.startswith("http://") or url_raw.startswith("https://"):
+                url = url_raw
+            else:
+                path = str(ALARM_HTTP_PATH).replace("{mac}", "")
+                url = f"{base}/{path.lstrip('/')}"
+
+            cams_cnt = len(body.get("cameras") or [])
+            logger.info("[ALARM][HTTP-BULK][SEND] url=%s cameras=%d", url, cams_cnt)
+
+            def _post():
+                return sess.post(url, json=body, headers=headers, timeout=3.0)
+
+            resp = await loop.run_in_executor(None, _post)
+            if 200 <= resp.status_code < 300:
+                logger.info("[ALARM][HTTP-BULK][OK] %s (%s) cameras=%d", url, resp.status_code, cams_cnt)
+            else:
+                logger.warning("[ALARM][HTTP-BULK][FAIL] %s HTTP %s", url, resp.status_code)
+                logger.debug("[ALARM][HTTP-BULK][RESP] %s", (resp.text or "")[:200])
+                # вернуть последний элемент на ретрай
+                try:
+                    q.put_nowait(bucket[-1])
+                except Exception:
+                    pass
+        except Exception as exc:
+            logger.error("[ALARM][HTTP-BULK] error: %s", exc)
+            try:
+                q.put_nowait(item)
+            except Exception:
+                pass
+        finally:
+            # аккуратно закрываем все task_done
+            for _ in range(len(bucket)):
+                try:
+                    q.task_done()
+                except Exception:
+                    pass
+
+# =====================================================================
+# Периодический heartbeat HTTP со всеми камерами (alarm=false)
+# =====================================================================
+
+async def periodic_status_sender() -> None:
+    """
+    Раз в ALARM_HEARTBEAT_SEC отправляет массив камер на HTTP-адрес БЕЗ {mac}.
+    Формат:
+      {
+        "registeredAt": "...Z",
+        "cameras": [{"mac": "...", "status": true|false, "alarm": false}, ...]
+      }
+    """
+    if not ALARM_HTTP_ENABLE:
+        logger.info("[ALARM][HEARTBEAT] disabled because HTTP disabled")
+        return
+
+    import requests
+    from requests.adapters import HTTPAdapter
+    try:
+        from urllib3.util.retry import Retry  # type: ignore
+    except Exception:
+        Retry = None  # type: ignore
+
+    period = int(ALARM_HEARTBEAT_SEC)
+    send_empty = bool(ALARM_HEARTBEAT_SEND_EMPTY)
+
+    base = _sanitize_http_base(ALARM_HTTP_BASE)
+    hb_path = str(ALARM_HTTP_PATH)
+    if "{mac}" in hb_path:
+        logger.warning("[ALARM][HEARTBEAT] ALARM_HTTP_PATH содержит {mac}; это путь для bulk. Уберу {mac}.")
+        hb_path = hb_path.replace("{mac}", "")
+    url = f"{base}/{hb_path.lstrip('/')}"
+
+    # подготовим HTTP клиент
+    sess = requests.Session()
+    sess.trust_env = False
+    if Retry is not None:
+        adapter = HTTPAdapter(
+            pool_connections=8,
+            pool_maxsize=8,
+            max_retries=Retry(
+                total=2,
+                backoff_factor=0.3,
+                status_forcelist=[500, 502, 503, 504],
+                raise_on_status=False,
+            ),
+        )
+    else:
+        adapter = HTTPAdapter(pool_connections=8, pool_maxsize=8, max_retries=0)
+    sess.mount("http://", adapter)
+    sess.mount("https://", adapter)
+    headers = {"Content-Type": "application/json", "Connection": "keep-alive"}
+
+    loop = asyncio.get_running_loop()
+
+    def _snapshot_cameras() -> Tuple[List[Dict[str, Any]], set[int]]:
+        """Вернёт (список-камер-для-отправки, множество валидных id)"""
+        cams: List[Dict[str, Any]] = []
+        valid_ids: set[int] = set()
+        # предпочтительно читаем из cameras_io, иначе — из config
+        src = None
+        if cameras_io is not None:
+            try:
+                src = cameras_io.get_all()  # type: ignore[attr-defined]
+            except Exception:
+                src = None
+        if src is None:
+            src = getattr(config, "CAMERA_CONFIG", {})
+        try:
+            items = sorted(src.items(), key=lambda kv: int(kv[0]))
+        except Exception:
+            items = list((src or {}).items())
+        detected = getattr(_state, "detected_cameras", set()) or set()
+        for cid, cfg in items:
+            try:
+                cid_i = int(cid)
+                valid_ids.add(cid_i)
+            except Exception:
+                continue
+            mac = (cfg or {}).get("mac")
+            if isinstance(mac, str):
+                try:
+                    mac_n = _norm_mac(mac)
+                    cams.append(_build_swagger_camera(mac_n, alarm=False, status=(cid_i in detected)))
+                except Exception:
+                    # плохой MAC — пропускаем
+                    pass
+        return cams, valid_ids
+
+    while True:
+        try:
+            cameras, valid_ids = _snapshot_cameras()
+            # Чистим гистерезис от удалённых камер
+            _prune_hysteresis(valid_ids)
+            if cameras or send_empty:
+                body = _build_swagger_payload(cameras)
+                cams_cnt = len(cameras)
+                logger.info("[ALARM][HEARTBEAT][SEND] url=%s cameras=%d", url, cams_cnt)
+
+                def _post():
+                    return sess.post(url, json=body, headers=headers, timeout=3.0)
+
+                resp = await loop.run_in_executor(None, _post)
+                if 200 <= resp.status_code < 300:
+                    logger.info("[ALARM][HEARTBEAT][OK] %s (%s) cameras=%d", url, resp.status_code, cams_cnt)
+                else:
+                    logger.warning("[ALARM][HEARTBEAT][FAIL] %s HTTP %s", url, resp.status_code)
+                    logger.debug("[ALARM][HEARTBEAT][RESP] %s", (resp.text or "")[:200])
+            else:
+                logger.info("[ALARM][HEARTBEAT] skip: no cameras (send_empty=False)")
+        except Exception as exc:
+            logger.error("[ALARM][HEARTBEAT] error: %s", exc)
+        finally:
+            await asyncio.sleep(max(5, period))

ptz_tracker_modular/app.py

@@ -0,0 +1,149 @@
+from __future__ import annotations
+import asyncio, logging, os, threading
+
+# UVLoop (optional)
+try:
+    import uvloop  # type: ignore
+    asyncio.set_event_loop_policy(uvloop.EventLoopPolicy())
+except Exception:
+    pass
+
+# Logging setup
+def setup_logging() -> logging.Logger:
+    os.makedirs("logs", exist_ok=True)
+    logging.basicConfig(
+        level=logging.INFO,
+        format="%(asctime)s - %(levelname)s - %(message)s",
+        handlers=[
+            logging.FileHandler("logs/ptz_tracker.log", encoding="utf-8"),
+            logging.StreamHandler(),
+        ],
+    )
+    return logging.getLogger("PTZTracker")
+logger = setup_logging()
+
+from . import config, state
+from .streaming import video_broadcaster, cpp_ws_loop, cpp_detection_loop, MicroBatcher, build_servers
+from .events import alarm_sender                      # WS-отправитель тревог (минимальный payload)
+from .alarms import alarm_http_sender                 # HTTP-отправитель тревог (маршрут с MAC)
+from .status import ptz_status_poller
+from .heartbeat import heartbeat_pinger
+from .sector import sector_autocal_from_presets, sector_init_on_startup
+from .calibration import calibrate_presets, autocal_pan_sign, park_to_patrol_start
+from .patrol import patrol_init_on_startup, patrol_supervisor_tick_bounded, patrol_supervisor_tick, sync_patrol_coordinator_loop
+from . import ptz_io
+
+async def main() -> None:
+    state.MAIN_LOOP = asyncio.get_running_loop()
+    state.alarm_queue = asyncio.Queue()
+    state.detection_queue = asyncio.Queue()
+    state.batcher = MicroBatcher(max_batch=config.BATCH_MIN, max_wait_ms=2.0,
+                                 adaptive=config.ADAPTIVE_BATCH_ENABLE, bmin=config.BATCH_MIN,
+                                 bmax=config.BATCH_MAX, target_ms=config.BATCH_TARGET_MS)
+
+    # Start PTZ worker thread
+    from queue import Queue
+    state.ptz_cmd_q = Queue(maxsize=2048)
+    state._ptz_thread = threading.Thread(target=ptz_io._ptz_worker, name="PTZWorker", daemon=True)
+    state._ptz_thread.start()
+
+    # Calibrations
+    for cam_id in config.PTZ_CAM_IDS:
+        cfg = config.CAMERA_CONFIG[cam_id]
+        need = (
+            cfg.get("preset1_deg") is None or
+            cfg.get("preset2_deg") is None or
+            cfg.get("sector_min_deg") is None or
+            cfg.get("sector_max_deg") is None
+        )
+        if need:
+            ok = await calibrate_presets(cam_id)
+            if not ok:
+                logger.warning("Failed to calibrate camera %s, using fallback for sector clamp.", cam_id)
+
+    if config.USE_PRESET_EDGES_FOR_SECTOR:
+        need_sector = any(state.ptz_states[c].get("sector_left_deg") is None for c in config.PTZ_CAM_IDS)
+        if need_sector:
+            await sector_autocal_from_presets()
+    sector_init_on_startup()
+
+    for cam in config.PTZ_CAM_IDS:
+        try:
+            await autocal_pan_sign(cam)
+        except Exception as e:
+            logger.debug("autocal pan_sign cam %s: %s", cam, e)
+
+    await park_to_patrol_start()
+
+    if config.PTZ_ORDER and config.PATROL_ENABLE_ON_START:
+        if config.SYNC_PATROL_ENABLE and config.SYNC_COHORTS:
+            logger.info("SYNC PTZ patrol enabled (cohorts): %s", ", ".join(config.SYNC_COHORTS.keys()))
+        else:
+            patrol_init_on_startup()
+            logger.info("PTZ patrol started (standalone)")
+    else:
+        logger.info("PTZ patrol is DISABLED on start")
+
+    logger.info("PTZ tracking + HARD sector clamp + bounded patrol (resync enabled)")
+
+    ctrl_server, video_server = await build_servers()
+    logger.info("[CTRL WS] listening on 0.0.0.0:%s", config.VUE_CONTROL_WS_PORT)
+    logger.info("[VIDEO WS] listening on 0.0.0.0:%s", config.VUE_VIDEO_WS_PORT)
+
+    async def patrol_supervisor_loop():
+        while True:
+            try:
+                patrol_supervisor_tick_bounded()
+                patrol_supervisor_tick()
+            except Exception as e:
+                logger.error("patrol_supervisor error: %s", e)
+            await asyncio.sleep(0.10)
+
+    tasks: list[asyncio.Task | asyncio.Future] = [
+        asyncio.create_task(video_broadcaster()),
+        asyncio.create_task(cpp_ws_loop()),
+        asyncio.create_task(cpp_detection_loop()),
+        asyncio.create_task(alarm_sender()),        # WS тревоги ({"type":"freq_alarm","data":...})
+        asyncio.create_task(alarm_http_sender()),   # HTTP тревоги (включается через config.ALARM_HTTP_ENABLE)
+        asyncio.create_task(ptz_status_poller()),
+        asyncio.create_task(heartbeat_pinger()),
+        asyncio.create_task(ctrl_server.wait_closed()),
+        asyncio.create_task(video_server.wait_closed()),
+    ]
+    if config.PATROL_ENABLE_ON_START:
+        tasks.insert(6, asyncio.create_task(patrol_supervisor_loop()))
+    if config.SYNC_PATROL_ENABLE and config.SYNC_COHORTS:
+        tasks.insert(6, asyncio.create_task(sync_patrol_coordinator_loop()))
+
+    try:
+        await asyncio.gather(*tasks)
+    finally:
+        ctrl_server.close()
+        video_server.close()
+        await ctrl_server.wait_closed()
+        await video_server.wait_closed()
+
+def run():
+    try:
+        asyncio.run(main())
+    except KeyboardInterrupt:
+        logger.info("Stopped by user")
+    finally:
+        try:
+            if state.ptz_cmd_q is not None:
+                state.ptz_cmd_q.put_nowait(None)  # sentinel for PTZ worker
+            if state._ptz_thread is not None:
+                state._ptz_thread.join(timeout=0.5)
+        except Exception:
+            pass
+        for _cid, _st in state.ptz_states.items():
+            if _st.get("zoom_reset_timer"):
+                try: _st["zoom_reset_timer"].cancel()
+                except Exception: pass
+            if _st.get("preset_timer"):
+                try: _st["preset_timer"].cancel()
+                except Exception: pass
+        logger.info("Shutdown complete")
+
+if __name__ == "__main__":
+    run()

ptz_tracker_modular/calibration.py

@@ -0,0 +1,480 @@
+# calibration.py
+from __future__ import annotations
+
+import asyncio
+import logging
+import math
+from typing import Optional, Tuple
+
+from . import config, state
+from .geom import ang_diff_signed, normalize360
+from .ptz_io import read_ptz_azimuth_deg, goto_preset_token, get_ptz_status
+
+# Опционально: запись в cameras.toml
+try:
+    from .toml_persist import (
+        persist_north_offset,      # (cam_id, north_deg, source) -> bool
+        persist_geo_fields,        # (cam_id, fields: dict[str, float], source) -> bool
+    )
+except Exception:
+    persist_north_offset = None   # type: ignore[assignment]
+    persist_geo_fields = None     # type: ignore[assignment]
+
+logger = logging.getLogger("PTZTracker")
+
+
+# ==============================
+# Внутренние утилиты
+# ==============================
+
+async def _wait_az_stable(cam: int, timeout: float = 2.5, tol_deg: float = 0.3) -> Optional[float]:
+    """
+    Ждём стабилизации pan: возвращает угол, когда изменения <= tol_deg.
+    """
+    loop = asyncio.get_event_loop()
+    t0 = loop.time()
+    last = None
+    stable = 0
+    while loop.time() - t0 < timeout:
+        a = read_ptz_azimuth_deg(cam)
+        if a is None:
+            await asyncio.sleep(0.12)
+            continue
+        a = normalize360(a)
+        if last is None or abs(ang_diff_signed(a, last)) > tol_deg:
+            stable = 0
+        else:
+            stable += 1
+            if stable >= 1:
+                return a
+        last = a
+        await asyncio.sleep(0.12)
+    return last
+
+
+async def get_absolute_ptz_position(cam_idx: int) -> Optional[Tuple[float, float]]:
+    """
+    Читает абсолютные оценки pan/tilt (deg), pan нормализует в 0..360.
+
+    FIX: tilt у части Hikvision может не возвращаться/не парситься.
+    Для калибровки сектора критичен pan, поэтому:
+      - если pan есть, а tilt нет -> tilt=0.0
+    """
+    pan, tilt = get_ptz_status(cam_idx)
+    if pan is None:
+        return None
+    pan_n = normalize360(float(pan))
+    tilt_f = float(tilt) if tilt is not None else 0.0
+    return pan_n, tilt_f
+
+
+def to_geo_bearing(pan_abs_cam_deg: float, north_offset_deg: float | None) -> float:
+    """geo = pan_abs + north_offset (в 0..360)."""
+    return normalize360(pan_abs_cam_deg + (north_offset_deg or 0.0))
+
+
+def shortest_signed(a: float, b: float) -> float:
+    """Подписанное отклонение угла a -> b в (-180; 180]."""
+    return ang_diff_signed(b, a)
+
+
+async def compute_north_offset_on_preset1(cam_idx: int, ref_bearing_geo: float) -> Optional[float]:
+    """
+    Находясь на preset1: north_offset = ref_bearing_geo - pan_abs_cam.
+    """
+    a = await _wait_az_stable(cam_idx)
+    if a is None:
+        return None
+    return normalize360(ref_bearing_geo - a)
+
+
+async def get_bearing_curr_geo(cam_idx: int) -> Optional[float]:
+    """
+    Текущий гео-азимут взгляда (0..360), если есть north_offset_deg.
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    north = cfg.get("north_offset_deg")
+    if north is None:
+        return None
+    a = await _wait_az_stable(cam_idx)
+    if a is None:
+        return None
+    return to_geo_bearing(a, float(north))
+
+
+async def get_delta_from_preset1_geo(cam_idx: int) -> Optional[float]:
+    """
+    Подписанная дельта от preset1 в гео-СК. Положит. — вправо.
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    p1_geo = cfg.get("preset1_deg_geo")
+    if p1_geo is None:
+        return None
+    b = await get_bearing_curr_geo(cam_idx)
+    if b is None:
+        return None
+    return shortest_signed(p1_geo, b)
+
+
+async def calibrate_presets(cam_idx: int) -> bool:
+    """
+    Снимаем pan/tilt на preset1/preset2 и выставляем сектор во «внутренних» углах.
+
+    FIX:
+      - не требуем tilt (если его нет — tilt=0.0)
+      - сохраняем preset*_deg / sector_* в cameras.toml через persist_geo_fields (если доступно)
+      - НЕ запускаем патруль здесь (иначе легко получить "дерганье" и спам пресетов)
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    p1, p2 = cfg.get("preset1"), cfg.get("preset2")
+    if not (p1 and p2):
+        return False
+
+    start_az = read_ptz_azimuth_deg(cam_idx)
+    logger.info("Calibrating presets for camera %s", cam_idx)
+
+    # preset1
+    goto_preset_token(cam_idx, p1)
+    await asyncio.sleep(0.6)
+    _ = await _wait_az_stable(cam_idx)
+    pos1 = await get_absolute_ptz_position(cam_idx)
+    if pos1 is None:
+        logger.error("Failed to get pan for preset1 on camera %s", cam_idx)
+        return False
+
+    # preset2
+    goto_preset_token(cam_idx, p2)
+    await asyncio.sleep(0.6)
+    _ = await _wait_az_stable(cam_idx)
+    pos2 = await get_absolute_ptz_position(cam_idx)
+    if pos2 is None:
+        logger.error("Failed to get pan for preset2 on camera %s", cam_idx)
+        return False
+
+    az1, tilt1 = pos1
+    az2, tilt2 = pos2
+
+    cfg["preset1_deg"] = float(az1)
+    cfg["preset2_deg"] = float(az2)
+    cfg["preset1_tilt_deg"] = float(tilt1)
+    cfg["preset2_tilt_deg"] = float(tilt2)
+
+    span = ang_diff_signed(az2, az1)
+    if span >= 0:
+        sector_min = az1 - config.SECTOR_MARGIN_DEG
+        sector_max = az2 + config.SECTOR_MARGIN_DEG
+    else:
+        sector_min = az2 - config.SECTOR_MARGIN_DEG
+        sector_max = az1 + config.SECTOR_MARGIN_DEG
+
+    cfg["sector_min_deg"] = float(normalize360(sector_min))
+    cfg["sector_max_deg"] = float(normalize360(sector_max))
+
+    logger.info(
+        "Camera %s sector calibrated: %.2f°..%.2f° (p1=%.2f°, p2=%.2f°)",
+        cam_idx, cfg["sector_min_deg"], cfg["sector_max_deg"], az1, az2
+    )
+
+    # Persist в cameras.toml (если доступно)
+    if callable(persist_geo_fields):
+        try:
+            persist_geo_fields(
+                cam_idx,
+                {
+                    "preset1_deg": float(az1),
+                    "preset2_deg": float(az2),
+                    "preset1_tilt_deg": float(tilt1),
+                    "preset2_tilt_deg": float(tilt2),
+                    "sector_min_deg": float(cfg["sector_min_deg"]),
+                    "sector_max_deg": float(cfg["sector_max_deg"]),
+                },
+                source="calibrate_presets",
+            )
+        except Exception as e:
+            logger.warning("[CAL] persist_geo_fields failed for cam %s: %s", cam_idx, e)
+
+    # вернуть ближе к исходному положению
+    if start_az is not None:
+        token = p1 if abs(ang_diff_signed(start_az, az1)) <= abs(ang_diff_signed(start_az, az2)) else p2
+    else:
+        token = p1
+    goto_preset_token(cam_idx, token)
+
+    return True
+
+
+async def calibrate_presets_geo(cam_idx: int, ref_bearing_geo: float) -> bool:
+    """
+    1) preset1 → pan/tilt → preset1_deg/preset1_tilt_deg
+    2) north_offset = ref_bearing_geo - pan_abs(preset1) → сохранить
+    3) preset2 → pan/tilt
+    4) preset*_deg_geo, sector_*_geo → сохранить
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    p1, p2 = cfg.get("preset1"), cfg.get("preset2")
+    if not (p1 and p2):
+        logger.error("[GEO] Geo-calibration requires preset1 and preset2 on camera %s", cam_idx)
+        return False
+
+    start_az = read_ptz_azimuth_deg(cam_idx)
+    logger.info("[GEO] Calibrating presets (with north) for camera %s", cam_idx)
+
+    # --- preset1
+    goto_preset_token(cam_idx, p1)
+    await asyncio.sleep(0.6)
+    _ = await _wait_az_stable(cam_idx)
+    pos1 = await get_absolute_ptz_position(cam_idx)
+    if pos1 is None:
+        logger.error("[GEO] Failed to get pan for preset1 on camera %s", cam_idx)
+        return False
+    az1, tilt1 = pos1
+
+    # --- north offset
+    ref_bearing_geo = normalize360(ref_bearing_geo)
+    north_offset = await compute_north_offset_on_preset1(cam_idx, ref_bearing_geo)
+    if north_offset is None:
+        logger.error("[GEO] Failed to compute north_offset for camera %s", cam_idx)
+        return False
+    north_offset = normalize360(north_offset)
+
+    # записать в TOML (если доступно)
+    if callable(persist_north_offset):
+        try:
+            changed = persist_north_offset(cam_idx, north_offset, source="calibrate_presets_geo")
+            if changed:
+                logger.info("[GEO] cameras.toml updated with north_offset for cam %s (%.2f°)", cam_idx, north_offset)
+            else:
+                logger.info("[GEO] north_offset for cam %s already up-to-date (%.2f°)", cam_idx, north_offset)
+        except Exception as e:
+            logger.warning("[GEO] persist_north_offset failed for cam %s: %s", cam_idx, e)
+    else:
+        logger.warning("[GEO] persist_north_offset is unavailable; north won't be written to cameras.toml")
+
+    # --- preset2
+    goto_preset_token(cam_idx, p2)
+    await asyncio.sleep(0.6)
+    _ = await _wait_az_stable(cam_idx)
+    pos2 = await get_absolute_ptz_position(cam_idx)
+    if pos2 is None:
+        logger.error("[GEO] Failed to get pan for preset2 on camera %s", cam_idx)
+        return False
+    az2, tilt2 = pos2
+
+    # --- внутренние углы
+    cfg["preset1_deg"] = float(az1)
+    cfg["preset2_deg"] = float(az2)
+    cfg["preset1_tilt_deg"] = float(tilt1)
+    cfg["preset2_tilt_deg"] = float(tilt2)
+
+    # --- гео-углы пресетов
+    cfg["north_offset_deg"] = float(north_offset)
+    cfg["preset1_deg_geo"] = to_geo_bearing(az1, north_offset)
+    cfg["preset2_deg_geo"] = to_geo_bearing(az2, north_offset)
+
+    # --- сектор в гео
+    span_geo = ang_diff_signed(cfg["preset2_deg_geo"], cfg["preset1_deg_geo"])
+    if span_geo >= 0:
+        sector_min_geo = cfg["preset1_deg_geo"] - config.SECTOR_MARGIN_DEG
+        sector_max_geo = cfg["preset2_deg_geo"] + config.SECTOR_MARGIN_DEG
+    else:
+        sector_min_geo = cfg["preset2_deg_geo"] - config.SECTOR_MARGIN_DEG
+        sector_max_geo = cfg["preset1_deg_geo"] + config.SECTOR_MARGIN_DEG
+
+    cfg["sector_min_deg_geo"] = normalize360(sector_min_geo)
+    cfg["sector_max_deg_geo"] = normalize360(sector_max_geo)
+
+    # сохранить полезные geo-поля в TOML (опц.)
+    if callable(persist_geo_fields):
+        try:
+            persist_geo_fields(
+                cam_idx,
+                {
+                    "preset1_deg": float(az1),
+                    "preset2_deg": float(az2),
+                    "preset1_tilt_deg": float(tilt1),
+                    "preset2_tilt_deg": float(tilt2),
+                    "north_offset_deg": float(north_offset),
+                    "preset1_deg_geo": float(cfg["preset1_deg_geo"]),
+                    "preset2_deg_geo": float(cfg["preset2_deg_geo"]),
+                    "sector_min_deg_geo": float(cfg["sector_min_deg_geo"]),
+                    "sector_max_deg_geo": float(cfg["sector_max_deg_geo"]),
+                },
+                source="calibrate_presets_geo",
+            )
+        except Exception:
+            pass
+
+    logger.info(
+        "[GEO] Camera %s north_offset=%.2f°, p1_geo=%.2f°, p2_geo=%.2f°, sector_geo=%.1f°..%.1f°",
+        cam_idx,
+        cfg["north_offset_deg"], cfg["preset1_deg_geo"], cfg["preset2_deg_geo"],
+        cfg["sector_min_deg_geo"], cfg["sector_max_deg_geo"]
+    )
+
+    # вернуть ближе к исходному
+    token = p1
+    if start_az is not None:
+        token = p1 if abs(ang_diff_signed(start_az, az1)) <= abs(ang_diff_signed(start_az, az2)) else p2
+    goto_preset_token(cam_idx, token)
+    return True
+
+
+async def autocal_pan_sign(cam: int):
+    """
+    Определение знака панорамирования через небольшой толчок вправо.
+    """
+    a0 = read_ptz_azimuth_deg(cam)
+    if a0 is None:
+        return
+    from .ptz_io import move_ptz, stop_ptz
+    move_ptz(cam, +0.12, 0.0, 0.0)
+    await asyncio.sleep(0.25)
+    stop_ptz(cam)
+    await asyncio.sleep(0.20)
+    a1 = read_ptz_azimuth_deg(cam)
+    if a1 is None:
+        return
+    delta = ang_diff_signed(a1, a0)
+    if abs(delta) < 0.05:
+        logger.info(
+            "[PAN_SIGN] cam %s: no movement (near wall?) — keep pan_sign=%s",
+            cam, config.CAMERA_CONFIG[cam].get("pan_sign")
+        )
+        return
+    config.CAMERA_CONFIG[cam]["pan_sign"] = +1 if delta > 0 else -1
+    logger.info("[PAN_SIGN] cam %s set to %s (delta=%.2f°)", cam, config.CAMERA_CONFIG[cam]["pan_sign"], delta)
+
+
+async def park_to_patrol_start():
+    """
+    Поставить камеры на старт патруля согласно PATROL_START_DIR:
+    если +1 — preset1, если -1 — preset2.
+    """
+    from .ptz_io import stop_ptz, goto_preset_token
+    for cam in config.PTZ_ORDER:
+        cfg = config.CAMERA_CONFIG[cam]
+        dir_sign = config.PATROL_START_DIR.get(cam, +1)
+        start_token = cfg.get("preset1") if dir_sign >= 0 else cfg.get("preset2")
+        if start_token:
+            stop_ptz(cam)
+            goto_preset_token(cam, start_token)
+    await asyncio.sleep(1.2)
+
+
+def _pano_center_geo_from_state(pano_id: int) -> Optional[float]:
+    """
+    Достаём последний абсолютный азимут центра панорамы из state.
+    Поддерживаем несколько возможных ключей.
+    """
+    s = getattr(state, "pano_states", {}).get(pano_id) or {}
+    for k in ("center_bearing_deg", "bearing_deg", "geo_bearing_deg", "attack_bearing_deg"):
+        v = s.get(k)
+        if isinstance(v, (int, float)):
+            return normalize360(float(v))
+    # fallback: иногда кладут в ptz_states[pano_id]["pan_deg_geo"]
+    ss = getattr(state, "ptz_states", {}).get(pano_id) or {}
+    v = ss.get("pan_deg_geo")
+    if isinstance(v, (int, float)):
+        return normalize360(float(v))
+    return None
+
+
+async def auto_calibrate_north_from_pano_edges(ptz_id: int) -> Optional[float]:
+    """
+    Вычисляет и сохраняет north_offset_deg для PTZ, используя спаренную панораму:
+      - pano_id = config.PTZ_TO_PAN[ptz_id]
+      - center_geo = центр панорамы из state (0..360)
+      - hfov = ширина обзора панорамы в градусах (из cameras.toml)
+      - preset1/preset2 считаем левой/правой границей (или наоборот при preset1_is_left=false)
+      - измеряем внутренние pan на обоих пресетах (a1, a2)
+      - считаем два независимых north: n1=left_geo-a1, n2=right_geo-a2
+      - берём среднее на окружности и пишем в TOML
+    Вернёт north_offset_deg или None.
+    """
+    # 0) привязка PTZ↔PANO
+    pano_id = config.PTZ_TO_PAN.get(ptz_id)
+    if pano_id is None:
+        logger.warning("[AUTO-NORTH] PTZ %s: no paired pano in PTZ_TO_PAN", ptz_id)
+        return None
+
+    # 1) центр панорамы
+    center_geo = _pano_center_geo_from_state(pano_id)
+    if center_geo is None:
+        logger.warning("[AUTO-NORTH] PTZ %s: pano %s center bearing is unknown", ptz_id, pano_id)
+        return None
+
+    # 2) HFOV панорамы
+    hfov = config.get_cam_hfov_deg(pano_id)
+    if not isinstance(hfov, (int, float)) or hfov <= 0:
+        logger.warning("[AUTO-NORTH] PTZ %s: pano %s HFOV unknown", ptz_id, pano_id)
+        return None
+
+    left_geo  = normalize360(center_geo - hfov * 0.5)
+    right_geo = normalize360(center_geo + hfov * 0.5)
+
+    cfg = config.CAMERA_CONFIG.get(ptz_id, {})
+    p1, p2 = cfg.get("preset1"), cfg.get("preset2")
+    if not (p1 and p2):
+        logger.warning("[AUTO-NORTH] PTZ %s: presets 1/2 are required", ptz_id)
+        return None
+
+    # какие пресеты — левый/правый край?
+    p1_is_left = cfg.get("preset1_is_left")
+    if p1_is_left is None:
+        # если явно не задано — ориентируемся по sweep_sign (или pan_sign)
+        sweep = int(cfg.get("sweep_sign", cfg.get("pan_sign", 1)) or 1)
+        p1_is_left = True if sweep >= 0 else False
+
+    target_geo_for_p1 = left_geo if p1_is_left else right_geo
+    target_geo_for_p2 = right_geo if p1_is_left else left_geo
+
+    # helper: стабилизация pan
+    async def _stable_pan(cam: int) -> Optional[float]:
+        return await _wait_az_stable(cam, timeout=2.5, tol_deg=0.3)
+
+    # 3) измеряем пресеты
+    goto_preset_token(ptz_id, p1); await asyncio.sleep(0.6)
+    a1 = await _stable_pan(ptz_id)
+    if a1 is None:
+        logger.warning("[AUTO-NORTH] PTZ %s: cannot read pan on preset1", ptz_id)
+        return None
+
+    goto_preset_token(ptz_id, p2); await asyncio.sleep(0.6)
+    a2 = await _stable_pan(ptz_id)
+    if a2 is None:
+        logger.warning("[AUTO-NORTH] PTZ %s: cannot read pan on preset2", ptz_id)
+        return None
+
+    # 4) два независимых north + среднее на окружности
+    n1 = normalize360(target_geo_for_p1 - a1)
+    n2 = normalize360(target_geo_for_p2 - a2)
+
+    sx = math.cos(math.radians(n1)) + math.cos(math.radians(n2))
+    sy = math.sin(math.radians(n1)) + math.sin(math.radians(n2))
+    north = normalize360(math.degrees(math.atan2(sy, sx))) if (sx != 0 or sy != 0) else n1
+
+    # 5) сохраняем в TOML и рантайм
+    if callable(persist_north_offset):
+        try:
+            persist_north_offset(ptz_id, north, source="auto_from_pano_edges")
+        except Exception:
+            pass
+    cfg["north_offset_deg"] = north
+
+    # опционально сохраним справочно preset1_ref_geo_deg
+    if callable(persist_geo_fields):
+        try:
+            persist_geo_fields(ptz_id, {"preset1_ref_geo_deg": target_geo_for_p1}, source="auto_from_pano_edges")
+        except Exception:
+            pass
+
+    logger.info(
+        "[AUTO-NORTH] PTZ %s: north_offset=%.2f°, p1->%.2f°, p2->%.2f° (center=%.2f°, hfov=%.1f°)",
+        ptz_id, north, target_geo_for_p1, target_geo_for_p2, center_geo, hfov
+    )
+    return north
+
+
+async def autocal_geo_from_panorama(cam_id: int) -> bool:
+    north = await auto_calibrate_north_from_pano_edges(cam_id)
+    return north is not None

ptz_tracker_modular/cameras.toml

@@ -0,0 +1,179 @@
+[[camera]]
+id = 0
+ip = "192.168.54.8"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 1
+wiper_channel = 1
+preset1 = "1"
+preset2 = "2"
+sweep_sign = 1
+is_ptz = true
+mac = "80:BE:AF:E5:48:01"
+preset1_deg = 343.000000
+preset2_deg = 66.000000
+preset1_tilt_deg = -138.000000
+preset2_tilt_deg = -138.000000
+sector_min_deg = 345.000000
+sector_max_deg = 64.000000
+geo_last_source = "sector_autocal"
+geo_last_at = 1770695205
+
+[[camera]]
+id = 1
+ip = "192.168.54.8"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 2
+wiper_channel = 1
+is_ptz = false
+
+[[camera]]
+id = 2
+ip = "192.168.54.9"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 1
+wiper_channel = 1
+preset1 = "1"
+preset2 = "2"
+sweep_sign = 1
+is_ptz = true
+mac = "80:BE:AF:E5:48:09"
+preset1_deg = 342.000000
+preset2_deg = 134.000000
+preset1_tilt_deg = -140.000000
+preset2_tilt_deg = -140.000000
+sector_min_deg = 344.000000
+sector_max_deg = 132.000000
+geo_last_source = "sector_autocal"
+geo_last_at = 1770695207
+
+[[camera]]
+id = 3
+ip = "192.168.54.9"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 2
+wiper_channel = 1
+is_ptz = false
+
+[[camera]]
+id = 4
+ip = "192.168.54.10"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 1
+wiper_channel = 1
+preset1 = "1"
+preset2 = "2"
+sweep_sign = 1
+is_ptz = true
+mac = "80:BE:AF:E5:47:DB"
+preset1_deg = 343.600000
+preset2_deg = 343.600000
+preset1_tilt_deg = -12.000000
+preset2_tilt_deg = -12.000000
+sector_min_deg = 343.600000
+sector_max_deg = 343.600000
+geo_last_source = "sector_autocal"
+geo_last_at = 1770695209
+
+[[camera]]
+id = 5
+ip = "192.168.54.10"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 2
+wiper_channel = 1
+is_ptz = false
+
+[[camera]]
+id = 6
+ip = "192.168.54.11"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 1
+wiper_channel = 1
+preset1 = "1"
+preset2 = "2"
+sweep_sign = 1
+is_ptz = true
+mac = "80:BE:AF:E5:47:D5"
+preset1_deg = 340.200000
+preset2_deg = 129.000000
+preset1_tilt_deg = -150.000000
+preset2_tilt_deg = -150.000000
+sector_min_deg = 342.200000
+sector_max_deg = 127.000000
+geo_last_source = "sector_autocal"
+geo_last_at = 1770695210
+
+[[camera]]
+id = 7
+ip = "192.168.54.11"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 2
+wiper_channel = 1
+is_ptz = false
+
+[[camera]]
+id = 8
+ip = "192.168.54.12"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 1
+wiper_channel = 1
+preset1 = "1"
+preset2 = "2"
+sweep_sign = 1
+is_ptz = true
+mac = "80:BE:AF:E5:48:07"
+preset1_deg = 346.300000
+preset2_deg = 33.000000
+preset1_tilt_deg = -118.000000
+preset2_tilt_deg = -118.000000
+sector_min_deg = 348.300000
+sector_max_deg = 31.000000
+geo_last_source = "sector_autocal"
+geo_last_at = 1770695212
+
+[[camera]]
+id = 9
+ip = "192.168.54.12"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 2
+wiper_channel = 1
+is_ptz = false
+
+[[camera]]
+id = 10
+ip = "192.168.54.13"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 1
+wiper_channel = 1
+preset1 = "1"
+preset2 = "2"
+sweep_sign = 1
+is_ptz = true
+mac = "80:BE:AF:E5:47:C1"
+preset1_deg = 340.700000
+preset2_deg = 41.000000
+preset1_tilt_deg = -120.000000
+preset2_tilt_deg = -120.000000
+sector_min_deg = 342.700000
+sector_max_deg = 39.000000
+geo_last_source = "sector_autocal"
+geo_last_at = 1770695214
+
+[[camera]]
+id = 11
+ip = "192.168.54.13"
+username = "admin"
+password = "Vika_1975"
+ptz_channel = 2
+wiper_channel = 1
+is_ptz = false

ptz_tracker_modular/cameras_io.py

@@ -0,0 +1,312 @@
+from __future__ import annotations
+from pathlib import Path
+from typing import Any, Dict, List, Tuple, Optional
+import os
+import tomllib
+import logging
+logger = logging.getLogger("PTZTracker")
+
+
+try:
+    from . import config  # type: ignore
+except Exception:
+    config = None  # type: ignore
+
+
+# ------------------------------ Порядок ключей ------------------------------
+
+CAM_KEYS_ORDER = [
+    "ip", "username", "password", "ptz_channel",
+    "preset1", "preset2", "sweep_sign",
+    "preset1_deg", "preset2_deg",
+    "preset1_tilt_deg", "preset2_tilt_deg",
+    "sector_min_deg", "sector_max_deg",
+    "pan_sign", "tilt_sign", "pan_offset_deg", "tilt_offset_deg",
+    "mac",
+
+    "north_offset_deg",
+    "preset1_deg_geo", "preset2_deg_geo",
+    "sector_min_deg_geo", "sector_max_deg_geo",
+]
+
+# Мягкие дефолты для новых полей (и некоторых старых)
+DEFAULTS: Dict[str, Any] = {
+    "ptz_channel": 1,
+    "preset1": None,
+    "preset2": None,
+    "sweep_sign": 1,
+    "preset1_deg": None,
+    "preset2_deg": None,
+    "preset1_tilt_deg": None,
+    "preset2_tilt_deg": None,
+    "sector_min_deg": None,
+    "sector_max_deg": None,
+    "pan_sign": None,
+    "tilt_sign": None,
+    "pan_offset_deg": 0.0,
+    "tilt_offset_deg": 0.0,
+    "mac": None,
+    "north_offset_deg": None,
+    "preset1_deg_geo": None,
+    "preset2_deg_geo": None,
+    "sector_min_deg_geo": None,
+    "sector_max_deg_geo": None,
+}
+
+
+# ------------------------------ IO helpers ------------------------------
+
+def _cameras_file_path() -> Path:
+    env = os.getenv("CAMERAS_FILE")
+    if env:
+        return Path(env).resolve()
+
+    here = Path(__file__).resolve()
+    for parent in [here.parent, *here.parents]:
+        if parent.name == "ptz_tracker_modular":
+            return (parent / "cameras.toml").resolve()
+
+    # fallback — рядом с текущим модулем
+    return (here.parent / "cameras.toml").resolve()
+
+
+def _apply_defaults(cfg: Dict[str, Any]) -> Dict[str, Any]:
+    """Мягко подставляет дефолты; в файл None не пишем."""
+    for k, v in DEFAULTS.items():
+        cfg.setdefault(k, v)
+    return cfg
+
+
+def _load_all() -> Dict[int, Dict[str, Any]]:
+    path = _cameras_file_path()
+    if not path.exists():
+        return {}
+    if path.suffix.lower() != ".toml":
+        raise RuntimeError("Для веб-редактирования ожидается TOML (cameras.toml)")
+    with open(path, "rb") as f:
+        data = tomllib.load(f)
+    arr = data.get("camera") or data.get("cameras") or []
+    res: Dict[int, Dict[str, Any]] = {}
+    for item in arr:
+        cid = int(item["id"])
+        res[cid] = _apply_defaults(dict(item))
+    return res
+
+
+def _dump_toml(cams: Dict[int, Dict[str, Any]]) -> str:
+    lines: List[str] = []
+    for cid in sorted(cams.keys()):
+        cfg = dict(cams[cid])
+        lines.append("[[camera]]")
+        lines.append(f"id = {cid}")
+
+        # Сначала печатаем ключи в фиксированном порядке
+        for k in CAM_KEYS_ORDER:
+            if k not in cfg or cfg[k] is None:
+                continue
+            v = cfg[k]
+            if isinstance(v, str):
+                v = v.replace("\\", "\\\\").replace('"', '\\"')
+                lines.append(f'{k} = "{v}"')
+            elif isinstance(v, bool):
+                lines.append(f'{k} = {"true" if v else "false"}')
+            else:
+                lines.append(f"{k} = {v}")
+
+        # Затем доп. ключи, которых нет в CAM_KEYS_ORDER
+        for k, v in cfg.items():
+            if k in CAM_KEYS_ORDER or k == "id":
+                continue
+            if v is None:
+                continue
+            if isinstance(v, str):
+                v = v.replace("\\", "\\\\").replace('"', '\\"')
+                lines.append(f'{k} = "{v}"')
+            elif isinstance(v, bool):
+                lines.append(f'{k} = {"true" if v else "false"}')
+            else:
+                lines.append(f"{k} = {v}")
+
+        lines.append("")  # пустая строка между камерами
+    return "\n".join(lines).rstrip() + "\n"
+
+
+def _write_all(cams: Dict[int, Dict[str, Any]]) -> None:
+    path = _cameras_file_path()
+    txt = _dump_toml(cams)
+    path.write_text(txt, encoding="utf-8")
+
+
+# ------------------------------ Публичные утилиты ------------------------------
+
+def get_all() -> Dict[int, Dict[str, Any]]:
+    """Вернёт все камеры с подставленными дефолтами (в памяти)."""
+    return _load_all()
+
+
+def get(cid: int) -> Optional[Dict[str, Any]]:
+    """Вернёт конфиг одной камеры или None."""
+    return _load_all().get(int(cid))
+
+
+def update(cid: int, patch: Dict[str, Any]) -> Dict[int, Dict[str, Any]]:
+    """
+    Патчит одну камеру по id и сохраняет файл.
+    Возвращает обновлённый словарь всех камер.
+    """
+    cid = int(cid)
+    cams = _load_all()
+    if cid not in cams:
+        raise KeyError(f"Camera id {cid} not found")
+    base = cams[cid]
+
+    # нормализация типов
+    if "ptz_channel" in patch and patch["ptz_channel"] is not None:
+        patch["ptz_channel"] = int(patch["ptz_channel"])
+    if "sweep_sign" in patch and patch["sweep_sign"] is not None:
+        patch["sweep_sign"] = int(patch["sweep_sign"])
+
+    base.update(patch)
+    cams[cid] = _apply_defaults(base)
+    _write_all(cams)
+    return cams
+
+
+# ------------------------------ CRUD (твоя логика) ------------------------------
+
+def add_or_update_camera(cam: Dict[str, Any]) -> Tuple[int, Dict[int, Dict[str, Any]]]:
+    """
+    Одиночная запись (как у тебя было).
+    cam: {id? , ip, username, password, ptz_channel, preset1, preset2, sweep_sign, ...}
+    Если id не задан – берём max+1. Возвращает (real_id, updated_dict).
+    """
+    cams = _load_all()
+
+    # Вычисляем id
+    real_id = int(cam["id"]) if ("id" in cam and cam["id"] is not None) else (
+        (max(cams.keys()) + 1) if cams else 0
+    )
+
+    # Нормализация/дефолты
+    rec = dict(cam)
+    rec["id"] = real_id
+    if "ptz_channel" in rec and rec["ptz_channel"] is not None:
+        rec["ptz_channel"] = int(rec["ptz_channel"])
+    if "sweep_sign" in rec and rec["sweep_sign"] is not None:
+        rec["sweep_sign"] = int(rec["sweep_sign"])
+
+    cams[real_id] = _apply_defaults(rec)
+    _write_all(cams)
+
+    # Аккуратный лог: покажем, какие ID по этому IP уже есть (ch=1/ch=2)
+    ip = rec.get("ip")
+    ptz_id = None
+    pan_id = None
+    try:
+        for cid, c in cams.items():
+            if c.get("ip") == ip:
+                ch = int(c.get("ptz_channel", 1))
+                if ch == 1:
+                    ptz_id = cid
+                elif ch == 2:
+                    pan_id = cid
+    except Exception:
+        pass
+
+    logger.info(
+        f"[CFG] add_or_update_camera ip={ip} -> saved id={real_id} ch={rec.get('ptz_channel', 1)}; "
+        f"present: PTZ id={ptz_id}, PAN id={pan_id} (total={len(cams)})"
+    )
+
+    return real_id, cams
+
+
+def delete_camera(cid: int) -> Dict[int, Dict[str, Any]]:
+    cams = _load_all()
+    if cid in cams:
+        del cams[cid]
+        _write_all(cams)
+    return cams
+
+
+# ------------------------------ ПАРНАЯ запись PTZ+PAN ------------------------------
+
+def add_or_update_camera_pair(cam: Dict[str, Any]) -> Tuple[int, Dict[int, Dict[str, Any]]]:
+    """
+    Создаёт/обновляет ДВЕ записи на один IP:
+      - PTZ (канал 1) с пресетами preset1/preset2
+      - PAN (канал 2) без пресетов
+    Если одна из записей существует — аккуратно обновит её и досоздаст вторую.
+    Возвращает (ptz_id, весь словарь камер).
+    """
+    cams = _load_all()
+
+    # Входные данные
+    ip = cam["ip"]
+    username = cam.get("username")
+    password = cam.get("password")
+    sweep_sign = int(cam.get("sweep_sign", 1))
+    preset1 = cam.get("preset1")
+    preset2 = cam.get("preset2")
+    mac = cam.get("mac")
+
+    have = {cid: c for cid, c in cams.items() if c.get("ip") == ip}
+    by_ch: Dict[int, Tuple[int, Dict[str, Any]]] = {}
+    for cid, c in have.items():
+        try:
+            ch = int(c.get("ptz_channel", 1))
+        except Exception:
+            ch = 1
+        by_ch[ch] = (cid, c)
+
+    # --- PTZ (ch = 1) ---
+    ptz_patch = {
+        "ip": ip,
+        "username": username,
+        "password": password,
+        "ptz_channel": 1,
+        "preset1": preset1,
+        "preset2": preset2,
+        "sweep_sign": sweep_sign,
+        "mac": mac,
+    }
+    if 1 in by_ch:
+        ptz_id, base = by_ch[1]
+        # не затираем None-ами
+        for k, v in ptz_patch.items():
+            if v is not None:
+                base[k] = v
+        cams[ptz_id] = _apply_defaults(base)
+    else:
+        ptz_id = (max(cams.keys()) + 1) if cams else 0
+        rec = {"id": ptz_id, **ptz_patch}
+        cams[ptz_id] = _apply_defaults(rec)
+
+    # --- PAN (ch = 2) ---
+    pan_patch = {
+        "ip": ip,
+        "username": username,
+        "password": password,
+        "ptz_channel": 2,
+        "preset1": None,
+        "preset2": None,
+        "sweep_sign": sweep_sign,
+        "mac": mac,
+    }
+    if 2 in by_ch:
+        pan_id, base2 = by_ch[2]
+        # не затираем None-ами
+        for k, v in pan_patch.items():
+            if v is not None:
+                base2[k] = v
+        cams[pan_id] = _apply_defaults(base2)
+    else:
+        # подберём свободный id, не наступая на ptz_id
+        new_id = (max(cams.keys()) + 1) if cams else (1 if ptz_id == 0 else 0)
+        if new_id == ptz_id:
+            new_id += 1
+        rec2 = {"id": new_id, **pan_patch}
+        cams[new_id] = _apply_defaults(rec2)
+
+    _write_all(cams)
+    return ptz_id, cams

