firescrew.go

package main

import (
	"bufio"
	"bytes"
	"context"
	"embed"
	"mime/multipart"
	_ "net/http/pprof"
	"runtime"

	_ "embed"
	"encoding/binary"
	"encoding/json"
	"errors"
	"fmt"
	"image"
	"image/color"
	"image/color/palette"
	"image/draw"
	"image/gif"
	"image/jpeg"
	"image/png"
	"io"
	"log"
	"math"
	"math/rand"
	"net"
	"net/http"
	"os"
	"os/exec"
	"os/signal"
	"path/filepath"
	"strconv"
	"strings"
	"sync"
	"syscall"
	"time"

	"github.com/8ff/firescrew/pkg/firescrewServe"
	"github.com/8ff/tuna"
	mqtt "github.com/eclipse/paho.mqtt.golang"
	"github.com/goki/freetype"
	"github.com/goki/freetype/truetype"

	ob "github.com/8ff/firescrew/pkg/objectPredict"
	"github.com/8ff/prettyTimer"
	"github.com/hybridgroup/mjpeg"
)

var Version string

var gifSliceMutex sync.Mutex
var gifSlice []image.RGBA

//go:embed assets/*
var assetsFs embed.FS

var everyNthFrame = 1         // Process every Nth frame, 1 = every frame
var interenceAvgInterval = 10 // Frames to average inference time over

var stream *mjpeg.Stream

type Prediction struct {
	Object     int       `json:"object"`
	ClassName  string    `json:"class_name"`
	Box        []float32 `json:"box"`
	Top        int       `json:"top"`
	Bottom     int       `json:"bottom"`
	Left       int       `json:"left"`
	Right      int       `json:"right"`
	Confidence float32   `json:"confidence"`
	Took       float64   `json:"took"`
}

type Config struct {
	CameraName                    string            `json:"cameraName"`
	PrintDebug                    bool              `json:"printDebug"`
	DeviceUrl                     string            `json:"deviceUrl"`
	LoStreamParamBypass           StreamParams      `json:"loStreamParamBypass"`
	HiResDeviceUrl                string            `json:"hiResDeviceUrl"`
	HiStreamParamBypass           StreamParams      `json:"hiStreamParamBypass"`
	PixelMotionAreaThreshold      float64           `json:"pixelMotionAreaThreshold"`
	ObjectCenterMovementThreshold float64           `json:"objectCenterMovementThreshold"`
	ObjectAreaThreshold           float64           `json:"objectAreaThreshold"`
	StreamDrawIgnoredAreas        bool              `json:"streamDrawIgnoredAreas"`
	IgnoreAreasClasses            []IgnoreAreaClass `json:"ignoreAreasClasses"`
	EnableOutputStream            bool              `json:"enableOutputStream"`
	OutputStreamAddr              string            `json:"outputStreamAddr"`
	Motion                        struct {
		OnnxModel                 string   `json:"onnxModel"`
		OnnxEnableCoreMl          bool     `json:"onnxEnableCoreMl"`
		EmbeddedObjectScript      string   `json:"EmbeddedObjectScript"`
		ConfidenceMinThreshold    float64  `json:"confidenceMinThreshold"`
		LookForClasses            []string `json:"lookForClasses"`
		NetworkObjectDetectServer string   `json:"networkObjectDetectServer"`
		EventGap                  int      `json:"eventGap"`
		PrebufferSeconds          int      `json:"prebufferSeconds"`
	} `json:"motion"`
	Video struct {
		HiResPath     string `json:"hiResPath"`
		RecodeTsToMp4 bool   `json:"recodeTsToMp4"`
		OnlyRemuxMp4  bool   `json:"onlyRemuxMp4"`
	} `json:"video"`
	Events struct {
		Mqtt struct {
			Host  string `json:"host"`
			Port  int    `json:"port"`
			User  string `json:"user"`
			Pass  string `json:"pass"`
			Topic string `json:"topic"`
		}
		Slack struct {
			Url string `json:"url"`
		}
		ScriptPath string `json:"scriptPath"`
		Webhook    string `json:"webhookUrl"`
	} `json:"events"`
	Notifications struct {
		EnablePushoverAlerts bool   `json:"enablePushoverAlerts"`
		PushoverAppToken     string `json:"pushoverAppToken"`
		PushoverUserKey      string `json:"pushoverUserKey"`
	} `json:"notifications"`
}

