From 617989bb958ba0531939064ed21386b045ab24d6 Mon Sep 17 00:00:00 2001
From: Ye Hang Yang <yehangyang@espressif.com>
Date: Thu, 9 Sep 2021 10:10:34 +0800
Subject: [PATCH] :sparkles: motion_detection module

---
 .../modules/ai/who_motion_detection.cpp       | 78 +++++++++++++++++++
 1 file changed, 78 insertions(+)
 create mode 100644 components/modules/ai/who_motion_detection.cpp

diff --git a/components/modules/ai/who_motion_detection.cpp b/components/modules/ai/who_motion_detection.cpp
new file mode 100644
index 0000000..2e49041
--- /dev/null
+++ b/components/modules/ai/who_motion_detection.cpp
@@ -0,0 +1,78 @@
+#include "who_motion_detection.hpp"
+
+#include "esp_log.h"
+#include "esp_camera.h"
+
+#include "dl_image.hpp"
+
+static const char *TAG = "motion_detection";
+
+static QueueHandle_t xQueueFrameI = NULL;
+static QueueHandle_t xQueueEvent = NULL;
+static QueueHandle_t xQueueFrameO = NULL;
+static QueueHandle_t xQueueResult = NULL;
+
+static bool gEvent = true;
+
+static void task_process_handler(void *arg)
+{
+    camera_fb_t *frame1 = NULL;
+    camera_fb_t *frame2 = NULL;
+
+    while (true)
+    {
+        if (gEvent)
+        {
+            bool is_moved = false;
+            if (xQueueReceive(xQueueFrameI, &(frame1), portMAX_DELAY))
+            {
+                if (xQueueReceive(xQueueFrameI, &(frame2), portMAX_DELAY))
+                {
+                    uint32_t moving_point_number = dl::image::get_moving_point_number((uint16_t *)frame1->buf, (uint16_t *)frame2->buf, frame1->height, frame1->width, 8, 15);
+                    if (moving_point_number > 50)
+                    {
+                        ESP_LOGI(TAG, "Something moved!");
+                        dl::image::draw_filled_rectangle((uint16_t *)frame2->buf, frame2->height, frame2->width, 0, 0, 20, 20);
+                        is_moved = true;
+                    }
+                }
+            }
+
+            if (xQueueFrameO)
+            {
+                esp_camera_fb_return(frame1);
+                xQueueSend(xQueueFrameO, &frame2, portMAX_DELAY);
+            }
+            else
+            {
+                esp_camera_fb_return(frame1);
+                esp_camera_fb_return(frame2);
+            }
+
+            if (xQueueResult)
+            {
+                xQueueSend(xQueueResult, &is_moved, portMAX_DELAY);
+            }
+        }
+    }
+}
+
+static void task_event_handler(void *arg)
+{
+    while (true)
+    {
+        xQueueReceive(xQueueEvent, &(gEvent), portMAX_DELAY);
+    }
+}
+
+void register_motion_detection(QueueHandle_t frame_i, QueueHandle_t event,
+                               QueueHandle_t result, QueueHandle_t frame_o)
+{
+    xQueueFrameI = frame_i;
+    xQueueFrameO = frame_o;
+    xQueueEvent = event;
+    xQueueResult = result;
+    xTaskCreatePinnedToCore(task_process_handler, TAG, 4 * 1024, NULL, 5, NULL, 1);
+    if (xQueueEvent)
+        xTaskCreatePinnedToCore(task_event_handler, TAG, 4 * 1024, NULL, 5, NULL, 1);
+}