ptz_tracker_modular/config(main).py

@@ -0,0 +1,486 @@
+from __future__ import annotations
+import os
+import json
+from pathlib import Path
+from typing import Any, Dict, List, Tuple
+
+# ================== CONSTANTS / SETTINGS ==================
+# Inference / batching
+INFER_IMGSZ = 768
+DRAW_ALL_ON_PANO = True
+ADAPTIVE_BATCH_ENABLE = False
+BATCH_MIN = 1 #4
+BATCH_MAX = 4 #16
+BATCH_TARGET_MS = 8.0
+BATCH_UP_SCALE = 1.05
+BATCH_DOWN_SCALE = 1.15
+
+# ==== Logging toggles ====
+LOG_GEO_CHANGES = True          # писать в лог при заметном изменении bearing/attack
+LOG_GEO_DEG_STEP = 2.0          # шаг (°) для логирования bearing
+LOG_ATTACK_LOG_STEP = 5.0       # шаг (°) для логирования attack_bearing
+LOG_STATUS_BATCH = False        # если True — broadcaster пишет сводку каждые CONTROL_STATUS_INTERVAL
+
+# Preview / video publishing
+DROP_DECODE_WHEN_BUSY = True
+PUBLISH_ONLY_IF_CLIENTS = True
+PREVIEW_JPEG_QUALITY = 80 #60
+PREVIEW_TARGET_W = 1280 #896
+DEFAULT_CLIENT_FPS = 25
+# HUD на превью (азимут/дельта/атака)
+PREVIEW_DRAW_HUD = False
+
+VIDEO_MIN_INTERVAL_SLOW = 1.0 / 20.0
+VIDEO_MIN_INTERVAL_FAST = max(1.0 / max(1, DEFAULT_CLIENT_FPS), 1.0 / 30.0)
+
+# Detection thresholds
+MODEL_CONF = 0.65
+DETECT_CONF = 0.55
+ALARM_CONF = 0.55
+
+# бэк из твоего примера ждёт массив cameras[], так что лучше БЕЗ {mac}
+ALARM_HTTP_ENABLE = True
+ALARM_HTTP_MIRROR = True
+ALARM_HTTP_BASE = "http://192.168.54.100:3000"
+ALARM_HTTP_PATH = "/videodata/10:ff:e0:4f:09:4b" #mac 00%3A11%3A22%3A33%3A44%3A51
+ALARM_HTTP_PATH_TMPL = "/videodata/"
+ALARM_MAC_ONLY = False
+ALARM_WS_FORMAT = "freq"
+ALARM_COUNT_ON = 20
+ALARM_COUNT_OFF = 80
+ALARM_WS_SEND_LEGACY = True
+# Компас (направления в логах/OSD)
+COMPASS_LANG = "ru"   # пока не используется, но оставим на будущее
+COMPASS_POINTS = 8    # 8 румбов: С, СВ, В, ...
+# Авто-вычисление ref-азимута preset1 от границ панорамы
+AUTO_NORTH_FROM_PANORAMA = True
+
+# Debounce for recording
+REC_ON_CONFIRM_SEC = 0.1
+REC_OFF_GRACE_SEC = 1.2
+REC_MIN_ON_SEC = 4.0
+REC_MIN_OFF_SEC = 1.0
+REC_MAX_ON_SEC = 45.0
+
+
+# Record gate
+REC_DET_CONF = 0.45
+REC_MIN_MARGIN = 0.08
+REC_CENTER_MAX = 0.20
+REC_W_MIN, REC_W_MAX = 0.04, 0.55
+
+# Recording permissions
+RECORD_FROM_PANORAMAS = True
+ALLOW_PANORAMA_RECORD = True
+
+# WebSocket / events
+CPP_WS_URI = "ws://192.168.54.122:8767"        # incoming video (C++)
+CPP_CTRL_WS_URI = "ws://192.168.54.122:8767"   # detection events → C++
+VUE_CONTROL_WS_PORT = 8765
+VUE_VIDEO_WS_PORT = 8766
+ALARM_WS_URL = "ws://192.168.54.100:3000/ws"
+CONTROL_STATUS_INTERVAL = 0.25  # сек
+
+# Heartbeat
+HEARTBEAT_HOST = "127.0.0.1"
+HEARTBEAT_PORT = 55555
+HEARTBEAT_INTERVAL = 0.5
+
+# Patrol
+PATROL_LEG_SEC = 45.0 #25
+HANDOFF_NOTIFY = True
+PATROL_ENABLE_ON_START = True
+PUBLISH_RAW_BEFORE_INFER = False
+
+# Sweep (smooth pass)
+SMOOTH_SWEEP_ENABLE = True
+SWEEP_PAN_SPEED = 0.04 #0.08
+SWEEP_SETTLE_SEC = 0.20 #0.20
+SWEEP_RAMP_SEC = 0.80 #0.60
+PATROL_SNAP_TO_END = False
+END_DWELL_SEC = 0
+SHOT_PAUSE_ENABLE = False
+SHOT_INTERVAL_SEC = 0
+SHOT_PAUSE_SEC = 0
+
+# Bounded patrol dynamics
+PATROL_PAN_GAIN_DEG = 120.0 #30
+PATROL_SPEED_SCALE = 0.70 #0.90
+PATROL_OFFSECTOR_GRACE_SEC = 2.0
+# Starting direction per camera (PTZ only)
+PATROL_START_DIR: Dict[int, int] = {0: +1, 2: +1, 4: +1, 6: -1, 8: -1, 10: -1}
+
+# Sector
+SECTOR_PATROL_ENABLE = False
+USE_PRESET_EDGES_FOR_SECTOR = True
+SECTOR_MARGIN_DEG = 2.0      # было 0.0 — маленький запас вокруг сектора
+EDGE_EPS_HARD = 0.35         # было 0.0 — жёсткий край
+EDGE_EPS_SOFT = 1         # было 0.0 — мягкая зона замедления у края
+
+# Classes
+CLASS_NAMES = {0: "Fighter", 1: "drone"}
+TARGET_CLASSES = [0, 1]
+
+# Auto strategy
+AUTO_STRATEGY = True
+SHORT_LOSS_SEC = 5 #1.2
+LONG_LOSS_SEC = 4.0
+ABS_MIN_FALLBACK = 25.0
+ABS_MAX_FALLBACK = 40.0
+FALLBACK_PRESET_CAP: float | None = None
+
+# Loss/Return
+TRACK_END_LOSS_SEC = 0.6
+LOSS_TO_PRESET_SEC = 6.0
+EDGE_LOSS_MARGIN = 0.015
+VERT_LOSS_MARGIN = 0.050
+PRESET_AFTER_LOSS = True
+EDGE_LOSS_GRACE_SEC = 1.0
+
+# Возврат к пресету, если камера ушла вручную/дрейфует без детекции
+IDLE_DRIFT_RETURN_SEC = 4.0      # сколько секунд можно быть вне пресета по панораме
+IDLE_TILT_RETURN_SEC  = 2.0      # сколько секунд можно быть вне допустимого диапазона по наклону
+IDLE_NEAR_TOL_PAN_DEG = 1.2      # допуск «рядом с пресетом» по pan
+IDLE_NEAR_TOL_TILT_DEG = 2.5     # допуск «рядом с пресетом» по tilt
+
+# PID / Zoom / Track
+DEAD_ZONE = 0.012
+SMOOTHING_FACTOR = 0.35
+MOVE_GAIN = 1.85
+KI = 0.06
+INTEGRAL_CLAMP = 0.20
+KD = 0.14
+VEL_SMOOTH = 0.75
+BASE_LEAD = 0.14
+LEAD_GAIN = 0.38
+LEAD_MAX = 0.36
+CENTER_TOL = 0.040
+DECAY_FACTOR = 0.85
+MIN_FRAMES_TO_TRACK = 3
+
+TRACK_P = 1.25
+TRACK_I = 0.03
+TRACK_D = 0.08
+TRACK_SCALE = 0.75
+TRACK_DEAD_ZONE = 0.022
+
+TRACK_EDGE_SLOWDOWN_DEG = 8.0
+TRACK_EDGE_MIN_SCALE = 0.18
+TRACK_OFFSECTOR_GRACE_SEC = 4.0
+IDLE_OFFPRESET_GRACE_SEC = 7.0
+
+Z_TARGET_SLOW = 0.16
+Z_TARGET_FAST = 0.12
+Z_VEL_REF = 0.45
+Z_DELTA_IN = 0.008
+Z_DELTA_OUT = 0.060
+Z_DEADBAND = 0.012 #0.010
+Z_P = 2.4
+Z_I = 0.16
+Z_INT_CLAMP = 0.15
+Z_FF_GAIN = 0.55
+Z_SPEED_LIMIT_IN = 0.45
+Z_SPEED_LIMIT_OUT = -0.45 #-0.65
+Z_MIN_CMD = 0.05
+Z_RAMP_TIME = 0.45
+Z_PAN_BOOST = 1.18
+Z_CENTER_GATE_BASE = 0.06
+Z_CENTER_GATE_SCALE = 0.20
+Z_CENTER_STRICT = 0.030
+Z_VELOCITY_GATE = 0.45
+Z_OUT_EDGE = 0.07
+Z_SAFETY_EDGE = 0.05
+Z_SAFETY_TOP_BONUS = 0.50
+Z_MIN_SWITCH_INTERVAL = 0.80 #0.50
+Z_MOTION_THR = 0.015
+Z_HOVER_THR = 0.030
+Z_FREEZE_GROWTH_THR = 0.005 #0.004
+Z_LOCK_ENABLE = True
+Z_LOCK_ARM_SECS = 1.2 #0.8
+Z_UNLOCK_VEL_THR = 0.070 #0.060
+Z_UNLOCK_GROWTH_THR = 0.018 #0.015
+Z_UNLOCK_CENTER_THR = 0.12 #0.10
+Z_UNLOCK_EDGE = 0.050
+
+SCAN_AMPL = 0.12
+SCAN_STEP = 0.08
+RECOVER_ZOOM_OUT = -0.35
+
+PTZ_EPS = 0.008
+PTZ_QUANT = 0.005
+
+# Faster aim / zoom
+AIM_SMOOTH = 0.40
+AIM_P = 2.30
+AIM_I = 0.06
+AIM_D = 0.22
+RECOVER_ZOOM_OUT_SHORT = 0.0
+
+W_EMA_ALPHA = 0.30
+CENTER_GATE_IN = 0.06
+Z_PAN_BOOST_WHEN_IN = 1.35
+Z_LEAD_DURING_IN = 0.65
+
+# Video broadcast
+SEND_DUPLICATES_WHEN_IDLE = False
+ANN_MIN_INTERVAL = 0.0
+
+# Sync patrol
+SYNC_PATROL_ENABLE = False
+SYNC_COHORTS = {"A": {"plus": [0, 2, 4], "minus": [6, 8, 10]}}
+SYNC_USE_BOUNDED = False
+SYNC_BARRIER_SEC = 0.8
+SYNC_DWELL_SEC = END_DWELL_SEC
+
+#====================#
+PTZ_MIN_INTERVAL_SEC = 0.04
+PTZ_MAX_PAN_I = 8
+PTZ_MAX_TILT_I = 10
+PTZ_MAX_ZOOM_I = 8
+GOTO_SETTLE_SEC = 2.5
+PATROL_MAX_SPEED = 0.14
+
+# ================== CAMERA LOADER (TOML/JSON) ==================
+
+DEFAULT_SECOND_PRESET = "2"
+
+def _load_cameras_from_file() -> Dict[int, Dict[str, Any]]:
+    """
+    Загружает конфиг камер из TOML/JSON.
+    - Путь можно задать переменной окружения CAMERAS_FILE.
+    - По умолчанию ищется 'cameras.toml' рядом с этим модулем.
+    Ожидается массив объектов с полем `id`.
+    """
+    here = Path(__file__).resolve().parent
+    path = Path(os.getenv("CAMERAS_FILE", here / "cameras.toml"))
+
+    if not path.exists():
+        # fallback: попробуем cameras.json
+        json_path = here / "cameras.json"
+        if json_path.exists():
+            path = json_path
+        else:
+            return {}
+
+    data: Any
+    if path.suffix.lower() == ".toml":
+        try:
+            import tomllib  # py311+
+        except Exception as e:  # pragma: no cover
+            raise RuntimeError("Для TOML нужен Python 3.11+ (модуль tomllib)") from e
+        with open(path, "rb") as f:
+            data = tomllib.load(f)
+        arr = data.get("camera") or data.get("cameras") or []
+    elif path.suffix.lower() == ".json":
+        with open(path, "r", encoding="utf-8") as f:
+            data = json.load(f)
+        arr = data.get("camera") or data.get("cameras") or data
+        if isinstance(arr, dict):
+            arr = [{"id": int(k), **v} for k, v in arr.items()]
+    else:
+        raise RuntimeError(f"Неподдерживаемое расширение файла камер: {path.suffix}")
+
+    if not isinstance(arr, list):
+        raise RuntimeError("Файл камер должен содержать список объектов")
+
+    cfg_by_id: Dict[int, Dict[str, Any]] = {}
+    for item in arr:
+        if not isinstance(item, dict):
+            continue
+        if "id" not in item:
+            raise RuntimeError("Каждая камера должна иметь поле 'id'")
+        cid = int(item["id"])
+        cfg = dict(item)  # copy
+
+        # Back-compat: если указали единый preset — дополнить вторым
+        if "preset" in cfg and cfg.get("preset") not in (None, "None"):
+            cfg.setdefault("preset1", cfg["preset"])
+            cfg.setdefault("preset2", DEFAULT_SECOND_PRESET)
+
+        # Значения по умолчанию
+        cfg.setdefault("ptz_channel", 1)
+        cfg.setdefault("preset1", None)
+        cfg.setdefault("preset2", None)
+
+        cfg_by_id[cid] = cfg
+
+    return cfg_by_id
+
+# === Загрузка и пост-обработка ===
+CAMERA_CONFIG: Dict[int, Dict[str, Any]] = _load_cameras_from_file()
+
+# Перекрытие паролей через переменные окружения CAM_<ID>_PASSWORD
+for cid, cfg in CAMERA_CONFIG.items():
+    env_pw = os.getenv(f"CAM_{cid}_PASSWORD")
+    if env_pw:
+        cfg["password"] = env_pw
+
+# Список PTZ-камер (есть preset1 и preset2)
+PTZ_CAM_IDS: List[int] = [cid for cid, cfg in CAMERA_CONFIG.items() if cfg.get("preset1") and cfg.get("preset2")]
+PTZ_CAM_IDS.sort()
+
+# Значения по умолчанию для PTZ
+for cam_id in PTZ_CAM_IDS:
+    cfg = CAMERA_CONFIG[cam_id]
+    cfg.setdefault("preset1_deg", None)
+    cfg.setdefault("preset2_deg", None)
+    cfg.setdefault("preset1_tilt_deg", None)
+    cfg.setdefault("preset2_tilt_deg", None)
+    cfg.setdefault("sector_min_deg", None)
+    cfg.setdefault("sector_max_deg", None)
+    cfg.setdefault("pan_sign", cfg.get("sweep_sign", 1))
+    cfg.setdefault("tilt_sign", -1)
+    cfg.setdefault("pan_offset_deg", 0.0)
+    cfg.setdefault("tilt_offset_deg", 0.0)
+    # Гео-поля для привязки к северу и UI
+    cfg.setdefault("north_offset_deg", None)
+    cfg.setdefault("preset1_deg_geo", None)
+    cfg.setdefault("preset2_deg_geo", None)
+    cfg.setdefault("sector_min_deg_geo", None)
+    cfg.setdefault("sector_max_deg_geo", None)
+
+# Значения по умолчанию для «пуль»/панорам (без PTZ-пресетов)
+for cid, cfg in CAMERA_CONFIG.items():
+    if not (cfg.get("preset1") and cfg.get("preset2")):
+        # Для DS-2SF8C442MXS-DL(14F1)(P3) панорама (канал 2) ~= 85–86°.
+        # Явно прописывай в cameras.toml: bullet_hfov_deg = 85.5
+        cfg.setdefault("bullet_hfov_deg", 90.0)
+        cfg.setdefault("bullet_vfov_deg", 65.0)
+
+# Panorama ↔ PTZ pairing по IP и каналам
+PAN_TO_PTZ: Dict[int, int] = {}
+PTZ_TO_PAN: Dict[int, int] = {}
+_by_ip: Dict[str, Dict[int, int]] = {}
+for cam_id, cfg in CAMERA_CONFIG.items():
+    ip = cfg["ip"]; ch = int(cfg.get("ptz_channel", 1))
+    _by_ip.setdefault(ip, {})[ch] = cam_id
+for ip, chmap in _by_ip.items():
+    ptz_id = chmap.get(1)
+    pano_id = chmap.get(2)
+    if ptz_id is not None and pano_id is not None:
+        PAN_TO_PTZ[pano_id] = ptz_id
+        PTZ_TO_PAN[ptz_id] = pano_id
+
+# PTZ order (circular)
+PTZ_ORDER: List[int] = PTZ_CAM_IDS[:]
+NEXT_FWD: Dict[int, int] = {}
+NEXT_REV: Dict[int, int] = {}
+if PTZ_ORDER:
+    n = len(PTZ_ORDER)
+    for i, cam in enumerate(PTZ_ORDER):
+        NEXT_FWD[cam] = PTZ_ORDER[(i + 1) % n]
+        NEXT_REV[cam] = PTZ_ORDER[(i - 1) % n]
+
+# Cohorts config → static maps (runtime sync_state lives in state.py)
+sync_group_by_cam: Dict[int, str] = {}
+cohort_sign_by_cam: Dict[int, int] = {}
+for gname, coh in (SYNC_COHORTS or {}).items():
+    for cid in coh.get("plus", []):
+        sync_group_by_cam[cid] = gname
+        cohort_sign_by_cam[cid] = +1
+    for cid in coh.get("minus", []):
+        sync_group_by_cam[cid] = gname
+        cohort_sign_by_cam[cid] = -1
+
+# ========= Утилита для hot-reload =========
+def reload_cameras() -> None:
+    """Перечитать cameras.toml/JSON и обновить производные структуры."""
+    global CAMERA_CONFIG, PTZ_CAM_IDS, PAN_TO_PTZ, PTZ_TO_PAN, PTZ_ORDER, NEXT_FWD, NEXT_REV
+    global sync_group_by_cam, cohort_sign_by_cam
+
+    cfg = _load_cameras_from_file()
+
+    # env override паролей
+    for cid, c in cfg.items():
+        env_pw = os.getenv(f"CAM_{cid}_PASSWORD")
+        if env_pw:
+            c["password"] = env_pw
+
+    CAMERA_CONFIG = cfg
+
+    PTZ_CAM_IDS = [cid for cid, c in CAMERA_CONFIG.items() if c.get("preset1") and c.get("preset2")]
+    PTZ_CAM_IDS.sort()
+
+    for cam_id in PTZ_CAM_IDS:
+        c = CAMERA_CONFIG[cam_id]
+        c.setdefault("preset1_deg", None)
+        c.setdefault("preset2_deg", None)
+        c.setdefault("preset1_tilt_deg", None)
+        c.setdefault("preset2_tilt_deg", None)
+        c.setdefault("sector_min_deg", None)
+        c.setdefault("sector_max_deg", None)
+        c.setdefault("pan_sign", c.get("sweep_sign", 1))
+        c.setdefault("tilt_sign", 1)
+        c.setdefault("pan_offset_deg", 0.0)
+        c.setdefault("tilt_offset_deg", 0.0)
+        c.setdefault("north_offset_deg", None)
+        c.setdefault("preset1_deg_geo", None)
+        c.setdefault("preset2_deg_geo", None)
+        c.setdefault("sector_min_deg_geo", None)
+        c.setdefault("sector_max_deg_geo", None)
+
+    for cid, c in CAMERA_CONFIG.items():
+        if not (c.get("preset1") and c.get("preset2")):
+            c.setdefault("bullet_hfov_deg", 90.0)
+            c.setdefault("bullet_vfov_deg", 65.0)
+
+    PAN_TO_PTZ = {}
+    PTZ_TO_PAN = {}
+    by_ip: Dict[str, Dict[int, int]] = {}
+    for cam_id, c in CAMERA_CONFIG.items():
+        ip = c["ip"]; ch = int(c.get("ptz_channel", 1))
+        by_ip.setdefault(ip, {})[ch] = cam_id
+    for ip, chmap in by_ip.items():
+        ptz_id = chmap.get(1)
+        pano_id = chmap.get(2)
+        if ptz_id is not None and pano_id is not None:
+            PAN_TO_PTZ[pano_id] = ptz_id
+            PTZ_TO_PAN[ptz_id] = pano_id
+
+    PTZ_ORDER = PTZ_CAM_IDS[:]
+    NEXT_FWD = {}
+    NEXT_REV = {}
+    if PTZ_ORDER:
+        n = len(PTZ_ORDER)
+        for i, cam in enumerate(PTZ_ORDER):
+            NEXT_FWD[cam] = PTZ_ORDER[(i + 1) % n]
+            NEXT_REV[cam] = PTZ_ORDER[(i - 1) % n]
+
+# ===== Helpers for compass-bearing (used by postprocess.py) =====
+
+def get_cam_base_azimuth_deg(cam_id: int) -> float:
+    """
+    Базовый азимут камеры (0°=С, 90°=В). Это направление центрального пикселя
+    (для PTZ — при текущем pan=az_deg, для панорамы — просто «куда смотрит» середина кадра).
+    Берётся из cameras.toml: north_offset_deg.
+    """
+    cfg = CAMERA_CONFIG.get(cam_id, {})
+    north = cfg.get("north_offset_deg")
+    if not isinstance(north, (int, float)):
+        return 0.0
+
+    is_ptz = bool(cfg.get("preset1")) and cfg.get("preset2")
+    if not is_ptz:
+        return float(north)
+
+    try:
+        from . import state
+        st = state.ptz_states.get(cam_id, {})
+        pan = st.get("az_deg")
+        if isinstance(pan, (int, float)):
+            return (float(north) + float(pan)) % 360.0
+    except Exception:
+        pass
+    return float(north)
+
+def get_cam_hfov_deg(cam_id: int) -> float:
+    """
+    Горизонтальный FOV камеры. Для панорамы/«пули» — bullet_hfov_deg (или hfov_deg).
+    Для PTZ тоже можно прописать hfov_deg, если хотим считать bearing по x.
+    """
+    cfg = CAMERA_CONFIG.get(cam_id, {})
+    for key in ("bullet_hfov_deg", "hfov_deg"):
+        v = cfg.get(key)
+        if isinstance(v, (int, float)) and v > 0:
+            return float(v)
+    return 90.0

ptz_tracker_modular/config.py

@@ -0,0 +1,497 @@
+from __future__ import annotations
+import os
+import json
+from pathlib import Path
+from typing import Any, Dict, List, Tuple
+
+# ================== CONSTANTS / SETTINGS ==================
+# Inference / batching
+INFER_IMGSZ = 960
+DRAW_ALL_ON_PANO = True
+ADAPTIVE_BATCH_ENABLE = False
+BATCH_MIN = 1 #4
+BATCH_MAX = 4 #16
+BATCH_TARGET_MS = 8.0
+BATCH_UP_SCALE = 1.05
+BATCH_DOWN_SCALE = 1.15
+
+# ==== Logging toggles ====
+LOG_GEO_CHANGES = True          # писать в лог при заметном изменении bearing/attack
+LOG_GEO_DEG_STEP = 2.0          # шаг (°) для логирования bearing
+LOG_ATTACK_LOG_STEP = 5.0       # шаг (°) для логирования attack_bearing
+LOG_STATUS_BATCH = False        # если True — broadcaster пишет сводку каждые CONTROL_STATUS_INTERVAL
+
+# Preview / video publishing
+DROP_DECODE_WHEN_BUSY = True
+PUBLISH_ONLY_IF_CLIENTS = True
+PREVIEW_JPEG_QUALITY = 60 #60
+PREVIEW_TARGET_W = 896 #896
+DEFAULT_CLIENT_FPS = 25
+# HUD на превью (азимут/дельта/атака)
+PREVIEW_DRAW_HUD = False
+
+VIDEO_MIN_INTERVAL_SLOW = 1.0 / 20.0
+VIDEO_MIN_INTERVAL_FAST = max(1.0 / max(1, DEFAULT_CLIENT_FPS), 1.0 / 30.0)
+
+# Detection thresholds
+MODEL_CONF = 0.65
+DETECT_CONF = 0.55
+ALARM_CONF = 0.65
+
+# бэк из твоего примера ждёт массив cameras[], так что лучше БЕЗ {mac}
+ALARM_HTTP_ENABLE = True
+ALARM_HTTP_MIRROR = True
+ALARM_HTTP_BASE = "http://192.168.54.100/api/core"
+ALARM_HTTP_PATH = "/videodata/10:ff:e0:4f:09:4b" #mac 00%3A11%3A22%3A33%3A44%3A51
+ALARM_HTTP_PATH_TMPL = "/videodata"
+ALARM_MAC_ONLY = False
+ALARM_WS_FORMAT = "freq"
+ALARM_COUNT_ON = 20
+ALARM_COUNT_OFF = 80
+ALARM_WS_SEND_LEGACY = True
+# Компас (направления в логах/OSD)
+COMPASS_LANG = "ru"   # пока не используется, но оставим на будущее
+COMPASS_POINTS = 8    # 8 румбов: С, СВ, В, ...
+# Авто-вычисление ref-азимута preset1 от границ панорамы
+AUTO_NORTH_FROM_PANORAMA = True
+
+# Debounce for recording
+REC_ON_CONFIRM_SEC = 0.1
+REC_OFF_GRACE_SEC = 1.2
+REC_MIN_ON_SEC = 4.0
+REC_MIN_OFF_SEC = 1.0
+REC_MAX_ON_SEC = 45.0
+
+
+# Record gate
+REC_DET_CONF = 0.45
+REC_MIN_MARGIN = 0.08
+REC_CENTER_MAX = 0.20
+REC_W_MIN, REC_W_MAX = 0.04, 0.55
+
+# Recording permissions
+RECORD_FROM_PANORAMAS = True
+ALLOW_PANORAMA_RECORD = True
+
+# WebSocket / events
+CPP_WS_URI = "ws://192.168.54.122:8767"        # incoming video (C++)
+CPP_CTRL_WS_URI = "ws://192.168.54.122:8767"   # detection events → C++
+VUE_CONTROL_WS_PORT = 8765
+VUE_VIDEO_WS_PORT = 8766
+ALARM_WS_URL = "ws://192.168.54.100/api/core/ws"
+CONTROL_STATUS_INTERVAL = 0.25  # сек
+
+# Heartbeat
+HEARTBEAT_HOST = "127.0.0.1"
+HEARTBEAT_PORT = 55555
+HEARTBEAT_INTERVAL = 0.5
+
+# Patrol
+PATROL_LEG_SEC = 45.0 #25
+HANDOFF_NOTIFY = True
+PATROL_ENABLE_ON_START = True
+PUBLISH_RAW_BEFORE_INFER = False
+
+# Sweep (smooth pass)
+SMOOTH_SWEEP_ENABLE = True
+SWEEP_PAN_SPEED = 0.04 #0.08
+SWEEP_SETTLE_SEC = 0.20 #0.20
+SWEEP_RAMP_SEC = 0.80 #0.60
+PATROL_SNAP_TO_END = False
+END_DWELL_SEC = 0
+SHOT_PAUSE_ENABLE = False
+SHOT_INTERVAL_SEC = 0
+SHOT_PAUSE_SEC = 0
+
+# Bounded patrol dynamics
+PATROL_PAN_GAIN_DEG = 120.0 #30
+PATROL_SPEED_SCALE = 0.70 #0.90
+PATROL_OFFSECTOR_GRACE_SEC = 2.0
+# Starting direction per camera (PTZ only)
+PATROL_START_DIR: Dict[int, int] = {0: +1, 2: +1, 4: +1, 6: -1, 8: -1, 10: -1}
+
+# Sector
+SECTOR_PATROL_ENABLE = False
+USE_PRESET_EDGES_FOR_SECTOR = True
+SECTOR_MARGIN_DEG = 2.0      # было 0.0 — маленький запас вокруг сектора
+EDGE_EPS_HARD = 0.35         # было 0.0 — жёсткий край
+EDGE_EPS_SOFT = 1         # было 0.0 — мягкая зона замедления у края
+
+# Classes
+CLASS_NAMES = {0: "Fighter", 1: "drone"}
+TARGET_CLASSES = [0, 1]
+
+# Auto strategy
+AUTO_STRATEGY = True
+SHORT_LOSS_SEC = 0.25 #1.2
+LONG_LOSS_SEC = 1.20 #4/0
+ABS_MIN_FALLBACK = 25.0
+ABS_MAX_FALLBACK = 40.0
+FALLBACK_PRESET_CAP: float | None = None
+
+# Loss/Return
+TRACK_END_LOSS_SEC = 2.5
+LOSS_TO_PRESET_SEC = 8.0
+EDGE_LOSS_MARGIN = 0.015
+VERT_LOSS_MARGIN = 0.050
+PRESET_AFTER_LOSS = True
+EDGE_LOSS_GRACE_SEC = 1.2
+
+# Возврат к пресету, если камера ушла вручную/дрейфует без детекции
+IDLE_DRIFT_RETURN_SEC = 4.0      # сколько секунд можно быть вне пресета по панораме
+IDLE_TILT_RETURN_SEC  = 2.0      # сколько секунд можно быть вне допустимого диапазона по наклону
+IDLE_NEAR_TOL_PAN_DEG = 1.2      # допуск «рядом с пресетом» по pan
+IDLE_NEAR_TOL_TILT_DEG = 2.5     # допуск «рядом с пресетом» по tilt
+
+# PID / Zoom / Track
+DEAD_ZONE = 0.010
+SMOOTHING_FACTOR = 0.35
+MOVE_GAIN = 1.85
+KI = 0.06
+INTEGRAL_CLAMP = 0.20
+KD = 0.14
+VEL_SMOOTH = 0.60
+BASE_LEAD = 0.14
+LEAD_GAIN = 0.55
+LEAD_MAX = 0.55
+CENTER_TOL = 0.040
+DECAY_FACTOR = 0.85
+MIN_FRAMES_TO_TRACK = 3
+LOSS_DECAY_TAU = 0.35
+
+#НОВЫЕ
+LEAD_OFF_ERR = 0.18
+Z_ERR_GATE = 0.18
+PRED_CLAMP_MIN = 0.05
+PRED_CLAMP_MAX = 0.95
+PRED_DX_CLAMP = 0.35
+W_GROWTH_CLAMP = 2.0
+
+
+TRACK_P = 1.25
+TRACK_I = 0.03
+TRACK_D = 0.08
+TRACK_SCALE = 0.75
+TRACK_DEAD_ZONE = 0.022
+
+TRACK_EDGE_SLOWDOWN_DEG = 8.0
+TRACK_EDGE_MIN_SCALE = 0.18
+TRACK_OFFSECTOR_GRACE_SEC = 4.0
+IDLE_OFFPRESET_GRACE_SEC = 7.0
+
+Z_TARGET_SLOW = 0.16
+Z_TARGET_FAST = 0.12
+Z_VEL_REF = 0.45
+Z_DELTA_IN = 0.008
+Z_DELTA_OUT = 0.060
+Z_DEADBAND = 0.012 #0.010
+Z_P = 2.4
+Z_I = 0.16
+Z_INT_CLAMP = 0.15
+Z_FF_GAIN = 0.55
+Z_SPEED_LIMIT_IN = 0.45
+Z_SPEED_LIMIT_OUT = -0.65 #-0.45
+Z_MIN_CMD = 0.05
+Z_RAMP_TIME = 0.25 #0.45
+Z_PAN_BOOST = 1.18
+Z_CENTER_GATE_BASE = 0.06
+Z_CENTER_GATE_SCALE = 0.20
+Z_CENTER_STRICT = 0.030
+Z_VELOCITY_GATE = 0.30
+Z_OUT_EDGE = 0.07
+Z_SAFETY_EDGE = 0.05
+Z_SAFETY_TOP_BONUS = 0.50
+Z_MIN_SWITCH_INTERVAL = 0.50 #0.80
+Z_MOTION_THR = 0.015
+Z_HOVER_THR = 0.030
+Z_FREEZE_GROWTH_THR = 0.005 #0.004
+Z_LOCK_ENABLE = True
+Z_LOCK_ARM_SECS = 1.2 #0.8
+Z_UNLOCK_VEL_THR = 0.070 #0.060
+Z_UNLOCK_GROWTH_THR = 0.018 #0.015
+W_GROWTH_CLAMP = 2.0  # clamp for w_growth derivative (stability)
+Z_UNLOCK_CENTER_THR = 0.12 #0.10
+Z_UNLOCK_EDGE = 0.050
+
+SCAN_AMPL = 0.12
+SCAN_STEP = 0.08
+RECOVER_ZOOM_OUT = -0.55 #-0.35
+
+PTZ_EPS = 0.008
+PTZ_QUANT = 0.005
+
+# Faster aim / zoom
+AIM_SMOOTH = 0.38
+AIM_P = 2.40
+AIM_I = 0.06
+AIM_D = 0.30
+RECOVER_ZOOM_OUT_SHORT = 0.0
+
+W_EMA_ALPHA = 0.30
+CENTER_GATE_IN = 0.06
+Z_PAN_BOOST_WHEN_IN = 1.35
+Z_LEAD_DURING_IN = 0.65
+
+# Video broadcast
+SEND_DUPLICATES_WHEN_IDLE = False
+ANN_MIN_INTERVAL = 0.0
+
+# Sync patrol
+SYNC_PATROL_ENABLE = False
+SYNC_COHORTS = {"A": {"plus": [0, 2, 4], "minus": [6, 8, 10]}}
+SYNC_USE_BOUNDED = False
+SYNC_BARRIER_SEC = 0.8
+SYNC_DWELL_SEC = END_DWELL_SEC
+
+#====================#
+PTZ_MIN_INTERVAL_SEC = 0.04
+PTZ_MAX_PAN_I = 8
+PTZ_MAX_TILT_I = 10
+PTZ_MAX_ZOOM_I = 8
+GOTO_SETTLE_SEC = 2.5
+PATROL_MAX_SPEED = 0.14
+
+# ================== CAMERA LOADER (TOML/JSON) ==================
+
+DEFAULT_SECOND_PRESET = "2"
+
+def _load_cameras_from_file() -> Dict[int, Dict[str, Any]]:
+    """
+    Загружает конфиг камер из TOML/JSON.
+    - Путь можно задать переменной окружения CAMERAS_FILE.
+    - По умолчанию ищется 'cameras.toml' рядом с этим модулем.
+    Ожидается массив объектов с полем `id`.
+    """
+    here = Path(__file__).resolve().parent
+    path = Path(os.getenv("CAMERAS_FILE", here / "cameras.toml"))
+
+    if not path.exists():
+        # fallback: попробуем cameras.json
+        json_path = here / "cameras.json"
+        if json_path.exists():
+            path = json_path
+        else:
+            return {}
+
+    data: Any
+    if path.suffix.lower() == ".toml":
+        try:
+            import tomllib  # py311+
+        except Exception as e:  # pragma: no cover
+            raise RuntimeError("Для TOML нужен Python 3.11+ (модуль tomllib)") from e
+        with open(path, "rb") as f:
+            data = tomllib.load(f)
+        arr = data.get("camera") or data.get("cameras") or []
+    elif path.suffix.lower() == ".json":
+        with open(path, "r", encoding="utf-8") as f:
+            data = json.load(f)
+        arr = data.get("camera") or data.get("cameras") or data
+        if isinstance(arr, dict):
+            arr = [{"id": int(k), **v} for k, v in arr.items()]
+    else:
+        raise RuntimeError(f"Неподдерживаемое расширение файла камер: {path.suffix}")
+
+    if not isinstance(arr, list):
+        raise RuntimeError("Файл камер должен содержать список объектов")
+
+    cfg_by_id: Dict[int, Dict[str, Any]] = {}
+    for item in arr:
+        if not isinstance(item, dict):
+            continue
+        if "id" not in item:
+            raise RuntimeError("Каждая камера должна иметь поле 'id'")
+        cid = int(item["id"])
+        cfg = dict(item)  # copy
+
+        # Back-compat: если указали единый preset — дополнить вторым
+        if "preset" in cfg and cfg.get("preset") not in (None, "None"):
+            cfg.setdefault("preset1", cfg["preset"])
+            cfg.setdefault("preset2", DEFAULT_SECOND_PRESET)
+
+        # Значения по умолчанию
+        cfg.setdefault("ptz_channel", 1)
+        cfg.setdefault("preset1", None)
+        cfg.setdefault("preset2", None)
+
+        cfg_by_id[cid] = cfg
+
+    return cfg_by_id
+
+# === Загрузка и пост-обработка ===
+CAMERA_CONFIG: Dict[int, Dict[str, Any]] = _load_cameras_from_file()
+
+# Перекрытие паролей через переменные окружения CAM_<ID>_PASSWORD
+for cid, cfg in CAMERA_CONFIG.items():
+    env_pw = os.getenv(f"CAM_{cid}_PASSWORD")
+    if env_pw:
+        cfg["password"] = env_pw
+
+# Список PTZ-камер (есть preset1 и preset2)
+PTZ_CAM_IDS: List[int] = [cid for cid, cfg in CAMERA_CONFIG.items() if cfg.get("preset1") and cfg.get("preset2")]
+PTZ_CAM_IDS.sort()
+
+# Значения по умолчанию для PTZ
+for cam_id in PTZ_CAM_IDS:
+    cfg = CAMERA_CONFIG[cam_id]
+    cfg.setdefault("preset1_deg", None)
+    cfg.setdefault("preset2_deg", None)
+    cfg.setdefault("preset1_tilt_deg", None)
+    cfg.setdefault("preset2_tilt_deg", None)
+    cfg.setdefault("sector_min_deg", None)
+    cfg.setdefault("sector_max_deg", None)
+    cfg.setdefault("pan_sign", cfg.get("sweep_sign", 1))
+    cfg.setdefault("tilt_sign", -1)
+    cfg.setdefault("pan_offset_deg", 0.0)
+    cfg.setdefault("tilt_offset_deg", 0.0)
+    # Гео-поля для привязки к северу и UI
+    cfg.setdefault("north_offset_deg", None)
+    cfg.setdefault("preset1_deg_geo", None)
+    cfg.setdefault("preset2_deg_geo", None)
+    cfg.setdefault("sector_min_deg_geo", None)
+    cfg.setdefault("sector_max_deg_geo", None)
+
+# Значения по умолчанию для «пуль»/панорам (без PTZ-пресетов)
+for cid, cfg in CAMERA_CONFIG.items():
+    if not (cfg.get("preset1") and cfg.get("preset2")):
+        # Для DS-2SF8C442MXS-DL(14F1)(P3) панорама (канал 2) ~= 85–86°.
+        # Явно прописывай в cameras.toml: bullet_hfov_deg = 85.5
+        cfg.setdefault("bullet_hfov_deg", 90.0)
+        cfg.setdefault("bullet_vfov_deg", 65.0)
+
+# Panorama ↔ PTZ pairing по IP и каналам
+PAN_TO_PTZ: Dict[int, int] = {}
+PTZ_TO_PAN: Dict[int, int] = {}
+_by_ip: Dict[str, Dict[int, int]] = {}
+for cam_id, cfg in CAMERA_CONFIG.items():
+    ip = cfg["ip"]; ch = int(cfg.get("ptz_channel", 1))
+    _by_ip.setdefault(ip, {})[ch] = cam_id
+for ip, chmap in _by_ip.items():
+    ptz_id = chmap.get(1)
+    pano_id = chmap.get(2)
+    if ptz_id is not None and pano_id is not None:
+        PAN_TO_PTZ[pano_id] = ptz_id
+        PTZ_TO_PAN[ptz_id] = pano_id
+
+# PTZ order (circular)
+PTZ_ORDER: List[int] = PTZ_CAM_IDS[:]
+NEXT_FWD: Dict[int, int] = {}
+NEXT_REV: Dict[int, int] = {}
+if PTZ_ORDER:
+    n = len(PTZ_ORDER)
+    for i, cam in enumerate(PTZ_ORDER):
+        NEXT_FWD[cam] = PTZ_ORDER[(i + 1) % n]
+        NEXT_REV[cam] = PTZ_ORDER[(i - 1) % n]
+
+# Cohorts config → static maps (runtime sync_state lives in state.py)
+sync_group_by_cam: Dict[int, str] = {}
+cohort_sign_by_cam: Dict[int, int] = {}
+for gname, coh in (SYNC_COHORTS or {}).items():
+    for cid in coh.get("plus", []):
+        sync_group_by_cam[cid] = gname
+        cohort_sign_by_cam[cid] = +1
+    for cid in coh.get("minus", []):
+        sync_group_by_cam[cid] = gname
+        cohort_sign_by_cam[cid] = -1
+
+# ========= Утилита для hot-reload =========
+def reload_cameras() -> None:
+    """Перечитать cameras.toml/JSON и обновить производные структуры."""
+    global CAMERA_CONFIG, PTZ_CAM_IDS, PAN_TO_PTZ, PTZ_TO_PAN, PTZ_ORDER, NEXT_FWD, NEXT_REV
+    global sync_group_by_cam, cohort_sign_by_cam
+
+    cfg = _load_cameras_from_file()
+
+    # env override паролей
+    for cid, c in cfg.items():
+        env_pw = os.getenv(f"CAM_{cid}_PASSWORD")
+        if env_pw:
+            c["password"] = env_pw
+
+    CAMERA_CONFIG = cfg
+
+    PTZ_CAM_IDS = [cid for cid, c in CAMERA_CONFIG.items() if c.get("preset1") and c.get("preset2")]
+    PTZ_CAM_IDS.sort()
+
+    for cam_id in PTZ_CAM_IDS:
+        c = CAMERA_CONFIG[cam_id]
+        c.setdefault("preset1_deg", None)
+        c.setdefault("preset2_deg", None)
+        c.setdefault("preset1_tilt_deg", None)
+        c.setdefault("preset2_tilt_deg", None)
+        c.setdefault("sector_min_deg", None)
+        c.setdefault("sector_max_deg", None)
+        c.setdefault("pan_sign", c.get("sweep_sign", 1))
+        c.setdefault("tilt_sign", 1)
+        c.setdefault("pan_offset_deg", 0.0)
+        c.setdefault("tilt_offset_deg", 0.0)
+        c.setdefault("north_offset_deg", None)
+        c.setdefault("preset1_deg_geo", None)
+        c.setdefault("preset2_deg_geo", None)
+        c.setdefault("sector_min_deg_geo", None)
+        c.setdefault("sector_max_deg_geo", None)
+
+    for cid, c in CAMERA_CONFIG.items():
+        if not (c.get("preset1") and c.get("preset2")):
+            c.setdefault("bullet_hfov_deg", 90.0)
+            c.setdefault("bullet_vfov_deg", 65.0)
+
+    PAN_TO_PTZ = {}
+    PTZ_TO_PAN = {}
+    by_ip: Dict[str, Dict[int, int]] = {}
+    for cam_id, c in CAMERA_CONFIG.items():
+        ip = c["ip"]; ch = int(c.get("ptz_channel", 1))
+        by_ip.setdefault(ip, {})[ch] = cam_id
+    for ip, chmap in by_ip.items():
+        ptz_id = chmap.get(1)
+        pano_id = chmap.get(2)
+        if ptz_id is not None and pano_id is not None:
+            PAN_TO_PTZ[pano_id] = ptz_id
+            PTZ_TO_PAN[ptz_id] = pano_id
+
+    PTZ_ORDER = PTZ_CAM_IDS[:]
+    NEXT_FWD = {}
+    NEXT_REV = {}
+    if PTZ_ORDER:
+        n = len(PTZ_ORDER)
+        for i, cam in enumerate(PTZ_ORDER):
+            NEXT_FWD[cam] = PTZ_ORDER[(i + 1) % n]
+            NEXT_REV[cam] = PTZ_ORDER[(i - 1) % n]
+
+# ===== Helpers for compass-bearing (used by postprocess.py) =====
+
+def get_cam_base_azimuth_deg(cam_id: int) -> float:
+    """
+    Базовый азимут камеры (0°=С, 90°=В). Это направление центрального пикселя
+    (для PTZ — при текущем pan=az_deg, для панорамы — просто «куда смотрит» середина кадра).
+    Берётся из cameras.toml: north_offset_deg.
+    """
+    cfg = CAMERA_CONFIG.get(cam_id, {})
+    north = cfg.get("north_offset_deg")
+    if not isinstance(north, (int, float)):
+        return 0.0
+
+    is_ptz = bool(cfg.get("preset1")) and cfg.get("preset2")
+    if not is_ptz:
+        return float(north)
+
+    try:
+        from . import state
+        st = state.ptz_states.get(cam_id, {})
+        pan = st.get("az_deg")
+        if isinstance(pan, (int, float)):
+            return (float(north) + float(pan)) % 360.0
+    except Exception:
+        pass
+    return float(north)
+
+def get_cam_hfov_deg(cam_id: int) -> float:
+    """
+    Горизонтальный FOV камеры. Для панорамы/«пули» — bullet_hfov_deg (или hfov_deg).
+    Для PTZ тоже можно прописать hfov_deg, если хотим считать bearing по x.
+    """
+    cfg = CAMERA_CONFIG.get(cam_id, {})
+    for key in ("bullet_hfov_deg", "hfov_deg"):
+        v = cfg.get(key)
+        if isinstance(v, (int, float)) and v > 0:
+            return float(v)
+    return 90.0