type StreamParams struct {
	Width  int
	Height int
	FPS    float64
}

type InferenceStats struct {
	Avg float64
	Min float64
	Max float64
}

// TODO ADD MUTEX LOCK
type RuntimeConfig struct {
	MotionTriggeredLast time.Time `json:"motionTriggredLast"`
	MotionTriggered     bool      `json:"motionTriggered"`
	// MotionTriggeredChan chan bool `json:"motionTriggeredChan"`
	// MotionHiRecOn bool `json:"motionHiRecOn"`
	HiResControlChannel   chan RecordMsg
	MotionVideo           VideoMetadata
	MotionMutex           *sync.Mutex
	TextFont              *truetype.Font
	LoResStreamParams     StreamParams
	HiResStreamParams     StreamParams
	objectPredictConn     net.Conn
	InferenceTimingBuffer []InferenceStats
	modelReady            bool
	ObjectPredictClient   *ob.Client
	CodecName             string
}

type IgnoreAreaClass struct {
	Class       []string `json:"class"`
	Coordinates string   `json:"coordinates"`
	Top         int      `json:"top"`
	Bottom      int      `json:"bottom"`
	Left        int      `json:"left"`
	Right       int      `json:"right"`
}

type ControlCommand struct {
	StartRecording bool
	Filename       string
}

type TrackedObject struct {
	BBox       image.Rectangle
	Center     image.Point
	Area       float64
	LastMoved  time.Time
	Class      string
	Confidence float32
}

type VideoMetadata struct {
	ID           string
	MotionStart  time.Time
	MotionEnd    time.Time
	Objects      []TrackedObject
	RecodedToMp4 bool
	Snapshots    []string
	VideoFile    string
	CameraName   string
}

type Event struct {
	Type                string          `json:"type"`
	Timestamp           time.Time       `json:"timestamp"`
	MotionTriggeredLast time.Time       `json:"motionTriggeredLast"`
	ID                  string          `json:"id"`
	MotionStart         time.Time       `json:"motionStart"`
	MotionEnd           time.Time       `json:"motionEnd"`
	Objects             []TrackedObject `json:"objects"`
	RecodedToMp4        bool            `json:"recodedToMp4"`
	Snapshots           []string        `json:"snapshots"`
	VideoFile           string          `json:"videoFile"`
	CameraName          string          `json:"cameraName"`
	MetadataPath        string          `json:"metadataPath"`
	PredictedObjects    []Prediction    `json:"predictedObjects"`
}

var lastPositions = []TrackedObject{}
var globalConfig Config
var runtimeConfig RuntimeConfig

var predictFrameCounter int

type Frame struct {
	Data [][]byte
	Pts  time.Duration
}

type FrameMsg struct {
	Frame image.Image
	Error string
	// Exited   bool
	ExitCode int
}

type StreamInfo struct {
	Streams []struct {
		Width      int     `json:"width"`
		Height     int     `json:"height"`
		CodecType  string  `json:"codec_type"`
		CodecName  string  `json:"codec_name"`
		RFrameRate float64 `json:"-"`
	} `json:"streams"`
}

// RecordMsg struct to control recording
type RecordMsg struct {
	Record   bool
	Filename string
}

func readConfig(path string) Config {
	// Read the configuration file.
	configFile, err := os.ReadFile(path)
	if err != nil {
		Log("error", fmt.Sprintf("Error reading config file: %v", err))
		os.Exit(1)
	}

	// Parse the configuration file into a Config struct.
	var config Config
	err = json.Unmarshal(configFile, &config)
	if err != nil {
		Log("error", fmt.Sprintf("Error parsing config file: %v", err))
		os.Exit(1)
	}