ptz_tracker_modular/cpp_bridge.py

@@ -0,0 +1,165 @@
+from __future__ import annotations
+import asyncio
+import base64
+import logging
+import time
+from typing import List, Tuple
+
+import numpy as np
+import cv2
+import websockets
+
+from config import CPP_WS_URI, CPP_CTRL_WS_URI, DROP_DECODE_WHEN_BUSY, PUBLISH_RAW_BEFORE_INFER, PREVIEW_TARGET_W
+from utils import json_loads, json_dumps
+from state import detected_cameras, video_clients, ptz_states, detection_queue
+from media import publish_preview, maybe_downscale
+from detection import batcher
+
+logger = logging.getLogger("PTZTracker")
+
+async def cpp_ws_loop() -> None:
+    frames_total = 0
+    skipped_total = 0
+    last_log = time.time()
+
+    while True:
+        try:
+            logger.info("[CPP WS] connecting to %s ...", CPP_WS_URI)
+            async with websockets.connect(
+                CPP_WS_URI, max_size=None, compression=None, ping_interval=None, close_timeout=1.0
+            ) as ws:
+                logger.info("[CPP WS] connected")
+                async for raw in ws:
+                    if isinstance(raw, (bytes, bytearray)):
+                        buf = memoryview(raw)
+                        if len(buf) < 3 or buf[0] != 1:
+                            continue
+                        idx = int.from_bytes(buf[1:3], "big")
+                        from config import CAMERA_CONFIG
+                        if idx not in CAMERA_CONFIG:
+                            continue
+                        if DROP_DECODE_WHEN_BUSY and ptz_states[idx]["proc_busy"] and (not video_clients):
+                            skipped_total += 1
+                            continue
+                        arr = np.frombuffer(buf[3:], dtype=np.uint8)
+                        img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+                        if img is None:
+                            continue
+                    else:
+                        try:
+                            msg = json_loads(raw)
+                        except Exception:
+                            continue
+                        if msg.get("type") != "image":
+                            continue
+                        idx_str, b64 = msg["data"].split("|", 1)
+                        idx = int(idx_str)
+                        from config import CAMERA_CONFIG
+                        if idx not in CAMERA_CONFIG:
+                            continue
+                        if DROP_DECODE_WHEN_BUSY and ptz_states[idx]["proc_busy"] and (not video_clients):
+                            skipped_total += 1
+                            continue
+                        arr = np.frombuffer(base64.b64decode(b64), dtype=np.uint8)
+                        img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+                        if img is None:
+                            continue
+
+                    frames_total += 1
+                    h, w = img.shape[:2]
+                    now = time.time()
+                    if now - last_log >= 1.0:
+                        logger.info("[CPP WS] recv: %d fps, skipped=%d | last cam=%s | %dx%d | clients=%d",
+                                    frames_total, skipped_total, idx, w, h, len(video_clients))
+                        frames_total = 0; skipped_total = 0; last_log = now
+
+                    detected_cameras.add(idx)
+
+                    if PUBLISH_RAW_BEFORE_INFER and video_clients:
+                        down, _, _ = maybe_downscale(img, PREVIEW_TARGET_W)
+                        publish_preview(idx, down)
+
+                    pst = ptz_states[idx]
+                    if pst["proc_busy"]:
+                        continue
+                    pst["proc_busy"] = True
+
+                    async def process_frame(cam_idx: int, frame):
+                        try:
+                            assert batcher is not None, "batcher is not initialized"
+                            await batcher.submit(cam_idx, frame, cam_idx in from_state_ptz_ids())
+                        except Exception as exc:
+                            logger.error("Error processing frame for camera %s: %s", cam_idx, exc)
+                        finally:
+                            ptz_states[cam_idx]["proc_busy"] = False
+
+                    # helper to avoid circular import at top-level
+                    def from_state_ptz_ids():
+                        from state import PTZ_CAM_IDS
+                        return PTZ_CAM_IDS
+
+                    asyncio.create_task(process_frame(idx, img))
+        except Exception as exc:
+            logger.error("[CPP WS] error: %s", exc)
+            await asyncio.sleep(0.5)
+
+async def cpp_detection_loop() -> None:
+    assert detection_queue is not None
+    RESYNC_EVERY_SEC = 10.0
+
+    def _snapshot_states():
+        from config import CAMERA_CONFIG
+        snap = []
+        for cid in CAMERA_CONFIG.keys():
+            st = ptz_states.get(cid, {})
+            snap.append({"IdCamera": int(cid), "detection": bool(st.get("rec_active", False))})
+        return snap
+
+    while True:
+        try:
+            logger.info("[CPP CTRL] connecting to %s ...", CPP_CTRL_WS_URI)
+            async with websockets.connect(
+                CPP_CTRL_WS_URI, max_size=None, compression=None, ping_interval=None, close_timeout=1.0
+            ) as ws:
+                logger.info("[CPP CTRL] connected")
+                try:
+                    for item in _snapshot_states():
+                        await ws.send(json_dumps({"type": "detection", "data": item}))
+                except Exception as e:
+                    logger.error("[CPP CTRL] initial resync failed: %s", e)
+                    raise
+
+                last_resync = time.time()
+
+                while True:
+                    now = time.time()
+                    if now - last_resync >= RESYNC_EVERY_SEC and detection_queue.empty():
+                        try:
+                            for item in _snapshot_states():
+                                await ws.send(json_dumps({"type": "detection", "data": item}))
+                        except Exception as e:
+                            logger.error("[CPP CTRL] periodic resync failed: %s", e)
+                            break
+                        last_resync = now
+
+                    try:
+                        payload = await asyncio.wait_for(detection_queue.get(), timeout=1.0)
+                    except asyncio.TimeoutError:
+                        continue
+
+                    try:
+                        await ws.send(json_dumps(payload))
+                        last_resync = time.time()
+                    except Exception as exc:
+                        logger.error("[CPP CTRL] send failed: %s", exc)
+                        try:
+                            detection_queue.put_nowait(payload)
+                        except Exception:
+                            pass
+                        break
+                    finally:
+                        detection_queue.task_done()
+
+        except Exception as exc:
+            logger.error("[CPP CTRL] error: %s", exc)
+        await asyncio.sleep(1.0)

ptz_tracker_modular/detection.py

@@ -0,0 +1,42 @@
+# ptz_tracker_modular/detection.py
+# -*- coding: utf-8 -*-
+from __future__ import annotations
+import os as _os
+
+from .config import (
+    INFER_IMGSZ, MODEL_CONF, TARGET_CLASSES,
+    W_EMA_ALPHA, DEFAULT_CLIENT_FPS, DRAW_ALL_ON_PANO,
+    DETECT_CONF, ALARM_CONF, RECOVER_ZOOM_OUT,
+    CENTER_GATE_IN, AIM_SMOOTH, AIM_P, AIM_I, AIM_D,
+    AUTO_STRATEGY, SHORT_LOSS_SEC, LONG_LOSS_SEC,
+    ABS_MIN_FALLBACK, ABS_MAX_FALLBACK,
+)
+# Сохранение старого имени для веса модели
+YOLO_WEIGHTS = _os.getenv("YOLO_WEIGHTS", "C:/Users/Legion/Desktop/weight/electro-pribory-new.pt")
+
+from .utils import clipf
+from .state import ptz_states, detect_stats_global, detect_stats_cam, video_clients, batcher as _batcher
+from .preview import publish_preview, maybe_downscale
+from .postprocess import notify_detected, postprocess_control
+from .events import queue_alarm
+from .ptz_io import move_ptz_bounded, stop_ptz, call_autofocus
+from .patrol import return_to_preset
+
+from .streaming import MicroBatcher
+from .model import yolo_forward
+
+# Старый код иногда ждал detection.batcher — даём псевдоним на state.batcher
+batcher = _batcher
+
+__all__ = [
+    'INFER_IMGSZ', 'MODEL_CONF', 'TARGET_CLASSES',
+    'W_EMA_ALPHA', 'DEFAULT_CLIENT_FPS', 'DRAW_ALL_ON_PANO',
+    'DETECT_CONF','ALARM_CONF','RECOVER_ZOOM_OUT',
+    'CENTER_GATE_IN','AIM_SMOOTH','AIM_P','AIM_I','AIM_D',
+    'AUTO_STRATEGY','SHORT_LOSS_SEC','LONG_LOSS_SEC','ABS_MIN_FALLBACK','ABS_MAX_FALLBACK',
+    'YOLO_WEIGHTS',
+    'clipf', 'ptz_states','detect_stats_global','detect_stats_cam','video_clients',
+    'publish_preview','maybe_downscale','notify_detected','postprocess_control','queue_alarm',
+    'move_ptz_bounded','stop_ptz','call_autofocus','return_to_preset',
+    'MicroBatcher','yolo_forward','batcher'
+]

ptz_tracker_modular/events.py

@@ -0,0 +1,112 @@
+from __future__ import annotations
+
+import asyncio
+import json
+import logging
+import websockets
+from typing import Dict, Any
+
+from . import config, state
+
+logger = logging.getLogger("PTZTracker")
+
+
+def _dispatch_alarm(payload: Dict[str, Any]) -> None:
+    """
+    Кладём событие тревоги в очередь event-loop из любого потока.
+    """
+    if state.alarm_queue is not None and state.MAIN_LOOP is not None:
+        try:
+            state.MAIN_LOOP.call_soon_threadsafe(state.alarm_queue.put_nowait, payload)
+        except Exception:
+            # не роняем приложение из-за уведомлений
+            pass
+
+
+async def alarm_sender() -> None:
+    """
+    Фоновая задача: отправляет тревоги по WebSocket.
+    Требование: отправлять *только* минимальный JSON:
+        {"type":"freq_alarm","data":true|false}
+    """
+    assert state.alarm_queue is not None
+    backoff = 1.0
+
+    while True:
+        try:
+            logger.info("[ALARM] Connecting to %s ...", config.ALARM_WS_URL)
+            async with websockets.connect(
+                config.ALARM_WS_URL,
+                ping_interval=20,
+                close_timeout=1.0,
+                compression=None,
+            ) as ws:
+                logger.info("[ALARM] Connected")
+                backoff = 1.0
+
+                while True:
+                    payload = await state.alarm_queue.get()
+                    try:
+                        # Строго минимальный словарь только с нужными ключами
+                        if isinstance(payload, dict):
+                            minimal = {
+                                "type": payload.get("type"),
+                                "data": bool(payload.get("data")),
+                            }
+                        else:
+                            # на случай если кто-то положил уже готовую строку/другую структуру
+                            minimal = payload
+
+                        # Без лишних пробелов/форматирования
+                        await ws.send(json.dumps(minimal, separators=(",", ":")))
+                    except Exception as exc:
+                        logger.error("[ALARM] Send failed: %s", exc)
+                        try:
+                            # возвращаем событие в очередь, чтобы не потерять
+                            state.alarm_queue.put_nowait(payload)
+                        except Exception:
+                            pass
+                        break
+                    finally:
+                        state.alarm_queue.task_done()
+
+        except Exception as exc:
+            logger.error("[ALARM] Connection error: %s", exc)
+
+        await asyncio.sleep(backoff)
+        backoff = min(backoff * 2, 10.0)
+
+
+def queue_alarm(cam_idx: int, state_on: bool = True) -> None:
+    """
+    Поставить тревогу в очередь для WS-отправки.
+
+    ВАЖНО: WS-полезная нагрузка должна быть строго минимальной,
+    без дополнительных полей вроде IdCamera/mac.
+    """
+    _dispatch_alarm({"type": "freq_alarm", "data": bool(state_on)})
+
+
+def queue_alarm_clear(cam_idx: int) -> None:
+    """
+    Снять тревогу (data=false).
+    """
+    queue_alarm(cam_idx, False)
+
+
+def _send_record_event(cam_idx: int, flag: bool) -> None:
+    """
+    Вспомогательное событие детекции (если используется где-то ещё в коде).
+    Оставлено без изменений: это не WS-Alarm, а внутренняя очередь.
+    """
+    if state.detection_queue is not None and state.MAIN_LOOP is not None:
+        try:
+            state.MAIN_LOOP.call_soon_threadsafe(
+                state.detection_queue.put_nowait,
+                {
+                    "type": "detection",
+                    "data": {"detection": bool(flag), "IdCamera": int(cam_idx)},
+                },
+            )
+        except Exception:
+            pass

ptz_tracker_modular/geo-autocal.py

@@ -0,0 +1,249 @@
+from __future__ import annotations
+import time
+import logging
+from collections import deque
+from typing import Deque, Tuple, Optional, Dict, List
+
+import numpy as np
+from pathlib import Path
+import os
+
+from . import config, state
+from .utils import wrap_deg
+
+logger = logging.getLogger("PTZTracker.GEO")
+
+# Скользящее окно сэмплов: (cxn, pan_deg, t)
+_samples: Dict[int, Deque[Tuple[float, float, float]]] = {}
+# Последняя корректная оценка (north, hfov, rms)
+_estimate: Dict[int, Tuple[float, float, float]] = {}
+
+# Параметры автокалибровки
+MIN_SAMPLES = 30            # минимум наблюдений
+MAX_SAMPLES = 400           # размер окна
+MIN_SPREAD = 0.20           # cxn должен «расходиться» как минимум на 0.20
+RMS_OK = 4.0                # приемлемое СКО по азимуту (в градусах)
+REESTIMATE_EVERY = 10.0     # не переобучать чаще, чем раз в N секунд на камеру
+
+# Условия и дебаунс автосохранения
+SAVE_DEBOUNCE_SEC = 60.0                    # писать файл не чаще раз в минуту на камеру
+MIN_CHANGE_NORTH_DEG = 1.0                  # насколько должен отличаться north, чтобы писать
+MIN_CHANGE_HFOV_DEG = 1.0                   # насколько должен отличаться hfov, чтобы писать
+
+_last_fit_at: Dict[int, float] = {}
+_last_saved_at: Dict[int, float] = {}
+_last_saved_vals: Dict[int, Tuple[float, float]] = {}  # pano_id -> (north, hfov)
+
+
+def _unwrap_deg_seq(degs: np.ndarray) -> np.ndarray:
+    """Разворачивает углы из [-180,180) в непрерывную последовательность для ЛСК."""
+    r = np.deg2rad(degs)
+    r_unw = np.unwrap(r)
+    return np.rad2deg(r_unw)
+
+
+def _fit_linear(cxn: np.ndarray, pan_deg: np.ndarray) -> Tuple[float, float, float]:
+    """
+    ЛСК: pan_deg ~ north + hfov*(cxn-0.5)
+    Возвращает (north_deg_wrapped[-180,180), hfov_deg[>0], rms_err_deg).
+    """
+    x = cxn - 0.5
+    y = _unwrap_deg_seq(pan_deg)
+
+    A = np.column_stack([np.ones_like(x), x])
+    try:
+        coef, *_ = np.linalg.lstsq(A, y, rcond=None)
+        north_raw, hfov = float(coef[0]), float(coef[1])
+
+        resid = y - (north_raw + hfov * x)
+        rms = float(np.sqrt(np.mean(resid**2))) if resid.size else 999.0
+
+        north_wrapped = wrap_deg(north_raw)
+        # Если наклон отрицательный — перевернём модель (эквивалент сдвигу на 180°)
+        if hfov < 0:
+            hfov = abs(hfov)
+            north_wrapped = wrap_deg(north_wrapped + 180.0)
+
+        return north_wrapped, hfov, rms
+    except Exception as e:
+        logger.debug("[GEO] fit failed: %s", e)
+        return 0.0, 90.0, 999.0
+
+
+def _cameras_toml_path() -> Path:
+    """
+    Совместимо с логикой config._load_cameras_from_file():
+    - CAMERAS_FILE из окружения
+    - cameras.toml рядом с модулем config
+    """
+    env = os.getenv("CAMERAS_FILE")
+    if env:
+        return Path(env).resolve()
+    cfg_path = Path(config.__file__).resolve().parent
+    return (cfg_path / "cameras.toml").resolve()
+
+
+def _rewrite_all_cameras_from_runtime(path: Path) -> None:
+    """
+    Перезаписывает cameras.toml на основе текущего in-memory config.CAMERA_CONFIG.
+    Пишем только основные поля (как в streaming._rewrite_all_cameras).
+    """
+    lines: List[str] = []
+    for cid in sorted(config.CAMERA_CONFIG.keys()):
+        c = config.CAMERA_CONFIG[cid]
+        lines.append("[[camera]]")
+        lines.append(f"id = {int(cid)}")
+        lines.append(f"ip = \"{c['ip']}\"")
+        lines.append(f"username = \"{c.get('username', 'admin')}\"")
+        lines.append(f"password = \"{c.get('password', '')}\"")
+        lines.append(f"ptz_channel = {int(c.get('ptz_channel', 1))}")
+        lines.append("wiper_channel = 1")
+
+        # Общие geo-поля, если есть
+        if isinstance(c.get("north_offset_deg"), (int, float)):
+            lines.append(f"north_offset_deg = {float(c['north_offset_deg']):.3f}")
+
+        # PTZ или «пуля/панорама»
+        is_ptz = bool(c.get("preset1") and c.get("preset2"))
+        if is_ptz:
+            lines.append(f"preset1 = \"{c.get('preset1', '1')}\"")
+            lines.append(f"preset2 = \"{c.get('preset2', '2')}\"")
+            sweep_sign = int(c.get("sweep_sign", c.get("pan_sign", 1)))
+            lines.append(f"sweep_sign = {sweep_sign}")
+            # Доп. гео-поля PTZ — если у вас они используются, можно оставить
+            for k in ("preset1_deg", "preset2_deg",
+                      "preset1_tilt_deg", "preset2_tilt_deg",
+                      "sector_min_deg", "sector_max_deg",
+                      "preset1_deg_geo", "preset2_deg_geo",
+                      "sector_min_deg_geo", "sector_max_deg_geo"):
+                v = c.get(k)
+                if isinstance(v, (int, float)):
+                    lines.append(f"{k} = {float(v):.3f}")
+        else:
+            # Панорамы/пули — FOV
+            if isinstance(c.get("bullet_hfov_deg"), (int, float)):
+                lines.append(f"bullet_hfov_deg = {float(c['bullet_hfov_deg']):.3f}")
+            if isinstance(c.get("bullet_vfov_deg"), (int, float)):
+                lines.append(f"bullet_vfov_deg = {float(c['bullet_vfov_deg']):.3f}")
+
+        lines.append("")  # пустая строка после блока
+
+    text = ("\n".join(lines).strip() + "\n") if lines else ""
+    tmp = path.with_suffix(path.suffix + ".tmp")
+    path.parent.mkdir(parents=True, exist_ok=True)
+    with open(tmp, "w", encoding="utf-8") as f:
+        f.write(text)
+        f.flush()
+        os.fsync(f.fileno())
+    os.replace(tmp, path)
+
+
+def _maybe_persist_to_file(pano_id: int, north: float, hfov: float) -> None:
+    """
+    Условно пишет cameras.toml, если изменилась оценка и сработал дебаунс.
+    После записи вызывает config.reload_cameras() (best effort).
+    """
+    now = time.time()
+
+    # Дебаунс по времени
+    last_t = _last_saved_at.get(pano_id, 0.0)
+    if (now - last_t) < SAVE_DEBOUNCE_SEC:
+        return
+
+    # Проверка «существенности» изменений
+    prev = _last_saved_vals.get(pano_id)
+    if prev is not None:
+        p_north, p_hfov = prev
+        if (abs(north - p_north) < MIN_CHANGE_NORTH_DEG) and (abs(hfov - p_hfov) < MIN_CHANGE_HFOV_DEG):
+            return
+
+    # Готовим обновление в in-memory конфиге
+    cc = config.CAMERA_CONFIG.get(pano_id, {})
+    cc["north_offset_deg"] = float(north)
+    cc["bullet_hfov_deg"] = float(hfov)
+
+    # Пишем на диск
+    path = _cameras_toml_path()
+    try:
+        _rewrite_all_cameras_from_runtime(path)
+        _last_saved_at[pano_id] = now
+        _last_saved_vals[pano_id] = (float(north), float(hfov))
+        logger.info("[GEO] saved to %s: pano=%s north=%.1f hfov=%.1f",
+                    path, pano_id, north, hfov)
+    except Exception as e:
+        logger.warning("[GEO] save cameras.toml failed: %s", e)
+        return
+
+    # Мягкий hot-reload, чтобы рантайм пересчитал производные структуры
+    try:
+        config.reload_cameras()
+        logger.info("[GEO] config reloaded after save")
+    except Exception as e:
+        logger.warning("[GEO] reload_cameras() failed: %s", e)
+
+
+def feed_pano_sample(pano_id: int, cxn: float, now: float | None = None) -> None:
+    """
+    Кормим наблюдение из постпроцесса панорамы.
+    Нужно, чтобы была «парная» PTZ (config.PAN_TO_PTZ) и у неё была телеметрия pan_deg.
+    """
+    # есть ли связанная PTZ?
+    ptz_id = config.PAN_TO_PTZ.get(pano_id)
+    if ptz_id is None:
+        return
+
+    # актуальный азимут PTZ
+    st = state.ptz_states.get(ptz_id, {})
+    pan_deg = st.get("pan_deg")
+    if pan_deg is None:
+        return
+
+    t = time.time() if now is None else float(now)
+
+    dq = _samples.setdefault(pano_id, deque(maxlen=MAX_SAMPLES))
+    dq.append((float(cxn), float(pan_deg), t))
+
+    # Периодичность переобучения
+    last = _last_fit_at.get(pano_id, 0.0)
+    if (t - last) < REESTIMATE_EVERY:
+        return
+
+    if len(dq) < MIN_SAMPLES:
+        return
+
+    cx = np.array([s[0] for s in dq], dtype=np.float64)
+    pd = np.array([s[1] for s in dq], dtype=np.float64)
+
+    # нужен ощутимый охват по кадру
+    if (cx.max() - cx.min()) < MIN_SPREAD:
+        return
+
+    north, hfov, rms = _fit_linear(cx, pd)
+    _last_fit_at[pano_id] = t
+
+    # проверка качества
+    if rms <= RMS_OK and 30.0 <= hfov <= 160.0:
+        _estimate[pano_id] = (north, hfov, rms)
+
+        # применяем сразу в рантайм-конфиг (для текущей сессии)
+        cc = config.CAMERA_CONFIG.get(pano_id, {})
+        cc["north_offset_deg"] = float(north)
+        cc["bullet_hfov_deg"] = float(hfov)
+
+        logger.info(
+            "[GEO] pano %s AUTOCAL OK: north=%.1f°  hfov=%.1f°  rms=%.1f°  (samples=%d)",
+            pano_id, north, hfov, rms, len(dq)
+        )
+
+        # Сохранить на диск (с дебаунсом и проверкой изменений)
+        _maybe_persist_to_file(pano_id, north, hfov)
+    else:
+        logger.info(
+            "[GEO] pano %s autocal tentative: north=%.1f°, hfov=%.1f°, rms=%.1f° (need more/better samples)",
+            pano_id, north, hfov, rms
+        )
+
+
+def get_estimate(pano_id: int) -> Optional[Tuple[float, float, float]]:
+    """Вернуть последнюю валидную оценку: (north_deg, hfov_deg, rms) или None."""
+    return _estimate.get(pano_id)

ptz_tracker_modular/geom.py

@@ -0,0 +1,138 @@
+from __future__ import annotations
+from typing import Tuple, Optional
+from . import config
+
+# ---------------- Базовая геометрия углов ----------------
+
+def normalize360(a: float) -> float:
+    """Нормирует угол в диапазон [0, 360)."""
+    a = a % 360.0
+    return a if a >= 0.0 else a + 360.0
+
+def ang_diff_signed(a: float, b: float) -> float:
+    """
+    Подписанная кратчайшая разница (a - b) в диапазоне [-180, +180).
+    Знак >0 означает поворот по ЧС от b к a.
+    """
+    return (a - b + 540.0) % 360.0 - 180.0
+
+def _wrap_deg_pm180(a: float) -> float:
+    """Нормировка в диапазон [-180, +180)."""
+    return (a + 180.0) % 360.0 - 180.0
+
+# ---------------- Перевод внутренних углов PTZ в гео ----------------
+
+def pan_to_geo(cam_id: int, pan_deg: float | None) -> float | None:
+    """
+    Переводит «внутренний» pan PTZ (0..360, как отдаёт камера) в гео-азимут (0°=С, 90°=В).
+    Гео = normalize360(north_offset_deg + pan).
+    Если pan_deg=None или north неизвестен — возвращает None (или 0.0 по желанию).
+    """
+    if pan_deg is None:
+        return None
+    north = config.CAMERA_CONFIG.get(cam_id, {}).get("north_offset_deg")
+    if not isinstance(north, (int, float)):
+        return None
+    return normalize360(float(north) + float(pan_deg))
+
+# ---------------- Сектора (мягкие/жёсткие края) ----------------
+
+def sector_contains(az: float, dmin: float, dmax: float) -> bool:
+    """
+    Проверяет, лежит ли азимут az внутри сектора [dmin, dmax] с учётом жёсткого эпсилона.
+    Работает и для «завёрнутых» интервалов (например, [320°, 40°]).
+    """
+    az = normalize360(az); dmin = normalize360(dmin); dmax = normalize360(dmax)
+    if dmin <= dmax:
+        return dmin - config.EDGE_EPS_HARD <= az <= dmax + config.EDGE_EPS_HARD
+    return az >= dmin - config.EDGE_EPS_HARD or az <= dmax + config.EDGE_EPS_HARD
+
+def sector_distances(az: float, dmin: float, dmax: float) -> Tuple[float, float, bool]:
+    """
+    Возвращает (to_left, to_right, inside), где:
+      to_left  = на сколько градусов до левой границы (>=0, если внутри)
+      to_right = на сколько градусов до правой границы (>=0, если внутри)
+      inside   = флаг попадания в сектор (по sector_contains)
+    Расстояния считаются по кратчайшей дуге.
+    """
+    az_n   = normalize360(az)
+    dmin_n = normalize360(dmin)
+    dmax_n = normalize360(dmax)
+
+    inside = sector_contains(az_n, dmin_n, dmax_n)
+
+    # расстояние до границы — модуль подписанной разницы
+    to_left  = abs(ang_diff_signed(dmin_n, az_n))
+    to_right = abs(ang_diff_signed(dmax_n, az_n))
+
+    return to_left, to_right, inside
+
+def clamp_sector_speed(pan_i: int, az: Optional[float], dmin: Optional[float], dmax: Optional[float],
+                       pan_sign: int = 1) -> int:
+    """
+    Притормаживает/блокирует скорость панорамирования у краёв сектора.
+    Работает с целочисленной шкалой Hik (-100..+100). Совместимо с логикой в ptz_io.
+
+    - Если az неизвестен, возврат pan_i без изменений (внешний код сам решает, можно ли двигаться).
+    - Если вне сектора — блокируем.
+    - Если внутри и «толкаем» в закрытую сторону — блокируем.
+    - Если внутри — плавно замедляем вблизи ближайшей границы.
+    """
+    if az is None or dmin is None or dmax is None:
+        return pan_i
+    to_left, to_right, inside = sector_distances(az, dmin, dmax)
+    if not inside:
+        return 0
+
+    # направление «вправо/влево» с учётом знака головы
+    pushing_right = (pan_i * pan_sign) > 0 and ang_diff_signed(dmax, az) <= 0.0
+    pushing_left  = (pan_i * pan_sign) < 0 and ang_diff_signed(dmin, az) >= 0.0
+    if pushing_right or pushing_left:
+        return 0
+
+    if pan_i == 0:
+        return 0
+
+    # плавное замедление у ближайшей границы
+    dist_min = min(to_left, to_right)
+    edge_slow = getattr(config, "TRACK_EDGE_SLOWDOWN_DEG", 6.0)
+    edge_min_k = getattr(config, "TRACK_EDGE_MIN_SCALE", 0.25)
+    if dist_min < edge_slow:
+        k = max(edge_min_k, dist_min / max(1e-6, edge_slow))
+        pan_i = int(pan_i * k)
+
+    return pan_i
+
+# ---------------- Прочие утилиты ----------------
+
+def is_near(a: float, b: float, tol: float = 0.25) -> bool:
+    """Близость углов по модулю подписанной разницы."""
+    return abs(ang_diff_signed(a, b)) <= tol
+
+def nearest_preset_token(cam_idx: int, az: float) -> str | None:
+    """
+    Возвращает token ближайшего пресета (preset1|preset2) по текущему азимуту.
+    Если нет калиброванных preset*_deg — вернёт None.
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    p1, p2 = cfg.get("preset1"), cfg.get("preset2")
+    a1, a2 = cfg.get("preset1_deg"), cfg.get("preset2_deg")
+    if not (p1 and p2 and isinstance(a1, (int, float)) and isinstance(a2, (int, float))):
+        return None
+    d1 = abs(ang_diff_signed(az, a1))
+    d2 = abs(ang_diff_signed(az, a2))
+    return p1 if d1 <= d2 else p2
+
+def project_x_to_bearing(base_az: float, hfov_deg: float, x_norm: float) -> float:
+    """
+    Быстрый расчёт истинного азимута объекта на панораме:
+      base_az — гео-азимут центра кадра (0°=С, 90°=В),
+      hfov_deg — горизонтальный угол поля зрения,
+      x_norm — нормированная x-координата бокса [0..1].
+    Возвращает bearing в диапазоне [-180, +180).
+    """
+    # Важно: сначала нормируем базовый азимут, затем добавляем смещение,
+    # после чего сворачиваем в [-180, +180) для «относительного» румба.
+    az_center = normalize360(float(base_az))
+    delta = (float(x_norm) - 0.5) * float(hfov_deg)
+    return _wrap_deg_pm180(az_center + delta)

ptz_tracker_modular/heartbeat.py

@@ -0,0 +1,18 @@
+from __future__ import annotations
+import asyncio, socket, logging
+from . import config
+logger = logging.getLogger("PTZTracker")
+
+async def heartbeat_pinger() -> None:
+    addr = (config.HEARTBEAT_HOST, config.HEARTBEAT_PORT)
+    with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
+        try:
+            s.setblocking(False)
+        except Exception:
+            pass
+        while True:
+            try:
+                s.sendto(b"hb", addr)
+            except Exception as e:
+                logger.debug("heartbeat send failed: %s", e)
+            await asyncio.sleep(config.HEARTBEAT_INTERVAL)

ptz_tracker_modular/hik_isapi.py

@@ -0,0 +1,105 @@
+from __future__ import annotations
+import logging
+import xml.etree.ElementTree as ET
+from typing import Tuple, Optional
+
+import requests
+from requests.auth import HTTPDigestAuth
+
+from . import config
+
+logger = logging.getLogger("PTZTracker")
+
+# Универсальные таймауты и заголовки
+_REQ_TIMEOUT = (1.2, 2.5)  # (connect, read)
+_XML = {"Content-Type": "application/xml; charset=UTF-8"}
+
+def _auth(cam_id: int) -> Tuple[str, HTTPDigestAuth, int]:
+    cfg = config.CAMERA_CONFIG[cam_id]
+    ip = cfg["ip"]
+    user = cfg.get("username") or cfg.get("user") or "admin"
+    pw = cfg.get("password") or ""
+    ch = int(cfg.get("ptz_channel", 1))
+    return ip, HTTPDigestAuth(user, pw), ch
+
+def _get_xml(url: str, auth: HTTPDigestAuth) -> Optional[ET.Element]:
+    try:
+        r = requests.get(url, auth=auth, timeout=_REQ_TIMEOUT)
+        r.raise_for_status()
+        return ET.fromstring(r.content)
+    except Exception as e:
+        logger.debug("[ISAPI] GET %s failed: %s", url, e)
+        return None
+
+def _put_xml(url: str, auth: HTTPDigestAuth, xml_body: str) -> bool:
+    try:
+        r = requests.put(url, data=xml_body.encode("utf-8"), headers=_XML, auth=auth, timeout=_REQ_TIMEOUT)
+        r.raise_for_status()
+        return 200 <= r.status_code < 300
+    except Exception as e:
+        logger.debug("[ISAPI] PUT %s failed: %s", url, e)
+        return False
+
+# ---------- Public API ----------
+
+def get_ptz_status(cam_id: int) -> Tuple[Optional[float], Optional[float]]:
+    """
+    Возвращает (pan_deg, tilt_deg) для камеры через ISAPI.
+    Хиквишн обычно отдаёт абсолютные значения pan/tilt в градусах.
+    Иногда встречается масштаб *10 (0..3600) — нормализуем.
+    """
+    ip, auth, ch = _auth(cam_id)
+    url = f"http://{ip}/ISAPI/PTZCtrl/channels/{ch}/status"
+    root = _get_xml(url, auth)
+    if root is None:
+        return None, None
+
+    # Ищем разные варианты тегов
+    pan = None
+    tilt = None
+    for tag in ("pan", "absolutePan", "azimuth"):
+        el = root.find(f".//{tag}")
+        if el is not None and el.text:
+            try:
+                pan = float(el.text)
+                break
+            except Exception:
+                pass
+    for tag in ("tilt", "absoluteTilt", "elevation"):
+        el = root.find(f".//{tag}")
+        if el is not None and el.text:
+            try:
+                tilt = float(el.text)
+                break
+            except Exception:
+                pass
+
+    # Нормализация шкалы (редкие модели отдают *10)
+    def _norm(x: Optional[float]) -> Optional[float]:
+        if x is None:
+            return None
+        if abs(x) > 360.0 and abs(x) <= 3600.0:
+            x = x / 10.0
+        return float(x)
+
+    return _norm(pan), _norm(tilt)
+
+def read_ptz_azimuth_deg(cam_id: int) -> Optional[float]:
+    pan, _ = get_ptz_status(cam_id)
+    return pan  # pan — это и есть азимут головы в градусах
+
+def goto_preset_token(cam_id: int, preset_token: str | int) -> bool:
+    """
+    Переход к пресету по ISAPI. На HIK это:
+    PUT /ISAPI/PTZCtrl/channels/{ch}/presets/{id}/goto
+    <PTZPreset><id>{id}</id></PTZPreset>
+    """
+    ip, auth, ch = _auth(cam_id)
+    pid = str(preset_token).strip()
+    url = f"http://{ip}/ISAPI/PTZCtrl/channels/{ch}/presets/{pid}/goto"
+
+    body = f"<PTZPreset><id>{pid}</id></PTZPreset>"
+    ok = _put_xml(url, auth, body)
+    if not ok:
+        logger.warning("[ISAPI] goto preset failed cam=%s ch=%s preset=%s", cam_id, ch, pid)
+    return ok

ptz_tracker_modular/logging_utils.py

@@ -0,0 +1,19 @@
+import logging
+import os
+
+
+def setup_logging() -> logging.Logger:
+    """Configure application logging and return the PTZTracker logger."""
+    os.makedirs("logs", exist_ok=True)
+    logging.basicConfig(
+        level=logging.INFO,
+        format="%(asctime)s - %(levelname)s - %(message)s",
+        handlers=[
+            logging.FileHandler("logs/ptz_tracker.log", encoding="utf-8"),
+            logging.StreamHandler(),
+        ],
+    )
+    return logging.getLogger("PTZTracker")
+
+
+logger = setup_logging()

ptz_tracker_modular/main.py

@@ -0,0 +1,400 @@
+# -*- coding: utf-8 -*-
+from __future__ import annotations
+
+# --- bootstrap for direct script run ---
+# Позволяет запускать файл как обычный скрипт: python ptz_tracker_modular/main.py
+# и при этом импортировать пакет ptz_tracker_modular
+if __package__ is None or __package__ == "":
+    import sys, pathlib
+    pkg_root = pathlib.Path(__file__).resolve().parent.parent  # папка-родитель, содержащая пакет
+    if str(pkg_root) not in sys.path:
+        sys.path.insert(0, str(pkg_root))
+    __package__ = "ptz_tracker_modular"
+# ---------------------------------------
+
+import asyncio
+import logging
+import os
+import threading
+from queue import Queue
+from typing import Iterable
+
+
+def _parse_level(name: str, default=logging.ERROR) -> int:
+    name = (name or "").strip().upper()
+    return getattr(logging, name, default)
+
+
+def setup_logging() -> logging.Logger:
+    """
+    Лог только в консоль, по умолчанию уровень ERROR.
+    Файлы и папка logs не создаются.
+    """
+    # По умолчанию только ошибки; можно переопределить LOG_LEVEL=WARNING/INFO/DEBUG
+    level = _parse_level(os.getenv("LOG_LEVEL", "ERROR"))
+
+    logging.basicConfig(
+        level=level,
+        format="%(asctime)s | %(levelname)-8s | %(name)s | %(message)s",
+        handlers=[logging.StreamHandler()],
+    )
+
+    logger = logging.getLogger("PTZTracker")
+    # приглушим лишний шум от сторонних библиотек
+    logging.getLogger("websockets.client").setLevel(logging.WARNING)
+    logging.getLogger("urllib3.connectionpool").setLevel(logging.WARNING)
+
+    logger.error("Logging initialized, level=%s (console only, no file)", logging.getLevelName(level))
+    return logger
+
+
+logger = setup_logging()
+
+from ptz_tracker_modular import config, state
+from ptz_tracker_modular.streaming import (
+    MicroBatcher,
+    video_broadcaster,
+    cpp_ws_loop,
+    cpp_detection_loop,
+    build_servers,
+)
+from ptz_tracker_modular.status import ptz_status_poller
+from ptz_tracker_modular.heartbeat import heartbeat_pinger
+from ptz_tracker_modular.sector import sector_autocal_from_presets, sector_init_on_startup
+from ptz_tracker_modular.calibration import calibrate_presets, autocal_pan_sign, park_to_patrol_start
+from ptz_tracker_modular.patrol import (
+    patrol_init_on_startup,
+    patrol_supervisor_tick_bounded,
+    patrol_supervisor_tick,
+    sync_patrol_coordinator_loop,
+    track_return_watchdog,   # <-- импорт вотчдога
+)
+from ptz_tracker_modular import ptz_io  # содержит _ptz_worker
+
+# (опционально) uvloop
+try:
+    import uvloop  # type: ignore
+    asyncio.set_event_loop_policy(uvloop.EventLoopPolicy())
+except Exception:
+    pass
+
+
+def _dump_alarm_config():
+    """Красиво логируем ключевые параметры тревог при старте (если уровень позволяет)."""
+    ws_url = getattr(config, "ALARM_WS_URL", "ws://127.0.0.1:3000/ws")
+    ws_fmt = getattr(config, "ALARM_WS_FORMAT", "swagger")
+    mac_only = bool(getattr(config, "ALARM_MAC_ONLY", False))
+
+    http_en = bool(getattr(config, "ALARM_HTTP_ENABLE", False))
+    http_mirror = bool(getattr(config, "ALARM_HTTP_MIRROR", False))
+    http_base = getattr(config, "ALARM_HTTP_BASE", "http://127.0.0.1:3000")
+    http_path = getattr(config, "ALARM_HTTP_PATH", "/videodata")
+    http_tmpl = getattr(config, "ALARM_HTTP_PATH_TMPL", "/videodata")
+
+    ws_bmax = getattr(config, "ALARM_WS_BATCH_MAX", getattr(config, "WS_BATCH_MAX", 16))
+    ws_bms  = getattr(config, "ALARM_WS_BATCH_MS", getattr(config, "WS_BATCH_MS", 120))
+    http_bmax = getattr(config, "ALARM_HTTP_BATCH_MAX", getattr(config, "HTTP_BATCH_MAX", 16))
+    http_bms  = getattr(config, "ALARM_HTTP_BATCH_MS", getattr(config, "HTTP_BATCH_MS", 120))
+
+    hb_sec  = int(getattr(config, "ALARM_HEARTBEAT_SEC", 60))
+    logger.info("[ALARM] WS_URL=%s format=%s mac_only=%s", ws_url, ws_fmt, mac_only)
+    logger.info("[ALARM] HTTP enable=%s mirror=%s base=%s path=%s tmpl=%s",
+                http_en, http_mirror, http_base, http_path, http_tmpl)
+    logger.info("[ALARM] Batching: WS max=%s wait_ms=%s | HTTP max=%s wait_ms=%s",
+                ws_bmax, ws_bms, http_bmax, http_bms)
+    logger.info("[ALARM] Heartbeat: every %ss to %s", hb_sec, http_path)
+
+
+def watch(coro: asyncio.Future | asyncio.Task | asyncio.coroutines, name: str) -> asyncio.Task:
+    """
+    Обёртка для задач: если задача упала, логируем исключение.
+    Возвращает Task (подходит для gather).
+    """
+    async def _guard():
+        try:
+            return await coro  # type: ignore[arg-type]
+        except asyncio.CancelledError:
+            logger.info("[%s] cancelled", name)
+            raise
+        except Exception as e:
+            logger.exception("[%s] crashed: %s", name, e)
+            raise
+
+    if not isinstance(coro, (asyncio.Future, asyncio.Task)):
+        coro = asyncio.create_task(coro)  # type: ignore[assignment]
+    task = asyncio.create_task(_guard(), name=name)  # type: ignore[arg-type]
+    return task
+
+
+async def main() -> None:
+    # --- Инициализация общего состояния ---
+    state.MAIN_LOOP = asyncio.get_running_loop()
+    state.alarm_queue = asyncio.Queue()
+    state.detection_queue = asyncio.Queue()
+    state.batcher = MicroBatcher(
+        max_batch=config.BATCH_MIN,
+        max_wait_ms=2.0,
+        adaptive=config.ADAPTIVE_BATCH_ENABLE,
+        bmin=config.BATCH_MIN,
+        bmax=config.BATCH_MAX,
+        target_ms=config.BATCH_TARGET_MS,
+    )
+
+    # Импорт alarms ПОСЛЕ инициализации state.*, чтобы внутри не было None
+    from ptz_tracker_modular import alarms  # -> alarms.alarm_sender(), alarms.alarm_http_sender()
+
+    _dump_alarm_config()
+
+    # PTZ worker thread + очередь команд
+    state.ptz_cmd_q = Queue(maxsize=2048)
+    state._ptz_thread = threading.Thread(
+        target=ptz_io._ptz_worker, name="PTZWorker", daemon=True
+    )
+    state._ptz_thread.start()
+    logger.info("[PTZ] worker thread started")
+
+    # --- ВАЖНО: гарантируем базовые поля стейта для PTZ, иначе patrol может skip'ать камеры ---
+    # (частая причина "патруль не на всех PTZ": st.get("mode") == None)
+    for cam_id in config.PTZ_CAM_IDS:
+        st = state.ensure_cam_state(cam_id, is_ptz=True)
+        if st.get("mode") is None:
+            st["mode"] = "IDLE"
+
+    # ---- КАЛИБРОВКИ ----
+    for cam_id in config.PTZ_CAM_IDS:
+        cfg = config.CAMERA_CONFIG[cam_id]
+        need = (
+            cfg.get("preset1_deg") is None
+            or cfg.get("preset2_deg") is None
+            or cfg.get("sector_min_deg") is None
+            or cfg.get("sector_max_deg") is None
+        )
+        if need:
+            ok = await calibrate_presets(cam_id)
+            if not ok:
+                logger.warning(
+                    "Failed to calibrate camera %s, using fallback for sector clamp.", cam_id
+                )
+
+    if config.USE_PRESET_EDGES_FOR_SECTOR:
+        need_sector = any(state.ptz_states[c].get("sector_left_deg") is None for c in config.PTZ_CAM_IDS)
+        if need_sector:
+            await sector_autocal_from_presets()
+    sector_init_on_startup()
+
+    for cam in config.PTZ_CAM_IDS:
+        try:
+            await autocal_pan_sign(cam)
+        except Exception as e:
+            logger.debug("autocal pan_sign cam %s: %s", cam, e)
+
+    await park_to_patrol_start()
+
+    # ---- Патруль ----
+    have_any_ptz = bool(config.PTZ_CAM_IDS)
+    if have_any_ptz and config.PATROL_ENABLE_ON_START:
+        if config.SYNC_PATROL_ENABLE and config.SYNC_COHORTS:
+            logger.info(
+                "SYNC PTZ patrol enabled (cohorts): %s",
+                ", ".join(config.SYNC_COHORTS.keys()),
+            )
+        else:
+            patrol_init_on_startup()
+            logger.info("PTZ patrol started (standalone)")
+    elif not have_any_ptz:
+        logger.info("PTZ patrol skipped: no PTZ cameras configured")
+    else:
+        logger.info("PTZ patrol is DISABLED on start")
+
+    logger.info("PTZ tracking + HARD sector clamp + bounded patrol (resync enabled)")
+
+    # ---- WS servers ----
+    ctrl_server, video_server = await build_servers()
+    logger.info("[CTRL WS] listening on 0.0.0.0:%s", config.VUE_CONTROL_WS_PORT)
+    logger.info("[VIDEO WS] listening on 0.0.0.0:%s", config.VUE_VIDEO_WS_PORT)
+
+    async def patrol_supervisor_loop():
+        while True:
+            try:
+                patrol_supervisor_tick_bounded()
+                patrol_supervisor_tick()
+            except Exception as e:
+                logger.error("patrol_supervisor error: %s", e)
+            await asyncio.sleep(0.10)
+
+    async def track_watchdog_loop() -> None:
+        """
+        Supervisor для per-camera watchdog'ов.
+
+        ВАЖНО: track_return_watchdog(cam_id) внутри себя бесконечный цикл.
+        Поэтому здесь мы НЕ await'им его по очереди, а запускаем отдельной Task
+        на каждую PTZ-камеру и следим, чтобы:
+          - вотчдог был запущен на всех cam_id из config.PTZ_CAM_IDS,
+          - если вотчдог упал — логируем причину и перезапускаем,
+          - если список PTZ камер изменился (reload) — отменяем лишние задачи.
+        """
+        tasks_by_cam: dict[int, asyncio.Task] = {}
+        restart_after: dict[int, float] = {}  # cam_id -> loop.time(), когда можно рестартить
+        loop = asyncio.get_running_loop()
+
+        tick_sec = 1.0
+        restart_cooldown_sec = 2.0
+
+        try:
+            while True:
+                now = loop.time()
+
+                # Снимок актуального списка PTZ камер (может меняться после reload)
+                ptz_ids = list(getattr(config, "PTZ_CAM_IDS", []) or [])
+                ptz_set = set(ptz_ids)
+
+                # 1) Запускаем/перезапускаем вотчдоги для актуальных камер
+                for cam_id in ptz_ids:
+                    # гарантируем, что стейт камеры существует (чтобы внутри watchdog не было KeyError)
+                    try:
+                        state.ensure_cam_state(cam_id, is_ptz=True)
+                    except Exception as e:
+                        logger.error("[WATCHDOG] ensure_cam_state cam=%s failed: %s", cam_id, e)
+                        continue
+
+                    t = tasks_by_cam.get(cam_id)
+
+                    if t is None:
+                        # нет задачи — создаём, если прошёл cooldown
+                        if now >= restart_after.get(cam_id, 0.0):
+                            tasks_by_cam[cam_id] = asyncio.create_task(
+                                track_return_watchdog(cam_id),
+                                name=f"track_return_watchdog[{cam_id}]",
+                            )
+                        continue
+
+                    if t.done():
+                        # задача завершилась — логируем (если было исключение) и планируем рестарт
+                        try:
+                            exc = t.exception()
+                        except asyncio.CancelledError:
+                            exc = None
+                        except Exception as e:
+                            exc = e
+
+                        if exc is not None:
+                            logger.exception(
+                                "[WATCHDOG] cam=%s track_return_watchdog crashed: %s",
+                                cam_id,
+                                exc,
+                            )
+
+                        tasks_by_cam.pop(cam_id, None)
+                        restart_after[cam_id] = now + restart_cooldown_sec
+
+                # 2) Камеры, которые больше не PTZ — отменяем их watchdog'и
+                for cam_id in list(tasks_by_cam.keys()):
+                    if cam_id not in ptz_set:
+                        t = tasks_by_cam.pop(cam_id)
+                        t.cancel()
+                        restart_after.pop(cam_id, None)
+                        # Можно подсказать, что камера теперь не PTZ (не обязательно)
+                        try:
+                            state.ensure_cam_state(cam_id, is_ptz=False)
+                        except Exception:
+                            pass
+
+                await asyncio.sleep(tick_sec)
+
+        except asyncio.CancelledError:
+            raise
+
+        finally:
+            # Корректно гасим все per-camera задачи
+            for t in tasks_by_cam.values():
+                t.cancel()
+            if tasks_by_cam:
+                await asyncio.gather(*tasks_by_cam.values(), return_exceptions=True)
+
+    # ---- Опциональный smoke-тест тревоги (по первому MAC) ----
+    if os.getenv("ALARM_SMOKE", "0") in ("1", "true", "TRUE", "yes", "YES"):
+        async def _smoke():
+            try:
+                # Берём первый доступный MAC из конфигурации
+                macs: Iterable[str] = (
+                    cfg.get("mac") for _id, cfg in sorted(config.CAMERA_CONFIG.items())
+                    if isinstance(cfg.get("mac"), str)
+                )
+                mac = next((m for m in macs if m), None)
+                if not mac:
+                    logger.warning("[SMOKE] no MACs in CAMERA_CONFIG — skip")
+                    return
+                logger.info("[SMOKE] sending test alarms for MAC=%s", mac)
+                alarms.queue_alarm_mac(mac, True)
+                await asyncio.sleep(0.2)
+                alarms.queue_alarm_mac(mac, False)
+                logger.info("[SMOKE] done")
+            except Exception as e:
+                logger.error("[SMOKE] failed: %s", e)
+        asyncio.create_task(_smoke())
+
+    # ---- Таски ----
+    tasks: list[asyncio.Task | asyncio.Future] = [
+        watch(video_broadcaster(), "video_broadcaster"),
+        watch(cpp_ws_loop(), "cpp_ws_loop"),
+        watch(cpp_detection_loop(), "cpp_detection_loop"),
+        watch(alarms.alarm_sender(), "alarm_sender"),              # WS-alarms
+        watch(alarms.alarm_http_sender(), "alarm_http_sender"),    # HTTP-alarms (если включено)
+        watch(alarms.periodic_status_sender(), "periodic_status_sender"),  # heartbeat-массив камер
+        watch(ptz_status_poller(), "ptz_status_poller"),
+        watch(heartbeat_pinger(), "heartbeat_pinger"),
+        asyncio.create_task(ctrl_server.wait_closed(), name="ctrl_ws_wait_closed"),
+        asyncio.create_task(video_server.wait_closed(), name="video_ws_wait_closed"),
+    ]
+
+    # Запускаем патрульный цикл, если он включён
+    if config.PATROL_ENABLE_ON_START and config.PTZ_CAM_IDS:
+        tasks.insert(8, watch(patrol_supervisor_loop(), "patrol_supervisor_loop"))
+
+    # Вотчдог по трекингу/IDLE — запускаем всегда, если есть PTZ-камеры
+    if config.PTZ_CAM_IDS:
+        tasks.insert(8, watch(track_watchdog_loop(), "track_watchdog_loop"))
+
+    # SYNC patrol при необходимости
+    if config.SYNC_PATROL_ENABLE and config.SYNC_COHORTS:
+        tasks.insert(8, watch(sync_patrol_coordinator_loop(), "sync_patrol_coordinator_loop"))
+
+    try:
+        await asyncio.gather(*tasks)
+    finally:
+        ctrl_server.close()
+        video_server.close()
+        await ctrl_server.wait_closed()
+        await video_server.wait_closed()
+
+def run():
+    try:
+        asyncio.run(main())
+    except KeyboardInterrupt:
+        logger.info("Stopped by user")
+    finally:
+        try:
+            if state.ptz_cmd_q is not None:
+                state.ptz_cmd_q.put_nowait(None)  # sentinel для PTZ-воркера
+            if state._ptz_thread is not None:
+                state._ptz_thread.join(timeout=0.5)
+        except Exception:
+            pass
+
+        for _cid, _st in state.ptz_states.items():
+            if _st.get("zoom_reset_timer"):
+                try:
+                    _st["zoom_reset_timer"].cancel()
+                except Exception:
+                    pass
+            if _st.get("preset_timer"):
+                try:
+                    _st["preset_timer"].cancel()
+                except Exception:
+                    pass
+
+        logger.info("Shutdown complete")
+
+
+if __name__ == "__main__":
+    run()

ptz_tracker_modular/media.py

@@ -0,0 +1,70 @@
+from __future__ import annotations
+from typing import Tuple, Optional
+import cv2
+import numpy as np
+
+# --- пакетные импорты с fallback при запуске скриптом ---
+try:
+    from . import config as _cfg
+    from . import state as _state
+    from .preview import (
+        encode_jpeg_bgr as _encode_jpeg_bgr,
+        maybe_downscale as _maybe_downscale,
+        publish_preview as _publish_preview,
+    )
+except Exception:  # запуск вне пакета (нежелательно, но поддержим)
+    import config as _cfg  # type: ignore
+    import state as _state  # type: ignore
+    from preview import (  # type: ignore
+        encode_jpeg_bgr as _encode_jpeg_bgr,
+        maybe_downscale as _maybe_downscale,
+        publish_preview as _publish_preview,
+    )
+
+# Оставляем старые имена функций для обратной совместимости,
+# под капотом вызываем реализацию из preview.py.
+
+def encode_jpeg_bgr(img_bgr: np.ndarray) -> Optional[bytes]:
+    """Совместимость: прокси к preview.encode_jpeg_bgr."""
+    return _encode_jpeg_bgr(img_bgr)
+
+
+def maybe_downscale(img: np.ndarray, target_w: int = None) -> Tuple[np.ndarray, float, float]:
+    """Совместимость: прокси к preview.maybe_downscale."""
+    if target_w is None:
+        target_w = int(getattr(_cfg, "PREVIEW_TARGET_W", 896))
+    return _maybe_downscale(img, target_w)
+
+
+def publish_preview(cam_id: int, img: np.ndarray) -> None:
+    """
+    Совместимость: прокси к preview.publish_preview.
+    Учитывает флаг PUBLISH_ONLY_IF_CLIENTS внутри preview.
+    """
+    _publish_preview(cam_id, img)
+
+
+def publish_annotated_scaled(
+    cam_id: int,
+    frame_bgr: np.ndarray,
+    x1: int, y1: int, x2: int, y2: int,
+    label: str
+) -> None:
+    """
+    Быстрый аннотатор: даунскейлит кадр под превью, рисует коробку+лейбл и публикует JPEG.
+    """
+    # ранний выход, если никому слать
+    if getattr(_cfg, "PUBLISH_ONLY_IF_CLIENTS", True) and not _state.video_clients:
+        return
+
+    down, sx, sy = maybe_downscale(frame_bgr)
+    if sx != 1.0 or sy != 1.0:
+        x1 = int(x1 * sx); y1 = int(y1 * sy)
+        x2 = int(x2 * sx); y2 = int(y2 * sy)
+
+    cv2.rectangle(down, (x1, y1), (x2, y2), (0, 255, 0), 2, lineType=cv2.LINE_4)
+    cv2.putText(
+        down, label, (x1, max(0, y1 - 6)),
+        cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1, cv2.LINE_4
+    )
+    publish_preview(cam_id, down)

ptz_tracker_modular/model.py

@@ -0,0 +1,59 @@
+from __future__ import annotations
+import logging, os, numpy as np, torch
+from ultralytics import YOLO
+from typing import List
+from . import config
+logger = logging.getLogger("PTZTracker")
+
+try:
+    from torch.amp import autocast  # type: ignore
+except Exception:
+    autocast = None  # type: ignore
+
+device = "cuda" if torch.cuda.is_available() else "cpu"
+WEIGHT_PATH = os.getenv("YOLO_WEIGHTS", "/home/electro-pribory/Desktop/weight/electro-pribory.pt")
+
+model_shared = YOLO(WEIGHT_PATH).to(device)
+try:
+    model_shared.fuse()
+except Exception:
+    pass
+
+try:
+    model_shared.model.to(memory_format=torch.channels_last)  # type: ignore
+except Exception:
+    pass
+
+if device == "cuda":
+    try:
+        model_shared.model.half()  # type: ignore
+        logger.info("Model set to FP16")
+    except Exception:
+        logger.info("FP16 not supported, using FP32")
+    try:
+        if hasattr(torch, "compile"):
+            model_shared.model = torch.compile(model_shared.model, mode="reduce-overhead")  # type: ignore
+            logger.info("torch.compile enabled")
+    except Exception as e:
+        logger.info("torch.compile not used: %s", e)
+
+model_shared.model.eval()
+logger.info("Single shared model loaded")
+
+try:
+    _warm = np.zeros((config.INFER_IMGSZ, config.INFER_IMGSZ, 3), dtype=np.uint8)
+    _ = model_shared([_warm], imgsz=config.INFER_IMGSZ, conf=0.1, iou=0.45, verbose=False)
+    if device == "cuda":
+        torch.cuda.synchronize()
+    del _warm
+except Exception:
+    pass
+
+INFER_ARGS = dict(imgsz=config.INFER_IMGSZ, conf=config.MODEL_CONF, iou=0.45, verbose=False)
+
+@torch.inference_mode()
+def yolo_forward(frames: List[np.ndarray]):
+    if device == "cuda" and autocast is not None:
+        with autocast("cuda", dtype=torch.float16):  # type: ignore[misc]
+            return model_shared(frames, **INFER_ARGS)
+    return model_shared(frames, **INFER_ARGS)

ptz_tracker_modular/notify.py

@@ -0,0 +1,159 @@
+from __future__ import annotations
+
+import time
+from typing import Optional
+
+from . import state, config
+from .events import _send_record_event
+from .ptz_io import stop_ptz  # <-- важно для "abort goto"
+
+
+def _ema_update(prev: Optional[float], value: float, alpha: float = 0.2) -> float:
+    return value if prev is None else (1.0 - alpha) * prev + alpha * value
+
+
+def _stat_on_detection(cam_idx: int, ts: float) -> None:
+    g = state.detect_stats_global
+    if g["last_ts"] is not None:
+        dt = ts - g["last_ts"]
+        if dt > 0.05:
+            g["ema_interval"] = _ema_update(g["ema_interval"], dt)
+            g["times"].append(ts)
+    g["last_ts"] = ts
+
+    c = state.detect_stats_cam[cam_idx]
+    if c["last_ts"] is not None:
+        dtc = ts - c["last_ts"]
+        if dtc > 0.05:
+            c["ema_interval"] = _ema_update(c["ema_interval"], dtc)
+            c["times"].append(ts)
+    c["last_ts"] = ts
+
+
+def notify_detected(cam_idx: int, detected: bool, force: bool = False) -> None:
+    """
+    detected=True/False — «сырое» состояние текущего кадра.
+    Формирует START/STOP записи (с гистерезисом) ТОЛЬКО для PTZ (или force).
+    Также ведёт режимы TRACK/SEARCH с hold на потерю, чтобы не срывать трекинг
+    при прерывистой детекции.
+    """
+
+    # Панорамы не создают событий записи, если не включено явно
+    if cam_idx not in config.PTZ_CAM_IDS and not config.ALLOW_PANORAMA_RECORD and not force:
+        return
+
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+
+    # -------------------- Параметры поведения трекинга --------------------
+    TRACK_LOSS_HOLD_SEC = float(getattr(config, "TRACK_LOSS_HOLD_SEC", 2.0))
+    TRACK_HOLD_WHILE_REC_ACTIVE_SEC = float(
+        getattr(config, "TRACK_HOLD_WHILE_REC_ACTIVE_SEC", TRACK_LOSS_HOLD_SEC)
+    )
+
+    # -------------------- Внутренняя логика трекинга --------------------
+    last_raw = st.get("last_detected_state")
+
+    if detected:
+        # статистика по фронту False->True
+        if last_raw is not True:
+            _stat_on_detection(cam_idx, now)
+
+        # фиксируем "видели цель"
+        st["last_seen"] = now
+
+        # Если в этот момент камера ехала на пресет (goto) — прерываем,
+        # иначе goto/патруль будет мешать трекингу первые секунды
+        if now < float(st.get("goto_in_progress_until", 0.0) or 0.0):
+            try:
+                stop_ptz(cam_idx)
+            except Exception:
+                pass
+            st["goto_in_progress_until"] = 0.0
+
+        # сброс кандидата на потерю
+        st.pop("track_loss_since", None)
+
+        # ВАЖНО: сообщаем патрулю, что идёт трекинг
+        st["tracking_active"] = True
+
+        # трекинг включается сразу
+        st["fallback_done"] = False
+        st["mode"] = "TRACK"
+
+        # опционально: если используешь где-то пост-трекинг флаги
+        st.pop("post_track_since", None)
+        st["post_track_park_done"] = False
+
+    else:
+        # detected == False
+        if st.get("mode") == "TRACK":
+            if "track_loss_since" not in st:
+                st["track_loss_since"] = now
+            else:
+                hold = TRACK_HOLD_WHILE_REC_ACTIVE_SEC if bool(st.get("rec_active", False)) else TRACK_LOSS_HOLD_SEC
+                if (now - float(st["track_loss_since"])) >= hold:
+                    st.pop("track_loss_since", None)
+                    st["mode"] = "SEARCH"
+                    st["tracking_active"] = False
+                    st["post_track_since"] = now
+        else:
+            # не трекаем — на всякий случай
+            st["tracking_active"] = False
+
+    st["last_detected_state"] = detected
+
+    # -------------------- форс-STOP --------------------
+    if force:
+        if st.get("rec_active", False) or st.get("rec_last_sent") is not False:
+            _send_record_event(cam_idx, False)
+
+        st["rec_active"] = False
+        st["rec_first_seen"] = None
+        st["rec_started_at"] = 0.0
+        st["rec_last_off_at"] = now
+        st["rec_last_sent"] = False
+
+        # сброс трекинга
+        st.pop("track_loss_since", None)
+        st["tracking_active"] = False
+        if st.get("mode") == "TRACK":
+            st["mode"] = "SEARCH"
+        return
+
+    # -------------------- гистерезис записи --------------------
+    if detected:
+        st["rec_last_seen"] = now
+
+        if not st.get("rec_active", False):
+            if now - float(st.get("rec_last_off_at", 0.0) or 0.0) < float(getattr(config, "REC_MIN_OFF_SEC", 0.0)):
+                return
+
+            if st.get("rec_first_seen") is None:
+                st["rec_first_seen"] = now
+
+            if (now - float(st["rec_first_seen"])) >= float(getattr(config, "REC_ON_CONFIRM_SEC", 0.35)):
+                st["rec_active"] = True
+                st["rec_started_at"] = now
+                if st.get("rec_last_sent") is not True:
+                    _send_record_event(cam_idx, True)  # START → C++
+                    st["rec_last_sent"] = True
+        return
+
+    # detected == False
+    st["rec_first_seen"] = None
+
+    if st.get("rec_active", False):
+        rec_last_seen = float(st.get("rec_last_seen", 0.0) or 0.0)
+        rec_started_at = float(st.get("rec_started_at", 0.0) or 0.0)
+
+        long_no_see = (now - rec_last_seen) >= float(getattr(config, "REC_OFF_GRACE_SEC", 1.2))
+        long_enough = (now - rec_started_at) >= float(getattr(config, "REC_MIN_ON_SEC", 0.0))
+        too_long = (now - rec_started_at) >= float(getattr(config, "REC_MAX_ON_SEC", 1e9))
+
+        if (long_no_see and long_enough) or too_long:
+            st["rec_active"] = False
+            st["rec_last_off_at"] = now
+            if st.get("rec_last_sent") is not False:
+                _send_record_event(cam_idx, False)  # STOP → C++
+                st["rec_last_sent"] = False

ptz_tracker_modular/postprocess(main).py

@@ -0,0 +1,587 @@
+from __future__ import annotations
+import time
+import logging
+from typing import Any, List, Tuple
+
+import numpy as np
+import torch
+import cv2
+
+from . import config, state
+from .utils import clipf, wrap_deg, deg_to_compass
+from .preview import maybe_downscale, publish_preview
+from . import alarms
+from .notify import notify_detected
+from .ptz_io import move_ptz_bounded, call_autofocus, stop_ptz
+from .patrol import return_to_preset, ensure_patrol_resume
+
+logger = logging.getLogger("PTZTracker")
+
+_device = "cuda" if torch.cuda.is_available() else "cpu"
+_targets_tensor = torch.tensor(config.TARGET_CLASSES, device=_device)
+
+# === Zoom / устойчивость ===
+_Z_HOLD_AFTER_LOSS = getattr(config, "ZOOM_LOSS_HOLD_SEC", 0.70)
+_Z_SIGN_HYST = getattr(config, "ZOOM_SIGN_HYST", 0.020)
+_Z_MIN_CMD = getattr(config, "Z_MIN_CMD", 0.05)
+_Z_IN_RAMP = getattr(config, "Z_RAMP_TIME", 0.45)
+_Z_FF_GAIN = getattr(config, "Z_FF_GAIN", 0.55)
+_Z_P = getattr(config, "Z_P", 2.4)
+_Z_I = getattr(config, "Z_I", 0.16)
+_Z_INT_CLAMP = getattr(config, "Z_INT_CLAMP", 0.15)
+_Z_SPEED_LIMIT_OUT = getattr(config, "Z_SPEED_LIMIT_OUT", -0.65)
+_Z_SPEED_LIMIT_IN = getattr(config, "Z_SPEED_LIMIT_IN", 0.45)
+_Z_CENTER_GATE_IN = getattr(config, "Z_CENTER_GATE_BASE", 0.06)
+_Z_CENTER_GATE_SCALE = getattr(config, "Z_CENTER_GATE_SCALE", 0.20)
+_Z_UNLOCK_EDGE = getattr(config, "Z_UNLOCK_EDGE", 0.050)
+_Z_PAN_BOOST_IN = getattr(config, "Z_PAN_BOOST_WHEN_IN", getattr(config, "Z_PAN_BOOST", 1.35))
+
+# === TRACK lifecycle ===
+TRACK_END_LOSS_SEC = float(getattr(config, "TRACK_END_LOSS_SEC", 0.90))  # сколько ждать без детекции, чтобы завершить TRACK
+TRACK_END_RETURN_COOLDOWN_SEC = float(getattr(config, "TRACK_END_RETURN_COOLDOWN_SEC", 2.5))  # анти-спам goto
+TRACK_END_RESUME_DELAY_SEC = float(getattr(config, "TRACK_END_RESUME_DELAY_SEC", 1.0))  # после парковки
+
+def _publish_with_boxes(
+    cam_id: int,
+    img_bgr: np.ndarray,
+    boxes_xyxy: List[Tuple[int, int, int, int]],
+    labels: List[str],
+) -> None:
+    if config.PUBLISH_ONLY_IF_CLIENTS and not state.video_clients:
+        return
+    down, sx, sy = maybe_downscale(img_bgr, config.PREVIEW_TARGET_W)
+    if boxes_xyxy:
+        for (x1, y1, x2, y2), lab in zip(boxes_xyxy, labels):
+            if sx != 1.0 or sy != 1.0:
+                x1 = int(x1 * sx); y1 = int(y1 * sy)
+                x2 = int(x2 * sx); y2 = int(y2 * sy)
+            cv2.rectangle(down, (x1, y1), (x2, y2), (0, 255, 0), 2, lineType=cv2.LINE_4)
+            cv2.putText(
+                down, lab, (x1, max(0, y1 - 6)),
+                cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1, cv2.LINE_4,
+            )
+    publish_preview(cam_id, down)
+
+
+def choose_auto_action(cam_idx: int, now: float) -> str:
+    st = state.ptz_states[cam_idx]
+    dt_cam = now - st["last_seen"]
+    if dt_cam <= config.SHORT_LOSS_SEC:
+        return "FOLLOW_SHORT"
+    if dt_cam <= config.LONG_LOSS_SEC:
+        return "SEARCH"
+    ema_g = state.detect_stats_global["ema_interval"]
+    if ema_g is None:
+        return "SEARCH"
+    dyn_thr = max(config.ABS_MIN_FALLBACK, 3.0 * float(ema_g))
+    dyn_thr = min(dyn_thr, config.ABS_MAX_FALLBACK)
+    if config.FALLBACK_PRESET_CAP and config.FALLBACK_PRESET_CAP > 0:
+        dyn_thr = min(dyn_thr, config.FALLBACK_PRESET_CAP)
+    if dt_cam > dyn_thr:
+        return "FALLBACK"
+    return "SEARCH" if ema_g < 20.0 else "HOLD"
+
+
+def _maybe_return_and_resume(cam_idx: int, reason: str, min_interval_sec: float) -> bool:
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+    last = float(st.get("last_return_at", 0.0) or 0.0)
+    if (now - last) < float(min_interval_sec):
+        return False
+
+    st["last_return_at"] = now
+    return_to_preset(cam_idx, reason)
+    ensure_patrol_resume(cam_idx, delay=1.0)
+    return True
+
+
+def _enter_track(cam_idx: int) -> None:
+    st = state.ptz_states[cam_idx]
+    if not st.get("tracking_active"):
+        # запоминаем, был ли патруль активен — чтобы потом восстановить
+        st["_patrol_was_active_before_track"] = bool(st.get("patrol_active", False))
+    st["tracking_active"] = True
+    st["mode"] = "TRACK"
+    # патрульные команды должны замолчать
+    st["patrol_active"] = False
+    st["sync_wait"] = False
+
+
+def _end_track_and_park(cam_idx: int, *, reason: str) -> None:
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+
+    # если уже едем на пресет — не дублируем
+    if now < float(st.get("goto_in_progress_until", 0.0) or 0.0):
+        return
+
+    last = float(st.get("last_track_end_return_at", 0.0) or 0.0)
+    if (now - last) < TRACK_END_RETURN_COOLDOWN_SEC:
+        return
+    st["last_track_end_return_at"] = now
+
+    # СРАЗУ ставим "за нято goto", чтобы второй источник не успел добавить ещё один goto
+    settle = float(getattr(config, "GOTO_SETTLE_SEC", 2.5))
+    st["goto_in_progress_until"] = now + settle
+
+    st["tracking_active"] = False
+    st["mode"] = "IDLE"
+    notify_detected(cam_idx, False, force=True)
+    stop_ptz(cam_idx)
+
+    return_to_preset(cam_idx, reason=reason)
+    ensure_patrol_resume(cam_idx, delay=max(0.8, TRACK_END_RESUME_DELAY_SEC))
+
+def postprocess_control(cam_idx: int, frame_bgr: np.ndarray, res: Any, is_ptz: bool) -> None:
+    boxes_t = getattr(res, "boxes", None)
+    h, w = frame_bgr.shape[:2]
+    w_inv, h_inv = (1.0 / w), (1.0 / h)
+    now = time.time()
+
+    st = state.ptz_states.setdefault(cam_idx, {})
+    st.setdefault("mode", "auto" if config.AUTO_STRATEGY else "manual")
+    st.setdefault("last_seen", 0.0)
+    st.setdefault("loss_since", None)
+    st.setdefault("last_bbox", None)
+
+    st.setdefault("prev_t", None)
+    st.setdefault("prev_cx", 0.5)
+    st.setdefault("prev_cy", 0.5)
+    st.setdefault("vx", 0.0)
+    st.setdefault("vy", 0.0)
+    st.setdefault("ix", 0.0)
+    st.setdefault("iy", 0.0)
+
+    st.setdefault("w_frac_ema", None)
+    st.setdefault("prev_w_frac", None)
+    st.setdefault("w_growth", 0.0)
+
+    st.setdefault("zoom_state", 0)
+    st.setdefault("zoom_prev_cmd", 0.0)
+    st.setdefault("zoom_int", 0.0)
+    st.setdefault("zoom_last_change", 0.0)
+    st.setdefault("zoom_ramp_start", 0.0)
+    st.setdefault("zoom_lock", False)
+    st.setdefault("lock_candidate_since", None)
+    st.setdefault("last_zoom_seen", 0.0)
+
+    st.setdefault("last_dx", 0.0)
+    st.setdefault("last_dy", 0.0)
+    st.setdefault("stable_frames", 0)
+    st.setdefault("fallback_done", False)
+    st.setdefault("patrol_active", False)
+    st.setdefault("tracking_active", False)
+    st.setdefault("last_return_at", 0.0)
+    st.setdefault("last_track_end_return_at", 0.0)
+
+    st.setdefault("attack_origin_pan", None)
+    st.setdefault("prev_pan_deg", None)
+    st.setdefault("prev_pan_t", None)
+    st.setdefault("last_heading_log", 0.0)
+
+    _cfg = config.CAMERA_CONFIG.get(int(cam_idx), {}) if hasattr(config, "CAMERA_CONFIG") else {}
+    _PAN_SIGN: float = float(_cfg.get("pan_sign", 1) or 1)
+    _TILT_SIGN: float = float(_cfg.get("tilt_sign", -1) or -1)
+
+    MAX_ANN_BOXES = 12
+    det_xyxy: List[Tuple[int, int, int, int]] = []
+    det_labels: List[str] = []
+    best_target = None
+
+    if boxes_t is not None and len(boxes_t) > 0:
+        confs = boxes_t.conf
+        clss = boxes_t.cls
+        mask = (confs >= config.DETECT_CONF) & torch.isin(clss, _targets_tensor)
+        if mask.any():
+            xyxy_all = boxes_t.xyxy[mask].detach().cpu().numpy().astype(int)
+            conf_all = confs[mask].detach().cpu().numpy()
+            cls_all = clss[mask].detach().cpu().numpy().astype(int)
+
+            x1 = xyxy_all[:, 0]; y1 = xyxy_all[:, 1]
+            x2 = xyxy_all[:, 2]; y2 = xyxy_all[:, 3]
+            cy = (y1 + y2) * 0.5 * h_inv
+            score_all = conf_all + 0.05 * ((x2 - x1) * w_inv) + ((cy < 0.45).astype(np.float32) * 0.12)
+            order = score_all.argsort()[::-1]
+
+            topk = order[:MAX_ANN_BOXES]
+            for i in topk:
+                lab = f"{config.CLASS_NAMES.get(int(cls_all[i]), 'obj')} {float(conf_all[i]):.2f}"
+                det_xyxy.append((int(xyxy_all[i, 0]), int(xyxy_all[i, 1]), int(xyxy_all[i, 2]), int(xyxy_all[i, 3])))
+                det_labels.append(lab)
+
+            ibest = int(order[0])
+            best_target = (xyxy_all[ibest].tolist(), float(conf_all[ibest]), int(cls_all[ibest]))
+
+    # =========================
+    # ===== есть детекция ======
+    # =========================
+    if best_target is not None:
+        (x1, y1, x2, y2), best_conf, _ = best_target
+        st["loss_since"] = None
+        st["last_bbox"] = (int(x1), int(y1), int(x2), int(y2))
+        st["last_zoom_seen"] = now
+        st["last_seen"] = now
+
+        _publish_with_boxes(cam_idx, frame_bgr, det_xyxy, det_labels)
+
+        # --------- Панорама ----------
+        if not is_ptz:
+            notify_detected(cam_idx, True)
+
+            cx = (x1 + x2) * 0.5; cy = (y1 + y2) * 0.5
+            cxn = cx * w_inv;      cyn = cy * h_inv
+            if st["prev_t"] is not None:
+                dt = max(now - st["prev_t"], 1e-3)
+                st["vx"] = 0.85 * st["vx"] + 0.15 * ((cxn - st["prev_cx"]) / dt)
+                st["vy"] = 0.85 * st["vy"] + 0.15 * ((cyn - st["prev_cy"]) / dt)
+            st["prev_t"], st["prev_cx"], st["prev_cy"] = now, cxn, cyn
+
+            try:
+                from . import geo_autocal
+                geo_autocal.feed_pano_sample(cam_idx, cxn, now)
+            except Exception:
+                pass
+
+            base_az = float(config.get_cam_base_azimuth_deg(cam_idx))
+            hfov = float(config.get_cam_hfov_deg(cam_idx))
+            bearing = wrap_deg(base_az + (cxn - 0.5) * hfov)
+
+            if st.get("attack_origin_pan") is None:
+                st["attack_origin_pan"] = bearing
+                st["prev_pan_deg"] = bearing
+                st["prev_pan_t"] = now
+                st["last_heading_log"] = 0.0
+
+            origin = float(st["attack_origin_pan"])
+            cur_compass = deg_to_compass(float(bearing))
+            org_compass = deg_to_compass(origin)
+            delta = wrap_deg(float(bearing) - origin)
+            cw_ccw = "CW" if delta >= 0.0 else "CCW"
+
+            pan_rate = None
+            prev_t = st.get("prev_pan_t")
+            prev_p = st.get("prev_pan_deg")
+            if prev_t is not None and prev_p is not None:
+                dtp = max(1e-3, now - float(prev_t))
+                pan_rate = wrap_deg(float(bearing) - float(prev_p)) / dtp
+            st["prev_pan_deg"] = float(bearing)
+            st["prev_pan_t"] = now
+
+            if (now - float(st.get("last_heading_log", 0.0))) >= 0.7:
+                if pan_rate is None:
+                    logger.info(
+                        "[ATTACK/PANO] cam %d from %s (%.1f°) -> %s (%.1f°), Δ=%.1f° %s",
+                        cam_idx, org_compass, origin, cur_compass, float(bearing),
+                        float(delta), cw_ccw
+                    )
+                else:
+                    logger.info(
+                        "[ATTACK/PANO] cam %d from %s (%.1f°) -> %s (%.1f°), Δ=%.1f° %s, rate=%.1f°/s",
+                        cam_idx, org_compass, origin, cur_compass, float(bearing),
+                        float(delta), cw_ccw, float(pan_rate)
+                    )
+                st["last_heading_log"] = now
+
+            ptz_id = config.PAN_TO_PTZ.get(cam_idx)
+            if ptz_id is not None:
+                pst = state.ptz_states.setdefault(ptz_id, {})
+                pst["last_seen"] = now
+                pst["loss_since"] = None
+                pst["last_return_at"] = max(float(pst.get("last_return_at", 0.0) or 0.0), now)
+
+            alarms.ingest_detection(cam_idx, True)
+            return
+
+        # --------- PTZ: включаем TRACK сразу ----------
+        _enter_track(cam_idx)
+        notify_detected(cam_idx, True)
+
+        cx = (x1 + x2) * 0.5; cy = (y1 + y2) * 0.5
+        cxn = cx * w_inv;      cyn = cy * h_inv
+        w_frac = (x2 - x1) * w_inv
+
+        if st["prev_t"] is not None:
+            dt = max(now - st["prev_t"], 1e-3)
+            vx_i = (cxn - st["prev_cx"]) / dt
+            vy_i = (cyn - st["prev_cy"]) / dt
+            vel_smooth = clipf(float(getattr(config, "VEL_SMOOTH", 0.85)), 0.0, 0.99)
+            st["vx"] = vel_smooth * st["vx"] + (1.0 - vel_smooth) * vx_i
+            st["vy"] = vel_smooth * st["vy"] + (1.0 - vel_smooth) * vy_i
+        st["prev_t"], st["prev_cx"], st["prev_cy"] = now, cxn, cyn
+
+        wf = st["w_frac_ema"]
+        alpha = getattr(config, "W_EMA_ALPHA", 0.30)
+        st["w_frac_ema"] = w_frac if wf is None else (1.0 - alpha) * wf + alpha * w_frac
+        w_smooth = st["w_frac_ema"]
+        if st["prev_w_frac"] is not None:
+            dtw = max(now - (st["prev_t"] or now), 1e-3)
+            st["w_growth"] = (w_smooth - st["prev_w_frac"]) / dtw
+        st["prev_w_frac"] = w_smooth
+
+        speed = abs(st["vx"]) + abs(st["vy"])
+        far_factor = clipf(1.0 - max(w_smooth, (y2 - y1) * h_inv), 0.0, 1.0)
+        base_lead = float(getattr(config, "BASE_LEAD", 0.12))
+        lead_gain = float(getattr(config, "LEAD_GAIN", 0.35))
+        lead_max = float(getattr(config, "LEAD_MAX", 0.30))
+        lead_hi = max(base_lead, lead_max)
+        lead_time = clipf(base_lead + lead_gain * speed * far_factor, base_lead, lead_hi)
+        cxn_pred = clipf(cxn + st["vx"] * lead_time, 0.0, 1.0)
+        cyn_pred = clipf(cyn + st["vy"] * lead_time, 0.0, 1.0)
+        dx = cxn_pred - 0.5
+        dy = cyn_pred - 0.5
+
+        sm_alpha = getattr(config, "AIM_SMOOTH", 0.55)
+        sm_dx = st["last_dx"] * (1 - sm_alpha) + dx * sm_alpha
+        sm_dy = st["last_dy"] * (1 - sm_alpha) + dy * sm_alpha
+
+        if abs(sm_dx) > getattr(config, "DEAD_ZONE", 0.018):
+            st["ix"] = clipf(st["ix"] + sm_dx * 0.02, -0.20, 0.20)
+        else:
+            st["ix"] *= 0.9
+        if abs(sm_dy) > getattr(config, "DEAD_ZONE", 0.018):
+            st["iy"] = clipf(st["iy"] + sm_dy * 0.02, -0.20, 0.20)
+        else:
+            st["iy"] *= 0.9
+
+        ddx = sm_dx - st["last_dx"]
+        ddy = sm_dy - st["last_dy"]
+        st["last_dx"], st["last_dy"] = sm_dx, sm_dy
+
+        conf_norm = clipf((best_conf - config.DETECT_CONF) / max(1e-3, 0.40 - config.DETECT_CONF), 0.0, 1.0)
+        aim_gain = 0.6 + 0.4 * conf_norm
+
+        pan_speed = clipf(
+            (getattr(config, "AIM_P", 1.85) * sm_dx + getattr(config, "AIM_I", 0.07) * st["ix"] + getattr(config, "AIM_D", 0.15) * ddx) * aim_gain,
+            -1.0, 1.0
+        )
+        tilt_speed = clipf(
+            (getattr(config, "AIM_P", 1.85) * sm_dy + getattr(config, "AIM_I", 0.07) * st["iy"] + getattr(config, "AIM_D", 0.15) * ddy) * aim_gain,
+            -1.0, 1.0
+        )
+
+        center_err = max(abs(dx), abs(dy))
+        left = x1 * w_inv; right = 1.0 - x2 * w_inv
+        top = y1 * h_inv;  bottom = 1.0 - y2 * h_inv
+        min_margin = min(left, right, top, bottom)
+
+        # === zoom logic ===
+        state_zoom = st.get("zoom_state", 0)
+        can_switch = (now - float(st.get("zoom_last_change", 0.0) or 0.0)) >= float(getattr(config, "Z_MIN_SWITCH_INTERVAL", 0.50))
+
+        gate_dyn = max(0.05, _Z_CENTER_GATE_IN + _Z_CENTER_GATE_SCALE * (1.0 - clipf(w_smooth, 0.0, 1.0)))
+        center_good = center_err < gate_dyn
+
+        vel = abs(st["vx"]) + abs(st["vy"])
+        z_target = (1.0 - clipf(vel / max(1e-6, float(getattr(config, "Z_VEL_REF", 0.45))), 0.0, 1.0)) * float(getattr(config, "Z_TARGET_SLOW", 0.16)) \
+                   + clipf(vel / max(1e-6, float(getattr(config, "Z_VEL_REF", 0.45))), 0.0, 1.0) * float(getattr(config, "Z_TARGET_FAST", 0.12))
+        z_band_min = z_target - float(getattr(config, "Z_DELTA_IN", 0.008))
+        z_band_max = z_target + float(getattr(config, "Z_DELTA_OUT", 0.060))
+
+        out_edge_crit = min_margin < float(getattr(config, "Z_OUT_EDGE", 0.07))
+        near_edge = (min_margin < 0.05)
+
+        if st.get("zoom_lock", False):
+            if (
+                out_edge_crit
+                or (vel > float(getattr(config, "Z_UNLOCK_VEL_THR", 0.060)))
+                or (abs(float(st.get("w_growth", 0.0) or 0.0)) > float(getattr(config, "Z_UNLOCK_GROWTH_THR", 0.015)))
+                or (center_err > float(getattr(config, "Z_UNLOCK_CENTER_THR", 0.100)))
+                or (min_margin < _Z_UNLOCK_EDGE)
+            ):
+                st["zoom_lock"] = False
+                st["lock_candidate_since"] = None
+        else:
+            locked_candidate = (
+                center_good
+                and (vel < float(getattr(config, "Z_UNLOCK_VEL_THR", 0.060)))
+                and (abs(float(st.get("w_growth", 0.0) or 0.0)) < float(getattr(config, "Z_FREEZE_GROWTH_THR", 0.004)))
+                and (min_margin >= float(getattr(config, "Z_SAFETY_EDGE", 0.05)))
+            )
+            if locked_candidate:
+                if st.get("lock_candidate_since") is None:
+                    st["lock_candidate_since"] = now
+                elif (now - float(st["lock_candidate_since"])) >= float(getattr(config, "Z_LOCK_ARM_SECS", 0.8)):
+                    st["zoom_lock"] = True
+            else:
+                st["lock_candidate_since"] = None
+
+        want_in  = (w_smooth < (z_band_min - _Z_SIGN_HYST)) and center_good and (not near_edge) and (not st.get("zoom_lock", False))
+        want_out = (w_smooth > (z_band_max + _Z_SIGN_HYST)) or out_edge_crit
+
+        next_state = state_zoom
+        if state_zoom >= 0 and want_in and can_switch:
+            next_state = +1
+        elif state_zoom <= 0 and want_out and can_switch:
+            next_state = -1
+        elif not want_in and not want_out:
+            next_state = 0
+
+        if next_state != state_zoom:
+            st["zoom_state"] = next_state
+            st["zoom_last_change"] = now
+
+        err_w = z_target - w_smooth
+        if abs(err_w) < float(getattr(config, "Z_DEADBAND", 0.010)):
+            err_w = 0.0
+        st["zoom_int"] = clipf(float(st.get("zoom_int", 0.0) or 0.0) + err_w * 0.04, -_Z_INT_CLAMP, _Z_INT_CLAMP)
+        zoom_pi = _Z_P * err_w + _Z_I * st["zoom_int"]
+        zoom_ff = _Z_FF_GAIN * (-(float(st.get("w_growth", 0.0) or 0.0)))
+        zoom_cmd = clipf(zoom_pi + zoom_ff, _Z_SPEED_LIMIT_OUT, _Z_SPEED_LIMIT_IN)
+
+        if st.get("zoom_lock", False):
+            zoom_cmd = min(zoom_cmd, -0.20) if out_edge_crit else 0.0
+            st["zoom_int"] *= 0.90
+        else:
+            if st["zoom_state"] > 0:
+                zoom_cmd = max(zoom_cmd, 0.0)
+            elif st["zoom_state"] < 0:
+                zoom_cmd = min(zoom_cmd, 0.0)
+            else:
+                zoom_cmd = 0.0
+
+        if abs(zoom_cmd) < _Z_MIN_CMD:
+            zoom_cmd = 0.0
+
+        cmd_mag_est = max(abs(pan_speed), abs(tilt_speed))
+        if (cmd_mag_est > float(getattr(config, "Z_VELOCITY_GATE", 0.45))) and (zoom_cmd > 0.0):
+            zoom_cmd *= 0.5
+        if near_edge and zoom_cmd > 0.0:
+            zoom_cmd = 0.0
+        if min_margin < float(getattr(config, "Z_SAFETY_EDGE", 0.05)):
+            zoom_cmd = min(zoom_cmd, -0.25)
+
+        prev_z = float(st.get("zoom_prev_cmd", 0.0) or 0.0)
+        if zoom_cmd > 0.0:
+            if prev_z <= 0.0:
+                st["zoom_ramp_start"] = now
+            frac = clipf((now - float(st.get("zoom_ramp_start", now) or now)) / max(1e-3, _Z_IN_RAMP), 0.0, 1.0)
+            zoom_cmd *= (0.25 + 0.75 * frac)
+        else:
+            st["zoom_ramp_start"] = 0.0
+        st["zoom_prev_cmd"] = zoom_cmd
+
+        if zoom_cmd > 0.0 and center_good and not near_edge:
+            call_autofocus(cam_idx)
+
+        dx_abs, dy_abs = abs(dx), abs(dy)
+        if (dx_abs < 0.040) and (dy_abs < 0.040):
+            st["stable_frames"] = int(st.get("stable_frames", 0) or 0) + 1
+        else:
+            st["stable_frames"] = 0
+
+        st["fallback_done"] = False
+
+        adj_pan, adj_tilt = pan_speed, tilt_speed
+        if zoom_cmd > 0.0:
+            adj_pan = clipf(adj_pan * _Z_PAN_BOOST_IN, -1.0, 1.0)
+            adj_tilt = clipf(adj_tilt * _Z_PAN_BOOST_IN, -1.0, 1.0)
+
+        move_ptz_bounded(cam_idx, _PAN_SIGN * adj_pan, _TILT_SIGN * adj_tilt, zoom_cmd)
+        alarms.ingest_detection(cam_idx, True)
+        return
+
+    # =========================
+    # ===== детекций нет ======
+    # =========================
+    alarms.ingest_detection(cam_idx, False)
+    notify_detected(cam_idx, False)
+
+    # если мы были в TRACK и детекция пропала — заканчиваем TRACK и паркуем камеру в пресет
+    if is_ptz and st.get("tracking_active"):
+        # считаем, что "потеряли" если нет детекции > TRACK_END_LOSS_SEC
+        if (now - float(st.get("last_seen", 0.0) or 0.0)) >= TRACK_END_LOSS_SEC:
+            _end_track_and_park(cam_idx, reason="track_end_park")
+            _publish_with_boxes(cam_idx, frame_bgr, [], [])
+            return
+
+    # ниже — твоя старая логика “потерь/возврата” (оставляем)
+    st["zoom_lock"] = False
+    st["lock_candidate_since"] = None
+
+    if st.get("loss_since") is None:
+        st["loss_since"] = now
+    st["attack_origin_pan"] = None
+
+    recently_tracked = (st.get("last_seen") is not None) and ((now - float(st["last_seen"])) < 10.0)
+
+    near_edge_flag = False
+    lb = st.get("last_bbox")
+    if lb is not None:
+        x1, y1, x2, y2 = lb
+        left = x1 * w_inv; right = 1.0 - x2 * w_inv
+        top = y1 * h_inv;  bottom = 1.0 - y2 * h_inv
+        if (
+            (left < config.EDGE_LOSS_MARGIN)
+            or (right < config.EDGE_LOSS_MARGIN)
+            or (top < config.VERT_LOSS_MARGIN)
+            or (bottom < config.VERT_LOSS_MARGIN)
+        ):
+            near_edge_flag = True
+
+    if is_ptz and ((now - float(st.get("last_zoom_seen", 0.0) or 0.0)) < _Z_HOLD_AFTER_LOSS):
+        move_ptz_bounded(
+            cam_idx,
+            _PAN_SIGN * (float(st.get("last_dx", 0.0) or 0.0) * 0.6),
+            _TILT_SIGN * (float(st.get("last_dy", 0.0) or 0.0) * 0.6),
+            float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.25,
+        )
+        _publish_with_boxes(cam_idx, frame_bgr, [], [])
+        return
+
+    edge_grace = float(getattr(config, "EDGE_LOSS_GRACE_SEC", 1.8))
+    timed_out = (st.get("loss_since") is not None) and ((now - float(st["loss_since"])) >= float(config.LOSS_TO_PRESET_SEC))
+    near_edge_and_lost = (
+        near_edge_flag
+        and (st.get("loss_since") is not None)
+        and ((now - float(st["loss_since"])) >= edge_grace)
+    )
+
+    if is_ptz and recently_tracked and (near_edge_and_lost or timed_out):
+        _maybe_return_and_resume(
+            cam_idx,
+            "loss_or_timeout",
+            float(getattr(config, "LOSS_RETURN_COOLDOWN_SEC", 8.0)),
+        )
+        _publish_with_boxes(cam_idx, frame_bgr, [], [])
+        return
+
+    if config.AUTO_STRATEGY and is_ptz:
+        action = choose_auto_action(cam_idx, now)
+
+        # если патруль активен и не TRACK — не мешаем патрулю
+        if st.get("patrol_active", False) and st.get("mode") in ("IDLE", "SEARCH"):
+            st["stable_frames"] = 0
+            _publish_with_boxes(cam_idx, frame_bgr, [], [])
+            return
+
+        if action == "FOLLOW_SHORT":
+            move_ptz_bounded(
+                cam_idx,
+                _PAN_SIGN * float(st.get("last_dx", 0.0) or 0.0),
+                _TILT_SIGN * float(st.get("last_dy", 0.0) or 0.0),
+                float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.6,
+            )
+
+        elif action in ("SEARCH", "HOLD"):
+            if action == "HOLD" and (now - float(st.get("last_seen", now) or now)) < 8.0:
+                st["last_dx"] = float(st.get("last_dx", 0.0) or 0.0) * 0.85
+                st["last_dy"] = float(st.get("last_dy", 0.0) or 0.0) * 0.85
+                move_ptz_bounded(
+                    cam_idx,
+                    _PAN_SIGN * float(st.get("last_dx", 0.0) or 0.0),
+                    _TILT_SIGN * float(st.get("last_dy", 0.0) or 0.0),
+                    float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.4,
+                )
+            else:
+                stop_ptz(cam_idx)
+
+        elif action == "FALLBACK":
+            if not st.get("patrol_active", False):
+                _maybe_return_and_resume(
+                    cam_idx,
+                    "fallback",
+                    float(getattr(config, "FALLBACK_RETURN_COOLDOWN_SEC", 12.0)),
+                )
+
+    st["stable_frames"] = 0
+    _publish_with_boxes(cam_idx, frame_bgr, [], [])