	// Split the coordinates string into separate integers.
	for i, ignoreAreaClass := range config.IgnoreAreasClasses {
		coords := strings.Split(ignoreAreaClass.Coordinates, ",")
		if len(coords) == 4 {
			config.IgnoreAreasClasses[i].Top, err = strconv.Atoi(coords[0])
			if err != nil {
				Log("error", fmt.Sprintf("Error parsing config file: %v", err))
				os.Exit(1)
			}
			config.IgnoreAreasClasses[i].Bottom, err = strconv.Atoi(coords[1])
			if err != nil {
				Log("error", fmt.Sprintf("Error parsing config file: %v", err))
				os.Exit(1)
			}
			config.IgnoreAreasClasses[i].Left, err = strconv.Atoi(coords[2])
			if err != nil {
				Log("error", fmt.Sprintf("Error parsing config file: %v", err))
				os.Exit(1)
			}
			config.IgnoreAreasClasses[i].Right, err = strconv.Atoi(coords[3])
			if err != nil {
				Log("error", fmt.Sprintf("Error parsing config file: %v", err))
				os.Exit(1)
			}
		} else {
			Log("error", fmt.Sprintf("Error parsing config file: %v", errors.New("coordinates string must contain 4 comma separated integers")))
			os.Exit(1)
		}
	}

	if config.Motion.EmbeddedObjectScript == "" {
		Log("error", fmt.Sprintf("Error parsing config file: %v", errors.New("embeddedObjectScript must be set")))
		os.Exit(1)
	}

	if config.Motion.EmbeddedObjectScript != "objectDetectServerYolo.py" && config.Motion.EmbeddedObjectScript != "objectDetectServerCoral.py" && config.Motion.EmbeddedObjectScript != "objectDetectServerCoreML.py" {
		Log("error", fmt.Sprintf("Error parsing config file: %v", errors.New("embeddedObjectScript must be either objectDetectServerYolo.py or objectDetectServerCoral.py")))
		os.Exit(1)
	}

	// Print the configuration properties.
	Log("info", "******************** CONFIG ********************")
	Log("info", fmt.Sprintf("Print Debug: %t", config.PrintDebug))
	Log("info", fmt.Sprintf("Device URL: %s", config.DeviceUrl))
	Log("info", fmt.Sprintf("Lo-Res Param Bypass: Res: %dx%d FPS: %.2f", config.LoStreamParamBypass.Width, config.LoStreamParamBypass.Height, config.LoStreamParamBypass.FPS))
	Log("info", fmt.Sprintf("Hi-Res Param Bypass: Res: %dx%d FPS: %.2f", config.HiStreamParamBypass.Width, config.HiStreamParamBypass.Height, config.HiStreamParamBypass.FPS))
	Log("info", fmt.Sprintf("Hi-Res Device URL: %s", config.HiResDeviceUrl))
	Log("info", fmt.Sprintf("Video HiResPath: %s", config.Video.HiResPath))
	Log("info", fmt.Sprintf("Video RecodeTsToMp4: %t", config.Video.RecodeTsToMp4))
	Log("info", fmt.Sprintf("Video OnlyRemuxMp4: %t", config.Video.OnlyRemuxMp4))
	Log("info", fmt.Sprintf("Motion OnnxModel: %s", config.Motion.OnnxModel))
	Log("info", fmt.Sprintf("Motion OnnxEnableCoreMl: %t", config.Motion.OnnxEnableCoreMl))
	Log("info", fmt.Sprintf("Motion Embedded Object Script: %s", config.Motion.EmbeddedObjectScript))
	Log("info", fmt.Sprintf("Motion Object Min Threshold: %f", config.Motion.ConfidenceMinThreshold))
	Log("info", fmt.Sprintf("Motion LookForClasses: %v", config.Motion.LookForClasses))
	Log("info", fmt.Sprintf("Motion Network Object Detect Server: %s", config.Motion.NetworkObjectDetectServer))
	Log("info", fmt.Sprintf("Motion PrebufferSeconds: %d", config.Motion.PrebufferSeconds))
	Log("info", fmt.Sprintf("Motion EventGap: %d", config.Motion.EventGap))
	Log("info", fmt.Sprintf("Pixel Motion Area Threshold: %f", config.PixelMotionAreaThreshold))
	Log("info", fmt.Sprintf("Object Center Movement Threshold: %f", config.ObjectCenterMovementThreshold))
	Log("info", fmt.Sprintf("Object Area Threshold: %f", config.ObjectAreaThreshold))
	Log("info", "Ignore Areas Classes:")
	for _, ignoreAreaClass := range config.IgnoreAreasClasses {
		Log("info", fmt.Sprintf("  Class: %v, Coordinates: %s", ignoreAreaClass.Class, ignoreAreaClass.Coordinates))
	}
	Log("info", fmt.Sprintf("Draw Ignored Areas: %t", config.StreamDrawIgnoredAreas))
	Log("info", fmt.Sprintf("Enable Output Stream: %t", config.EnableOutputStream))
	Log("info", fmt.Sprintf("Output Stream Address: %s", config.OutputStreamAddr))
	Log("info", "************* EVENTS CONFIG *************")
	Log("info", fmt.Sprintf("Events MQTT Host: %s", config.Events.Mqtt.Host))
	Log("info", fmt.Sprintf("Events MQTT Port: %d", config.Events.Mqtt.Port))
	Log("info", fmt.Sprintf("Events MQTT Topic: %s", config.Events.Mqtt.Topic))
	Log("info", fmt.Sprintf("Events Slack URL: %s", config.Events.Slack.Url))
	Log("info", fmt.Sprintf("Events Script Path: %s", config.Events.ScriptPath))
	Log("info", fmt.Sprintf("Events Webhook URL: %s", config.Events.Webhook))
	Log("info", "************************************************")