ptz_tracker_modular/postprocess.py

@@ -0,0 +1,668 @@
+from __future__ import annotations
+import time
+import math
+import logging
+from typing import Any, List, Tuple
+
+import numpy as np
+import torch
+import cv2
+
+from . import config, state
+from .utils import clipf, wrap_deg, deg_to_compass
+from .preview import maybe_downscale, publish_preview
+from . import alarms
+from .notify import notify_detected
+from .ptz_io import move_ptz_bounded, call_autofocus, stop_ptz
+from .patrol import return_to_preset, ensure_patrol_resume
+
+logger = logging.getLogger("PTZTracker")
+
+_device = "cuda" if torch.cuda.is_available() else "cpu"
+_targets_tensor = torch.tensor(config.TARGET_CLASSES, device=_device)
+
+# === Zoom / устойчивость ===
+_Z_HOLD_AFTER_LOSS = getattr(config, "ZOOM_LOSS_HOLD_SEC", 0.70)
+_Z_SIGN_HYST = getattr(config, "ZOOM_SIGN_HYST", 0.020)
+_Z_MIN_CMD = getattr(config, "Z_MIN_CMD", 0.05)
+_Z_IN_RAMP = getattr(config, "Z_RAMP_TIME", 0.45)
+_Z_FF_GAIN = getattr(config, "Z_FF_GAIN", 0.55)
+_Z_P = getattr(config, "Z_P", 2.4)
+_Z_I = getattr(config, "Z_I", 0.16)
+_Z_INT_CLAMP = getattr(config, "Z_INT_CLAMP", 0.15)
+_Z_SPEED_LIMIT_OUT = getattr(config, "Z_SPEED_LIMIT_OUT", -0.65)
+_Z_SPEED_LIMIT_IN = getattr(config, "Z_SPEED_LIMIT_IN", 0.45)
+_Z_CENTER_GATE_IN = getattr(config, "Z_CENTER_GATE_BASE", 0.06)
+_Z_CENTER_GATE_SCALE = getattr(config, "Z_CENTER_GATE_SCALE", 0.20)
+_Z_UNLOCK_EDGE = getattr(config, "Z_UNLOCK_EDGE", 0.050)
+_Z_PAN_BOOST_IN = getattr(config, "Z_PAN_BOOST_WHEN_IN", getattr(config, "Z_PAN_BOOST", 1.35))
+
+# === TRACK lifecycle ===
+TRACK_END_LOSS_SEC = float(getattr(config, "TRACK_END_LOSS_SEC", 0.90))  # сколько ждать без детекции, чтобы завершить TRACK
+TRACK_END_RETURN_COOLDOWN_SEC = float(getattr(config, "TRACK_END_RETURN_COOLDOWN_SEC", 2.5))  # анти-спам goto
+TRACK_END_RESUME_DELAY_SEC = float(getattr(config, "TRACK_END_RESUME_DELAY_SEC", 1.0))  # после парковки
+
+def _publish_with_boxes(
+    cam_id: int,
+    img_bgr: np.ndarray,
+    boxes_xyxy: List[Tuple[int, int, int, int]],
+    labels: List[str],
+) -> None:
+    if config.PUBLISH_ONLY_IF_CLIENTS and not state.video_clients:
+        return
+    down, sx, sy = maybe_downscale(img_bgr, config.PREVIEW_TARGET_W)
+    if boxes_xyxy:
+        for (x1, y1, x2, y2), lab in zip(boxes_xyxy, labels):
+            if sx != 1.0 or sy != 1.0:
+                x1 = int(x1 * sx); y1 = int(y1 * sy)
+                x2 = int(x2 * sx); y2 = int(y2 * sy)
+            cv2.rectangle(down, (x1, y1), (x2, y2), (0, 255, 0), 2, lineType=cv2.LINE_4)
+            cv2.putText(
+                down, lab, (x1, max(0, y1 - 6)),
+                cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1, cv2.LINE_4,
+            )
+    publish_preview(cam_id, down)
+
+
+def choose_auto_action(cam_idx: int, now: float) -> str:
+    st = state.ptz_states[cam_idx]
+    dt_cam = now - st["last_seen"]
+    if dt_cam <= config.SHORT_LOSS_SEC:
+        return "FOLLOW_SHORT"
+    if dt_cam <= config.LONG_LOSS_SEC:
+        return "SEARCH"
+    ema_g = state.detect_stats_global["ema_interval"]
+    if ema_g is None:
+        return "SEARCH"
+    dyn_thr = max(config.ABS_MIN_FALLBACK, 3.0 * float(ema_g))
+    dyn_thr = min(dyn_thr, config.ABS_MAX_FALLBACK)
+    if config.FALLBACK_PRESET_CAP and config.FALLBACK_PRESET_CAP > 0:
+        dyn_thr = min(dyn_thr, config.FALLBACK_PRESET_CAP)
+    if dt_cam > dyn_thr:
+        return "FALLBACK"
+    return "SEARCH" if ema_g < 20.0 else "HOLD"
+
+
+def _maybe_return_and_resume(cam_idx: int, reason: str, min_interval_sec: float) -> bool:
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+    last = float(st.get("last_return_at", 0.0) or 0.0)
+    if (now - last) < float(min_interval_sec):
+        return False
+
+    st["last_return_at"] = now
+    return_to_preset(cam_idx, reason)
+    ensure_patrol_resume(cam_idx, delay=1.0)
+    return True
+
+
+def _enter_track(cam_idx: int) -> None:
+    st = state.ptz_states[cam_idx]
+    if not st.get("tracking_active"):
+        # запоминаем, был ли патруль активен — чтобы потом восстановить
+        st["_patrol_was_active_before_track"] = bool(st.get("patrol_active", False))
+    st["tracking_active"] = True
+    st["mode"] = "TRACK"
+    # патрульные команды должны замолчать
+    st["patrol_active"] = False
+    st["sync_wait"] = False
+
+
+def _end_track_and_park(cam_idx: int, *, reason: str) -> None:
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+
+    # если уже едем на пресет — не дублируем
+    if now < float(st.get("goto_in_progress_until", 0.0) or 0.0):
+        return
+
+    last = float(st.get("last_track_end_return_at", 0.0) or 0.0)
+    if (now - last) < TRACK_END_RETURN_COOLDOWN_SEC:
+        return
+    st["last_track_end_return_at"] = now
+
+    # СРАЗУ ставим "за нято goto", чтобы второй источник не успел добавить ещё один goto
+    settle = float(getattr(config, "GOTO_SETTLE_SEC", 2.5))
+    st["goto_in_progress_until"] = now + settle
+
+    st["tracking_active"] = False
+    st["mode"] = "IDLE"
+    notify_detected(cam_idx, False, force=True)
+    stop_ptz(cam_idx)
+
+    return_to_preset(cam_idx, reason=reason)
+    ensure_patrol_resume(cam_idx, delay=max(0.8, TRACK_END_RESUME_DELAY_SEC))
+
+def postprocess_control(cam_idx: int, frame_bgr: np.ndarray, res: Any, is_ptz: bool) -> None:
+    boxes_t = getattr(res, "boxes", None)
+    h, w = frame_bgr.shape[:2]
+    w_inv, h_inv = (1.0 / w), (1.0 / h)
+    now = time.time()
+
+    st = state.ptz_states.setdefault(cam_idx, {})
+    st.setdefault("mode", "auto" if config.AUTO_STRATEGY else "manual")
+    st.setdefault("last_seen", 0.0)
+    st.setdefault("loss_since", None)
+    st.setdefault("last_bbox", None)
+
+    st.setdefault("prev_t", None)
+    st.setdefault("prev_cx", 0.5)
+    st.setdefault("prev_cy", 0.5)
+    st.setdefault("vx", 0.0)
+    st.setdefault("vy", 0.0)
+    st.setdefault("ix", 0.0)
+    st.setdefault("iy", 0.0)
+
+    st.setdefault("w_frac_ema", None)
+    st.setdefault("prev_w_frac", None)
+    st.setdefault("w_growth", 0.0)
+
+    st.setdefault("zoom_state", 0)
+    st.setdefault("zoom_prev_cmd", 0.0)
+    st.setdefault("zoom_int", 0.0)
+    st.setdefault("zoom_last_change", 0.0)
+    st.setdefault("zoom_ramp_start", 0.0)
+    st.setdefault("zoom_lock", False)
+    st.setdefault("lock_candidate_since", None)
+    st.setdefault("last_zoom_seen", 0.0)
+
+    st.setdefault("last_dx", 0.0)
+    st.setdefault("last_dy", 0.0)
+    st.setdefault("stable_frames", 0)
+    st.setdefault("fallback_done", False)
+    st.setdefault("patrol_active", False)
+    st.setdefault("tracking_active", False)
+    st.setdefault("last_return_at", 0.0)
+    st.setdefault("last_track_end_return_at", 0.0)
+
+    st.setdefault("attack_origin_pan", None)
+    st.setdefault("prev_pan_deg", None)
+    st.setdefault("prev_pan_t", None)
+    st.setdefault("last_heading_log", 0.0)
+
+    _cfg = config.CAMERA_CONFIG.get(int(cam_idx), {}) if hasattr(config, "CAMERA_CONFIG") else {}
+    _PAN_SIGN: float = float(_cfg.get("pan_sign", 1) or 1)
+    _TILT_SIGN: float = float(_cfg.get("tilt_sign", -1) or -1)
+
+    MAX_ANN_BOXES = 12
+    det_xyxy: List[Tuple[int, int, int, int]] = []
+    det_labels: List[str] = []
+    best_target = None
+
+    if boxes_t is not None and len(boxes_t) > 0:
+        confs = boxes_t.conf
+        clss = boxes_t.cls
+        mask = (confs >= config.DETECT_CONF) & torch.isin(clss, _targets_tensor)
+        if mask.any():
+            xyxy_all = boxes_t.xyxy[mask].detach().cpu().numpy().astype(int)
+            conf_all = confs[mask].detach().cpu().numpy()
+            cls_all = clss[mask].detach().cpu().numpy().astype(int)
+
+            x1 = xyxy_all[:, 0]; y1 = xyxy_all[:, 1]
+            x2 = xyxy_all[:, 2]; y2 = xyxy_all[:, 3]
+            cy = (y1 + y2) * 0.5 * h_inv
+            score_all = conf_all + 0.05 * ((x2 - x1) * w_inv) + ((cy < 0.45).astype(np.float32) * 0.12)
+            order = score_all.argsort()[::-1]
+
+            topk = order[:MAX_ANN_BOXES]
+            for i in topk:
+                lab = f"{config.CLASS_NAMES.get(int(cls_all[i]), 'obj')} {float(conf_all[i]):.2f}"
+                det_xyxy.append((int(xyxy_all[i, 0]), int(xyxy_all[i, 1]), int(xyxy_all[i, 2]), int(xyxy_all[i, 3])))
+                det_labels.append(lab)
+
+            ibest = int(order[0])
+            best_target = (xyxy_all[ibest].tolist(), float(conf_all[ibest]), int(cls_all[ibest]))
+
+    # =========================
+    # ===== есть детекция ======
+    # =========================
+    if best_target is not None:
+        (x1, y1, x2, y2), best_conf, _ = best_target
+        st["loss_since"] = None
+        st["last_bbox"] = (int(x1), int(y1), int(x2), int(y2))
+        st["last_zoom_seen"] = now
+        st["last_seen"] = now
+
+        _publish_with_boxes(cam_idx, frame_bgr, det_xyxy, det_labels)
+
+        # --------- Панорама ----------
+        if not is_ptz:
+            notify_detected(cam_idx, True)
+
+            cx = (x1 + x2) * 0.5; cy = (y1 + y2) * 0.5
+            cxn = cx * w_inv;      cyn = cy * h_inv
+            if st["prev_t"] is not None:
+                dt = max(now - st["prev_t"], 1e-3)
+                st["vx"] = 0.85 * st["vx"] + 0.15 * ((cxn - st["prev_cx"]) / dt)
+                st["vy"] = 0.85 * st["vy"] + 0.15 * ((cyn - st["prev_cy"]) / dt)
+            st["prev_t"], st["prev_cx"], st["prev_cy"] = now, cxn, cyn
+
+            try:
+                from . import geo_autocal
+                geo_autocal.feed_pano_sample(cam_idx, cxn, now)
+            except Exception:
+                pass
+
+            base_az = float(config.get_cam_base_azimuth_deg(cam_idx))
+            hfov = float(config.get_cam_hfov_deg(cam_idx))
+            bearing = wrap_deg(base_az + (cxn - 0.5) * hfov)
+
+            if st.get("attack_origin_pan") is None:
+                st["attack_origin_pan"] = bearing
+                st["prev_pan_deg"] = bearing
+                st["prev_pan_t"] = now
+                st["last_heading_log"] = 0.0
+
+            origin = float(st["attack_origin_pan"])
+            cur_compass = deg_to_compass(float(bearing))
+            org_compass = deg_to_compass(origin)
+            delta = wrap_deg(float(bearing) - origin)
+            cw_ccw = "CW" if delta >= 0.0 else "CCW"
+
+            pan_rate = None
+            prev_t = st.get("prev_pan_t")
+            prev_p = st.get("prev_pan_deg")
+            if prev_t is not None and prev_p is not None:
+                dtp = max(1e-3, now - float(prev_t))
+                pan_rate = wrap_deg(float(bearing) - float(prev_p)) / dtp
+            st["prev_pan_deg"] = float(bearing)
+            st["prev_pan_t"] = now
+
+            if (now - float(st.get("last_heading_log", 0.0))) >= 0.7:
+                if pan_rate is None:
+                    logger.info(
+                        "[ATTACK/PANO] cam %d from %s (%.1f°) -> %s (%.1f°), Δ=%.1f° %s",
+                        cam_idx, org_compass, origin, cur_compass, float(bearing),
+                        float(delta), cw_ccw
+                    )
+                else:
+                    logger.info(
+                        "[ATTACK/PANO] cam %d from %s (%.1f°) -> %s (%.1f°), Δ=%.1f° %s, rate=%.1f°/s",
+                        cam_idx, org_compass, origin, cur_compass, float(bearing),
+                        float(delta), cw_ccw, float(pan_rate)
+                    )
+                st["last_heading_log"] = now
+
+            ptz_id = config.PAN_TO_PTZ.get(cam_idx)
+            if ptz_id is not None:
+                pst = state.ptz_states.setdefault(ptz_id, {})
+                pst["last_seen"] = now
+                pst["loss_since"] = None
+                pst["last_return_at"] = max(float(pst.get("last_return_at", 0.0) or 0.0), now)
+
+            alarms.ingest_detection(cam_idx, True)
+            return
+
+        # --------- PTZ: включаем TRACK сразу ----------
+        _enter_track(cam_idx)
+        notify_detected(cam_idx, True)
+
+        cx = (x1 + x2) * 0.5; cy = (y1 + y2) * 0.5
+        cxn = cx * w_inv;      cyn = cy * h_inv
+        w_frac = (x2 - x1) * w_inv
+
+        prev_t = st.get("prev_t")
+        if prev_t is not None:
+            dt = max(now - float(prev_t), 1e-3)
+            vx_i = (cxn - st["prev_cx"]) / dt
+            vy_i = (cyn - st["prev_cy"]) / dt
+            vel_smooth = clipf(float(getattr(config, "VEL_SMOOTH", 0.85)), 0.0, 0.99)
+            st["vx"] = vel_smooth * st["vx"] + (1.0 - vel_smooth) * vx_i
+            st["vy"] = vel_smooth * st["vy"] + (1.0 - vel_smooth) * vy_i
+
+        wf = st["w_frac_ema"]
+        alpha = getattr(config, "W_EMA_ALPHA", 0.30)
+        st["w_frac_ema"] = w_frac if wf is None else (1.0 - alpha) * wf + alpha * w_frac
+        w_smooth = st["w_frac_ema"]
+        if st["prev_w_frac"] is not None and prev_t is not None:
+            dtw = max(now - float(prev_t), 1e-3)
+            st["w_growth"] = (w_smooth - st["prev_w_frac"]) / dtw
+        else:
+            st["w_growth"] = 0.0
+        # optional clamp to avoid spikes from detector jitter
+        wg_clamp = float(getattr(config, "W_GROWTH_CLAMP", 2.0))
+        st["w_growth"] = clipf(float(st.get("w_growth", 0.0) or 0.0), -wg_clamp, wg_clamp)
+        st["prev_w_frac"] = w_smooth
+
+        # update prev_* only after derivative computations
+        st["prev_t"], st["prev_cx"], st["prev_cy"] = now, cxn, cyn
+
+        speed = abs(st["vx"]) + abs(st["vy"])
+        far_factor = clipf(1.0 - max(w_smooth, (y2 - y1) * h_inv), 0.0, 1.0)
+        base_lead = float(getattr(config, "BASE_LEAD", 0.12))
+        lead_gain = float(getattr(config, "LEAD_GAIN", 0.35))
+        lead_max = float(getattr(config, "LEAD_MAX", 0.30))
+        lead_hi = max(base_lead, lead_max)
+        lead_time = clipf(base_lead + lead_gain * speed * far_factor, base_lead, lead_hi)
+        # If target is far from center, disable aggressive lead to avoid overshoot during large slews.
+        err_mag = max(abs(cxn - 0.5), abs(cyn - 0.5))
+        lead_off = float(getattr(config, "LEAD_OFF_ERR", 0.18))
+        if err_mag > lead_off:
+            lead_time = base_lead
+        pred_min = float(getattr(config, "PRED_CLAMP_MIN", 0.05))
+        pred_max = float(getattr(config, "PRED_CLAMP_MAX", 0.95))
+        cxn_pred = clipf(cxn + st["vx"] * lead_time, pred_min, pred_max)
+        cyn_pred = clipf(cyn + st["vy"] * lead_time, pred_min, pred_max)
+        dx = cxn_pred - 0.5
+        dy = cyn_pred - 0.5
+
+        sm_alpha = getattr(config, "AIM_SMOOTH", 0.55)
+        sm_dx = st["last_dx"] * (1 - sm_alpha) + dx * sm_alpha
+        sm_dy = st["last_dy"] * (1 - sm_alpha) + dy * sm_alpha
+
+        if abs(sm_dx) > getattr(config, "DEAD_ZONE", 0.018):
+            st["ix"] = clipf(st["ix"] + sm_dx * 0.02, -0.20, 0.20)
+        else:
+            st["ix"] *= 0.9
+        if abs(sm_dy) > getattr(config, "DEAD_ZONE", 0.018):
+            st["iy"] = clipf(st["iy"] + sm_dy * 0.02, -0.20, 0.20)
+        else:
+            st["iy"] *= 0.9
+
+        ddx = sm_dx - st["last_dx"]
+        ddy = sm_dy - st["last_dy"]
+        st["last_dx"], st["last_dy"] = sm_dx, sm_dy
+
+        conf_norm = clipf((best_conf - config.DETECT_CONF) / max(1e-3, 0.40 - config.DETECT_CONF), 0.0, 1.0)
+        aim_gain = 0.6 + 0.4 * conf_norm
+
+        pan_speed = clipf(
+            (getattr(config, "AIM_P", 1.85) * sm_dx + getattr(config, "AIM_I", 0.07) * st["ix"] + getattr(config, "AIM_D", 0.15) * ddx) * aim_gain,
+            -1.0, 1.0
+        )
+        tilt_speed = clipf(
+            (getattr(config, "AIM_P", 1.85) * sm_dy + getattr(config, "AIM_I", 0.07) * st["iy"] + getattr(config, "AIM_D", 0.15) * ddy) * aim_gain,
+            -1.0, 1.0
+        )
+
+        center_err = max(abs(dx), abs(dy))
+        left = x1 * w_inv; right = 1.0 - x2 * w_inv
+        top = y1 * h_inv;  bottom = 1.0 - y2 * h_inv
+        min_margin = min(left, right, top, bottom)
+
+        # === zoom logic ===
+        state_zoom = st.get("zoom_state", 0)
+        can_switch = (now - float(st.get("zoom_last_change", 0.0) or 0.0)) >= float(getattr(config, "Z_MIN_SWITCH_INTERVAL", 0.50))
+
+        gate_dyn = max(0.05, _Z_CENTER_GATE_IN + _Z_CENTER_GATE_SCALE * (1.0 - clipf(w_smooth, 0.0, 1.0)))
+        center_good = center_err < gate_dyn
+
+        vel = abs(st["vx"]) + abs(st["vy"])
+        z_target = (1.0 - clipf(vel / max(1e-6, float(getattr(config, "Z_VEL_REF", 0.45))), 0.0, 1.0)) * float(getattr(config, "Z_TARGET_SLOW", 0.16)) \
+                   + clipf(vel / max(1e-6, float(getattr(config, "Z_VEL_REF", 0.45))), 0.0, 1.0) * float(getattr(config, "Z_TARGET_FAST", 0.12))
+        z_band_min = z_target - float(getattr(config, "Z_DELTA_IN", 0.008))
+        z_band_max = z_target + float(getattr(config, "Z_DELTA_OUT", 0.060))
+
+        out_edge_crit = min_margin < float(getattr(config, "Z_OUT_EDGE", 0.07))
+        near_edge = (min_margin < 0.05)
+
+        if st.get("zoom_lock", False):
+            if (
+                out_edge_crit
+                or (vel > float(getattr(config, "Z_UNLOCK_VEL_THR", 0.060)))
+                or (abs(float(st.get("w_growth", 0.0) or 0.0)) > float(getattr(config, "Z_UNLOCK_GROWTH_THR", 0.015)))
+                or (center_err > float(getattr(config, "Z_UNLOCK_CENTER_THR", 0.100)))
+                or (min_margin < _Z_UNLOCK_EDGE)
+            ):
+                st["zoom_lock"] = False
+                st["lock_candidate_since"] = None
+        else:
+            locked_candidate = (
+                center_good
+                and (vel < float(getattr(config, "Z_UNLOCK_VEL_THR", 0.060)))
+                and (abs(float(st.get("w_growth", 0.0) or 0.0)) < float(getattr(config, "Z_FREEZE_GROWTH_THR", 0.004)))
+                and (min_margin >= float(getattr(config, "Z_SAFETY_EDGE", 0.05)))
+            )
+            if locked_candidate:
+                if st.get("lock_candidate_since") is None:
+                    st["lock_candidate_since"] = now
+                elif (now - float(st["lock_candidate_since"])) >= float(getattr(config, "Z_LOCK_ARM_SECS", 0.8)):
+                    st["zoom_lock"] = True
+            else:
+                st["lock_candidate_since"] = None
+
+        want_in  = (w_smooth < (z_band_min - _Z_SIGN_HYST)) and center_good and (not near_edge) and (not st.get("zoom_lock", False))
+        want_out = (w_smooth > (z_band_max + _Z_SIGN_HYST)) or out_edge_crit
+
+        next_state = state_zoom
+        if state_zoom >= 0 and want_in and can_switch:
+            next_state = +1
+        elif state_zoom <= 0 and want_out and can_switch:
+            next_state = -1
+        elif not want_in and not want_out:
+            next_state = 0
+
+        if next_state != state_zoom:
+            st["zoom_state"] = next_state
+            st["zoom_last_change"] = now
+
+        err_w = z_target - w_smooth
+        if abs(err_w) < float(getattr(config, "Z_DEADBAND", 0.010)):
+            err_w = 0.0
+        st["zoom_int"] = clipf(float(st.get("zoom_int", 0.0) or 0.0) + err_w * 0.04, -_Z_INT_CLAMP, _Z_INT_CLAMP)
+        zoom_pi = _Z_P * err_w + _Z_I * st["zoom_int"]
+        zoom_ff = _Z_FF_GAIN * (-(float(st.get("w_growth", 0.0) or 0.0)))
+        zoom_cmd = clipf(zoom_pi + zoom_ff, _Z_SPEED_LIMIT_OUT, _Z_SPEED_LIMIT_IN)
+
+        if st.get("zoom_lock", False):
+            zoom_cmd = min(zoom_cmd, -0.20) if out_edge_crit else 0.0
+            st["zoom_int"] *= 0.90
+        else:
+            if st["zoom_state"] > 0:
+                zoom_cmd = max(zoom_cmd, 0.0)
+            elif st["zoom_state"] < 0:
+                zoom_cmd = min(zoom_cmd, 0.0)
+            else:
+                zoom_cmd = 0.0
+
+        if abs(zoom_cmd) < _Z_MIN_CMD:
+            zoom_cmd = 0.0
+
+        cmd_mag_est = max(abs(pan_speed), abs(tilt_speed))
+        if (cmd_mag_est > float(getattr(config, "Z_VELOCITY_GATE", 0.45))) and (zoom_cmd > 0.0):
+            zoom_cmd = 0.0
+        err_gate = float(getattr(config, "Z_ERR_GATE", 0.18))
+        if (max(abs(sm_dx), abs(sm_dy)) > err_gate) and (zoom_cmd > 0.0):
+            zoom_cmd = 0.0
+        if near_edge and zoom_cmd > 0.0:
+            zoom_cmd = 0.0
+        if min_margin < float(getattr(config, "Z_SAFETY_EDGE", 0.05)):
+            zoom_cmd = min(zoom_cmd, -0.25)
+
+        prev_z = float(st.get("zoom_prev_cmd", 0.0) or 0.0)
+        if zoom_cmd > 0.0:
+            if prev_z <= 0.0:
+                st["zoom_ramp_start"] = now
+            frac = clipf((now - float(st.get("zoom_ramp_start", now) or now)) / max(1e-3, _Z_IN_RAMP), 0.0, 1.0)
+            zoom_cmd *= (0.25 + 0.75 * frac)
+        else:
+            st["zoom_ramp_start"] = 0.0
+        st["zoom_prev_cmd"] = zoom_cmd
+
+        if zoom_cmd > 0.0 and center_good and not near_edge:
+            call_autofocus(cam_idx)
+
+        dx_abs, dy_abs = abs(dx), abs(dy)
+        if (dx_abs < 0.040) and (dy_abs < 0.040):
+            st["stable_frames"] = int(st.get("stable_frames", 0) or 0) + 1
+        else:
+            st["stable_frames"] = 0
+
+        st["fallback_done"] = False
+
+        adj_pan, adj_tilt = pan_speed, tilt_speed
+        if zoom_cmd > 0.0:
+            adj_pan = clipf(adj_pan * _Z_PAN_BOOST_IN, -1.0, 1.0)
+            adj_tilt = clipf(adj_tilt * _Z_PAN_BOOST_IN, -1.0, 1.0)
+
+        move_ptz_bounded(cam_idx, _PAN_SIGN * adj_pan, _TILT_SIGN * adj_tilt, zoom_cmd)
+        alarms.ingest_detection(cam_idx, True)
+        return
+
+    # =========================
+    # ===== детекций нет ======
+    # =========================
+    alarms.ingest_detection(cam_idx, False)
+    notify_detected(cam_idx, False)
+
+    # если мы были в TRACK и детекция пропала — заканчиваем TRACK и паркуем камеру в пресет
+    if is_ptz and st.get("tracking_active"):
+        # считаем, что "потеряли" если нет детекции > TRACK_END_LOSS_SEC
+        if (now - float(st.get("last_seen", 0.0) or 0.0)) >= TRACK_END_LOSS_SEC:
+            _end_track_and_park(cam_idx, reason="track_end_park")
+            _publish_with_boxes(cam_idx, frame_bgr, [], [])
+            return
+
+    # ниже — твоя старая логика “потерь/возврата” (оставляем)
+    st["zoom_lock"] = False
+    st["lock_candidate_since"] = None
+
+    if st.get("loss_since") is None:
+        st["loss_since"] = now
+    st["attack_origin_pan"] = None
+
+    recently_tracked = (st.get("last_seen") is not None) and ((now - float(st["last_seen"])) < 10.0)
+
+    near_edge_flag = False
+    lb = st.get("last_bbox")
+    if lb is not None:
+        x1, y1, x2, y2 = lb
+        left = x1 * w_inv; right = 1.0 - x2 * w_inv
+        top = y1 * h_inv;  bottom = 1.0 - y2 * h_inv
+        if (
+            (left < config.EDGE_LOSS_MARGIN)
+            or (right < config.EDGE_LOSS_MARGIN)
+            or (top < config.VERT_LOSS_MARGIN)
+            or (bottom < config.VERT_LOSS_MARGIN)
+        ):
+            near_edge_flag = True
+
+    if is_ptz and ((now - float(st.get("last_zoom_seen", 0.0) or 0.0)) < _Z_HOLD_AFTER_LOSS):
+        move_ptz_bounded(
+            cam_idx,
+            _PAN_SIGN * (float(st.get("last_dx", 0.0) or 0.0) * 0.6),
+            _TILT_SIGN * (float(st.get("last_dy", 0.0) or 0.0) * 0.6),
+            float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.25,
+        )
+        _publish_with_boxes(cam_idx, frame_bgr, [], [])
+        return
+
+    edge_grace = float(getattr(config, "EDGE_LOSS_GRACE_SEC", 1.8))
+    timed_out = (st.get("loss_since") is not None) and ((now - float(st["loss_since"])) >= float(config.LOSS_TO_PRESET_SEC))
+    near_edge_and_lost = (
+        near_edge_flag
+        and (st.get("loss_since") is not None)
+        and ((now - float(st["loss_since"])) >= edge_grace)
+    )
+
+    if is_ptz and recently_tracked and (near_edge_and_lost or timed_out):
+        _maybe_return_and_resume(
+            cam_idx,
+            "loss_or_timeout",
+            float(getattr(config, "LOSS_RETURN_COOLDOWN_SEC", 8.0)),
+        )
+        _publish_with_boxes(cam_idx, frame_bgr, [], [])
+        return
+
+    if config.AUTO_STRATEGY and is_ptz:
+        action = choose_auto_action(cam_idx, now)
+
+        # если патруль активен и не TRACK — не мешаем патрулю
+        if st.get("patrol_active", False) and st.get("mode") in ("IDLE", "SEARCH"):
+            st["stable_frames"] = 0
+
+        # ---------- устойчивое поведение при кратких провалах детекции ----------
+        last_seen = float(st.get("last_seen", 0.0) or 0.0)
+        dt_loss = now - last_seen
+
+        def _predict_dxdy() -> Tuple[float, float]:
+            cx0 = float(st.get("prev_cx", 0.5) or 0.5)
+            cy0 = float(st.get("prev_cy", 0.5) or 0.5)
+            vx = float(st.get("vx", 0.0) or 0.0)
+            vy = float(st.get("vy", 0.0) or 0.0)
+            w0 = st.get("w_frac_ema")
+            w0 = float(w0) if w0 is not None else 0.08  # типичный "далёкий" объект
+            speed = float((vx * vx + vy * vy) ** 0.5)
+            far_factor = clipf(1.0 - w0, 0.0, 1.0)
+
+            base_lead = float(getattr(config, "BASE_LEAD", 0.12))
+            lead_gain = float(getattr(config, "LEAD_GAIN", 0.35))
+            lead_max = float(getattr(config, "LEAD_MAX", 0.30))
+            lead_hi = max(base_lead, lead_max)
+
+            lead_time = clipf(base_lead + lead_gain * speed * far_factor, base_lead, lead_hi)
+            err_mag = max(abs(cx0 - 0.5), abs(cy0 - 0.5))
+            lead_off = float(getattr(config, "LEAD_OFF_ERR", 0.18))
+            if err_mag > lead_off:
+                lead_time = base_lead
+            pred_min = float(getattr(config, "PRED_CLAMP_MIN", 0.05))
+            pred_max = float(getattr(config, "PRED_CLAMP_MAX", 0.95))
+            cxp = clipf(cx0 + vx * lead_time, pred_min, pred_max)
+            cyp = clipf(cy0 + vy * lead_time, pred_min, pred_max)
+            dx = cxp - 0.5
+            dy = cyp - 0.5
+            dcl = float(getattr(config, "PRED_DX_CLAMP", 0.35))
+            return clipf(dx, -dcl, dcl), clipf(dy, -dcl, dcl)
+
+        pred_dx, pred_dy = _predict_dxdy()
+
+        short_thr = float(getattr(config, "SHORT_LOSS_SEC", 0.25))
+        long_thr = float(getattr(config, "LONG_LOSS_SEC", 1.2))
+
+        if dt_loss <= short_thr:
+            decay = 1.0
+            zoom_loss = 0.0  # freeze zoom на коротких провалах
+        elif dt_loss <= long_thr:
+            tau = float(getattr(config, "LOSS_DECAY_TAU", 0.35))
+            decay = float(math.exp(-(dt_loss - short_thr) / max(1e-3, tau)))
+            zoom_loss = float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.35  # мягко расширяем кадр
+        else:
+            decay = 0.0
+            zoom_loss = float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.6
+
+        st["stable_frames"] = 0
+
+        # HOLD_PREDICT: пока цель могла "мигнуть" — ведём по прогнозу, не накапливая задержку
+        if dt_loss <= long_thr:
+            # обновим last_dx/last_dy прогнозом, чтобы другие ветки (если сработают) не тянули старьё
+            st["last_dx"], st["last_dy"] = float(pred_dx), float(pred_dy)
+            move_ptz_bounded(
+                cam_idx,
+                _PAN_SIGN * float(pred_dx) * float(decay),
+                _TILT_SIGN * float(pred_dy) * float(decay),
+                float(zoom_loss),
+            )
+            _publish_with_boxes(cam_idx, frame_bgr, [], [])
+            return
+
+        if action == "FOLLOW_SHORT":
+            move_ptz_bounded(
+                cam_idx,
+                _PAN_SIGN * float(st.get("last_dx", 0.0) or 0.0),
+                _TILT_SIGN * float(st.get("last_dy", 0.0) or 0.0),
+                float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.6,
+            )
+
+        elif action in ("SEARCH", "HOLD"):
+            if action == "HOLD" and (now - float(st.get("last_seen", now) or now)) < 8.0:
+                st["last_dx"] = float(st.get("last_dx", 0.0) or 0.0) * 0.85
+                st["last_dy"] = float(st.get("last_dy", 0.0) or 0.0) * 0.85
+                move_ptz_bounded(
+                    cam_idx,
+                    _PAN_SIGN * float(st.get("last_dx", 0.0) or 0.0),
+                    _TILT_SIGN * float(st.get("last_dy", 0.0) or 0.0),
+                    float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.4,
+                )
+            else:
+                stop_ptz(cam_idx)
+
+        elif action == "FALLBACK":
+            if not st.get("patrol_active", False):
+                _maybe_return_and_resume(
+                    cam_idx,
+                    "fallback",
+                    float(getattr(config, "FALLBACK_RETURN_COOLDOWN_SEC", 12.0)),
+                )
+
+    st["stable_frames"] = 0
+    _publish_with_boxes(cam_idx, frame_bgr, [], [])

ptz_tracker_modular/postprocess04.02.py

@@ -0,0 +1,667 @@
+from __future__ import annotations
+import time
+import math
+import logging
+from typing import Any, List, Tuple
+
+import numpy as np
+import torch
+import cv2
+
+from . import config, state
+from .utils import clipf, wrap_deg, deg_to_compass
+from .preview import maybe_downscale, publish_preview
+from . import alarms
+from .notify import notify_detected
+from .ptz_io import move_ptz_bounded, call_autofocus, stop_ptz
+from .patrol import return_to_preset, ensure_patrol_resume
+
+logger = logging.getLogger("PTZTracker")
+
+_device = "cuda" if torch.cuda.is_available() else "cpu"
+_targets_tensor = torch.tensor(config.TARGET_CLASSES, device=_device)
+
+# === Zoom / устойчивость ===
+_Z_HOLD_AFTER_LOSS = getattr(config, "ZOOM_LOSS_HOLD_SEC", 0.70)
+_Z_SIGN_HYST = getattr(config, "ZOOM_SIGN_HYST", 0.020)
+_Z_MIN_CMD = getattr(config, "Z_MIN_CMD", 0.05)
+_Z_IN_RAMP = getattr(config, "Z_RAMP_TIME", 0.45)
+_Z_FF_GAIN = getattr(config, "Z_FF_GAIN", 0.55)
+_Z_P = getattr(config, "Z_P", 2.4)
+_Z_I = getattr(config, "Z_I", 0.16)
+_Z_INT_CLAMP = getattr(config, "Z_INT_CLAMP", 0.15)
+_Z_SPEED_LIMIT_OUT = getattr(config, "Z_SPEED_LIMIT_OUT", -0.65)
+_Z_SPEED_LIMIT_IN = getattr(config, "Z_SPEED_LIMIT_IN", 0.45)
+_Z_CENTER_GATE_IN = getattr(config, "Z_CENTER_GATE_BASE", 0.06)
+_Z_CENTER_GATE_SCALE = getattr(config, "Z_CENTER_GATE_SCALE", 0.20)
+_Z_UNLOCK_EDGE = getattr(config, "Z_UNLOCK_EDGE", 0.050)
+_Z_PAN_BOOST_IN = getattr(config, "Z_PAN_BOOST_WHEN_IN", getattr(config, "Z_PAN_BOOST", 1.35))
+
+# === TRACK lifecycle ===
+TRACK_END_LOSS_SEC = float(getattr(config, "TRACK_END_LOSS_SEC", 0.90))  # сколько ждать без детекции, чтобы завершить TRACK
+TRACK_END_RETURN_COOLDOWN_SEC = float(getattr(config, "TRACK_END_RETURN_COOLDOWN_SEC", 2.5))  # анти-спам goto
+TRACK_END_RESUME_DELAY_SEC = float(getattr(config, "TRACK_END_RESUME_DELAY_SEC", 1.0))  # после парковки
+
+def _publish_with_boxes(
+    cam_id: int,
+    img_bgr: np.ndarray,
+    boxes_xyxy: List[Tuple[int, int, int, int]],
+    labels: List[str],
+) -> None:
+    if config.PUBLISH_ONLY_IF_CLIENTS and not state.video_clients:
+        return
+    down, sx, sy = maybe_downscale(img_bgr, config.PREVIEW_TARGET_W)
+    if boxes_xyxy:
+        for (x1, y1, x2, y2), lab in zip(boxes_xyxy, labels):
+            if sx != 1.0 or sy != 1.0:
+                x1 = int(x1 * sx); y1 = int(y1 * sy)
+                x2 = int(x2 * sx); y2 = int(y2 * sy)
+            cv2.rectangle(down, (x1, y1), (x2, y2), (0, 255, 0), 2, lineType=cv2.LINE_4)
+            cv2.putText(
+                down, lab, (x1, max(0, y1 - 6)),
+                cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1, cv2.LINE_4,
+            )
+    publish_preview(cam_id, down)
+
+
+def choose_auto_action(cam_idx: int, now: float) -> str:
+    st = state.ptz_states[cam_idx]
+    dt_cam = now - st["last_seen"]
+    if dt_cam <= config.SHORT_LOSS_SEC:
+        return "FOLLOW_SHORT"
+    if dt_cam <= config.LONG_LOSS_SEC:
+        return "SEARCH"
+    ema_g = state.detect_stats_global["ema_interval"]
+    if ema_g is None:
+        return "SEARCH"
+    dyn_thr = max(config.ABS_MIN_FALLBACK, 3.0 * float(ema_g))
+    dyn_thr = min(dyn_thr, config.ABS_MAX_FALLBACK)
+    if config.FALLBACK_PRESET_CAP and config.FALLBACK_PRESET_CAP > 0:
+        dyn_thr = min(dyn_thr, config.FALLBACK_PRESET_CAP)
+    if dt_cam > dyn_thr:
+        return "FALLBACK"
+    return "SEARCH" if ema_g < 20.0 else "HOLD"
+
+
+def _maybe_return_and_resume(cam_idx: int, reason: str, min_interval_sec: float) -> bool:
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+    last = float(st.get("last_return_at", 0.0) or 0.0)
+    if (now - last) < float(min_interval_sec):
+        return False
+
+    st["last_return_at"] = now
+    return_to_preset(cam_idx, reason)
+    ensure_patrol_resume(cam_idx, delay=1.0)
+    return True
+
+
+def _enter_track(cam_idx: int) -> None:
+    st = state.ptz_states[cam_idx]
+    if not st.get("tracking_active"):
+        # запоминаем, был ли патруль активен — чтобы потом восстановить
+        st["_patrol_was_active_before_track"] = bool(st.get("patrol_active", False))
+    st["tracking_active"] = True
+    st["mode"] = "TRACK"
+    # патрульные команды должны замолчать
+    st["patrol_active"] = False
+    st["sync_wait"] = False
+
+
+def _end_track_and_park(cam_idx: int, *, reason: str) -> None:
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+
+    # если уже едем на пресет — не дублируем
+    if now < float(st.get("goto_in_progress_until", 0.0) or 0.0):
+        return
+
+    last = float(st.get("last_track_end_return_at", 0.0) or 0.0)
+    if (now - last) < TRACK_END_RETURN_COOLDOWN_SEC:
+        return
+    st["last_track_end_return_at"] = now
+
+    # СРАЗУ ставим "за нято goto", чтобы второй источник не успел добавить ещё один goto
+    settle = float(getattr(config, "GOTO_SETTLE_SEC", 2.5))
+    st["goto_in_progress_until"] = now + settle
+
+    st["tracking_active"] = False
+    st["mode"] = "IDLE"
+    notify_detected(cam_idx, False, force=True)
+    stop_ptz(cam_idx)
+
+    return_to_preset(cam_idx, reason=reason)
+    ensure_patrol_resume(cam_idx, delay=max(0.8, TRACK_END_RESUME_DELAY_SEC))
+
+def postprocess_control(cam_idx: int, frame_bgr: np.ndarray, res: Any, is_ptz: bool) -> None:
+    boxes_t = getattr(res, "boxes", None)
+    h, w = frame_bgr.shape[:2]
+    w_inv, h_inv = (1.0 / w), (1.0 / h)
+    now = time.time()
+
+    st = state.ptz_states.setdefault(cam_idx, {})
+    st.setdefault("mode", "auto" if config.AUTO_STRATEGY else "manual")
+    st.setdefault("last_seen", 0.0)
+    st.setdefault("loss_since", None)
+    st.setdefault("last_bbox", None)
+
+    st.setdefault("prev_t", None)
+    st.setdefault("prev_cx", 0.5)
+    st.setdefault("prev_cy", 0.5)
+    st.setdefault("vx", 0.0)
+    st.setdefault("vy", 0.0)
+    st.setdefault("ix", 0.0)
+    st.setdefault("iy", 0.0)
+
+    st.setdefault("w_frac_ema", None)
+    st.setdefault("prev_w_frac", None)
+    st.setdefault("w_growth", 0.0)
+
+    st.setdefault("zoom_state", 0)
+    st.setdefault("zoom_prev_cmd", 0.0)
+    st.setdefault("zoom_int", 0.0)
+    st.setdefault("zoom_last_change", 0.0)
+    st.setdefault("zoom_ramp_start", 0.0)
+    st.setdefault("zoom_lock", False)
+    st.setdefault("lock_candidate_since", None)
+    st.setdefault("last_zoom_seen", 0.0)
+
+    st.setdefault("last_dx", 0.0)
+    st.setdefault("last_dy", 0.0)
+    st.setdefault("stable_frames", 0)
+    st.setdefault("fallback_done", False)
+    st.setdefault("patrol_active", False)
+    st.setdefault("tracking_active", False)
+    st.setdefault("last_return_at", 0.0)
+    st.setdefault("last_track_end_return_at", 0.0)
+
+    st.setdefault("attack_origin_pan", None)
+    st.setdefault("prev_pan_deg", None)
+    st.setdefault("prev_pan_t", None)
+    st.setdefault("last_heading_log", 0.0)
+
+    _cfg = config.CAMERA_CONFIG.get(int(cam_idx), {}) if hasattr(config, "CAMERA_CONFIG") else {}
+    _PAN_SIGN: float = float(_cfg.get("pan_sign", 1) or 1)
+    _TILT_SIGN: float = float(_cfg.get("tilt_sign", -1) or -1)
+
+    MAX_ANN_BOXES = 12
+    det_xyxy: List[Tuple[int, int, int, int]] = []
+    det_labels: List[str] = []
+    best_target = None
+
+    if boxes_t is not None and len(boxes_t) > 0:
+        confs = boxes_t.conf
+        clss = boxes_t.cls
+        mask = (confs >= config.DETECT_CONF) & torch.isin(clss, _targets_tensor)
+        if mask.any():
+            xyxy_all = boxes_t.xyxy[mask].detach().cpu().numpy().astype(int)
+            conf_all = confs[mask].detach().cpu().numpy()
+            cls_all = clss[mask].detach().cpu().numpy().astype(int)
+
+            x1 = xyxy_all[:, 0]; y1 = xyxy_all[:, 1]
+            x2 = xyxy_all[:, 2]; y2 = xyxy_all[:, 3]
+            cy = (y1 + y2) * 0.5 * h_inv
+            score_all = conf_all + 0.05 * ((x2 - x1) * w_inv) + ((cy < 0.45).astype(np.float32) * 0.12)
+            order = score_all.argsort()[::-1]
+
+            topk = order[:MAX_ANN_BOXES]
+            for i in topk:
+                lab = f"{config.CLASS_NAMES.get(int(cls_all[i]), 'obj')} {float(conf_all[i]):.2f}"
+                det_xyxy.append((int(xyxy_all[i, 0]), int(xyxy_all[i, 1]), int(xyxy_all[i, 2]), int(xyxy_all[i, 3])))
+                det_labels.append(lab)
+
+            ibest = int(order[0])
+            best_target = (xyxy_all[ibest].tolist(), float(conf_all[ibest]), int(cls_all[ibest]))
+
+    # =========================
+    # ===== есть детекция ======
+    # =========================
+    if best_target is not None:
+        (x1, y1, x2, y2), best_conf, _ = best_target
+        st["loss_since"] = None
+        st["last_bbox"] = (int(x1), int(y1), int(x2), int(y2))
+        st["last_zoom_seen"] = now
+        st["last_seen"] = now
+
+        _publish_with_boxes(cam_idx, frame_bgr, det_xyxy, det_labels)
+
+        # --------- Панорама ----------
+        if not is_ptz:
+            notify_detected(cam_idx, True)
+
+            cx = (x1 + x2) * 0.5; cy = (y1 + y2) * 0.5
+            cxn = cx * w_inv;      cyn = cy * h_inv
+            if st["prev_t"] is not None:
+                dt = max(now - st["prev_t"], 1e-3)
+                st["vx"] = 0.85 * st["vx"] + 0.15 * ((cxn - st["prev_cx"]) / dt)
+                st["vy"] = 0.85 * st["vy"] + 0.15 * ((cyn - st["prev_cy"]) / dt)
+            st["prev_t"], st["prev_cx"], st["prev_cy"] = now, cxn, cyn
+
+            try:
+                from . import geo_autocal
+                geo_autocal.feed_pano_sample(cam_idx, cxn, now)
+            except Exception:
+                pass
+
+            base_az = float(config.get_cam_base_azimuth_deg(cam_idx))
+            hfov = float(config.get_cam_hfov_deg(cam_idx))
+            bearing = wrap_deg(base_az + (cxn - 0.5) * hfov)
+
+            if st.get("attack_origin_pan") is None:
+                st["attack_origin_pan"] = bearing
+                st["prev_pan_deg"] = bearing
+                st["prev_pan_t"] = now
+                st["last_heading_log"] = 0.0
+
+            origin = float(st["attack_origin_pan"])
+            cur_compass = deg_to_compass(float(bearing))
+            org_compass = deg_to_compass(origin)
+            delta = wrap_deg(float(bearing) - origin)
+            cw_ccw = "CW" if delta >= 0.0 else "CCW"
+
+            pan_rate = None
+            prev_t = st.get("prev_pan_t")
+            prev_p = st.get("prev_pan_deg")
+            if prev_t is not None and prev_p is not None:
+                dtp = max(1e-3, now - float(prev_t))
+                pan_rate = wrap_deg(float(bearing) - float(prev_p)) / dtp
+            st["prev_pan_deg"] = float(bearing)
+            st["prev_pan_t"] = now
+
+            if (now - float(st.get("last_heading_log", 0.0))) >= 0.7:
+                if pan_rate is None:
+                    logger.info(
+                        "[ATTACK/PANO] cam %d from %s (%.1f°) -> %s (%.1f°), Δ=%.1f° %s",
+                        cam_idx, org_compass, origin, cur_compass, float(bearing),
+                        float(delta), cw_ccw
+                    )
+                else:
+                    logger.info(
+                        "[ATTACK/PANO] cam %d from %s (%.1f°) -> %s (%.1f°), Δ=%.1f° %s, rate=%.1f°/s",
+                        cam_idx, org_compass, origin, cur_compass, float(bearing),
+                        float(delta), cw_ccw, float(pan_rate)
+                    )
+                st["last_heading_log"] = now
+
+            ptz_id = config.PAN_TO_PTZ.get(cam_idx)
+            if ptz_id is not None:
+                pst = state.ptz_states.setdefault(ptz_id, {})
+                pst["last_seen"] = now
+                pst["loss_since"] = None
+                pst["last_return_at"] = max(float(pst.get("last_return_at", 0.0) or 0.0), now)
+
+            alarms.ingest_detection(cam_idx, True)
+            return
+
+        # --------- PTZ: включаем TRACK сразу ----------
+        _enter_track(cam_idx)
+        notify_detected(cam_idx, True)
+
+        cx = (x1 + x2) * 0.5; cy = (y1 + y2) * 0.5
+        cxn = cx * w_inv;      cyn = cy * h_inv
+        w_frac = (x2 - x1) * w_inv
+
+        prev_t = st.get("prev_t")
+        if prev_t is not None:
+            dt = max(now - float(prev_t), 1e-3)
+            vx_i = (cxn - st["prev_cx"]) / dt
+            vy_i = (cyn - st["prev_cy"]) / dt
+            vel_smooth = clipf(float(getattr(config, "VEL_SMOOTH", 0.85)), 0.0, 0.99)
+            st["vx"] = vel_smooth * st["vx"] + (1.0 - vel_smooth) * vx_i
+            st["vy"] = vel_smooth * st["vy"] + (1.0 - vel_smooth) * vy_i
+
+        wf = st["w_frac_ema"]
+        alpha = getattr(config, "W_EMA_ALPHA", 0.30)
+        st["w_frac_ema"] = w_frac if wf is None else (1.0 - alpha) * wf + alpha * w_frac
+        w_smooth = st["w_frac_ema"]
+        if st["prev_w_frac"] is not None and prev_t is not None:
+            dtw = max(now - float(prev_t), 1e-3)
+            st["w_growth"] = (w_smooth - st["prev_w_frac"]) / dtw
+        else:
+            st["w_growth"] = 0.0
+        # optional clamp to avoid spikes from detector jitter
+        wg_clamp = float(getattr(config, "W_GROWTH_CLAMP", 2.0))
+        st["w_growth"] = clipf(float(st.get("w_growth", 0.0) or 0.0), -wg_clamp, wg_clamp)
+        st["prev_w_frac"] = w_smooth
+
+        # update prev_* only after derivative computations
+        st["prev_t"], st["prev_cx"], st["prev_cy"] = now, cxn, cyn
+
+        speed = abs(st["vx"]) + abs(st["vy"])
+        far_factor = clipf(1.0 - max(w_smooth, (y2 - y1) * h_inv), 0.0, 1.0)
+        base_lead = float(getattr(config, "BASE_LEAD", 0.12))
+        lead_gain = float(getattr(config, "LEAD_GAIN", 0.35))
+        lead_max = float(getattr(config, "LEAD_MAX", 0.30))
+        lead_hi = max(base_lead, lead_max)
+        lead_time = clipf(base_lead + lead_gain * speed * far_factor, base_lead, lead_hi)
+        # If target is far from center, disable aggressive lead to avoid overshoot during large slews.
+        err_mag = max(abs(cxn - 0.5), abs(cyn - 0.5))
+        lead_off = float(getattr(config, "LEAD_OFF_ERR", 0.18))
+        if err_mag > lead_off:
+            lead_time = base_lead
+        pred_min = float(getattr(config, "PRED_CLAMP_MIN", 0.05))
+        pred_max = float(getattr(config, "PRED_CLAMP_MAX", 0.95))
+        cxn_pred = clipf(cxn + st["vx"] * lead_time, pred_min, pred_max)
+        cyn_pred = clipf(cyn + st["vy"] * lead_time, pred_min, pred_max)
+        dx = cxn_pred - 0.5
+        dy = cyn_pred - 0.5
+
+        sm_alpha = getattr(config, "AIM_SMOOTH", 0.55)
+        sm_dx = st["last_dx"] * (1 - sm_alpha) + dx * sm_alpha
+        sm_dy = st["last_dy"] * (1 - sm_alpha) + dy * sm_alpha
+
+        if abs(sm_dx) > getattr(config, "DEAD_ZONE", 0.018):
+            st["ix"] = clipf(st["ix"] + sm_dx * 0.02, -0.20, 0.20)
+        else:
+            st["ix"] *= 0.9
+        if abs(sm_dy) > getattr(config, "DEAD_ZONE", 0.018):
+            st["iy"] = clipf(st["iy"] + sm_dy * 0.02, -0.20, 0.20)
+        else:
+            st["iy"] *= 0.9
+
+        ddx = sm_dx - st["last_dx"]
+        ddy = sm_dy - st["last_dy"]
+        st["last_dx"], st["last_dy"] = sm_dx, sm_dy
+
+        conf_norm = clipf((best_conf - config.DETECT_CONF) / max(1e-3, 0.40 - config.DETECT_CONF), 0.0, 1.0)
+        aim_gain = 0.6 + 0.4 * conf_norm
+
+        pan_speed = clipf(
+            (getattr(config, "AIM_P", 1.85) * sm_dx + getattr(config, "AIM_I", 0.07) * st["ix"] + getattr(config, "AIM_D", 0.15) * ddx) * aim_gain,
+            -1.0, 1.0
+        )
+        tilt_speed = clipf(
+            (getattr(config, "AIM_P", 1.85) * sm_dy + getattr(config, "AIM_I", 0.07) * st["iy"] + getattr(config, "AIM_D", 0.15) * ddy) * aim_gain,
+            -1.0, 1.0
+        )
+
+        center_err = max(abs(dx), abs(dy))
+        left = x1 * w_inv; right = 1.0 - x2 * w_inv
+        top = y1 * h_inv;  bottom = 1.0 - y2 * h_inv
+        min_margin = min(left, right, top, bottom)
+
+        # === zoom logic ===
+        state_zoom = st.get("zoom_state", 0)
+        can_switch = (now - float(st.get("zoom_last_change", 0.0) or 0.0)) >= float(getattr(config, "Z_MIN_SWITCH_INTERVAL", 0.50))
+
+        gate_dyn = max(0.05, _Z_CENTER_GATE_IN + _Z_CENTER_GATE_SCALE * (1.0 - clipf(w_smooth, 0.0, 1.0)))
+        center_good = center_err < gate_dyn
+
+        vel = abs(st["vx"]) + abs(st["vy"])
+        z_target = (1.0 - clipf(vel / max(1e-6, float(getattr(config, "Z_VEL_REF", 0.45))), 0.0, 1.0)) * float(getattr(config, "Z_TARGET_SLOW", 0.16)) \
+                   + clipf(vel / max(1e-6, float(getattr(config, "Z_VEL_REF", 0.45))), 0.0, 1.0) * float(getattr(config, "Z_TARGET_FAST", 0.12))
+        z_band_min = z_target - float(getattr(config, "Z_DELTA_IN", 0.008))
+        z_band_max = z_target + float(getattr(config, "Z_DELTA_OUT", 0.060))
+
+        out_edge_crit = min_margin < float(getattr(config, "Z_OUT_EDGE", 0.07))
+        near_edge = (min_margin < 0.05)
+
+        if st.get("zoom_lock", False):
+            if (
+                out_edge_crit
+                or (vel > float(getattr(config, "Z_UNLOCK_VEL_THR", 0.060)))
+                or (abs(float(st.get("w_growth", 0.0) or 0.0)) > float(getattr(config, "Z_UNLOCK_GROWTH_THR", 0.015)))
+                or (center_err > float(getattr(config, "Z_UNLOCK_CENTER_THR", 0.100)))
+                or (min_margin < _Z_UNLOCK_EDGE)
+            ):
+                st["zoom_lock"] = False
+                st["lock_candidate_since"] = None
+        else:
+            locked_candidate = (
+                center_good
+                and (vel < float(getattr(config, "Z_UNLOCK_VEL_THR", 0.060)))
+                and (abs(float(st.get("w_growth", 0.0) or 0.0)) < float(getattr(config, "Z_FREEZE_GROWTH_THR", 0.004)))
+                and (min_margin >= float(getattr(config, "Z_SAFETY_EDGE", 0.05)))
+            )
+            if locked_candidate:
+                if st.get("lock_candidate_since") is None:
+                    st["lock_candidate_since"] = now
+                elif (now - float(st["lock_candidate_since"])) >= float(getattr(config, "Z_LOCK_ARM_SECS", 0.8)):
+                    st["zoom_lock"] = True
+            else:
+                st["lock_candidate_since"] = None
+
+        want_in  = (w_smooth < (z_band_min - _Z_SIGN_HYST)) and center_good and (not near_edge) and (not st.get("zoom_lock", False))
+        want_out = (w_smooth > (z_band_max + _Z_SIGN_HYST)) or out_edge_crit
+
+        next_state = state_zoom
+        if state_zoom >= 0 and want_in and can_switch:
+            next_state = +1
+        elif state_zoom <= 0 and want_out and can_switch:
+            next_state = -1
+        elif not want_in and not want_out:
+            next_state = 0
+
+        if next_state != state_zoom:
+            st["zoom_state"] = next_state
+            st["zoom_last_change"] = now
+
+        err_w = z_target - w_smooth
+        if abs(err_w) < float(getattr(config, "Z_DEADBAND", 0.010)):
+            err_w = 0.0
+        st["zoom_int"] = clipf(float(st.get("zoom_int", 0.0) or 0.0) + err_w * 0.04, -_Z_INT_CLAMP, _Z_INT_CLAMP)
+        zoom_pi = _Z_P * err_w + _Z_I * st["zoom_int"]
+        zoom_ff = _Z_FF_GAIN * (-(float(st.get("w_growth", 0.0) or 0.0)))
+        zoom_cmd = clipf(zoom_pi + zoom_ff, _Z_SPEED_LIMIT_OUT, _Z_SPEED_LIMIT_IN)
+
+        if st.get("zoom_lock", False):
+            zoom_cmd = min(zoom_cmd, -0.20) if out_edge_crit else 0.0
+            st["zoom_int"] *= 0.90
+        else:
+            if st["zoom_state"] > 0:
+                zoom_cmd = max(zoom_cmd, 0.0)
+            elif st["zoom_state"] < 0:
+                zoom_cmd = min(zoom_cmd, 0.0)
+            else:
+                zoom_cmd = 0.0
+
+        if abs(zoom_cmd) < _Z_MIN_CMD:
+            zoom_cmd = 0.0
+
+        cmd_mag_est = max(abs(pan_speed), abs(tilt_speed))
+        if (cmd_mag_est > float(getattr(config, "Z_VELOCITY_GATE", 0.45))) and (zoom_cmd > 0.0):
+            zoom_cmd = 0.0
+        err_gate = float(getattr(config, "Z_ERR_GATE", 0.18))
+        if (max(abs(sm_dx), abs(sm_dy)) > err_gate) and (zoom_cmd > 0.0):
+            zoom_cmd = 0.0
+        if near_edge and zoom_cmd > 0.0:
+            zoom_cmd = 0.0
+        if min_margin < float(getattr(config, "Z_SAFETY_EDGE", 0.05)):
+            zoom_cmd = min(zoom_cmd, -0.25)
+
+        prev_z = float(st.get("zoom_prev_cmd", 0.0) or 0.0)
+        if zoom_cmd > 0.0:
+            if prev_z <= 0.0:
+                st["zoom_ramp_start"] = now
+            frac = clipf((now - float(st.get("zoom_ramp_start", now) or now)) / max(1e-3, _Z_IN_RAMP), 0.0, 1.0)
+            zoom_cmd *= (0.25 + 0.75 * frac)
+        else:
+            st["zoom_ramp_start"] = 0.0
+        st["zoom_prev_cmd"] = zoom_cmd
+
+        if zoom_cmd > 0.0 and center_good and not near_edge:
+            call_autofocus(cam_idx)
+
+        dx_abs, dy_abs = abs(dx), abs(dy)
+        if (dx_abs < 0.040) and (dy_abs < 0.040):
+            st["stable_frames"] = int(st.get("stable_frames", 0) or 0) + 1
+        else:
+            st["stable_frames"] = 0
+
+        st["fallback_done"] = False
+
+        adj_pan, adj_tilt = pan_speed, tilt_speed
+        if zoom_cmd > 0.0:
+            adj_pan = clipf(adj_pan * _Z_PAN_BOOST_IN, -1.0, 1.0)
+            adj_tilt = clipf(adj_tilt * _Z_PAN_BOOST_IN, -1.0, 1.0)
+
+        move_ptz_bounded(cam_idx, _PAN_SIGN * adj_pan, _TILT_SIGN * adj_tilt, zoom_cmd)
+        alarms.ingest_detection(cam_idx, True)
+        return
+
+    # =========================
+    # ===== детекций нет ======
+    # =========================
+    alarms.ingest_detection(cam_idx, False)
+    notify_detected(cam_idx, False)
+
+    # если мы были в TRACK и детекция пропала — заканчиваем TRACK и паркуем камеру в пресет
+    if is_ptz and st.get("tracking_active"):
+        # считаем, что "потеряли" если нет детекции > TRACK_END_LOSS_SEC
+        if (now - float(st.get("last_seen", 0.0) or 0.0)) >= TRACK_END_LOSS_SEC:
+            _end_track_and_park(cam_idx, reason="track_end_park")
+            _publish_with_boxes(cam_idx, frame_bgr, [], [])
+            return
+
+    # ниже — твоя старая логика “потерь/возврата” (оставляем)
+    st["zoom_lock"] = False
+    st["lock_candidate_since"] = None
+
+    if st.get("loss_since") is None:
+        st["loss_since"] = now
+    st["attack_origin_pan"] = None
+
+    recently_tracked = (st.get("last_seen") is not None) and ((now - float(st["last_seen"])) < 10.0)
+
+    near_edge_flag = False
+    lb = st.get("last_bbox")
+    if lb is not None:
+        x1, y1, x2, y2 = lb
+        left = x1 * w_inv; right = 1.0 - x2 * w_inv
+        top = y1 * h_inv;  bottom = 1.0 - y2 * h_inv
+        if (
+            (left < config.EDGE_LOSS_MARGIN)
+            or (right < config.EDGE_LOSS_MARGIN)
+            or (top < config.VERT_LOSS_MARGIN)
+            or (bottom < config.VERT_LOSS_MARGIN)
+        ):
+            near_edge_flag = True
+
+    if is_ptz and ((now - float(st.get("last_zoom_seen", 0.0) or 0.0)) < _Z_HOLD_AFTER_LOSS):
+        move_ptz_bounded(
+            cam_idx,
+            _PAN_SIGN * (float(st.get("last_dx", 0.0) or 0.0) * 0.6),
+            _TILT_SIGN * (float(st.get("last_dy", 0.0) or 0.0) * 0.6),
+            float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.25,
+        )
+        _publish_with_boxes(cam_idx, frame_bgr, [], [])
+        return
+
+    edge_grace = float(getattr(config, "EDGE_LOSS_GRACE_SEC", 1.8))
+    timed_out = (st.get("loss_since") is not None) and ((now - float(st["loss_since"])) >= float(config.LOSS_TO_PRESET_SEC))
+    near_edge_and_lost = (
+        near_edge_flag
+        and (st.get("loss_since") is not None)
+        and ((now - float(st["loss_since"])) >= edge_grace)
+    )
+
+    if is_ptz and recently_tracked and (near_edge_and_lost or timed_out):
+        _maybe_return_and_resume(
+            cam_idx,
+            "loss_or_timeout",
+            float(getattr(config, "LOSS_RETURN_COOLDOWN_SEC", 8.0)),
+        )
+        _publish_with_boxes(cam_idx, frame_bgr, [], [])
+        return
+
+    if config.AUTO_STRATEGY and is_ptz:
+        action = choose_auto_action(cam_idx, now)
+
+        # если патруль активен и не TRACK — не мешаем патрулю
+        if st.get("patrol_active", False) and st.get("mode") in ("IDLE", "SEARCH"):
+            st["stable_frames"] = 0
+
+        # ---------- устойчивое поведение при кратких провалах детекции ----------
+        last_seen = float(st.get("last_seen", 0.0) or 0.0)
+        dt_loss = now - last_seen
+
+        def _predict_dxdy() -> Tuple[float, float]:
+            cx0 = float(st.get("prev_cx", 0.5) or 0.5)
+            cy0 = float(st.get("prev_cy", 0.5) or 0.5)
+            vx = float(st.get("vx", 0.0) or 0.0)
+            vy = float(st.get("vy", 0.0) or 0.0)
+            w0 = st.get("w_frac_ema")
+            w0 = float(w0) if w0 is not None else 0.08  # типичный "далёкий" объект
+            speed = float((vx * vx + vy * vy) ** 0.5)
+            far_factor = clipf(1.0 - w0, 0.0, 1.0)
+
+            base_lead = float(getattr(config, "BASE_LEAD", 0.12))
+            lead_gain = float(getattr(config, "LEAD_GAIN", 0.35))
+            lead_max = float(getattr(config, "LEAD_MAX", 0.30))
+            lead_hi = max(base_lead, lead_max)
+
+            lead_time = clipf(base_lead + lead_gain * speed * far_factor, base_lead, lead_hi)
+            err_mag = max(abs(cx0 - 0.5), abs(cy0 - 0.5))
+            lead_off = float(getattr(config, "LEAD_OFF_ERR", 0.18))
+            if err_mag > lead_off:
+                lead_time = base_lead
+            pred_min = float(getattr(config, "PRED_CLAMP_MIN", 0.05))
+            pred_max = float(getattr(config, "PRED_CLAMP_MAX", 0.95))
+            cxp = clipf(cx0 + vx * lead_time, pred_min, pred_max)
+            cyp = clipf(cy0 + vy * lead_time, pred_min, pred_max)
+            dx = cxp - 0.5
+            dy = cyp - 0.5
+            dcl = float(getattr(config, "PRED_DX_CLAMP", 0.35))
+            return clipf(dx, -dcl, dcl), clipf(dy, -dcl, dcl)
+
+        pred_dx, pred_dy = _predict_dxdy()
+
+        short_thr = float(getattr(config, "SHORT_LOSS_SEC", 0.25))
+        long_thr = float(getattr(config, "LONG_LOSS_SEC", 1.2))
+
+        if dt_loss <= short_thr:
+            decay = 1.0
+            zoom_loss = 0.0  # freeze zoom на коротких провалах
+        elif dt_loss <= long_thr:
+            tau = float(getattr(config, "LOSS_DECAY_TAU", 0.35))
+            decay = float(math.exp(-(dt_loss - short_thr) / max(1e-3, tau)))
+            zoom_loss = float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.35  # мягко расширяем кадр
+        else:
+            decay = 0.0
+            zoom_loss = float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.6
+
+        st["stable_frames"] = 0
+
+        # HOLD_PREDICT: пока цель могла "мигнуть" — ведём по прогнозу, не накапливая задержку
+        if dt_loss <= long_thr:
+            # обновим last_dx/last_dy прогнозом, чтобы другие ветки (если сработают) не тянули старьё
+            st["last_dx"], st["last_dy"] = float(pred_dx), float(pred_dy)
+            move_ptz_bounded(
+                cam_idx,
+                _PAN_SIGN * float(pred_dx) * float(decay),
+                _TILT_SIGN * float(pred_dy) * float(decay),
+                float(zoom_loss),
+            )
+            _publish_with_boxes(cam_idx, frame_bgr, [], [])
+            return
+
+        if action == "FOLLOW_SHORT":
+            move_ptz_bounded(
+                cam_idx,
+                _PAN_SIGN * float(st.get("last_dx", 0.0) or 0.0),
+                _TILT_SIGN * float(st.get("last_dy", 0.0) or 0.0),
+                float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.6,
+            )
+
+        elif action in ("SEARCH", "HOLD"):
+            if action == "HOLD" and (now - float(st.get("last_seen", now) or now)) < 8.0:
+                st["last_dx"] = float(st.get("last_dx", 0.0) or 0.0) * 0.85
+                st["last_dy"] = float(st.get("last_dy", 0.0) or 0.0) * 0.85
+                move_ptz_bounded(
+                    cam_idx,
+                    _PAN_SIGN * float(st.get("last_dx", 0.0) or 0.0),
+                    _TILT_SIGN * float(st.get("last_dy", 0.0) or 0.0),
+                    float(getattr(config, "RECOVER_ZOOM_OUT", -0.35)) * 0.4,
+                )
+            else:
+                stop_ptz(cam_idx)
+
+        elif action == "FALLBACK":
+            if not st.get("patrol_active", False):
+                _maybe_return_and_resume(
+                    cam_idx,
+                    "fallback",
+                    float(getattr(config, "FALLBACK_RETURN_COOLDOWN_SEC", 12.0)),
+                )
+
+    st["stable_frames"] = 0

ptz_tracker_modular/preview.py

@@ -0,0 +1,128 @@
+from __future__ import annotations
+import cv2
+import numpy as np
+from typing import Any, Tuple, Optional
+from . import state, config
+
+CV2_JPEG_PARAMS = [
+    int(cv2.IMWRITE_JPEG_QUALITY), int(config.PREVIEW_JPEG_QUALITY),
+    int(cv2.IMWRITE_JPEG_PROGRESSIVE), 0,
+    int(cv2.IMWRITE_JPEG_OPTIMIZE), 0
+]
+
+
+def encode_jpeg_bgr(img_bgr: np.ndarray) -> Optional[bytes]:
+    ok, jpeg = cv2.imencode(".jpg", img_bgr, CV2_JPEG_PARAMS)
+    return jpeg.tobytes() if ok else None
+
+
+def maybe_downscale(img: np.ndarray, target_w: int = config.PREVIEW_TARGET_W) -> Tuple[np.ndarray, float, float]:
+    h, w = img.shape[:2]
+    if w <= target_w:
+        return img, 1.0, 1.0
+    scale = target_w / float(w)
+    return cv2.resize(img, (target_w, int(h * scale)), interpolation=cv2.INTER_AREA), scale, scale
+
+
+# ----------------------------- HUD (новое) -----------------------------
+
+def _fmt(v: Optional[float], suffix: str = "°", nd: int = 1) -> str:
+    if v is None:
+        return "—"
+    try:
+        return f"{float(v):.{nd}f}{suffix}"
+    except Exception:
+        return "—"
+
+def _bearing_to_compass(b: Optional[float]) -> str:
+    if b is None:
+        return "—"
+    names = ["N","NNE","NE","ENE","E","ESE","SE","SSE",
+             "S","SSW","SW","WSW","W","WNW","NW","NNW"]
+    i = int(((float(b) % 360.0) + 11.25) // 22.5) % 16
+    return names[i]
+
+def _draw_text_block(img: np.ndarray, lines: list[str], org=(10, 24)) -> None:
+    """
+    Рисует компактный полупрозрачный блок с текстом в левом верхнем углу.
+    """
+    x0, y0 = org
+    pad_x, pad_y = 8, 6
+    line_h = 22
+    # вычислим ширину по самой длинной строке
+    max_w = 0
+    for t in lines:
+        (tw, th), _ = cv2.getTextSize(t, cv2.FONT_HERSHEY_SIMPLEX, 0.6, 2)
+        max_w = max(max_w, tw)
+    box_w = max_w + pad_x * 2
+    box_h = line_h * len(lines) + pad_y * 2
+
+    x1, y1 = x0, y0 - 18
+    x2, y2 = x1 + box_w, y1 + box_h
+    x2 = min(x2, img.shape[1] - 1)
+    y2 = min(y2, img.shape[0] - 1)
+
+    # полупрозрачный фон
+    overlay = img.copy()
+    cv2.rectangle(overlay, (x1, y1), (x2, y2), (0, 0, 0), -1)
+    cv2.addWeighted(overlay, 0.35, img, 0.65, 0, img)
+
+    # текст
+    y = y1 + pad_y + 16
+    for t in lines:
+        cv2.putText(img, t, (x1 + pad_x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 2, cv2.LINE_AA)
+        y += line_h
+
+def draw_status_hud(cam_id: int, img_bgr: np.ndarray) -> None:
+    """
+    Отрисовывает HUD поверх кадра:
+      Bearing (гео), Δ от preset1, Attack (курс+румб), raw pan/tilt.
+    Ничего не делает, если данных нет.
+    """
+    st = state.ptz_states.get(cam_id, {})
+    bearing = st.get("bearing_curr_geo")
+    delta = st.get("delta_from_preset1_geo")
+    attack = st.get("attack_bearing_geo")
+    attack_compass = st.get("attack_compass")
+    az_deg = st.get("az_deg")
+    tilt_deg = st.get("tilt_deg")
+
+    lines = []
+    if bearing is not None:
+        lines.append(f"Bearing: {_fmt(bearing)} ({_bearing_to_compass(bearing)})")
+    if delta is not None:
+        sign = "+" if float(delta) >= 0 else ""
+        lines.append(f"ΔPreset1: {sign}{_fmt(delta)}")
+    if attack is not None or attack_compass:
+        comp = attack_compass if isinstance(attack_compass, str) else _bearing_to_compass(attack)
+        lines.append(f"Attack: {_fmt(attack)} ({comp})")
+    if az_deg is not None or tilt_deg is not None:
+        lines.append(f"raw pan/tilt: {_fmt(az_deg)} / {_fmt(tilt_deg)}")
+
+    if lines:
+        _draw_text_block(img_bgr, lines, org=(10, 28))
+
+
+# --------------------------- публикация ----------------------------
+
+def publish_preview(cam_id: int, img: np.ndarray) -> None:
+    """
+    Публикатор JPEG-превью. При наличии флага config.PREVIEW_DRAW_HUD
+    поверх кадра будет нарисован компактный HUD с курсом/дельтой/атакой.
+    """
+    if getattr(config, "PREVIEW_DRAW_HUD", False):
+        try:
+            draw_status_hud(cam_id, img)
+        except Exception:
+            # в превью важнее стабильность, ошибки HUD не должны мешать стриму
+            pass
+
+    if config.PUBLISH_ONLY_IF_CLIENTS and not state.video_clients:
+        return
+
+    jpeg = encode_jpeg_bgr(img)
+    if not jpeg:
+        return
+    fid = state.frame_id_by_cam.get(cam_id, 0) + 1
+    state.frame_id_by_cam[cam_id] = fid
+    state.latest_jpeg_by_cam[cam_id] = (fid, jpeg)

ptz_tracker_modular/ptz_io(main).py

@@ -0,0 +1,646 @@
+from __future__ import annotations
+
+import logging
+import time
+from enum import Enum
+from typing import NamedTuple, Union, Optional, Tuple
+
+import requests
+from requests.auth import HTTPDigestAuth
+from requests.adapters import HTTPAdapter
+
+try:
+    from urllib3.util.retry import Retry  # type: ignore
+except Exception:  # на всякий случай
+    Retry = None  # type: ignore
+
+from . import config, state
+from .utils import clipf, quantf
+from .geom import sector_contains, ang_diff_signed, normalize360
+
+logger = logging.getLogger("PTZTracker.PTZ")
+
+_sess = requests.Session()
+_sess.trust_env = False
+
+if Retry is not None:
+    _adapter = HTTPAdapter(
+        pool_connections=64,
+        pool_maxsize=64,
+        max_retries=Retry(
+            total=2,
+            backoff_factor=0.2,
+            status_forcelist=[500, 502, 503, 504],
+            raise_on_status=False,
+        ),
+    )
+else:
+    _adapter = HTTPAdapter(pool_connections=64, pool_maxsize=64, max_retries=0)
+
+_sess.mount("http://", _adapter)
+_sess.mount("https://", _adapter)
+
+PTZ_HEADERS = {"Content-Type": "application/xml", "Connection": "keep-alive"}
+
+AF_CAP_KEY = "af_caps"  # ключ в state.ptz_states[cam_idx]
+
+
+def _af_caps(st: dict) -> dict:
+    caps = st.get(AF_CAP_KEY)
+    if not isinstance(caps, dict):
+        caps = {}
+        st[AF_CAP_KEY] = caps
+    return caps
+
+
+def _base(cam_idx: int):
+    """
+    Возвращает:
+      base(str), ch(int), auth, verify_tls(bool), timeout_sec(float), cfg(dict)
+    где base = "{scheme}://{host}:{port}"
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    scheme = cfg.get("scheme") or ("https" if cfg.get("https") else "http")
+    host = cfg["ip"]
+    port = int(cfg.get("port") or (443 if scheme == "https" else 80))
+    ch = int(cfg.get("ptz_channel", 1))
+
+    user = cfg.get("username") or cfg.get("user") or cfg.get("login") or "admin"
+    pwd = cfg.get("password") or cfg.get("pass") or cfg.get("pwd") or ""
+
+    auth = HTTPDigestAuth(user, pwd)
+    base = f"{scheme}://{host}:{port}"
+    verify = bool(cfg.get("verify_tls", False))
+    timeout = float(cfg.get("ptz_timeout_sec", 3.0))
+
+    return base, ch, auth, verify, timeout, cfg
+
+
+def _ptz_put(
+    url: str,
+    *,
+    data: bytes | str = b"",
+    headers=None,
+    auth=None,
+    timeout: float = 3.0,
+    verify: bool = False,
+) -> Tuple[bool, int, str]:
+    """
+    Унифицированный PUT с логом и отрезанным телом ответа.
+    Возвращает (ok, http_code, body[:300]).
+    """
+    try:
+        r = _sess.put(url, data=data, headers=headers or {}, auth=auth, timeout=timeout, verify=verify)
+        body = (r.text or "")[:300]
+        ok = 200 <= r.status_code < 300
+        if not ok:
+            logger.warning("PTZ HTTP %s url=%s body=%r", r.status_code, url, body)
+        return ok, r.status_code, body
+    except Exception as e:
+        logger.warning("PTZ HTTP EXC url=%s timeout=%.1f verify=%s: %s", url, timeout, verify, e)
+        return False, 0, str(e)
+
+
+def _ptz_get(url: str, *, auth=None, timeout: float = 3.0, verify: bool = False):
+    try:
+        r = _sess.get(url, auth=auth, timeout=timeout, verify=verify)
+        return r, None
+    except Exception as e:
+        return None, e
+
+
+class PTZCmd(Enum):
+    MOVE = "move"
+    GOTO = "goto"
+    FOCUS = "focus"
+
+
+class MoveTuple(NamedTuple):
+    typ: PTZCmd
+    cam_idx: int
+    pan_i: int
+    tilt_i: int
+    zoom_i: int
+
+
+class GotoTuple(NamedTuple):
+    typ: PTZCmd
+    cam_idx: int
+    token: str
+
+
+class FocusTuple(NamedTuple):
+    typ: PTZCmd
+    cam_idx: int
+
+
+PTZCommand = Union[MoveTuple, GotoTuple, FocusTuple, None]
+
+
+# ------------------------------
+# Zoom reset helper (важно для патруля)
+# ------------------------------
+def request_zoom_reset(cam_idx: int, duration_sec: float = 2.0, strength: float | None = None) -> None:
+    """
+    Просим "мягко" сбросить зум в течение duration_sec через continuous zoom-out.
+    strength: отрицательное значение (например -0.35). Если None — берём из config.
+    """
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+    st["zoom_reset_until"] = now + float(max(0.2, duration_sec))
+    if strength is None:
+        strength = float(getattr(config, "ZOOM_RESET_STRENGTH", -0.35))
+    st["zoom_reset_strength"] = float(strength)
+
+
+def _apply_zoom_reset_overlay(cam_idx: int, zoom: float) -> float:
+    """
+    Если активен zoom_reset — принудительно добавляем zoom-out (отрицательное).
+    """
+    st = state.ptz_states[cam_idx]
+    until = float(st.get("zoom_reset_until", 0.0) or 0.0)
+    if time.time() < until:
+        strength = float(st.get("zoom_reset_strength", getattr(config, "ZOOM_RESET_STRENGTH", -0.35)) or -0.35)
+        # гарантируем, что команда будет "наружу" минимум strength
+        return min(float(zoom), float(strength))
+    return zoom
+
+
+def move_ptz(cam_idx: int, pan: float, tilt: float, zoom: float = 0.0) -> None:
+    """
+    Отправка относительного движения (continuous). Троттлинг + квантизация.
+    """
+    st = state.ptz_states[cam_idx]
+    now = time.monotonic()
+    min_dt = getattr(config, "PTZ_MIN_INTERVAL_SEC", 0.12)
+    if now - st.get("last_ptz_send", 0.0) < min_dt:
+        return
+
+    q = getattr(config, "PTZ_QUANT", 0.01)
+    pan_f = clipf(quantf(pan, q), -1.0, 1.0)
+    tilt_f = clipf(quantf(tilt, q), -1.0, 1.0)
+    zoom_f = clipf(quantf(zoom, q), -1.0, 1.0)
+
+    lp, lt, lz = st.get("last_cmd", (0.0, 0.0, 0.0))
+    eps = getattr(config, "PTZ_EPS", 0.01)
+    if (abs(pan_f - lp) < eps) and (abs(tilt_f - lt) < eps) and (abs(zoom_f - lz) < eps):
+        return
+
+    st["last_ptz_send"] = now
+    st["last_cmd"] = (pan_f, tilt_f, zoom_f)
+
+    pan_i, tilt_i, zoom_i = int(pan_f * 100), int(tilt_f * 100), int(zoom_f * 100)
+    if state.ptz_cmd_q is not None:
+        try:
+            state.ptz_cmd_q.put_nowait(MoveTuple(PTZCmd.MOVE, cam_idx, pan_i, tilt_i, zoom_i))
+        except Exception:
+            pass
+
+
+def stop_ptz(cam_idx: int) -> None:
+    move_ptz(cam_idx, 0.0, 0.0, 0.0)
+
+
+def goto_preset_token(cam_idx: int, token: str) -> None:
+    if state.ptz_cmd_q is not None:
+        try:
+            state.ptz_cmd_q.put_nowait(GotoTuple(PTZCmd.GOTO, cam_idx, token))
+        except Exception:
+            pass
+
+
+def call_autofocus(cam_idx: int) -> None:
+    """
+    Троттлинг + запуск автофокуса, если камера это поддерживает и не в кулдауне.
+    Управляется флагом config.AUTOFOCUS_TRY_ISAPI.
+    """
+    if not getattr(config, "AUTOFOCUS_TRY_ISAPI", False):
+        return
+
+    st = state.ptz_states[cam_idx]
+    now = time.monotonic()
+
+    # не чаще 1 раза в 2с
+    if now - st.get("last_focus_time", 0.0) < 2.0:
+        return
+    st["last_focus_time"] = now
+
+    caps = _af_caps(st)
+    cd = float(getattr(config, "AUTOFOCUS_COOLDOWN_SEC", 600.0))
+
+    # если знаем, что AF нет — уважаем кулдаун
+    if caps.get("has") is False and (now - caps.get("last_probe_fail", 0.0) < cd):
+        return
+
+    if state.ptz_cmd_q is not None:
+        try:
+            state.ptz_cmd_q.put_nowait(FocusTuple(PTZCmd.FOCUS, cam_idx))
+        except Exception:
+            pass
+
+
+def move_ptz_bounded(cam_idx: int, pan_speed: float, tilt_speed: float, zoom: float = 0.0) -> None:
+    """
+    Обёртка над move_ptz.
+
+    ВАЖНО: у тебя ограничение сектора реализовано внутри _ptz_worker (по mode/az/sector).
+    Здесь добавляем только "overlay" сброса зума, чтобы патруль мог вернуть масштаб обратно.
+    """
+    zoom = _apply_zoom_reset_overlay(cam_idx, zoom)
+    move_ptz(cam_idx, pan_speed, tilt_speed, zoom)
+
+
+# -----------------------------------------------------------------------------
+# Статус PTZ
+# -----------------------------------------------------------------------------
+def _parse_ptz_status(xml_text: str) -> Tuple[Optional[float], Optional[float]]:
+    import xml.etree.ElementTree as ET
+
+    def _norm_pan(v: float) -> float:
+        av = abs(v)
+        # сотые или десятые градуса (часто бывает)
+        if av > 3600 and av <= 36000:
+            return v / 100.0
+        if av > 360 and av <= 3600:
+            return v / 10.0
+        return v
+
+    def _norm_tilt(v: float) -> float:
+        av = abs(v)
+        if av > 900 and av <= 9000:
+            return v / 100.0
+        if av > 90 and av <= 900:
+            return v / 10.0
+        return v
+
+    try:
+        root = ET.fromstring(xml_text)
+
+        def local(tag: str) -> str:
+            return tag.split("}", 1)[-1] if "}" in tag else tag
+
+        # 1) СНАЧАЛА ищем “правильные” теги
+        pri_pan = ("azimuth", "absolutepan")
+        pri_tilt = ("elevation", "absolutetilt")
+
+        pan_val: Optional[float] = None
+        tilt_val: Optional[float] = None
+
+        for el in root.iter():
+            name = local(el.tag).lower()
+            if el.text is None:
+                continue
+            txt = el.text.strip()
+            if not txt:
+                continue
+
+            if pan_val is None and name in pri_pan:
+                try:
+                    pan_val = _norm_pan(float(txt))
+                except Exception:
+                    pass
+
+            if tilt_val is None and name in pri_tilt:
+                try:
+                    tilt_val = _norm_tilt(float(txt))
+                except Exception:
+                    pass
+
+        # 2) ТОЛЬКО если не нашли — пробуем pan/tilt как fallback
+        if pan_val is None or tilt_val is None:
+            for el in root.iter():
+                name = local(el.tag).lower()
+                if el.text is None:
+                    continue
+                txt = el.text.strip()
+                if not txt:
+                    continue
+
+                if pan_val is None and name == "pan":
+                    try:
+                        pan_val = _norm_pan(float(txt))
+                    except Exception:
+                        pass
+                if tilt_val is None and name == "tilt":
+                    try:
+                        tilt_val = _norm_tilt(float(txt))
+                    except Exception:
+                        pass
+
+        return pan_val, tilt_val
+    except Exception:
+        return None, None
+
+
+def get_ptz_status(cam_idx: int) -> Tuple[Optional[float], Optional[float]]:
+    """
+    Возвращает (azimuth_deg_normalized_0_360 | None, tilt | None).
+    Пытаемся по http, затем по https (если http дал 2xx, второй не трогаем).
+    """
+    base, ch, auth, verify, timeout, _ = _base(cam_idx)
+
+    # Попытка HTTP
+    url_http = f"{base}/ISAPI/PTZCtrl/channels/{ch}/status"
+    r, _e = _ptz_get(url_http, auth=auth, timeout=timeout, verify=False if base.startswith("http://") else verify)
+    if r is not None and (200 <= r.status_code < 300):
+        pan, tilt = _parse_ptz_status(r.text)
+        if pan is not None or tilt is not None:
+            logger.info(
+                "[ISAPI] cam=%s OK status: pan=%s tilt=%s via %s",
+                cam_idx,
+                f"{normalize360(pan):.2f}" if pan is not None else "None",
+                f"{tilt:.2f}" if tilt is not None else "None",
+                url_http,
+            )
+            return normalize360(pan) if pan is not None else None, tilt
+
+    # Попытка HTTPS (если http не дал валидные числа)
+    host = config.CAMERA_CONFIG[cam_idx]["ip"]
+    url_https = f"https://{host}:443/ISAPI/PTZCtrl/channels/{ch}/status"
+    r2, _e2 = _ptz_get(url_https, auth=auth, timeout=timeout, verify=verify)
+    if r2 is not None and (200 <= r2.status_code < 300):
+        pan, tilt = _parse_ptz_status(r2.text)
+        if pan is not None or tilt is not None:
+            logger.info(
+                "[ISAPI] cam=%s OK status: pan=%s tilt=%s via %s",
+                cam_idx,
+                f"{normalize360(pan):.2f}" if pan is not None else "None",
+                f"{tilt:.2f}" if tilt is not None else "None",
+                url_https,
+            )
+            return normalize360(pan) if pan is not None else None, tilt
+
+    return None, None
+
+
+def read_ptz_azimuth_deg(cam_idx: int) -> Optional[float]:
+    pan_deg, _ = get_ptz_status(cam_idx)
+    return pan_deg
+
+
+# -----------------------------------------------------------------------------
+# Умный фолбэк автофокуса (с кэшем и кулдауном)
+# -----------------------------------------------------------------------------
+def _ptz_try_autofocus(base: str, auth, timeout: float, verify: bool, cam_idx: int) -> bool:
+    st = state.ptz_states[cam_idx]
+    caps = _af_caps(st)
+
+    if caps.get("has") and caps.get("url"):
+        ok, _code, _body_txt = _ptz_put(caps["url"], data="", headers=PTZ_HEADERS, auth=auth, timeout=timeout, verify=verify)
+        if ok:
+            logger.info("[ISAPI] cam=%s autofocus OK via cached %s", cam_idx, caps["url"])
+            return True
+
+    now = time.monotonic()
+    cd = float(getattr(config, "AUTOFOCUS_COOLDOWN_SEC", 600.0))
+    if caps.get("has") is False and (now - caps.get("last_probe_fail", 0.0) < cd):
+        return False
+
+    candidates = [
+        ("PUT", f"{base}/ISAPI/PTZCtrl/channels/1/focus",
+         "<FocusData><focusMode>auto</focusMode><AutoFocusMode>trigger</AutoFocusMode></FocusData>"),
+        ("PUT", f"{base}/ISAPI/PTZCtrl/channels/1/focus", ""),
+        ("PUT", f"{base}/ISAPI/PTZCtrl/channels/1/triggerFocus", ""),
+        ("PUT", f"{base}/ISAPI/Image/channels/1/focus",
+         "<FocusData><AutoFocusMode>trigger</AutoFocusMode></FocusData>"),
+        ("PUT", f"{base}/ISAPI/Image/channels/1/focus/auto", ""),
+        ("PUT", f"{base}/ISAPI/System/Video/inputs/channels/1/focus",
+         "<Focus><autoFocus>true</autoFocus></Focus>"),
+        ("PUT", f"{base}/ISAPI/System/Video/inputs/channels/1/focus/auto", ""),
+    ]
+
+    first_fail_logged = False
+    for _method, url, body in candidates:
+        ok, code, _body_txt = _ptz_put(url, data=body, headers=PTZ_HEADERS, auth=auth, timeout=timeout, verify=verify)
+        if ok:
+            caps["has"] = True
+            caps["url"] = url
+            logger.info("[ISAPI] cam=%s autofocus OK via %s", cam_idx, url)
+            return True
+        else:
+            if not first_fail_logged:
+                logger.warning("[ISAPI] cam=%s autofocus try fail code=%s url=%s", cam_idx, code, url)
+                first_fail_logged = True
+            else:
+                logger.debug("[ISAPI] cam=%s autofocus try fail code=%s url=%s", cam_idx, code, url)
+
+    caps["has"] = False
+    caps["url"] = None
+    caps["last_probe_fail"] = now
+    logger.info("[ISAPI] cam=%s autofocus unsupported — backoff %.0fs", cam_idx, cd)
+    return False
+
+
+def _ptz_goto_preset_isapi(
+    cam_idx: int,
+    base: str,
+    ch: int,
+    auth,
+    verify: bool,
+    timeout: float,
+    token: str,
+) -> bool:
+    tok = str(token).strip()
+    url = f"{base}/ISAPI/PTZCtrl/channels/{ch}/presets/{tok}/goto"
+
+    headers_xml = {"Content-Type": "application/xml; charset=UTF-8", "Connection": "keep-alive"}
+
+    ok, code, body = _ptz_put(url, data=b"", headers=headers_xml, auth=auth, timeout=timeout, verify=verify)
+    if ok:
+        logger.info("[ISAPI] cam=%s goto preset OK via PUT-empty url=%s", cam_idx, url)
+        return True
+
+    xml = f'<?xml version="1.0" encoding="UTF-8"?><PTZPreset><id>{tok}</id></PTZPreset>'
+    ok, code, body = _ptz_put(url, data=xml, headers=headers_xml, auth=auth, timeout=timeout, verify=verify)
+    if ok:
+        logger.info("[ISAPI] cam=%s goto preset OK via PUT-xml url=%s", cam_idx, url)
+        return True
+
+    headers_xml2 = {"Content-Type": "application/xml", "Connection": "keep-alive"}
+    ok, code, body = _ptz_put(url, data=xml, headers=headers_xml2, auth=auth, timeout=timeout, verify=verify)
+    if ok:
+        logger.info("[ISAPI] cam=%s goto preset OK via PUT-xml2 url=%s", cam_idx, url)
+        return True
+
+    try:
+        r = _sess.post(url, data=xml, headers=headers_xml, auth=auth, timeout=timeout, verify=verify)
+        body2 = (r.text or "")[:300]
+        ok2 = 200 <= r.status_code < 300
+        if ok2:
+            logger.info("[ISAPI] cam=%s goto preset OK via POST-xml url=%s", cam_idx, url)
+            return True
+        else:
+            logger.warning("PTZ HTTP %s url=%s body=%r", r.status_code, url, body2)
+    except Exception as e:
+        logger.warning("PTZ HTTP EXC url=%s timeout=%.1f verify=%s: %s", url, timeout, verify, e)
+
+    logger.error(
+        "[ISAPI] cam=%s goto preset FAILED token=%s last_http=%s last_body=%r",
+        cam_idx, tok, code, (body or "")[:200],
+    )
+    return False
+
+
+# -----------------------------------------------------------------------------
+# Воркер отправки PTZ-команд
+# -----------------------------------------------------------------------------
+def _ptz_worker() -> None:
+    """
+    Читает команды из state.ptz_cmd_q и выполняет HTTP-вызовы.
+    """
+    while True:
+        try:
+            cmd: PTZCommand = state.ptz_cmd_q.get(timeout=0.5)  # type: ignore
+        except Exception:
+            continue
+
+        if cmd is None:
+            break
+
+        try:
+            # === CONTINUOUS MOVE ===
+            if isinstance(cmd, MoveTuple) and cmd.typ is PTZCmd.MOVE:
+                cam_idx, pan_i, tilt_i, zoom_i = cmd.cam_idx, cmd.pan_i, cmd.tilt_i, cmd.zoom_i
+                base, ch, auth, verify, timeout, cfg = _base(cam_idx)
+                st = state.ptz_states[cam_idx]
+
+                # не мешаем переезду на пресет
+                now_wall = time.time()
+                until = float(st.get("goto_in_progress_until", 0.0) or 0.0)
+                if now_wall < until:
+                    continue
+
+                # overlay zoom reset (важно: работает даже если команда пришла не через move_ptz_bounded)
+                if now_wall < float(st.get("zoom_reset_until", 0.0) or 0.0):
+                    strength = float(st.get("zoom_reset_strength", getattr(config, "ZOOM_RESET_STRENGTH", -0.35)) or -0.35)
+                    zoom_i = min(int(strength * 100), zoom_i)
+
+                az = st.get("az_deg")
+                dmin = cfg.get("sector_min_deg")
+                dmax = cfg.get("sector_max_deg")
+                mode = st.get("mode", "IDLE")
+
+                # сектор-ограничение НЕ применяется в TRACK (там мы разрешаем выход "внутрь" и т.п.)
+                if dmin is not None and dmax is not None and mode != "TRACK":
+                    if az is None:
+                        # если нет азимута — не толкаем пан, кроме патруля в IDLE/SEARCH
+                        if not (st.get("patrol_active") and mode in ("IDLE", "SEARCH")):
+                            pan_i = 0
+                    else:
+                        pan_sign = cfg.get("pan_sign", 1) or 1
+                        inside = sector_contains(float(az), float(dmin), float(dmax))
+
+                        def _cmd_dir() -> int:
+                            if pan_i == 0:
+                                return 0
+                            return 1 if (pan_i * pan_sign) > 0 else -1
+
+                        cmd_dir = _cmd_dir()
+
+                        if not inside:
+                            # если вне сектора — запрещаем толкать ещё дальше наружу
+                            if cmd_dir != 0:
+                                to_min = ang_diff_signed(float(dmin), float(az))
+                                to_max = ang_diff_signed(float(dmax), float(az))
+                                if abs(to_min) <= abs(to_max):
+                                    need_dir = 1 if to_min > 0 else -1
+                                else:
+                                    need_dir = 1 if to_max > 0 else -1
+                                if cmd_dir != need_dir:
+                                    pan_i = 0
+                        else:
+                            # внутри: останов у границы + мягкое замедление
+                            to_right = ang_diff_signed(float(dmax), float(az))
+                            to_left = ang_diff_signed(float(dmin), float(az))
+
+                            pushing_right = (pan_i * pan_sign) > 0 and to_right <= 0.0
+                            pushing_left = (pan_i * pan_sign) < 0 and to_left >= 0.0
+                            if pushing_right or pushing_left:
+                                pan_i = 0
+                            else:
+                                if pan_i != 0:
+                                    dist_r = abs(to_right)
+                                    dist_l = abs(to_left)
+                                    dist_min = min(dist_r, dist_l)
+                                    edge_slow = getattr(config, "TRACK_EDGE_SLOWDOWN_DEG", 6.0)
+                                    edge_min_k = getattr(config, "TRACK_EDGE_MIN_SCALE", 0.25)
+                                    if dist_min < edge_slow:
+                                        k = max(edge_min_k, dist_min / max(1e-6, edge_slow))
+                                        pan_i = int(pan_i * k)
+
+                logger.info(
+                    "[PTZ SEND] cam=%s mode=%s az=%s pan_i=%s tilt_i=%s zoom_i=%s",
+                    cam_idx, st.get("mode", "IDLE"), st.get("az_deg"),
+                    pan_i, tilt_i, zoom_i
+                )
+
+                url = f"{base}/ISAPI/PTZCtrl/channels/{ch}/continuous"
+                xml = f"<PTZData><pan>{pan_i}</pan><tilt>{tilt_i}</tilt><zoom>{zoom_i}</zoom></PTZData>"
+                ok, code, body = _ptz_put(
+                    url, data=xml, headers=PTZ_HEADERS,
+                    auth=auth, timeout=timeout, verify=verify
+                )
+                if not ok and code == 0:
+                    logger.error("PTZ HTTP failed for camera %s: %s", cam_idx, body)
+
+            # === PRESET GOTO ===
+            elif isinstance(cmd, GotoTuple) and cmd.typ is PTZCmd.GOTO:
+                cam_idx, token = cmd.cam_idx, cmd.token
+                base, ch, auth, verify, timeout, _cfg = _base(cam_idx)
+
+                # ВАЖНО: используем надёжный goto (твоя функция), а не PUT-empty
+                ok = _ptz_goto_preset_isapi(cam_idx, base, ch, auth, verify, timeout, token)
+                if not ok:
+                    continue
+
+                st = state.ptz_states[cam_idx]
+                now = time.time()
+                settle = float(getattr(config, "GOTO_SETTLE_SEC", 2.5))
+                st["goto_in_progress_until"] = now + settle
+
+                st["mode"] = "IDLE"
+                st["tracking_active"] = False
+                try:
+                    from .notify import notify_detected
+                    notify_detected(cam_idx, False, force=True)
+                except Exception:
+                    pass
+
+                # СБРОС ЗУМА после возврата на пресет (чтобы не патрулировать в зуме)
+                dur = float(getattr(config, "GOTO_ZOOM_RESET_SEC", 2.0))
+                strength = float(getattr(config, "ZOOM_RESET_STRENGTH", -0.35))
+                request_zoom_reset(cam_idx, duration_sec=dur, strength=strength)
+
+            # === AUTOFOCUS ===
+            elif isinstance(cmd, FocusTuple) and cmd.typ is PTZCmd.FOCUS:
+                cam_idx = cmd.cam_idx
+                if not getattr(config, "AUTOFOCUS_TRY_ISAPI", False):
+                    continue
+
+                base, _ch, auth, verify, timeout, _ = _base(cam_idx)
+
+                try:
+                    cfg = config.CAMERA_CONFIG.get(cam_idx, {})
+                    override = cfg.get("focus_override")
+                except Exception:
+                    override = None
+
+                if override:
+                    url = f"{base}{override}"
+                    ok, code, body = _ptz_put(
+                        url, data="", headers=PTZ_HEADERS,
+                        auth=auth, timeout=timeout, verify=verify
+                    )
+                    if not ok:
+                        logger.warning(
+                            "[ISAPI] cam=%s autofocus override failed code=%s body=%r",
+                            cam_idx, code, (body or "")[:160]
+                        )
+                        _ptz_try_autofocus(base, auth, timeout, verify, cam_idx)
+                    else:
+                        logger.info("[ISAPI] cam=%s autofocus OK via override %s", cam_idx, url)
+                else:
+                    _ptz_try_autofocus(base, auth, timeout, verify, cam_idx)
+
+        except Exception as e:
+            logger.error("PTZ worker error: %s", e)