	// Load font into runtime
	fontBytes, err := assetsFs.ReadFile("assets/fonts/Changes.ttf")
	if err != nil {
		Log("error", fmt.Sprintf("Error reading font file: %v", err))
		os.Exit(1)
	}

	font, err := freetype.ParseFont(fontBytes)
	if err != nil {
		Log("error", fmt.Sprintf("Error parsing font file: %v", err))
		os.Exit(1)
	}

	runtimeConfig.TextFont = font

	// Check if pushover tokens are provided if enabled
	if config.Notifications.EnablePushoverAlerts {
		if config.Notifications.PushoverAppToken == "" {
			Log("error", fmt.Sprintf("Error parsing config file: %v", errors.New("pushoverAppToken must be set")))
			os.Exit(1)
		}

		if config.Notifications.PushoverUserKey == "" {
			Log("error", fmt.Sprintf("Error parsing config file: %v", errors.New("pushoverUserKey must be set")))
			os.Exit(1)
		}
	}

	return config
}

func eventHandler(eventType string, payload []byte) {
	// Log the event type
	// Log("event", fmt.Sprintf("Event: %s", eventType))

	// Webhook URL
	if globalConfig.Events.Webhook != "" {
		resp, err := http.Post(globalConfig.Events.Webhook, "application/json", bytes.NewReader(payload))
		if err != nil {
			Log("error", fmt.Sprintf("Failed to post to webhook: %s", err))
		} else {
			defer resp.Body.Close()
		}
	}

	// Script Path
	if globalConfig.Events.ScriptPath != "" {
		cmd := exec.Command(globalConfig.Events.ScriptPath)
		stdin, err := cmd.StdinPipe()
		if err != nil {
			Log("error", fmt.Sprintf("Failed to get stdin pipe: %s", err))
			return
		}

		go func() {
			defer stdin.Close()
			_, err := stdin.Write(payload)
			if err != nil {
				Log("error", fmt.Sprintf("Failed to write to stdin: %s", err))
			}
		}()

		if err := cmd.Start(); err != nil {
			Log("error", fmt.Sprintf("Failed to start script: %s", err))
		}
	}

	// Send to Slack
	if globalConfig.Events.Slack.Url != "" {
		slackMessage := map[string]interface{}{
			"text": fmt.Sprintf("Event: %s\nPayload: %s", eventType, string(payload)),
		}
		slackPayload, _ := json.Marshal(slackMessage)
		resp, err := http.Post(globalConfig.Events.Slack.Url, "application/json", bytes.NewReader(slackPayload))
		if err != nil {
			Log("error", fmt.Sprintf("Failed to post to Slack: %s", err))
		} else {
			defer resp.Body.Close()
		}
	}

	// Send to MQTT
	if globalConfig.Events.Mqtt.Host != "" && globalConfig.Events.Mqtt.Port != 0 && globalConfig.Events.Mqtt.Topic != "" {
		err := sendToMQTT(globalConfig.Events.Mqtt.Topic, string(payload), globalConfig.Events.Mqtt.Host, globalConfig.Events.Mqtt.Port, globalConfig.Events.Mqtt.User, globalConfig.Events.Mqtt.Pass)
		if err != nil {
			Log("error", fmt.Sprintf("Failed to send to MQTT: %s", err))
		}
	}
}

func Log(level, msg string) {
	switch level {
	case "info":
		fmt.Printf("\x1b[32m%s [INFO] %s\x1b[0m\n", time.Now().Format("15:04:05"), msg)
	case "notice":
		fmt.Printf("\x1b[35m%s [NOTICE] %s\x1b[0m\n", time.Now().Format("15:04:05"), msg)
	case "event":
		fmt.Printf("\x1b[34m%s [EVENT] %s\x1b[0m\n", time.Now().Format("15:04:05"), msg)
	case "error":
		fmt.Printf("\x1b[31m%s [ERROR] %s\x1b[0m\n", time.Now().Format("15:04:05"), msg)
	case "warning":
		fmt.Printf("\x1b[33m%s [WARNING] %s\x1b[0m\n", time.Now().Format("15:04:05"), msg)
	case "debug":
		if globalConfig.PrintDebug {
			fmt.Printf("\x1b[36m%s [DEBUG] %s\x1b[0m\n", time.Now().Format("15:04:05"), msg)
		}
	default:
		fmt.Printf("%s [UNKNOWN] %s\n", time.Now().Format("15:04:05"), msg)
	}
}

func getStreamInfo(rtspURL string) (StreamInfo, error) {
	// Create a context that will time out
	ctx, cancel := context.WithTimeout(context.Background(), 10*time.Second)
	defer cancel()

	cmd := exec.CommandContext(ctx, "ffprobe", "-rtsp_transport", "tcp", "-v", "quiet", "-print_format", "json", "-show_streams", rtspURL)
	output, err := cmd.Output()
	if err != nil {
		return StreamInfo{}, err
	}

	Log("debug", fmt.Sprintf("ffprobe url: %s output: %s", rtspURL, output))

	// Unmarshal into a temporary structure to get the raw frame rate
	var rawInfo struct {
		Streams []struct {
			Width      int    `json:"width"`
			Height     int    `json:"height"`
			CodecType  string `json:"codec_type"`
			CodecName  string `json:"codec_name"`
			RFrameRate string `json:"r_frame_rate"`
		} `json:"streams"`
	}
	if err := json.Unmarshal(output, &rawInfo); err != nil {
		return StreamInfo{}, err
	}

	// Process the streams, converting the frame rate and filtering as needed
	var info StreamInfo
	for _, stream := range rawInfo.Streams {
		if stream.Width == 0 || stream.Height == 0 {
			continue // Skip streams with zero values
		}
		frParts := strings.Split(stream.RFrameRate, "/")
		if len(frParts) == 2 {
			numerator, err1 := strconv.Atoi(frParts[0])
			denominator, err2 := strconv.Atoi(frParts[1])
			if err1 != nil || err2 != nil || denominator == 0 {
				return StreamInfo{}, fmt.Errorf("invalid frame rate: %s", stream.RFrameRate)
			}
			frameRate := float64(numerator) / float64(denominator) // Calculate FPS
			info.Streams = append(info.Streams, struct {
				Width      int     `json:"width"`
				Height     int     `json:"height"`
				CodecType  string  `json:"codec_type"`
				CodecName  string  `json:"codec_name"`
				RFrameRate float64 `json:"-"`
			}{
				Width:      stream.Width,
				Height:     stream.Height,
				CodecType:  stream.CodecType,
				CodecName:  stream.CodecName,
				RFrameRate: frameRate,
			})
		}
	}

	return info, nil
}

func CheckFFmpegAndFFprobe() (bool, error) {
	if _, err := exec.LookPath("ffmpeg"); err != nil {
		// Print PATH
		path := os.Getenv("PATH")
		Log("error", fmt.Sprintf("PATH: %s", path))
		return false, fmt.Errorf("ffmpeg binary not found: %w", err)
	}

	if _, err := exec.LookPath("ffprobe"); err != nil {
		// Print PATH
		path := os.Getenv("PATH")
		Log("error", fmt.Sprintf("PATH: %s", path))
		return false, fmt.Errorf("ffprobe binary not found: %w", err)
	}