ptz_tracker_modular/ptz_io.py

@@ -0,0 +1,666 @@
+from __future__ import annotations
+
+import logging
+import time
+from enum import Enum
+from typing import NamedTuple, Union, Optional, Tuple
+
+import requests
+from requests.auth import HTTPDigestAuth
+from requests.adapters import HTTPAdapter
+
+try:
+    from urllib3.util.retry import Retry  # type: ignore
+except Exception:  # на всякий случай
+    Retry = None  # type: ignore
+
+from . import config, state
+from .utils import clipf, quantf
+from .geom import sector_contains, ang_diff_signed, normalize360
+
+logger = logging.getLogger("PTZTracker.PTZ")
+
+_sess = requests.Session()
+_sess.trust_env = False
+
+if Retry is not None:
+    _adapter = HTTPAdapter(
+        pool_connections=64,
+        pool_maxsize=64,
+        max_retries=Retry(
+            total=2,
+            backoff_factor=0.2,
+            status_forcelist=[500, 502, 503, 504],
+            raise_on_status=False,
+        ),
+    )
+else:
+    _adapter = HTTPAdapter(pool_connections=64, pool_maxsize=64, max_retries=0)
+
+_sess.mount("http://", _adapter)
+_sess.mount("https://", _adapter)
+
+PTZ_HEADERS = {"Content-Type": "application/xml", "Connection": "keep-alive"}
+
+AF_CAP_KEY = "af_caps"  # ключ в state.ptz_states[cam_idx]
+
+
+def _af_caps(st: dict) -> dict:
+    caps = st.get(AF_CAP_KEY)
+    if not isinstance(caps, dict):
+        caps = {}
+        st[AF_CAP_KEY] = caps
+    return caps
+
+
+def _base(cam_idx: int):
+    """
+    Возвращает:
+      base(str), ch(int), auth, verify_tls(bool), timeout_sec(float), cfg(dict)
+    где base = "{scheme}://{host}:{port}"
+    """
+    cfg = config.CAMERA_CONFIG[cam_idx]
+    scheme = cfg.get("scheme") or ("https" if cfg.get("https") else "http")
+    host = cfg["ip"]
+    port = int(cfg.get("port") or (443 if scheme == "https" else 80))
+    ch = int(cfg.get("ptz_channel", 1))
+
+    user = cfg.get("username") or cfg.get("user") or cfg.get("login") or "admin"
+    pwd = cfg.get("password") or cfg.get("pass") or cfg.get("pwd") or ""
+
+    auth = HTTPDigestAuth(user, pwd)
+    base = f"{scheme}://{host}:{port}"
+    verify = bool(cfg.get("verify_tls", False))
+    timeout = float(cfg.get("ptz_timeout_sec", 3.0))
+
+    return base, ch, auth, verify, timeout, cfg
+
+
+def _ptz_put(
+    url: str,
+    *,
+    data: bytes | str = b"",
+    headers=None,
+    auth=None,
+    timeout: float = 3.0,
+    verify: bool = False,
+) -> Tuple[bool, int, str]:
+    """
+    Унифицированный PUT с логом и отрезанным телом ответа.
+    Возвращает (ok, http_code, body[:300]).
+    """
+    try:
+        r = _sess.put(url, data=data, headers=headers or {}, auth=auth, timeout=timeout, verify=verify)
+        body = (r.text or "")[:300]
+        ok = 200 <= r.status_code < 300
+        if not ok:
+            logger.warning("PTZ HTTP %s url=%s body=%r", r.status_code, url, body)
+        return ok, r.status_code, body
+    except Exception as e:
+        logger.warning("PTZ HTTP EXC url=%s timeout=%.1f verify=%s: %s", url, timeout, verify, e)
+        return False, 0, str(e)
+
+
+def _ptz_get(url: str, *, auth=None, timeout: float = 3.0, verify: bool = False):
+    try:
+        r = _sess.get(url, auth=auth, timeout=timeout, verify=verify)
+        return r, None
+    except Exception as e:
+        return None, e
+
+
+class PTZCmd(Enum):
+    MOVE = "move"
+    GOTO = "goto"
+    FOCUS = "focus"
+
+
+class MoveTuple(NamedTuple):
+    typ: PTZCmd
+    cam_idx: int
+    pan_i: int
+    tilt_i: int
+    zoom_i: int
+
+
+class GotoTuple(NamedTuple):
+    typ: PTZCmd
+    cam_idx: int
+    token: str
+
+
+class FocusTuple(NamedTuple):
+    typ: PTZCmd
+    cam_idx: int
+
+
+PTZCommand = Union[MoveTuple, GotoTuple, FocusTuple, None]
+
+
+# ------------------------------
+# Zoom reset helper (важно для патруля)
+# ------------------------------
+def request_zoom_reset(cam_idx: int, duration_sec: float = 2.0, strength: float | None = None) -> None:
+    """
+    Просим "мягко" сбросить зум в течение duration_sec через continuous zoom-out.
+    strength: отрицательное значение (например -0.35). Если None — берём из config.
+    """
+    st = state.ptz_states[cam_idx]
+    now = time.time()
+    st["zoom_reset_until"] = now + float(max(0.2, duration_sec))
+    if strength is None:
+        strength = float(getattr(config, "ZOOM_RESET_STRENGTH", -0.35))
+    st["zoom_reset_strength"] = float(strength)
+
+
+def _apply_zoom_reset_overlay(cam_idx: int, zoom: float) -> float:
+    """
+    Если активен zoom_reset — принудительно добавляем zoom-out (отрицательное).
+    """
+    st = state.ptz_states[cam_idx]
+    until = float(st.get("zoom_reset_until", 0.0) or 0.0)
+    if time.time() < until:
+        strength = float(st.get("zoom_reset_strength", getattr(config, "ZOOM_RESET_STRENGTH", -0.35)) or -0.35)
+        # гарантируем, что команда будет "наружу" минимум strength
+        return min(float(zoom), float(strength))
+    return zoom
+
+
+def move_ptz(cam_idx: int, pan: float, tilt: float, zoom: float = 0.0) -> None:
+    """
+    Отправка относительного движения (continuous). Троттлинг + квантизация.
+    """
+    st = state.ptz_states[cam_idx]
+    now = time.monotonic()
+    min_dt = getattr(config, "PTZ_MIN_INTERVAL_SEC", 0.12)
+    if now - st.get("last_ptz_send", 0.0) < min_dt:
+        return
+
+    q = getattr(config, "PTZ_QUANT", 0.01)
+    pan_f = clipf(quantf(pan, q), -1.0, 1.0)
+    tilt_f = clipf(quantf(tilt, q), -1.0, 1.0)
+    zoom_f = clipf(quantf(zoom, q), -1.0, 1.0)
+
+    lp, lt, lz = st.get("last_cmd", (0.0, 0.0, 0.0))
+    eps = getattr(config, "PTZ_EPS", 0.01)
+    if (abs(pan_f - lp) < eps) and (abs(tilt_f - lt) < eps) and (abs(zoom_f - lz) < eps):
+        return
+
+    st["last_ptz_send"] = now
+    st["last_cmd"] = (pan_f, tilt_f, zoom_f)
+
+    pan_i, tilt_i, zoom_i = int(pan_f * 100), int(tilt_f * 100), int(zoom_f * 100)
+    if state.ptz_cmd_q is not None:
+        try:
+            state.ptz_cmd_q.put_nowait(MoveTuple(PTZCmd.MOVE, cam_idx, pan_i, tilt_i, zoom_i))
+        except Exception:
+            pass
+
+
+def stop_ptz(cam_idx: int) -> None:
+    move_ptz(cam_idx, 0.0, 0.0, 0.0)
+
+
+def goto_preset_token(cam_idx: int, token: str) -> None:
+    if state.ptz_cmd_q is not None:
+        try:
+            state.ptz_cmd_q.put_nowait(GotoTuple(PTZCmd.GOTO, cam_idx, token))
+        except Exception:
+            pass
+
+
+def call_autofocus(cam_idx: int) -> None:
+    """
+    Троттлинг + запуск автофокуса, если камера это поддерживает и не в кулдауне.
+    Управляется флагом config.AUTOFOCUS_TRY_ISAPI.
+    """
+    if not getattr(config, "AUTOFOCUS_TRY_ISAPI", False):
+        return
+
+    st = state.ptz_states[cam_idx]
+    now = time.monotonic()
+
+    # не чаще 1 раза в 2с
+    if now - st.get("last_focus_time", 0.0) < 2.0:
+        return
+    st["last_focus_time"] = now
+
+    caps = _af_caps(st)
+    cd = float(getattr(config, "AUTOFOCUS_COOLDOWN_SEC", 600.0))
+
+    # если знаем, что AF нет — уважаем кулдаун
+    if caps.get("has") is False and (now - caps.get("last_probe_fail", 0.0) < cd):
+        return
+
+    if state.ptz_cmd_q is not None:
+        try:
+            state.ptz_cmd_q.put_nowait(FocusTuple(PTZCmd.FOCUS, cam_idx))
+        except Exception:
+            pass
+
+
+def move_ptz_bounded(cam_idx: int, pan_speed: float, tilt_speed: float, zoom: float = 0.0) -> None:
+    """
+    Обёртка над move_ptz.
+
+    ВАЖНО: у тебя ограничение сектора реализовано внутри _ptz_worker (по mode/az/sector).
+    Здесь добавляем только "overlay" сброса зума, чтобы патруль мог вернуть масштаб обратно.
+    """
+    zoom = _apply_zoom_reset_overlay(cam_idx, zoom)
+    move_ptz(cam_idx, pan_speed, tilt_speed, zoom)
+
+
+# -----------------------------------------------------------------------------
+# Статус PTZ
+# -----------------------------------------------------------------------------
+def _parse_ptz_status(xml_text: str) -> Tuple[Optional[float], Optional[float]]:
+    import xml.etree.ElementTree as ET
+
+    def _norm_pan(v: float) -> float:
+        av = abs(v)
+        # сотые или десятые градуса (часто бывает)
+        if av > 3600 and av <= 36000:
+            return v / 100.0
+        if av > 360 and av <= 3600:
+            return v / 10.0
+        return v
+
+    def _norm_tilt(v: float) -> float:
+        av = abs(v)
+        if av > 900 and av <= 9000:
+            return v / 100.0
+        if av > 90 and av <= 900:
+            return v / 10.0
+        return v
+
+    try:
+        root = ET.fromstring(xml_text)
+
+        def local(tag: str) -> str:
+            return tag.split("}", 1)[-1] if "}" in tag else tag
+
+        # 1) СНАЧАЛА ищем “правильные” теги
+        pri_pan = ("azimuth", "absolutepan")
+        pri_tilt = ("elevation", "absolutetilt")
+
+        pan_val: Optional[float] = None
+        tilt_val: Optional[float] = None
+
+        for el in root.iter():
+            name = local(el.tag).lower()
+            if el.text is None:
+                continue
+            txt = el.text.strip()
+            if not txt:
+                continue
+
+            if pan_val is None and name in pri_pan:
+                try:
+                    pan_val = _norm_pan(float(txt))
+                except Exception:
+                    pass
+
+            if tilt_val is None and name in pri_tilt:
+                try:
+                    tilt_val = _norm_tilt(float(txt))
+                except Exception:
+                    pass
+
+        # 2) ТОЛЬКО если не нашли — пробуем pan/tilt как fallback
+        if pan_val is None or tilt_val is None:
+            for el in root.iter():
+                name = local(el.tag).lower()
+                if el.text is None:
+                    continue
+                txt = el.text.strip()
+                if not txt:
+                    continue
+
+                if pan_val is None and name == "pan":
+                    try:
+                        pan_val = _norm_pan(float(txt))
+                    except Exception:
+                        pass
+                if tilt_val is None and name == "tilt":
+                    try:
+                        tilt_val = _norm_tilt(float(txt))
+                    except Exception:
+                        pass
+
+        return pan_val, tilt_val
+    except Exception:
+        return None, None
+
+
+def get_ptz_status(cam_idx: int) -> Tuple[Optional[float], Optional[float]]:
+    """
+    Возвращает (azimuth_deg_normalized_0_360 | None, tilt | None).
+    Пытаемся по http, затем по https (если http дал 2xx, второй не трогаем).
+    """
+    base, ch, auth, verify, timeout, _ = _base(cam_idx)
+
+    # Попытка HTTP
+    url_http = f"{base}/ISAPI/PTZCtrl/channels/{ch}/status"
+    r, _e = _ptz_get(url_http, auth=auth, timeout=timeout, verify=False if base.startswith("http://") else verify)
+    if r is not None and (200 <= r.status_code < 300):
+        pan, tilt = _parse_ptz_status(r.text)
+        if pan is not None or tilt is not None:
+            logger.info(
+                "[ISAPI] cam=%s OK status: pan=%s tilt=%s via %s",
+                cam_idx,
+                f"{normalize360(pan):.2f}" if pan is not None else "None",
+                f"{tilt:.2f}" if tilt is not None else "None",
+                url_http,
+            )
+            return normalize360(pan) if pan is not None else None, tilt
+
+    # Попытка HTTPS (если http не дал валидные числа)
+    host = config.CAMERA_CONFIG[cam_idx]["ip"]
+    url_https = f"https://{host}:443/ISAPI/PTZCtrl/channels/{ch}/status"
+    r2, _e2 = _ptz_get(url_https, auth=auth, timeout=timeout, verify=verify)
+    if r2 is not None and (200 <= r2.status_code < 300):
+        pan, tilt = _parse_ptz_status(r2.text)
+        if pan is not None or tilt is not None:
+            logger.info(
+                "[ISAPI] cam=%s OK status: pan=%s tilt=%s via %s",
+                cam_idx,
+                f"{normalize360(pan):.2f}" if pan is not None else "None",
+                f"{tilt:.2f}" if tilt is not None else "None",
+                url_https,
+            )
+            return normalize360(pan) if pan is not None else None, tilt
+
+    return None, None
+
+
+def read_ptz_azimuth_deg(cam_idx: int) -> Optional[float]:
+    pan_deg, _ = get_ptz_status(cam_idx)
+    return pan_deg
+
+
+# -----------------------------------------------------------------------------
+# Умный фолбэк автофокуса (с кэшем и кулдауном)
+# -----------------------------------------------------------------------------
+def _ptz_try_autofocus(base: str, auth, timeout: float, verify: bool, cam_idx: int) -> bool:
+    st = state.ptz_states[cam_idx]
+    caps = _af_caps(st)
+
+    if caps.get("has") and caps.get("url"):
+        ok, _code, _body_txt = _ptz_put(caps["url"], data="", headers=PTZ_HEADERS, auth=auth, timeout=timeout, verify=verify)
+        if ok:
+            logger.info("[ISAPI] cam=%s autofocus OK via cached %s", cam_idx, caps["url"])
+            return True
+
+    now = time.monotonic()
+    cd = float(getattr(config, "AUTOFOCUS_COOLDOWN_SEC", 600.0))
+    if caps.get("has") is False and (now - caps.get("last_probe_fail", 0.0) < cd):
+        return False
+
+    candidates = [
+        ("PUT", f"{base}/ISAPI/PTZCtrl/channels/1/focus",
+         "<FocusData><focusMode>auto</focusMode><AutoFocusMode>trigger</AutoFocusMode></FocusData>"),
+        ("PUT", f"{base}/ISAPI/PTZCtrl/channels/1/focus", ""),
+        ("PUT", f"{base}/ISAPI/PTZCtrl/channels/1/triggerFocus", ""),
+        ("PUT", f"{base}/ISAPI/Image/channels/1/focus",
+         "<FocusData><AutoFocusMode>trigger</AutoFocusMode></FocusData>"),
+        ("PUT", f"{base}/ISAPI/Image/channels/1/focus/auto", ""),
+        ("PUT", f"{base}/ISAPI/System/Video/inputs/channels/1/focus",
+         "<Focus><autoFocus>true</autoFocus></Focus>"),
+        ("PUT", f"{base}/ISAPI/System/Video/inputs/channels/1/focus/auto", ""),
+    ]
+
+    first_fail_logged = False
+    for _method, url, body in candidates:
+        ok, code, _body_txt = _ptz_put(url, data=body, headers=PTZ_HEADERS, auth=auth, timeout=timeout, verify=verify)
+        if ok:
+            caps["has"] = True
+            caps["url"] = url
+            logger.info("[ISAPI] cam=%s autofocus OK via %s", cam_idx, url)
+            return True
+        else:
+            if not first_fail_logged:
+                logger.warning("[ISAPI] cam=%s autofocus try fail code=%s url=%s", cam_idx, code, url)
+                first_fail_logged = True
+            else:
+                logger.debug("[ISAPI] cam=%s autofocus try fail code=%s url=%s", cam_idx, code, url)
+
+    caps["has"] = False
+    caps["url"] = None
+    caps["last_probe_fail"] = now
+    logger.info("[ISAPI] cam=%s autofocus unsupported — backoff %.0fs", cam_idx, cd)
+    return False
+
+
+def _ptz_goto_preset_isapi(
+    cam_idx: int,
+    base: str,
+    ch: int,
+    auth,
+    verify: bool,
+    timeout: float,
+    token: str,
+) -> bool:
+    tok = str(token).strip()
+    url = f"{base}/ISAPI/PTZCtrl/channels/{ch}/presets/{tok}/goto"
+
+    headers_xml = {"Content-Type": "application/xml; charset=UTF-8", "Connection": "keep-alive"}
+
+    ok, code, body = _ptz_put(url, data=b"", headers=headers_xml, auth=auth, timeout=timeout, verify=verify)
+    if ok:
+        logger.info("[ISAPI] cam=%s goto preset OK via PUT-empty url=%s", cam_idx, url)
+        return True
+
+    xml = f'<?xml version="1.0" encoding="UTF-8"?><PTZPreset><id>{tok}</id></PTZPreset>'
+    ok, code, body = _ptz_put(url, data=xml, headers=headers_xml, auth=auth, timeout=timeout, verify=verify)
+    if ok:
+        logger.info("[ISAPI] cam=%s goto preset OK via PUT-xml url=%s", cam_idx, url)
+        return True
+
+    headers_xml2 = {"Content-Type": "application/xml", "Connection": "keep-alive"}
+    ok, code, body = _ptz_put(url, data=xml, headers=headers_xml2, auth=auth, timeout=timeout, verify=verify)
+    if ok:
+        logger.info("[ISAPI] cam=%s goto preset OK via PUT-xml2 url=%s", cam_idx, url)
+        return True
+
+    try:
+        r = _sess.post(url, data=xml, headers=headers_xml, auth=auth, timeout=timeout, verify=verify)
+        body2 = (r.text or "")[:300]
+        ok2 = 200 <= r.status_code < 300
+        if ok2:
+            logger.info("[ISAPI] cam=%s goto preset OK via POST-xml url=%s", cam_idx, url)
+            return True
+        else:
+            logger.warning("PTZ HTTP %s url=%s body=%r", r.status_code, url, body2)
+    except Exception as e:
+        logger.warning("PTZ HTTP EXC url=%s timeout=%.1f verify=%s: %s", url, timeout, verify, e)
+
+    logger.error(
+        "[ISAPI] cam=%s goto preset FAILED token=%s last_http=%s last_body=%r",
+        cam_idx, tok, code, (body or "")[:200],
+    )
+    return False
+
+
+# -----------------------------------------------------------------------------
+# Воркер отправки PTZ-команд
+# -----------------------------------------------------------------------------
+def _ptz_worker() -> None:
+    """
+    Читает команды из state.ptz_cmd_q и выполняет HTTP-вызовы.
+    """
+    from collections import deque
+    pending = deque()
+
+    while True:
+        try:
+            if pending:
+                cmd: PTZCommand = pending.popleft()
+            else:
+                cmd: PTZCommand = state.ptz_cmd_q.get(timeout=0.5)  # type: ignore
+        except Exception:
+            continue
+
+        if cmd is None:
+            break
+
+        # "latest wins": сжимаем поток MOVE-команд, чтобы не накапливать задержку
+        if isinstance(cmd, MoveTuple) and cmd.typ is PTZCmd.MOVE:
+            latest = cmd
+            while True:
+                try:
+                    nxt: PTZCommand = state.ptz_cmd_q.get_nowait()  # type: ignore
+                except Exception:
+                    break
+                if isinstance(nxt, MoveTuple) and nxt.typ is PTZCmd.MOVE and nxt.cam_idx == latest.cam_idx:
+                    latest = nxt
+                else:
+                    pending.append(nxt)
+            cmd = latest
+
+        try:
+            # === CONTINUOUS MOVE ===
+            if isinstance(cmd, MoveTuple) and cmd.typ is PTZCmd.MOVE:
+                cam_idx, pan_i, tilt_i, zoom_i = cmd.cam_idx, cmd.pan_i, cmd.tilt_i, cmd.zoom_i
+                base, ch, auth, verify, timeout, cfg = _base(cam_idx)
+                st = state.ptz_states[cam_idx]
+
+                # не мешаем переезду на пресет
+                now_wall = time.time()
+                until = float(st.get("goto_in_progress_until", 0.0) or 0.0)
+                if now_wall < until:
+                    continue
+
+                # overlay zoom reset (важно: работает даже если команда пришла не через move_ptz_bounded)
+                if now_wall < float(st.get("zoom_reset_until", 0.0) or 0.0):
+                    strength = float(st.get("zoom_reset_strength", getattr(config, "ZOOM_RESET_STRENGTH", -0.35)) or -0.35)
+                    zoom_i = min(int(strength * 100), zoom_i)
+
+                az = st.get("az_deg")
+                dmin = cfg.get("sector_min_deg")
+                dmax = cfg.get("sector_max_deg")
+                mode = st.get("mode", "IDLE")
+
+                # сектор-ограничение НЕ применяется в TRACK (там мы разрешаем выход "внутрь" и т.п.)
+                if dmin is not None and dmax is not None and mode != "TRACK":
+                    if az is None:
+                        # если нет азимута — не толкаем пан, кроме патруля в IDLE/SEARCH
+                        if not (st.get("patrol_active") and mode in ("IDLE", "SEARCH")):
+                            pan_i = 0
+                    else:
+                        pan_sign = cfg.get("pan_sign", 1) or 1
+                        inside = sector_contains(float(az), float(dmin), float(dmax))
+
+                        def _cmd_dir() -> int:
+                            if pan_i == 0:
+                                return 0
+                            return 1 if (pan_i * pan_sign) > 0 else -1
+
+                        cmd_dir = _cmd_dir()
+
+                        if not inside:
+                            # если вне сектора — запрещаем толкать ещё дальше наружу
+                            if cmd_dir != 0:
+                                to_min = ang_diff_signed(float(dmin), float(az))
+                                to_max = ang_diff_signed(float(dmax), float(az))
+                                if abs(to_min) <= abs(to_max):
+                                    need_dir = 1 if to_min > 0 else -1
+                                else:
+                                    need_dir = 1 if to_max > 0 else -1
+                                if cmd_dir != need_dir:
+                                    pan_i = 0
+                        else:
+                            # внутри: останов у границы + мягкое замедление
+                            to_right = ang_diff_signed(float(dmax), float(az))
+                            to_left = ang_diff_signed(float(dmin), float(az))
+
+                            pushing_right = (pan_i * pan_sign) > 0 and to_right <= 0.0
+                            pushing_left = (pan_i * pan_sign) < 0 and to_left >= 0.0
+                            if pushing_right or pushing_left:
+                                pan_i = 0
+                            else:
+                                if pan_i != 0:
+                                    dist_r = abs(to_right)
+                                    dist_l = abs(to_left)
+                                    dist_min = min(dist_r, dist_l)
+                                    edge_slow = getattr(config, "TRACK_EDGE_SLOWDOWN_DEG", 6.0)
+                                    edge_min_k = getattr(config, "TRACK_EDGE_MIN_SCALE", 0.25)
+                                    if dist_min < edge_slow:
+                                        k = max(edge_min_k, dist_min / max(1e-6, edge_slow))
+                                        pan_i = int(pan_i * k)
+
+                logger.info(
+                    "[PTZ SEND] cam=%s mode=%s az=%s pan_i=%s tilt_i=%s zoom_i=%s",
+                    cam_idx, st.get("mode", "IDLE"), st.get("az_deg"),
+                    pan_i, tilt_i, zoom_i
+                )
+
+                url = f"{base}/ISAPI/PTZCtrl/channels/{ch}/continuous"
+                xml = f"<PTZData><pan>{pan_i}</pan><tilt>{tilt_i}</tilt><zoom>{zoom_i}</zoom></PTZData>"
+                ok, code, body = _ptz_put(
+                    url, data=xml, headers=PTZ_HEADERS,
+                    auth=auth, timeout=timeout, verify=verify
+                )
+                if not ok and code == 0:
+                    logger.error("PTZ HTTP failed for camera %s: %s", cam_idx, body)
+
+            # === PRESET GOTO ===
+            elif isinstance(cmd, GotoTuple) and cmd.typ is PTZCmd.GOTO:
+                cam_idx, token = cmd.cam_idx, cmd.token
+                base, ch, auth, verify, timeout, _cfg = _base(cam_idx)
+
+                # ВАЖНО: используем надёжный goto (твоя функция), а не PUT-empty
+                ok = _ptz_goto_preset_isapi(cam_idx, base, ch, auth, verify, timeout, token)
+                if not ok:
+                    continue
+
+                st = state.ptz_states[cam_idx]
+                now = time.time()
+                settle = float(getattr(config, "GOTO_SETTLE_SEC", 2.5))
+                st["goto_in_progress_until"] = now + settle
+
+                st["mode"] = "IDLE"
+                st["tracking_active"] = False
+                try:
+                    from .notify import notify_detected
+                    notify_detected(cam_idx, False, force=True)
+                except Exception:
+                    pass
+
+                # СБРОС ЗУМА после возврата на пресет (чтобы не патрулировать в зуме)
+                dur = float(getattr(config, "GOTO_ZOOM_RESET_SEC", 2.0))
+                strength = float(getattr(config, "ZOOM_RESET_STRENGTH", -0.35))
+                request_zoom_reset(cam_idx, duration_sec=dur, strength=strength)
+
+            # === AUTOFOCUS ===
+            elif isinstance(cmd, FocusTuple) and cmd.typ is PTZCmd.FOCUS:
+                cam_idx = cmd.cam_idx
+                if not getattr(config, "AUTOFOCUS_TRY_ISAPI", False):
+                    continue
+
+                base, _ch, auth, verify, timeout, _ = _base(cam_idx)
+
+                try:
+                    cfg = config.CAMERA_CONFIG.get(cam_idx, {})
+                    override = cfg.get("focus_override")
+                except Exception:
+                    override = None
+
+                if override:
+                    url = f"{base}{override}"
+                    ok, code, body = _ptz_put(
+                        url, data="", headers=PTZ_HEADERS,
+                        auth=auth, timeout=timeout, verify=verify
+                    )
+                    if not ok:
+                        logger.warning(
+                            "[ISAPI] cam=%s autofocus override failed code=%s body=%r",
+                            cam_idx, code, (body or "")[:160]
+                        )
+                        _ptz_try_autofocus(base, auth, timeout, verify, cam_idx)
+                    else:
+                        logger.info("[ISAPI] cam=%s autofocus OK via override %s", cam_idx, url)
+                else:
+                    _ptz_try_autofocus(base, auth, timeout, verify, cam_idx)
+
+        except Exception as e:
+            logger.error("PTZ worker error: %s", e)

ptz_tracker_modular/sector.py

@@ -0,0 +1,134 @@
+from __future__ import annotations
+import asyncio
+import logging
+from typing import Optional, Tuple
+
+from . import config, state
+from .geom import normalize360, ang_diff_signed
+from .ptz_io import read_ptz_azimuth_deg, goto_preset_token
+from .toml_persist import persist_geo_fields
+
+logger = logging.getLogger("PTZTracker")
+
+def sector_contains(az_deg: float, sector_min_deg: float, sector_max_deg: float) -> bool:
+    """Проверка попадания азимута в сектор.
+
+    Сектор задаётся двумя границами по кругу [0..360):
+      - если sector_min_deg <= sector_max_deg: обычный интервал
+      - если sector_min_deg > sector_max_deg: сектор «пересекает 0» (wrap-around)
+    """
+    az = normalize360(float(az_deg))
+    a = normalize360(float(sector_min_deg))
+    b = normalize360(float(sector_max_deg))
+    if a <= b:
+        return a <= az <= b
+    # wrap через 0: например [345..147]
+    return az >= a or az <= b
+
+
+def sector_clamp(az_deg: float, sector_min_deg: float, sector_max_deg: float) -> float:
+    """Если азимут вне сектора — возвращаем ближайшую границу, иначе az_deg."""
+    az = normalize360(float(az_deg))
+    a = normalize360(float(sector_min_deg))
+    b = normalize360(float(sector_max_deg))
+    if sector_contains(az, a, b):
+        return az
+    # выберем ближайшую границу по угловой дистанции
+    da = abs(ang_diff_signed(a, az))
+    db = abs(ang_diff_signed(b, az))
+    return a if da <= db else b
+
+
+def _compute_sector_bounds_from_hfov(ptz_cam_id: int) -> Optional[Tuple[float, float, float]]:
+    pano_id = config.PTZ_TO_PAN.get(ptz_cam_id)
+    if pano_id is None:
+        return None
+    ptz_cfg = config.CAMERA_CONFIG[ptz_cam_id]
+    pano_cfg = config.CAMERA_CONFIG[pano_id]
+    center = normalize360(float(ptz_cfg.get("pan_offset_deg", 0.0)))
+    hfov = float(pano_cfg.get("bullet_hfov_deg", 89.0))
+    half = max(0.0, hfov * 0.5 - config.SECTOR_MARGIN_DEG)
+    left = normalize360(center - half)
+    right = normalize360(center + half)
+    return (center, left, right)
+
+async def sector_autocal_from_presets() -> None:
+    if not config.USE_PRESET_EDGES_FOR_SECTOR:
+        return
+    for cam in config.PTZ_CAM_IDS:
+        cfg = config.CAMERA_CONFIG[cam]
+        p1, p2 = cfg.get("preset1"), cfg.get("preset2")
+        if not (p1 and p2):
+            continue
+        goto_preset_token(cam, p1)
+        await asyncio.sleep(0.8)
+        a = read_ptz_azimuth_deg(cam)
+        goto_preset_token(cam, p2)
+        await asyncio.sleep(0.8)
+        b = read_ptz_azimuth_deg(cam)
+        if a is None or b is None:
+            logger.warning("[SECTOR] cam %s: can't read azimuths", cam)
+            continue
+        span = abs(ang_diff_signed(b, a))
+        center = normalize360(a + ang_diff_signed(b, a) * 0.5)
+        half = max(0.0, span * 0.5 - config.SECTOR_MARGIN_DEG)
+        left = normalize360(center - half)
+        right = normalize360(center + half)
+
+        st = state.ptz_states[cam]
+        st["sector_center_deg"] = center
+        st["sector_left_deg"] = left
+        st["sector_right_deg"] = right
+        st["sector_min_deg"] = left
+        st["sector_max_deg"] = right
+
+        cfg["pan_offset_deg"] = center
+        cfg["sector_min_deg"] = left
+        cfg["sector_max_deg"] = right
+        cfg["preset1_deg"] = a
+        cfg["preset2_deg"] = b
+
+        # сохраняем значения в cameras.toml
+        persist_geo_fields(cam, {
+            "preset1_deg": a,
+            "preset2_deg": b,
+            "sector_min_deg": left,
+            "sector_max_deg": right,
+            "sector_left_deg": left,
+            "sector_right_deg": right,
+            "pan_offset_deg": center,
+        }, source="sector_autocal")
+
+        # обновим HFOV у пушки, если можем
+        pano_id = config.PTZ_TO_PAN.get(cam)
+        if pano_id is not None:
+            config.CAMERA_CONFIG[pano_id]["bullet_hfov_deg"] = span
+
+        logger.info("[SECTOR] cam %s: span=%.1f°, center=%.1f°, L=%.1f°, R=%.1f°", cam, span, center, left, right)
+
+def sector_init_on_startup() -> None:
+    if config.USE_PRESET_EDGES_FOR_SECTOR:
+        for cam in config.PTZ_CAM_IDS:
+            st = state.ptz_states[cam]
+            if st.get("sector_left_deg") is None:
+                b = _compute_sector_bounds_from_hfov(cam)
+                if b is None:
+                    continue
+                center, left, right = b
+                st["sector_center_deg"] = center
+                st["sector_left_deg"] = left
+                st["sector_right_deg"] = right
+                st["sector_min_deg"] = left
+                st["sector_max_deg"] = right
+        return
+    for cam in config.PTZ_CAM_IDS:
+        b = _compute_sector_bounds_from_hfov(cam)
+        if b is None:
+            continue
+        center, left, right = b
+        st = state.ptz_states[cam]
+        st["sector_center_deg"] = center
+        st["sector_left_deg"] = left
+        st["sector_right_deg"] = right
+        st["sector_min_deg"] = left
+        st["sector_max_deg"] = right

ptz_tracker_modular/servers.py

@@ -0,0 +1,384 @@
+# ptz_tracker_modular/servers.py
+from __future__ import annotations
+
+import asyncio
+import logging
+import struct
+from typing import Any, Dict, Tuple, List
+
+import websockets
+
+# --- конфиг/утилы/состояние ---
+try:
+    from . import config
+    from .utils import json_dumps, json_loads
+    from .state import (
+        video_clients,
+        vue_control_clients,
+        latest_jpeg_by_cam,
+        detected_cameras,
+        detection_queue,
+        ptz_states,
+    )
+    from .preview import publish_preview, maybe_downscale
+    from .cameras_io import add_or_update_camera_pair, get_all as get_all_cameras
+except Exception:  # запуск вне пакета (не рекомендуется)
+    import config  # type: ignore
+    from utils import json_dumps, json_loads  # type: ignore
+    from state import (  # type: ignore
+        video_clients,
+        vue_control_clients,
+        latest_jpeg_by_cam,
+        detected_cameras,
+        detection_queue,
+        ptz_states,
+    )
+    from preview import publish_preview, maybe_downscale  # type: ignore
+    from cameras_io import add_or_update_camera_pair, get_all as get_all_cameras  # type: ignore
+
+# >>> импорт триггера дворника (ISAPI)
+try:
+    from .wiper import trigger_wiper_once
+except Exception:  # запасной путь
+    try:
+        from wiper import trigger_wiper_once  # type: ignore
+    except Exception:
+        trigger_wiper_once = None  # type: ignore
+
+logger = logging.getLogger("PTZTracker")
+
+PACKER_HI = struct.Struct(">HI")  # cam_id:uint16, frame_id:uint32
+
+
+# ===================== VIDEO WS =====================
+
+async def video_ws_handler(ws, path=None) -> None:
+    addr = getattr(ws, "remote_address", None)
+    logger.info("[VIDEO WS] client connected: %s path=%s", addr, path)
+    video_clients.add(ws)
+    try:
+        await ws.wait_closed()
+    finally:
+        video_clients.discard(ws)
+        logger.info("[VIDEO WS] client disconnected: %s", addr)
+
+
+async def video_broadcaster() -> None:
+    """
+    Раздает JPEG-кадры всем подписчикам video WS.
+    Держит темп для каждого клиента отдельно и выкидывает тех, у кого буфер распух.
+    """
+    client_state: Dict[Any, Dict[str, Any]] = {}
+    min_interval_fast = config.VIDEO_MIN_INTERVAL_FAST
+    min_interval_slow = config.VIDEO_MIN_INTERVAL_SLOW
+    send_slow_sec = 0.02
+    buf_soft = 4 * 1024 * 1024
+    buf_hard = 8 * 1024 * 1024
+    loop_tick = 1.0 / 200.0
+
+    while True:
+        try:
+            if not video_clients or not latest_jpeg_by_cam:
+                await asyncio.sleep(loop_tick)
+                continue
+
+            now = asyncio.get_running_loop().time()
+            dead: set[Any] = set()
+
+            for ws in list(video_clients):
+                st = client_state.setdefault(
+                    ws, {"last_fid": {}, "min_interval": min_interval_fast, "last_sent": 0.0}
+                )
+                if (now - st["last_sent"]) < st["min_interval"]:
+                    continue
+
+                transport = getattr(ws, "transport", None)
+                buf_sz = transport.get_write_buffer_size() if transport else 0
+                if buf_sz > buf_hard:
+                    try:
+                        await ws.close()
+                    except Exception:
+                        pass
+                    dead.add(ws)
+                    continue
+
+                pending: List[Tuple[int, int, bytes]] = []
+                last_fid: Dict[int, int] = st["last_fid"]
+
+                for cam_id, (fid, jpeg) in latest_jpeg_by_cam.items():
+                    if last_fid.get(cam_id, -1) != fid:
+                        payload = PACKER_HI.pack(int(cam_id), int(fid)) + jpeg
+                        pending.append((cam_id, fid, payload))
+
+                if config.SEND_DUPLICATES_WHEN_IDLE and not pending:
+                    for cam_id, (fid, jpeg) in latest_jpeg_by_cam.items():
+                        payload = PACKER_HI.pack(int(cam_id), int(fid)) + jpeg
+                        pending.append((cam_id, fid, payload))
+
+                if not pending:
+                    continue
+
+                max_per_tick = 12 if st["min_interval"] <= (1.0 / 30.0) else 6
+                if len(pending) > max_per_tick:
+                    pending.sort(key=lambda x: x[1], reverse=True)
+                    pending = pending[:max_per_tick]
+
+                t0 = asyncio.get_running_loop().time()
+                try:
+                    send = ws.send
+                    for cam_id, fid, payload in pending:
+                        await send(payload)
+                        last_fid[cam_id] = fid
+                except Exception:
+                    dead.add(ws)
+                    continue
+                finally:
+                    st["last_sent"] = asyncio.get_running_loop().time()
+
+                send_time = st["last_sent"] - t0
+                if (send_time > send_slow_sec) or (buf_sz > buf_soft):
+                    st["min_interval"] = min(st["min_interval"] * 1.25, min_interval_slow)
+                else:
+                    st["min_interval"] = max(st["min_interval"] * 0.90, min_interval_fast)
+
+            for d in dead:
+                video_clients.discard(d)
+                client_state.pop(d, None)
+
+        except Exception as exc:
+            logger.error("video_broadcaster error: %s", exc)
+
+        await asyncio.sleep(loop_tick)
+
+
+# ===================== CONTROL WS =====================
+
+async def _ctrl_send(ws, payload: Dict[str, Any]) -> None:
+    try:
+        await ws.send(json_dumps(payload))
+    except Exception:
+        try:
+            await ws.close()
+        except Exception:
+            pass
+        vue_control_clients.discard(ws)
+
+
+async def handle_vue_control(ws, path=None) -> None:
+    addr = getattr(ws, "remote_address", None)
+    logger.info("[CTRL WS] client connected: %s path=%s", addr, path)
+    vue_control_clients.add(ws)
+    try:
+        # начальная инициализация фронта
+        await _ctrl_send(ws, {"type": "init", "data": [len(detected_cameras)] + sorted(detected_cameras)})
+
+        async for msg in ws:
+            try:
+                data = json_loads(msg)
+            except Exception:
+                logger.warning("[CTRL WS] bad JSON from %s: %r", addr, msg)
+                continue
+
+            mtype = data.get("type")
+
+            # === переключение стратегии авто/ручной
+            if mtype == "policy":
+                auto = data.get("auto")
+                logger.info("[CTRL WS] policy request from %s: auto=%r", addr, auto)
+                if isinstance(auto, bool):
+                    try:
+                        import importlib
+                        import ptz_tracker_modular.config as _cfg  # type: ignore
+                        _cfg.AUTO_STRATEGY = auto
+                        await _ctrl_send(ws, {"type": "policy_ack", "auto": _cfg.AUTO_STRATEGY})
+                        logger.info("[CTRL WS] policy set to auto=%r", _cfg.AUTO_STRATEGY)
+                    except Exception as e:
+                        await _ctrl_send(ws, {"type": "policy_ack", "ok": False, "error": str(e)})
+                        logger.exception("[CTRL WS] policy error: %s", e)
+                continue
+
+            # === полноэкран / выбор камеры
+            if mtype == "numberCamera":
+                try:
+                    payload_data = data.get("data", {})
+                    canvas_id = payload_data.get("canvasId", None)
+                    if isinstance(canvas_id, str):
+                        canvas_id = int(canvas_id.strip())
+                    elif isinstance(canvas_id, float):
+                        canvas_id = int(canvas_id)
+                    elif not isinstance(canvas_id, int):
+                        raise ValueError("canvasId must be int/str/float")
+
+                    payload = {"type": "numberCamera", "data": {"canvasId": canvas_id}}
+                    if detection_queue is not None:
+                        detection_queue.put_nowait(payload)
+                        await _ctrl_send(ws, {"type": "numberCamera_ack", "ok": True})
+                        logger.info("[CTRL WS] numberCamera -> %s", canvas_id)
+                    else:
+                        await _ctrl_send(ws, {"type": "numberCamera_ack", "ok": False, "error": "no_queue"})
+                        logger.warning("[CTRL WS] numberCamera: no_queue")
+                except Exception as e:
+                    logger.exception("[CTRL WS] numberCamera error: %s", e)
+                    await _ctrl_send(ws, {"type": "numberCamera_ack", "ok": False, "error": str(e)})
+                continue
+
+            # === дворник (ISAPI)
+            if mtype == "wiper":
+                if trigger_wiper_once is None:
+                    await _ctrl_send(ws, {"type": "wiper_ack", "ok": False, "error": "wiper not available"})
+                    logger.warning("[CTRL WS] wiper requested but not available")
+                    continue
+                try:
+                    payload = data.get("data") or {}
+                    cam = int(payload.get("cam"))
+                    sec = int(payload.get("sec", 3))
+                    logger.info("[CTRL WS] WIPER request from %s -> cam=%s sec=%s", addr, cam, sec)
+
+                    ok = await trigger_wiper_once(cam, sec)
+                    await _ctrl_send(ws, {"type": "wiper_ack", "ok": bool(ok), "cam": cam, "sec": sec})
+                    logger.info("[CTRL WS] WIPER ack ok=%r cam=%s sec=%s", bool(ok), cam, sec)
+                except Exception as e:
+                    logger.exception("[CTRL WS] wiper error: %s", e)
+                    await _ctrl_send(ws, {"type": "wiper_ack", "ok": False, "error": str(e)})
+                continue
+
+            # === добавить КАМЕРУ (создать пару PTZ+PAN по IP)
+            if mtype == "add_camera":
+                """
+                Ожидаемый payload:
+                {
+                  "type": "add_camera",
+                  "data": {
+                     "ip": "...", "username": "...", "password": "...",
+                     "preset1": "1", "preset2": "2",           # для PTZ
+                     "ptz_channel": 1,                          # можно прислать 1 или 2 — игнорится, мы создаём пару
+                     "sweep_sign": 1
+                  }
+                }
+                """
+                try:
+                    payload = data.get("data") or {}
+                    logger.info("[CTRL WS] add_camera from %s: %s", addr, payload)
+                    if "ip" not in payload:
+                        raise ValueError("missing 'ip'")
+                    # создаём/обновляем пару записей
+                    ptz_id, cams = add_or_update_camera_pair(payload)
+                    # пересобираем производные структуры
+                    try:
+                        config.reload_cameras()
+                    except Exception as e:
+                        logger.warning("reload_cameras failed: %s", e)
+
+                    await _ctrl_send(ws, {
+                        "type": "add_camera_ack",
+                        "ok": True,
+                        "ptz_id": ptz_id,
+                        "count": len(cams),
+                    })
+                    logger.info("[CTRL WS] add_camera OK -> ptz_id=%s total=%s", ptz_id, len(cams))
+                except Exception as e:
+                    logger.exception("[CTRL WS] add_camera error: %s", e)
+                    await _ctrl_send(ws, {"type": "add_camera_ack", "ok": False, "error": str(e)})
+                continue
+
+            # === список камер по запросу (опционально)
+            if mtype == "list_cameras":
+                try:
+                    cams = get_all_cameras()
+                    await _ctrl_send(ws, {"type": "list_cameras_ack", "ok": True, "cameras": cams})
+                    logger.info("[CTRL WS] list_cameras -> %s items", len(cams))
+                except Exception as e:
+                    await _ctrl_send(ws, {"type": "list_cameras_ack", "ok": False, "error": str(e)})
+                    logger.exception("[CTRL WS] list_cameras error: %s", e)
+                continue
+
+            logger.debug("[CTRL WS] unknown message type: %s", mtype)
+
+    except Exception as exc:
+        logger.warning("[CTRL WS] error: %s", exc)
+    finally:
+        vue_control_clients.discard(ws)
+        logger.info("[CTRL WS] client disconnected: %s", addr)
+
+
+# ===================== CONTROL STATUS BROADCASTER =====================
+
+async def control_broadcaster(interval_sec: float = 0.25) -> None:
+    """
+    Периодически шлёт фронтенду агрегированный статус по всем камерам.
+    Формат сообщения:
+    {
+      "type": "camera_status_batch",
+      "items": [
+        {
+          "cam": 0,
+          "az": 123.4, "tilt": -12.3,
+          "mode": "auto", "zoom_state": 0,
+          "bearing_geo": 278.1,
+          "delta_from_preset1_geo": -5.2,
+          "attack_bearing_geo": 260.0,
+          "attack_compass": "W",
+          "last_seen": 1699999999.12
+        }, ...
+      ]
+    }
+    """
+    while True:
+        try:
+            if not vue_control_clients:
+                await asyncio.sleep(interval_sec)
+                continue
+
+            items: List[Dict[str, Any]] = []
+            for cam, st in list(ptz_states.items()):
+                try:
+                    items.append({
+                        "cam": cam,
+                        "az": st.get("az_deg"),
+                        "tilt": st.get("tilt_deg"),
+                        "mode": st.get("mode"),
+                        "zoom_state": st.get("zoom_state"),
+                        "bearing_geo": st.get("bearing_curr_geo"),
+                        "delta_from_preset1_geo": st.get("delta_from_preset1_geo"),
+                        "attack_bearing_geo": st.get("attack_bearing_geo"),
+                        "attack_compass": st.get("attack_compass"),
+                        "last_seen": st.get("last_seen"),
+                    })
+                except Exception:
+                    continue
+
+            if items:
+                payload = {"type": "camera_status_batch", "items": items}
+                msg = json_dumps(payload)
+                dead: set[Any] = set()
+                for ws in list(vue_control_clients):
+                    try:
+                        await ws.send(msg)
+                    except Exception:
+                        dead.add(ws)
+                for d in dead:
+                    vue_control_clients.discard(d)
+
+                # (опционально) краткая сводка в лог
+                if getattr(config, "LOG_STATUS_BATCH", False):
+                    ptz_ids = set(getattr(config, "PTZ_CAM_IDS", []))
+                    line_parts = []
+                    for it in items:
+                        cid = it.get("cam")
+                        if cid in ptz_ids:
+                            az = it.get("az")
+                            b = it.get("bearing_geo")
+                            d = it.get("delta_from_preset1_geo")
+                            a = it.get("attack_bearing_geo")
+                            s_az = f"az={az:.1f}°" if isinstance(az, (int, float)) else "az=n/a"
+                            s_b  = f" geo={b:.1f}°" if isinstance(b, (int, float)) else ""
+                            s_d  = f" dP1={d:+.1f}°" if isinstance(d, (int, float)) else ""
+                            s_a  = f" atk={a:.1f}°" if isinstance(a, (int, float)) else ""
+                            line_parts.append(f"cam{cid}: {s_az}{s_b}{s_d}{s_a}")
+                    if line_parts:
+                        logger.info("[STATUS] " + " | ".join(line_parts))
+
+        except Exception as e:
+            logger.debug("control_broadcaster error: %s", e)
+
+        await asyncio.sleep(interval_sec)