	return true, nil
}

func processRTSPFeed(rtspURL string, msgChannel chan<- FrameMsg) {
	cmd := exec.Command(
		"ffmpeg",
		"-rtsp_transport", "tcp",
		"-re",
		"-i", rtspURL,
		"-analyzeduration", "1000000",
		"-probesize", "1000000",
		"-vf", `select=not(mod(n\,5))`,
		"-fps_mode", "vfr",
		"-c:v", "png",
		"-f", "image2pipe",
		"-",
	)
	stderrBuffer := &bytes.Buffer{}
	cmd.Stderr = stderrBuffer

	pipe, err := cmd.StdoutPipe()
	if err != nil {
		msgChannel <- FrameMsg{Error: err.Error()}
		return
	}
	defer pipe.Close()

	err = cmd.Start()
	if err != nil {
		msgChannel <- FrameMsg{Error: err.Error()}
		return
	}

	frameCount := 0
	frameData := bytes.NewBuffer(nil)
	isFrameStarted := false

	buffer := make([]byte, 8192) // Buffer size
	for {
		n, err := pipe.Read(buffer)
		if err == io.EOF {
			break
		} else if err != nil {
			msgChannel <- FrameMsg{Error: err.Error()}
			return
		}

		frameData.Write(buffer[:n])

		if bytes.HasPrefix(frameData.Bytes(), []byte{0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A}) {
			isFrameStarted = true
		}

		if isFrameStarted && bytes.HasSuffix(frameData.Bytes(), []byte{0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42, 0x60, 0x82}) {
			img, err := png.Decode(bytes.NewReader(frameData.Bytes()))
			if err != nil {
				msgChannel <- FrameMsg{Error: "Failed to decode PNG: " + err.Error()}
			} else {
				msgChannel <- FrameMsg{Frame: img}
			}

			frameCount++
			frameData.Reset()
			isFrameStarted = false
		}

		if frameData.Len() > 2*1024*1024 {
			startIdx := bytes.Index(frameData.Bytes(), []byte{0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A})
			if startIdx != -1 {
				frameData.Next(startIdx)
				isFrameStarted = true
			} else {
				frameData.Reset()
				isFrameStarted = false
			}
		}
	}

	err = cmd.Wait()
	exitCode := 0
	if err != nil {
		if exitErr, ok := err.(*exec.ExitError); ok {
			if status, ok := exitErr.Sys().(syscall.WaitStatus); ok {
				exitCode = status.ExitStatus()
			}
		}
		msgChannel <- FrameMsg{Error: "FFmpeg exited with error: " + err.Error(), ExitCode: exitCode}
	}

	if stderrBuffer.Len() > 0 {
		msgChannel <- FrameMsg{Error: "FFmpeg STDERR: " + stderrBuffer.String()}
	}
}

func recordRTSPStream(rtspURL string, controlChannel <-chan RecordMsg, prebufferDuration time.Duration) {
	var file *os.File
	recording := false

	cmd := exec.Command("ffmpeg", "-rtsp_transport", "tcp", "-i", rtspURL, "-c", "copy", "-f", "mpegts", "pipe:1")
	pipe, err := cmd.StdoutPipe()
	if err != nil {
		Log("error", fmt.Sprintf("Error creating pipe: %v", err))
		return
	}

	err = cmd.Start()
	if err != nil {
		Log("error", fmt.Sprintf("Error starting ffmpeg: %v", err))
		return
	}

	defer func() {
		if recording && file != nil {
			file.Close()
		}
		cmd.Wait()
	}()

	type chunkInfo struct {
		Data []byte
		Time time.Time
	}

	bufferSize := 4096
	prebuffer := make([]chunkInfo, 0)
	buffer := make([]byte, bufferSize)

	for {
		select {
		case msg := <-controlChannel:
			if msg.Record && !recording {
				file, err = os.Create(msg.Filename)
				if err != nil {
					log.Fatal(err)
					return
				}
				for _, chunk := range prebuffer { // Write prebuffered data
					_, err := file.Write(chunk.Data)
					if err != nil {
						log.Fatal(err)
						return
					}
				}
				recording = true
			} else if !msg.Record && recording {
				file.Close()
				recording = false
			}

		default:
			n, err := pipe.Read(buffer)
			if err != nil {
				if err == io.EOF {
					return
				}
				log.Fatal(err)
				return
			}

			// Prebuffer handling
			chunk := make([]byte, n)
			copy(chunk, buffer[:n])
			timestamp := time.Now()
			prebuffer = append(prebuffer, chunkInfo{Data: chunk, Time: timestamp})
			// Remove chunks that are older than prebufferDuration
			for len(prebuffer) > 1 && timestamp.Sub(prebuffer[0].Time) > prebufferDuration {
				prebuffer = prebuffer[1:]
			}

			if recording && file != nil {
				_, err := file.Write(buffer[:n])
				if err != nil {
					log.Fatal(err)
					return
				}
			}
		}
	}
}

func recodeToMP4(inputFile string) (string, error) {
	// Check if the input file has a .ts extension
	if !strings.HasSuffix(inputFile, ".ts") {
		return "", fmt.Errorf("input file must have a .ts extension. Got: %s", inputFile)
	}

	// Remove the .ts extension and replace it with .mp4
	outputFile := strings.TrimSuffix(inputFile, ".ts") + ".mp4"

	var cmd *exec.Cmd
	// Create the FFmpeg command
	if globalConfig.Video.OnlyRemuxMp4 {
		if runtimeConfig.CodecName == "hevc" {
			cmd = exec.Command("ffmpeg", "-i", inputFile,
				"-c:v", "copy",
				"-c:a", "aac",
				"-tag:v", "hvc1",
				"-movflags", "+faststart",
				"-hls_segment_type", "fmp4",
				outputFile)
		} else {
			cmd = exec.Command("ffmpeg", "-i", inputFile, "-c", "copy", outputFile)
		}
	} else {
		cmd = exec.Command("ffmpeg", "-i", inputFile, "-c:v", "libx264", "-c:a", "aac", outputFile)
	}

	// Capture the standard output and standard error
	output, err := cmd.CombinedOutput()
	if err != nil {
		return "", fmt.Errorf("FFmpeg command failed: %v\n%s", err, output)
	}

	return outputFile, nil
}

func main() {
	ptime := prettyTimer.NewTimingStats()
	// Check if there is a config file argument, if there isnt give error and exit
	if len(os.Args) < 2 {
		fmt.Fprintf(os.Stderr, "Not enough arguments provided\n")
		fmt.Println("Usage: firescrew [configfile]")
		fmt.Println("  -t, --template, t\tPrints the template config to stdout")
		fmt.Println("  -h, --help, h\t\tPrints this help message")
		fmt.Println("  -s, --serve, s\tStarts the web server, requires: [path] [addr]")
		return
	}

	switch os.Args[1] {
	case "-t", "--template", "t":
		// Dump template config to stdout
		printTemplateFile()
		return
	case "-h", "--help", "h":
		// Print help
		fmt.Println("Usage: firescrew [configfile]")
		fmt.Println("  -t, --template, t\tPrints the template config to stdout")
		fmt.Println("  -h, --help, h\t\tPrints this help message")
		fmt.Println("  -s, --serve, s\tStarts the web server, requires: [path] [addr]")
		fmt.Println("  -v, --version, v\tPrints the version")
		fmt.Println("  -update, --update, update\tUpdates firescrew to the latest version")
		return
	case "-s", "--serve", "s":
		// This requires 2 more params, a path to files and an addr in form :8080
		// Check if those params are provided if not give help message
		if len(os.Args) < 4 {
			fmt.Fprintf(os.Stderr, "Not enough arguments provided\n")
			fmt.Fprintf(os.Stderr, ("Usage: firescrew -s [path] [addr]\n"))
			return
		}
		err := firescrewServe.Serve(os.Args[2], os.Args[3])
		if err != nil {
			fmt.Fprintf(os.Stderr, "Error starting server: %v\n", err)
			return
		}
		os.Exit(1)
	case "-v", "--version", "v":
		// Print version
		fmt.Println(Version)
		os.Exit(0)
	case "-update", "--update", "update":
		// Determine OS and ARCH
		osRelease := runtime.GOOS
		arch := runtime.GOARCH

		// Build URL
		e := tuna.SelfUpdate(fmt.Sprintf("https://github.com/8ff/firescrew/releases/download/latest/firescrew.%s.%s", osRelease, arch))
		if e != nil {
			fmt.Println(e)
			os.Exit(1)
		}

		fmt.Println("Updated!")
		os.Exit(0)
	}

	// Read the config file
	globalConfig = readConfig(os.Args[1])