ptz_tracker_modular/state.py

@@ -0,0 +1,201 @@
+from __future__ import annotations
+import time
+from collections import defaultdict, deque
+from typing import Any, Dict, Optional, Tuple, List, Set
+
+try:
+    from . import config  # нормальный пакетный импорт
+except Exception:         # если файл импортнули как топ-левел
+    import config as config  # type: ignore
+
+# ---------------- Clients / WS ----------------
+vue_control_clients: Set[Any] = set()
+video_clients: Set[Any] = set()
+detected_cameras: Set[int] = set()
+
+# Порядок и маппинг «плиток» (обновляется из streaming._broadcast_init_to_vue)
+last_broadcast_ids: List[int] = []
+index_to_cam_id: Dict[int, int] = {}   # 1-based: 1 -> cam_id_1, 2 -> cam_id_2, ...
+
+# ---------------- Queues/loop (init in main) ----------------
+alarm_queue: Optional[Any] = None
+detection_queue: Optional[Any] = None
+MAIN_LOOP: Optional[Any] = None
+
+# ---------------- PTZ thread + queue (init in main) ----------------
+ptz_cmd_q: Optional[Any] = None
+_ptz_thread: Optional[Any] = None
+
+# ---------------- MicroBatcher (init in main) ----------------
+batcher: Optional[Any] = None
+
+# ---------------- Preview frames ----------------
+latest_jpeg_by_cam: Dict[int, Tuple[int, bytes]] = {}
+frame_id_by_cam: Dict[int, int] = {}
+
+# ---------------- Detect stats ----------------
+detect_stats_global = {"last_ts": None, "ema_interval": None, "times": deque(maxlen=512)}
+detect_stats_cam = defaultdict(lambda: {"last_ts": None, "ema_interval": None, "times": deque(maxlen=256)})
+
+# ---------------- Sync runtime (cohorts) ----------------
+sync_state: Dict[str, Dict[str, Any]] = {
+    g: {"dir": +1, "leg_idx": 0, "leg_start": 0.0, "leg_end": 0.0, "next_start_at": 0.0}
+    for g in config.SYNC_COHORTS
+}
+
+# ---------------- Default PTZ state factory ----------------
+def _default_ptz_state(cam_id: int) -> Dict[str, Any]:
+    """
+    Полный набор ключей, чтобы все модули (postprocess/patrol/ptz_io/…)
+    не ловили KeyError при «горячем» добавлении камеры.
+    """
+    now = time.time()
+    is_ptz = bool(cam_id in config.PTZ_CAM_IDS)
+
+    return {
+        # Tracking / kinematics
+        "last_seen": now,
+        "returning": False,
+        "last_dx": 0.0, "last_dy": 0.0,
+        "ix": 0.0, "iy": 0.0,
+        "vx": 0.0, "vy": 0.0,
+        "prev_t": None, "prev_cx": None, "prev_cy": None,
+        "prev_w_frac": None, "w_growth": 0.0, "w_frac_ema": None,
+        "mode": "IDLE",
+
+        # Image history
+        "prev_gray": None, "of_pts": None, "last_bbox": None,
+
+        # Zoom/aim dynamics
+        "zoom_state": 0,
+        "zoom_int": 0.0,
+        "zoom_prev_cmd": 0.0,
+        "zoom_ramp_start": 0.0,
+        "zoom_last_change": 0.0,
+        "zoom_lock": False,
+        "lock_candidate_since": None,
+        "was_zoomed_in": False,
+        "zoom_reset_timer": None,   # asyncio.TimerHandle | None
+
+        # Preset timers
+        "preset_timer": None,       # asyncio.TimerHandle | None
+        "preset_target": None,      # str | int | None
+
+        # Command/throttle bookkeeping
+        "proc_busy": False,
+        "last_focus_time": 0.0,
+        "last_ptz_send": 0.0,
+        "last_cmd": (0.0, 0.0, 0.0),  # (pan, tilt, zoom) -1..+1
+        "last_cmd_ts": 0.0,
+        "last_pan": 0.0,
+        "last_tilt": 0.0,
+        "last_zoom": 0.0,
+        "ptz_busy_until": 0.0,
+        "pan_sign": 1,
+
+        # Modes / loss recovery
+        "mode": "IDLE",
+        "loss_since": None,
+        "recover_until": 0.0,
+        "fallback_done": False,
+        "center_lock": 0,
+        "scan_phase": 0, "next_scan_at": 0.0,
+        "zoom_hold_until": 0.0,
+        "az_none_since": None,
+        "last_return_at": 0.0,
+
+        # Stats / UI
+        "track_history": deque(maxlen=12),
+        "stable_frames": 0,
+        "alarm_sent": False,
+        "miss_frames": 0,
+
+        # Patrol
+        "patrol_dir": +1,
+        "patrol_active": False,
+        "patrol_idx": 0,               # <- пригодится управлялке патруля
+        "patrol_pause_until": 0.0,     # <- мягкие паузы между ногами
+        "leg_start": 0.0,
+        "leg_end": 0.0,
+        "endpoint_latch": 0,
+
+        # Sweep
+        "sweep_active": False,
+        "sweep_pan": 0.0,
+        "sweep_start_at": 0.0,
+
+        # Anti-smear / shots
+        "shot_next_at": 0.0,
+        "shot_pause_until": 0.0,
+
+        # Absolute commands
+        "last_abs_send": 0.0,
+        "last_abs_deg": None,
+
+        # PTZ status (telemetry)
+        # общие поля, которые раньше были:
+        "az_deg": None,          # относительный пан от драйвера (если такой есть)
+        "tilt_deg": None,        # относительный тилт от драйвера (если такой есть)
+        # добавленные поля для абсолютной геометрии/оптики:
+        "pan_deg_abs": None,     # абсолютный пан 0..360, привязанный к северу
+        "tilt_deg_abs": None,    # абсолютный наклон (если доступен)
+        "hfov_deg": None,        # точный HFOV PTZ на текущем зуме (если знаем)
+        "abs_zoom": 0.0,         # абсолютное значение зума (масштаб зависит от твоего статус-пуллера)
+
+        # Sector (soft bounds)
+        "sector_left_deg": None,
+        "sector_right_deg": None,
+        "sector_center_deg": None,
+
+        # Sync mode
+        "sync_wait": False,
+
+        # Recording debounce (CPP CTRL channel)
+        "rec_active": False,
+        "rec_first_seen": None,
+        "rec_started_at": 0.0,
+        "rec_last_seen": 0.0,
+        "rec_last_off_at": 0.0,
+        "rec_last_sent": None,
+
+        # Meta
+        "is_ptz": is_ptz,
+    }
+
+# ---------------- Runtime PTZ state map ----------------
+ptz_states: Dict[int, Dict[str, Any]] = {}
+
+# Инициализация для камер, которые уже были в конфиге на момент импорта
+_now = time.time()
+for _cid in config.CAMERA_CONFIG:
+    # Берём дефолты и при необходимости можно дополнять из существующего (если будет перезагрузка модуля)
+    ptz_states[_cid] = _default_ptz_state(_cid)
+
+# ---------------- Public helpers ----------------
+def ensure_cam_state(cam_id: int, *, is_ptz: Optional[bool] = None) -> Dict[str, Any]:
+    """
+    Гарантирует наличие и полноту структуры состояния для cam_id.
+    Если камера уже есть — дольём недостающие ключи без перетирания.
+    is_ptz можно подсказать явно; если None — вычислим по config.PTZ_CAM_IDS.
+    """
+    st = ptz_states.get(cam_id)
+    if st is None:
+        st = _default_ptz_state(cam_id)
+        if is_ptz is not None:
+            st["is_ptz"] = bool(is_ptz)
+        ptz_states[cam_id] = st
+        return st
+
+    # Дополним недостающие ключи (на случай старого состояния)
+    defaults = _default_ptz_state(cam_id)
+    for k, v in defaults.items():
+        if k not in st:
+            st[k] = v
+
+    # Актуализируем флаг is_ptz, если указан явно
+    if is_ptz is not None:
+        st["is_ptz"] = bool(is_ptz)
+    else:
+        st["is_ptz"] = bool(cam_id in config.PTZ_CAM_IDS)
+
+    return st

ptz_tracker_modular/status.py

@@ -0,0 +1,173 @@
+# status.py
+from __future__ import annotations
+
+import time
+import asyncio
+import logging
+from typing import Optional, Tuple, List
+
+from . import config, state
+from .utils import clipf
+from .ptz_io import get_ptz_status  # ожидает cam_idx: int, возвращает (pan_deg|None, tilt_deg|None)
+
+logger = logging.getLogger("PTZTracker")
+
+
+# ---------------- Публичные утилиты статуса ----------------
+def get_cached_angles(cam_id: int) -> Tuple[Optional[float], Optional[float], Optional[float]]:
+    """
+    Вернёт (pan_deg, tilt_deg, t_epoch) из кэша, если есть (иначе None).
+    Кэш наполняется ptz_status_poller().
+    """
+    cache = getattr(state, "ptz_status", {}).get(cam_id)
+    if not cache:
+        return None, None, None
+    return cache.get("pan"), cache.get("tilt"), cache.get("t")
+
+
+def format_angles_for_log(pan: Optional[float], tilt: Optional[float]) -> str:
+    if pan is None and tilt is None:
+        return "pan=NA tilt=NA"
+    if pan is None:
+        return f"pan=NA tilt={tilt:.2f}"
+    if tilt is None:
+        return f"pan={pan:.2f} tilt=NA"
+    return f"pan={pan:.2f} tilt={tilt:.2f}"
+
+
+# --------------- Внутренний телеметрический логгер ---------------
+def _should_log_telemetry(cam_id: int, now: float, period: float) -> bool:
+    """
+    Простая защита от спама: логируем статус камеры не чаще, чем раз в period секунд.
+    """
+    key = f"_last_log_{cam_id}"
+    last = getattr(state, key, 0.0)
+    if now - last >= period:
+        setattr(state, key, now)
+        return True
+    return False
+
+
+def _update_runtime_state(cam_id: int, pan: Optional[float], tilt: Optional[float], now: float) -> None:
+    """
+    Проставляет дубли в state.ptz_states[cam_id] для использования остальным кодом,
+    включая воркер из ptz_io.py (он читает az_deg!) и постпроцессинг.
+
+    Ставим:
+      - az_deg (совместимость с ptz_io._ptz_worker)
+      - pan_deg (то же значение, чтобы везде было одинаково)
+      - pan_deg_geo (если в конфиге есть north_offset_deg)
+      - tilt_deg (клип -90..+90)
+      - last_status_at
+    """
+    st = state.ptz_states.setdefault(cam_id, {})
+    cfg = config.CAMERA_CONFIG.get(cam_id, {})
+
+    if pan is not None:
+        pan_n = float(pan) % 360.0
+        st["az_deg"] = pan_n          # <-- это читает ptz_io._ptz_worker при bounded-патруле
+        st["pan_deg"] = pan_n         # удобный синоним
+
+        north_off = cfg.get("north_offset_deg")
+        if north_off is not None:
+            try:
+                st["pan_deg_geo"] = (pan_n + float(north_off)) % 360.0
+            except Exception:
+                st["pan_deg_geo"] = pan_n
+
+    if tilt is not None:
+        st["tilt_deg"] = clipf(float(tilt), -90.0, 90.0)
+
+    st["last_status_at"] = now
+
+
+# -------------------- Основной поллер статуса ---------------------
+async def ptz_status_poller() -> None:
+    """
+    Асинхронный опрос PTZ-камер из config.PTZ_CAM_IDS и публикация в state:
+      - state.ptz_status[cid] = {"pan": deg|None, "tilt": deg|None, "t": now}
+      - state.ptz_states[cid]["az_deg"/"pan_deg"/"pan_deg_geo"/"tilt_deg"/"last_status_at"]
+
+    ВАЖНО: частота задаётся как PTZ_STATUS_HZ **на камеру**.
+    То есть при PTZ_STATUS_HZ=4.0 и 3 камерах каждая опрашивается 4 Гц, а не 4/3.
+
+    Редкое логирование: config.PTZ_STATUS_LOG_EVERY_SEC (>0 чтобы включить).
+    """
+    hz = float(getattr(config, "PTZ_STATUS_HZ", 4.0))
+    cam_ids: List[int] = list(getattr(config, "PTZ_CAM_IDS", []))
+    n_cams = max(1, len(cam_ids))
+
+    if not cam_ids:
+        logger.info("[STATUS] no PTZ cameras to poll (PTZ_CAM_IDS empty)")
+        return
+
+    # Интервал между подряд идущими запросами к ОДНОЙ камере:
+    # хотим 'hz' опросов в секунду для каждой камеры.
+    per_step_interval = 1.0 / max(0.1, hz * n_cams)
+
+    log_period = float(getattr(config, "PTZ_STATUS_LOG_EVERY_SEC", 0.0))
+
+    if not hasattr(state, "ptz_status"):
+        state.ptz_status = {}  # type: ignore[attr-defined]
+
+    logger.info(
+        "[STATUS] PTZ status poller: %d cam(s), target %.2f Hz per cam (step_interval=%.3fs)",
+        len(cam_ids),
+        hz,
+        per_step_interval,
+    )
+
+    i = 0
+    try:
+        while not getattr(state, "shutdown", False):
+            cam_id = cam_ids[i % len(cam_ids)]
+            i += 1
+            now = time.time()
+
+            # Сетевой запрос делаем в thread pool, чтобы не блокировать event loop
+            try:
+                pan, tilt = await asyncio.to_thread(get_ptz_status, cam_id)
+            except Exception as e:
+                logger.warning("[STATUS] cam %d poll error: %s", cam_id, e)
+                pan = tilt = None
+
+            # Обновляем кэш
+            cache = getattr(state, "ptz_status", {}).get(cam_id, {})
+            cache.update({"pan": pan, "tilt": tilt, "t": now})
+            state.ptz_status[cam_id] = cache  # type: ignore[attr-defined]
+
+            # Дублируем в ptz_states (для patrol/track/ptz_io и компаса)
+            _update_runtime_state(cam_id, pan, tilt, now)
+
+            # Редкое логирование (если включено)
+            if log_period > 0 and _should_log_telemetry(cam_id, now, log_period):
+                logger.info("[PTZ STATUS] cam %d %s", cam_id, format_angles_for_log(pan, tilt))
+
+            await asyncio.sleep(per_step_interval)
+
+    except asyncio.CancelledError:
+        logger.info("[STATUS] PTZ status poller cancelled")
+        raise
+    finally:
+        logger.info("[STATUS] PTZ status poller stopped")
+
+
+# -------------------- Вспомогательные публичные --------------------
+def last_attack_heading_deg(cam_id: int) -> Optional[float]:
+    """
+    Возвращает последний закэшированный attack_heading_deg (если постпроцессинг его писал).
+    Это используется для логов/отладки, не обязательно для патруля.
+    """
+    st = state.ptz_states.get(cam_id) if hasattr(state, "ptz_states") else None
+    if not st:
+        return None
+    val = st.get("attack_heading_deg")
+    return float(val) if isinstance(val, (int, float)) else None
+
+
+def get_realtime_angles_for_log(cam_id: int) -> str:
+    pan, tilt, t = get_cached_angles(cam_id)
+    if t is None:
+        return f"cam {cam_id} pan=NA tilt=NA"
+    age = max(0.0, time.time() - t)
+    return f"cam {cam_id} {format_angles_for_log(pan, tilt)} (t-{age:.2f}s)"

ptz_tracker_modular/toml_persist.py

@@ -0,0 +1,426 @@
+# toml_persist.py
+from __future__ import annotations
+import os
+import time
+import logging
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple
+
+from . import config
+from .geom import ang_diff_signed, normalize360
+from .ptz_io import read_ptz_azimuth_deg, goto_preset_token
+
+logger = logging.getLogger("PTZTracker.PERSIST")
+
+def _cameras_toml_path() -> Path:
+    """
+    Должны писать в тот же файл, который читает config.reload_cameras().
+    Приоритет:
+      1) env CAMERAS_FILE
+      2) cameras.toml рядом с config.py
+    """
+    env = os.getenv("CAMERAS_FILE")
+    if env:
+        return Path(env).resolve()
+
+    # рядом с config.py (и тем самым совместимо с config._load_cameras_from_file)
+    cfg_dir = Path(getattr(config, "__file__", __file__)).resolve().parent
+    return (cfg_dir / "cameras.toml").resolve()
+
+
+def _load_toml(path: Path) -> Dict[str, Any]:
+    if not path.exists():
+        return {}
+    try:
+        import tomllib
+        with open(path, "rb") as f:
+            return tomllib.load(f)
+    except Exception as e:
+        logger.error("[PERSIST] TOML read failed: %s", e)
+        return {}
+
+
+def _atomic_write(path: Path, text: str) -> None:
+    tmp = path.with_suffix(path.suffix + ".tmp")
+    with open(tmp, "w", encoding="utf-8") as f:
+        f.write(text)
+        f.flush()
+        os.fsync(f.fileno())
+    os.replace(tmp, path)
+
+
+def _to_float(val: Any) -> Optional[float]:
+    try:
+        return float(val)
+    except Exception:
+        return None
+
+
+def _render_cameras_table(cams: List[Dict[str, Any]]) -> str:
+    lines: List[str] = []
+    for c in sorted(cams, key=lambda x: int(x.get("id", 0))):
+        lines.append("[[camera]]")
+        lines.append(f"id = {int(c['id'])}")
+        lines.append(f"ip = \"{c.get('ip','')}\"")
+        lines.append(f"username = \"{c.get('username','')}\"")
+        lines.append(f"password = \"{c.get('password','')}\"")
+        lines.append(f"ptz_channel = {int(c.get('ptz_channel', 1))}")
+        if "wiper_channel" in c:
+            lines.append(f"wiper_channel = {int(c.get('wiper_channel', 1))}")
+        if "preset1" in c and c.get("preset1") not in (None, "None"):
+            lines.append(f"preset1 = \"{c.get('preset1')}\"")
+        if "preset2" in c and c.get("preset2") not in (None, "None"):
+            lines.append(f"preset2 = \"{c.get('preset2')}\"")
+        if "sweep_sign" in c:
+            lines.append(f"sweep_sign = {int(c.get('sweep_sign', 1))}")
+        if "is_ptz" in c:
+            lines.append(f"is_ptz = {str(bool(c.get('is_ptz'))).lower()}")
+        if "mac" in c and isinstance(c["mac"], str):
+            lines.append(f"mac = \"{c['mac']}\"")
+
+        for k in ("north_offset_deg", "preset1_ref_geo_deg", "preset2_ref_geo_deg"):
+            if isinstance(c.get(k), (int, float)):
+                lines.append(f"{k} = {float(c[k]):.6f}")
+
+        for k in ("preset1_deg_geo", "preset2_deg_geo", "sector_min_deg_geo", "sector_max_deg_geo"):
+            if isinstance(c.get(k), (int, float)):
+                lines.append(f"{k} = {float(c[k]):.6f}")
+
+        for k in ("preset1_deg", "preset2_deg", "preset1_tilt_deg", "preset2_tilt_deg", "sector_min_deg", "sector_max_deg"):
+            if isinstance(c.get(k), (int, float)):
+                lines.append(f"{k} = {float(c[k]):.6f}")
+
+        for k in ("north_last_source", "geo_last_source"):
+            if isinstance(c.get(k), str):
+                lines.append(f"{k} = \"{c[k]}\"")
+        for k in ("north_last_at", "geo_last_at"):
+            if isinstance(c.get(k), int):
+                lines.append(f"{k} = {c[k]}")
+
+        lines.append("")
+    return "\n".join(lines).strip() + "\n"
+
+
+def save_all_cameras() -> None:
+    path = _cameras_toml_path()
+    cams = list(config.CAMERA_CONFIG.values())
+    text = _render_cameras_table(cams)
+    try:
+        _atomic_write(path, text)
+        logger.info("[PERSIST] cameras.toml saved (%d cameras)", len(cams))
+        try:
+            config.reload_cameras()
+        except Exception as e:
+            logger.warning("[PERSIST] reload_cameras failed: %s", e)
+    except Exception as e:
+        logger.error("[PERSIST] write failed: %s", e)
+
+# ---------- низкоуровневая запись одного поля ----------
+def _persist_field(cam_id: int, key: str, value) -> bool:
+    """
+    Записать камере поле key=value в cameras.toml. True, если действительно изменилось.
+    """
+    path = _cameras_toml_path()
+    data = _load_toml(path)
+    cams = data.get("camera") or data.get("cameras") or []
+    if not isinstance(cams, list):
+        logger.error("[PERSIST] cameras.toml format unexpected: no [[camera]] array")
+        return False
+
+    changed = False
+    found = False
+    for c in cams:
+        if not isinstance(c, dict) or "id" not in c:
+            continue
+        if int(c["id"]) == int(cam_id):
+            found = True
+            before = c.get(key)
+            if before != value:
+                c[key] = value
+                changed = True
+            break
+
+    if not found or not changed:
+        return False
+
+    text = _render_cameras_table(cams)
+    try:
+        _atomic_write(path, text)
+        try:
+            config.reload_cameras()
+        except Exception as e:
+                logger.warning("[PERSIST] reload_cameras failed: %s", e)
+        return True
+    except Exception as e:
+        logger.error("[PERSIST] write failed: %s", e)
+        return False
+
+# ---------- публичный API: north_offset ----------
+def persist_north_offset(cam_id: int, north_deg: float, source: str = "unknown") -> bool:
+    """
+    Обновляет/добавляет north_offset_deg; ставит метаданные; перезагружает config.
+    """
+    path = _cameras_toml_path()
+    data = _load_toml(path)
+    cams = data.get("camera") or data.get("cameras") or []
+    if not isinstance(cams, list):
+        logger.error("[PERSIST] cameras.toml format unexpected: no [[camera]] array")
+        return False
+
+    north_deg = normalize360(float(north_deg))
+    changed = False
+    found = False
+    for c in cams:
+        if not isinstance(c, dict) or "id" not in c:
+            continue
+        if int(c["id"]) == int(cam_id):
+            found = True
+            old = _to_float(c.get("north_offset_deg"))
+            if old is None or abs(old - north_deg) > 1e-6:
+                c["north_offset_deg"] = float(north_deg)
+                c["north_last_source"] = source
+                c["north_last_at"] = int(time.time())
+                changed = True
+            break
+
+    if not found:
+        logger.warning("[PERSIST] camera id=%s not found in cameras.toml; will not add a new block", cam_id)
+        return False
+    if not changed:
+        return False
+
+    text = _render_cameras_table(cams)
+    try:
+        _atomic_write(path, text)
+        logger.info("[PERSIST] cameras.toml updated (cam %s north=%.2f° via %s)", cam_id, north_deg, source)
+        try:
+            config.reload_cameras()
+        except Exception as e:
+            logger.warning("[PERSIST] reload_cameras failed: %s", e)
+        return True
+    except Exception as e:
+        logger.error("[PERSIST] write failed: %s", e)
+        return False
+
+# ---------- публичный API: массовая запись geo-полей ----------
+def persist_geo_fields(cam_id: int, fields: Dict[str, float], source: str = "unknown") -> bool:
+    path = _cameras_toml_path()
+    data = _load_toml(path)
+    cams = data.get("camera") or data.get("cameras") or []
+    if not isinstance(cams, list):
+        logger.error("[PERSIST] cameras.toml format unexpected: no [[camera]] array")
+        return False
+
+    changed = False
+    found = False
+    for c in cams:
+        if not isinstance(c, dict) or "id" not in c:
+            continue
+        if int(c["id"]) == int(cam_id):
+            found = True
+            for k, v in fields.items():
+                if not isinstance(v, (int, float)):
+                    continue
+                vv = normalize360(float(v)) if k == "north_offset_deg" else float(v)
+                old = _to_float(c.get(k))
+                if old is None or abs(old - vv) > 1e-6:
+                    c[k] = vv
+                    changed = True
+            if changed:
+                c["geo_last_source"] = source
+                c["geo_last_at"] = int(time.time())
+            break
+
+    if not found or not changed:
+        return False
+
+    text = _render_cameras_table(cams)
+    try:
+        _atomic_write(path, text)
+        logger.info("[PERSIST] cameras.toml updated (cam %s fields=%s via %s)", cam_id, list(fields.keys()), source)
+        try:
+            config.reload_cameras()
+        except Exception as e:
+            logger.warning("[PERSIST] reload_cameras failed: %s", e)
+        return True
+    except Exception as e:
+        logger.error("[PERSIST] write failed: %s", e)
+        return False
+
+# ---------- публичный API: preset1_ref_geo_deg ----------
+def persist_preset1_ref_geo(cam_id: int, ref_geo_deg: float, source: str = "auto") -> bool:
+    """
+    Записывает preset1_ref_geo_deg (если изменился) + reload.
+    """
+    ref_geo_deg = normalize360(float(ref_geo_deg))
+    ok = _persist_field(cam_id, "preset1_ref_geo_deg", ref_geo_deg)
+    if ok:
+        logger.info("[PERSIST] cam %s preset1_ref_geo_deg=%.2f (%s)", cam_id, ref_geo_deg, source)
+    return ok
+
+# ---------- утилиты чтения статуса ----------
+async def _wait_az_stable(cam: int, timeout: float = 2.5, tol_deg: float = 0.3) -> Optional[float]:
+    """
+    Ждём пока pan успокоится (изменение <= tol_deg). Возвращаем pan (0..360) или None.
+    """
+    import asyncio
+    loop = asyncio.get_event_loop()
+    t0 = loop.time()
+    last = None
+    stable = 0
+    while loop.time() - t0 < timeout:
+        a = read_ptz_azimuth_deg(cam)
+        if a is None:
+            await asyncio.sleep(0.12)
+            continue
+        a = normalize360(a)
+        # подписанная разница
+        diff = (a - (last if last is not None else a) + 540.0) % 360.0 - 180.0
+        if last is None or abs(diff) > tol_deg:
+            stable = 0
+        else:
+            stable += 1
+            if stable >= 1:
+                return a
+        last = a
+        await asyncio.sleep(0.12)
+    return last
+
+# ---------- авторасчёт и запись preset1_ref_geo_deg (от самого PTZ) ----------
+async def compute_and_persist_preset1_ref_geo(cam_id: int) -> Optional[float]:
+    """
+    Если у камеры задан `north_offset_deg` и есть `preset1`,
+    вычисляет preset1_ref_geo_deg = normalize360(pan_on_preset1 + north_offset_deg),
+    сохраняет в cameras.toml и возвращает значение.
+    """
+    cfg = config.CAMERA_CONFIG.get(cam_id, {})
+    north = cfg.get("north_offset_deg")
+    p1 = cfg.get("preset1")
+    if not isinstance(north, (int, float)) or not p1:
+        logger.info("[PERSIST] cam %s: cannot compute preset1_ref_geo_deg (north or preset1 missing)", cam_id)
+        return None
+
+    try:
+        goto_preset_token(cam_id, str(p1))
+        import asyncio
+        await asyncio.sleep(0.6)
+        pan = await _wait_az_stable(cam_id)
+        if pan is None:
+            logger.warning("[PERSIST] cam %s: cannot read stable pan on preset1", cam_id)
+            return None
+
+        ref_geo = normalize360(float(pan) + float(north))
+
+        changed = persist_geo_fields(
+            cam_id,
+            {"preset1_ref_geo_deg": ref_geo},
+            source="compute_and_persist_preset1_ref_geo",
+        )
+        if changed:
+            logger.info("[PERSIST] cam %s: preset1_ref_geo_deg=%.2f written to cameras.toml", cam_id, ref_geo)
+        else:
+            logger.info("[PERSIST] cam %s: preset1_ref_geo_deg already up-to-date (%.2f)", cam_id, ref_geo)
+
+        # обновим рантайм для удобства
+        cfg["preset1_ref_geo_deg"] = ref_geo
+        cfg["preset1_deg_geo"] = ref_geo
+        if isinstance(cfg.get("preset2_deg"), (int, float)):
+            cfg["preset2_deg_geo"] = normalize360(cfg["preset2_deg"] + float(north))
+            span_geo = ang_diff_signed(cfg["preset2_deg_geo"], cfg["preset1_deg_geo"])
+            if span_geo >= 0:
+                cfg["sector_min_deg_geo"] = normalize360(cfg["preset1_deg_geo"] - config.SECTOR_MARGIN_DEG)
+                cfg["sector_max_deg_geo"] = normalize360(cfg["preset2_deg_geo"] + config.SECTOR_MARGIN_DEG)
+            else:
+                cfg["sector_min_deg_geo"] = normalize360(cfg["preset2_deg_geo"] - config.SECTOR_MARGIN_DEG)
+                cfg["sector_max_deg_geo"] = normalize360(cfg["preset1_deg_geo"] + config.SECTOR_MARGIN_DEG)
+            _persist_field(cam_id, "preset1_deg_geo", float(cfg["preset1_deg_geo"]))
+            _persist_field(cam_id, "preset2_deg_geo", float(cfg["preset2_deg_geo"]))
+            _persist_field(cam_id, "sector_min_deg_geo", float(cfg["sector_min_deg_geo"]))
+            _persist_field(cam_id, "sector_max_deg_geo", float(cfg["sector_max_deg_geo"]))
+
+        return ref_geo
+    except Exception as e:
+        logger.warning("[PERSIST] cam %s: compute_and_persist_preset1_ref_geo failed: %s", cam_id, e)
+        return None
+
+# ---------- авторасчёт рефов от кромок панорамы и запись ----------
+def _pano_edges_geo(pano_id: int) -> Optional[Tuple[float, float, float]]:
+    """
+    Возвращает (center_geo, left_geo, right_geo) для панорамы.
+    Требует: north_offset_deg (пано) и bullet_hfov_deg/hfov_deg (пано).
+    center_geo берём из runtime, если там есть pan_deg; иначе считаем центр по north_offset.
+    """
+    pcfg = config.CAMERA_CONFIG.get(pano_id, {})
+    north = pcfg.get("north_offset_deg")
+    hfov = pcfg.get("bullet_hfov_deg") or pcfg.get("hfov_deg") or 90.0
+    if not isinstance(north, (int, float)):
+        return None
+    pan_abs = None
+    try:
+        from . import state
+        st = getattr(state, "ptz_states", {}).get(pano_id) or {}
+        pan_abs = st.get("pan_deg")
+    except Exception:
+        pan_abs = None
+    if pan_abs is None:
+        pan_abs = 0.0
+    center_geo = normalize360(float(pan_abs) + float(north))
+    left_geo = normalize360(center_geo - float(hfov) * 0.5)
+    right_geo = normalize360(center_geo + float(hfov) * 0.5)
+    return center_geo, left_geo, right_geo
+
+async def compute_ref_from_pano_edges_and_persist(ptz_id: int, bind: str = "preset1=left,preset2=right") -> Optional[Tuple[float, float]]:
+    """
+    Находит «спаренную» панораму (тот же IP, channel=2), берёт её north_offset_deg и hfov,
+    вычисляет гео-азимуты левой/правой кромки и сохраняет в cameras.toml:
+        preset1_ref_geo_deg и preset2_ref_geo_deg.
+    bind: схема привязки (default: preset1->left, preset2->right).
+    Возвращает (p1_ref, p2_ref) или None.
+    """
+    # 1) попытка найти панораму по PTZ_TO_PAN
+    pano_id = config.PTZ_TO_PAN.get(ptz_id)
+    if pano_id is None:
+        # резервный поиск по IP/каналу
+        cfg = config.CAMERA_CONFIG.get(ptz_id, {})
+        ip = cfg.get("ip")
+        if ip:
+            for cid, c in config.CAMERA_CONFIG.items():
+                if c.get("ip") == ip and int(c.get("ptz_channel", 0)) == 2:
+                    pano_id = cid
+                    break
+    if pano_id is None:
+        logger.info("[PERSIST] cam %s: paired panorama not found", ptz_id)
+        return None
+
+    edges = _pano_edges_geo(pano_id)
+    if edges is None:
+        logger.info("[PERSIST] cam %s: panorama %s has no north_offset/hfov — cannot compute", ptz_id, pano_id)
+        return None
+    _, left_geo, right_geo = edges
+
+    ptz_cfg = config.CAMERA_CONFIG.get(ptz_id, {})
+    p1 = ptz_cfg.get("preset1"); p2 = ptz_cfg.get("preset2")
+    if not (p1 and p2):
+        logger.info("[PERSIST] cam %s: no preset1/preset2 — skip", ptz_id)
+        return None
+
+    b = bind.lower().replace(" ", "")
+    if "preset1=right" in b:
+        p1_ref, p2_ref = right_geo, left_geo
+    else:
+        p1_ref, p2_ref = left_geo, right_geo
+
+    fields = {
+        "preset1_ref_geo_deg": float(p1_ref),
+        "preset2_ref_geo_deg": float(p2_ref),
+    }
+    changed = persist_geo_fields(ptz_id, fields, source="pano_edges_autobind")
+    if changed:
+        logger.info("[PERSIST] cam %s: wrote %s into cameras.toml", ptz_id, list(fields.keys()))
+        try:
+            ptz_cfg.update(fields)  # обновим рантайм
+        except Exception:
+            pass
+    else:
+        logger.info("[PERSIST] cam %s: %s already up-to-date", ptz_id, list(fields.keys()))
+    return p1_ref, p2_ref

ptz_tracker_modular/utils.py

@@ -0,0 +1,75 @@
+from __future__ import annotations
+import logging
+from math import isfinite
+
+# configure module logger (app sets handlers/level)
+logger = logging.getLogger("PTZTracker")
+
+# ---------- fast json ----------
+try:
+    import orjson
+    def json_dumps(obj) -> str:
+        return orjson.dumps(obj).decode("utf-8")
+    json_loads = orjson.loads
+except Exception:
+    import json
+    def json_dumps(obj) -> str:
+        return json.dumps(obj, separators=(",", ":"), ensure_ascii=False)
+    json_loads = json.loads
+
+# ---------- math helpers ----------
+def clipf(v: float, lo: float, hi: float) -> float:
+    return lo if v < lo else hi if v > hi else v
+
+def quantf(v: float, q: float) -> float:
+    return round(v / q) * q
+
+# ---------- angle / compass helpers ----------
+def wrap_deg(a: float) -> float:
+    """[-180, +180)"""
+    return (a + 180.0) % 360.0 - 180.0
+
+def norm360(a: float) -> float:
+    """[0, 360)"""
+    return a % 360.0
+
+def shortest_delta_deg(a: float, b: float) -> float:
+    """(b - a) в [-180, +180)"""
+    return wrap_deg(b - a)
+
+# --- компас 8 румбов (как на картинке) ---
+def deg_to_compass(deg: float) -> str:
+    labels_ru_8 = ["С", "СВ", "В", "ЮВ", "Ю", "ЮЗ", "З", "СЗ"]
+    idx = int((norm360(deg) + 22.5) // 45) % 8
+    return labels_ru_8[idx]
+
+def format_bearing_ru(deg: float) -> str:
+    return f"{deg_to_compass(deg)} ({norm360(deg):.1f}°)"
+
+# ---------- optics helpers ----------
+def hfov_ptz_from_abs_zoom(abs_zoom: float,
+                           zmin: float = 0.0, zmax: float = 100.0,
+                           hfov_wide: float = 59.0,
+                           hfov_tele: float = 2.0) -> float:
+    """
+    Аппроксимация HFOV от абсолютного зума (экспоненциальная интерполяция).
+    abs_zoom приводим к [0..1]. Под реальные значения можно подогнать константы.
+    """
+    if not isfinite(abs_zoom):
+        return hfov_wide
+    if zmax == zmin:
+        return hfov_wide
+    t = clipf((abs_zoom - zmin) / (zmax - zmin), 0.0, 1.0)
+    r = hfov_tele / hfov_wide
+    return hfov_wide * (r ** t)
+
+def bearing_from_xcenter(x_center_norm: float,
+                         hfov_deg: float,
+                         base_axis_deg: float) -> float:
+    """
+    Преобразует x-норм. центр бокса (0..1) в глобальный азимут:
+      bearing = base_axis_deg + (x-0.5)*HFOV
+    где base_axis_deg — азимут оптической оси (с учётом севера).
+    """
+    delta = (x_center_norm - 0.5) * hfov_deg
+    return norm360(base_axis_deg + delta)

ptz_tracker_modular/wiper.py

@@ -0,0 +1,229 @@
+# ptz_tracker_modular/wiper.py
+from __future__ import annotations
+
+import asyncio
+import logging
+from typing import Optional, Tuple
+
+import requests
+from requests.auth import HTTPDigestAuth
+
+log = logging.getLogger("PTZTracker.WIPER")
+
+_sess = requests.Session()
+_sess.trust_env = False
+try:
+    import urllib3
+    urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
+except Exception:
+    pass
+
+# Базовое значение; можно переопределить в config.py как WIPER_MIN_INTERVAL_SEC
+_DEFAULT_MIN_INTERVAL_SEC = 1.5
+_last_call: dict[int, float] = {}
+
+
+def _resolve_cam_id(cam_token: int) -> int:
+    """cam_token = реальный ID из cameras.toml ИЛИ индекс в PTZ_CAM_IDS."""
+    from . import config
+    if cam_token in config.CAMERA_CONFIG:
+        return cam_token
+    if 0 <= cam_token < len(config.PTZ_CAM_IDS):
+        return config.PTZ_CAM_IDS[cam_token]
+    raise KeyError(f"Unknown camera token: {cam_token}")
+
+
+def _base(cam_id: int):
+    """Вернёт (base_url, auth, verify, timeout, meta, channel) для указанной камеры."""
+    from . import config as C
+    cfg = C.CAMERA_CONFIG[cam_id]
+
+    scheme = cfg.get("scheme") or ("https" if cfg.get("https") else "http")
+    host   = cfg["ip"]
+    port   = int(cfg.get("port") or (443 if scheme == "https" else 80))
+
+    # ВАЖНО: сначала берём wiper_channel, потом ptz_channel, по умолчанию 1
+    ch     = int(cfg.get("wiper_channel", cfg.get("ptz_channel", 1)))
+
+    user = cfg.get("username") or cfg.get("user") or cfg.get("login") or "admin"
+    pwd  = cfg.get("password") or cfg.get("pass") or cfg.get("pwd") or ""
+
+    auth = HTTPDigestAuth(user, pwd)
+    base = f"{scheme}://{host}:{port}"
+    verify = bool(cfg.get("verify_tls", False))
+    timeout = int(cfg.get("ptz_timeout_sec", 6))
+    meta = {"ip": host, "port": port, "scheme": scheme, "channel": ch, "user": user}
+    return base, auth, verify, timeout, meta, ch
+
+
+def _log_resp(tag: str, r: requests.Response | None, exc: Exception | None = None):
+    """
+    Единая точка логирования ответов.
+    Переведено в DEBUG, чтобы не шуметь в INFO. Никаких print().
+    Возвращает кортеж (ok, http_code|None, body_str).
+    """
+    if r is not None:
+        body = (r.text or "")[:300]
+        # детальный лог — только в DEBUG
+        if log.isEnabledFor(logging.DEBUG):
+            log.debug("%s -> HTTP %s | %r", tag, r.status_code, body)
+        return (200 <= r.status_code < 300), r.status_code, body
+    else:
+        log.warning("%s -> EXC %s", tag, exc)
+        return False, None, str(exc) if exc else ""
+
+
+def _PUT(url, *, auth, verify, timeout, data=b"", headers=None):
+    try:
+        return _sess.put(url, data=data, headers=headers or {}, auth=auth, timeout=timeout, verify=verify), None
+    except Exception as e:
+        return None, e
+
+
+def _GET(url, *, auth, verify, timeout):
+    try:
+        return _sess.get(url, auth=auth, timeout=timeout, verify=verify), None
+    except Exception as e:
+        return None, e
+
+
+def _try_ptz(base, ch, auth, verify, timeout):
+    """
+    Основная линейка эндпоинтов:
+      1) manualWiper (длинная протирка — предпочтительный путь)
+      2) Wiper(single) через XML
+      3) auxiliary?name=wiper:single
+      4) auxiliary?name=wiper:on
+    """
+    # 1) manualWiper
+    r, e = _PUT(f"{base}/ISAPI/PTZCtrl/channels/{ch}/manualWiper",
+                auth=auth, verify=verify, timeout=timeout)
+    ok, code, body = _log_resp("manualWiper", r, e)
+    if ok:
+        return True, "manualWiper", code, body
+
+    # 2) Wiper(single) XML
+    xml = b'<?xml version="1.0" encoding="utf-8"?><Wiper><wiperworkMode>single</wiperworkMode></Wiper>'
+    r, e = _PUT(f"{base}/ISAPI/PTZCtrl/channels/{ch}/Wiper",
+                auth=auth, verify=verify, timeout=timeout,
+                data=xml, headers={"Content-Type": "application/xml"})
+    ok, code, body = _log_resp("Wiper(single)", r, e)
+    if ok:
+        return True, "Wiper(single)", code, body
+
+    # 3) auxiliary wiper:single
+    r, e = _PUT(f"{base}/ISAPI/PTZCtrl/channels/{ch}/auxiliary?name=wiper:single",
+                auth=auth, verify=verify, timeout=timeout)
+    ok, code, body = _log_resp("auxiliary?wiper:single", r, e)
+    if ok:
+        return True, "auxiliary(wiper:single)", code, body
+
+    # 4) auxiliary wiper:on
+    r, e = _PUT(f"{base}/ISAPI/PTZCtrl/channels/{ch}/auxiliary?name=wiper:on",
+                auth=auth, verify=verify, timeout=timeout)
+    ok, code, body = _log_resp("auxiliary?wiper:on", r, e)
+    if ok:
+        return True, "auxiliary(wiper:on)", code, body
+
+    return False, "ptz_endpoints_failed", code, body
+
+
+def _probe_io(base, auth, verify, timeout):
+    """Попытка найти дискретный выход, содержащий 'wiper' в имени."""
+    r, e = _GET(f"{base}/ISAPI/System/IO/outputs",
+                auth=auth, verify=verify, timeout=timeout)
+    ok, code, body = _log_resp("GET IO/outputs", r, e)
+    if not ok or not body:
+        return None
+
+    import re
+    ports = re.findall(r"<IOPort>(.*?)</IOPort>", body, flags=re.S)
+    for chunk in ports:
+        id_m = re.search(r"<id>\s*(\d+)\s*</id>", chunk)
+        name_m = re.search(r"<name>\s*([^<]+)\s*</name>", chunk)
+        if id_m and name_m and ("wiper" in name_m.group(1).strip().lower()):
+            out_id = int(id_m.group(1))
+            log.debug("IO: found output id=%s", out_id)
+            return out_id
+
+    log.debug("IO: no output named 'wiper' found")
+    return None
+
+
+def _try_io(base, out_id, auth, verify, timeout, pulse_ms: int):
+    xmlA = f'<?xml version="1.0" encoding="UTF-8"?><IOPortData><outputState>high</outputState><transTime>{pulse_ms}</transTime></IOPortData>'.encode("utf-8")
+    r, e = _PUT(f"{base}/ISAPI/System/IO/outputs/{out_id}/status",
+                auth=auth, verify=verify, timeout=timeout,
+                data=xmlA, headers={"Content-Type": "application/xml"})
+    ok, code, body = _log_resp(f"PUT IO/outputs/{out_id}/status", r, e)
+    if ok:
+        return True, "io_status", code, body
+
+    xmlB = f'<?xml version="1.0" encoding="UTF-8"?><trigger><pulseTime>{pulse_ms}</pulseTime></trigger>'.encode("utf-8")
+    r, e = _PUT(f"{base}/ISAPI/System/IO/outputs/{out_id}/trigger",
+                auth=auth, verify=verify, timeout=timeout,
+                data=xmlB, headers={"Content-Type": "application/xml"})
+    ok, code, body = _log_resp(f"PUT IO/outputs/{out_id}/trigger", r, e)
+    if ok:
+        return True, "io_trigger", code, body
+
+    return False, "io_failed", code, body
+
+
+def run(cam_token: int, sec: int = 3) -> Tuple[bool, str, Optional[int], str, int]:
+    """
+    Синхронный запуск дворника.
+    Возвращает: (ok, endpoint, http_status|None, detail, cam_id)
+    """
+    cam_id = _resolve_cam_id(cam_token)
+    base, auth, verify, timeout, meta, ch = _base(cam_id)
+
+    log.info("WIPER start: cam_token=%s cam_id=%s meta=%s", cam_token, cam_id, meta)
+
+    # 1) Пытаемся через PTZ эндпоинты
+    ok, endpoint, code, body = _try_ptz(base, ch, auth, verify, timeout)
+    if ok:
+        return True, endpoint, code, body, cam_id
+
+    # 2) Фоллбек через дискретный выход, если нашли
+    out_id = _probe_io(base, auth, verify, timeout)
+    if out_id is not None:
+        pulse_ms = max(500, int(sec * 1000))
+        ok2, tag, code2, body2 = _try_io(base, out_id, auth, verify, timeout, pulse_ms)
+        return (ok2, tag, code2, body2, cam_id)
+
+    # 3) Совсем не получилось
+    return False, endpoint, code, body, cam_id
+
+
+async def trigger_wiper_once(cam_token: int, sec: float = 3.0) -> Tuple[bool, str, Optional[int], str, int]:
+    """
+    Асинхронный вызов с анти-дребезгом.
+    Супрессия теперь возвращает ok=False (чтобы фронт видел «слишком часто»).
+    Интервал берём из config.WIPER_MIN_INTERVAL_SEC при наличии.
+    """
+    from . import config  # локальный импорт, чтобы не тянуть конфиг на уровне модуля
+    loop = asyncio.get_running_loop()
+    cam_id = _resolve_cam_id(cam_token)
+
+    min_interval = float(getattr(config, "WIPER_MIN_INTERVAL_SEC", _DEFAULT_MIN_INTERVAL_SEC))
+
+    now = loop.time()
+    last = _last_call.get(cam_id, 0.0)
+    if (now - last) < min_interval:
+        delta = now - last
+        log.debug("WIPER suppressed: cam_id=%s delta=%.2f < %.2f", cam_id, delta, min_interval)
+        # ok=False, чтобы UI мог показать «слишком часто»
+        return False, "suppressed", None, f"too-frequent ({delta:.2f}s < {min_interval:.2f}s)", cam_id
+
+    _last_call[cam_id] = now
+
+    # нормализация sec
+    try:
+        sec_i = int(round(float(sec)))
+    except Exception:
+        sec_i = 3
+    if sec_i <= 0:
+        sec_i = 1
+
+    return await asyncio.to_thread(run, cam_token, sec_i)