	// Check if ffmpeg/ffprobe binaries are available
	_, err := CheckFFmpegAndFFprobe()
	if err != nil {
		Log("error", fmt.Sprintf("Unable to find ffmpeg/ffprobe binaries. Please install them: %s", err))
		os.Exit(2)
	}

	if globalConfig.LoStreamParamBypass.Width == 0 || globalConfig.LoStreamParamBypass.Height == 0 || globalConfig.LoStreamParamBypass.FPS == 0 {
		// Print HI/LO stream details
		hiResStreamInfo, err := getStreamInfo(globalConfig.HiResDeviceUrl)
		if err != nil {
			Log("error", fmt.Sprintf("Error getting stream info: ffprobe: %v", err))
			os.Exit(3)
		}

		if len(hiResStreamInfo.Streams) == 0 {
			Log("error", fmt.Sprintf("No HI res streams found at %s", globalConfig.HiResDeviceUrl))
			os.Exit(3)
		}

		// Find stream with codec_type: video
		streamIndex := -1
		for index, stream := range hiResStreamInfo.Streams {
			if stream.CodecType == "video" {
				streamIndex = index
				runtimeConfig.CodecName = stream.CodecName
				if globalConfig.Video.OnlyRemuxMp4 {
					if stream.CodecName != "h264" {
						Log("warning", fmt.Sprintf("OnlyRemuxMp4 is enabled but the stream codec is not h264 or h265. Your videos may not play in WebUI. Codec: %s", stream.CodecName))
					}
				}
				break
			}
		}

		if streamIndex == -1 {
			Log("error", fmt.Sprintf("No video stream found at %s", globalConfig.HiResDeviceUrl))
			os.Exit(3)
		}

		runtimeConfig.HiResStreamParams = StreamParams{
			Width:  hiResStreamInfo.Streams[streamIndex].Width,
			Height: hiResStreamInfo.Streams[streamIndex].Height,
			FPS:    hiResStreamInfo.Streams[streamIndex].RFrameRate,
		}
	} else {
		runtimeConfig.HiResStreamParams = globalConfig.HiStreamParamBypass
	}

	if globalConfig.LoStreamParamBypass.Width == 0 || globalConfig.LoStreamParamBypass.Height == 0 || globalConfig.LoStreamParamBypass.FPS == 0 {
		loResStreamInfo, err := getStreamInfo(globalConfig.DeviceUrl)
		if err != nil {
			Log("error", fmt.Sprintf("Error getting stream info: %v", err))
			os.Exit(3)
		}

		if len(loResStreamInfo.Streams) == 0 {
			Log("error", fmt.Sprintf("No LO res streams found at %s", globalConfig.DeviceUrl))
			os.Exit(3)
		}

		// Find stream with codec_type: video
		streamIndex := -1
		for index, stream := range loResStreamInfo.Streams {
			if stream.CodecType == "video" {
				streamIndex = index
				break
			}
		}

		if streamIndex == -1 {
			Log("error", fmt.Sprintf("No video stream found at %s", globalConfig.DeviceUrl))
			os.Exit(3)
		}

		runtimeConfig.LoResStreamParams = StreamParams{
			Width:  loResStreamInfo.Streams[streamIndex].Width,
			Height: loResStreamInfo.Streams[streamIndex].Height,
			FPS:    loResStreamInfo.Streams[streamIndex].RFrameRate,
		}
	} else {
		runtimeConfig.LoResStreamParams = globalConfig.LoStreamParamBypass
	}

	// Print stream info from runtimeConfig
	Log("info", "******************** STREAM INFO ********************")
	Log("info", fmt.Sprintf("Lo-Res Stream Resolution: %dx%d FPS: %.2f", runtimeConfig.LoResStreamParams.Width, runtimeConfig.LoResStreamParams.Height, runtimeConfig.LoResStreamParams.FPS))
	Log("info", fmt.Sprintf("Hi-Res Stream Resolution: %dx%d FPS: %.2f", runtimeConfig.HiResStreamParams.Width, runtimeConfig.HiResStreamParams.Height, runtimeConfig.HiResStreamParams.FPS))
	Log("info", "*****************************************************")

	// Define motion mutex
	runtimeConfig.MotionMutex = &sync.Mutex{}

	// Copy assets to local filesystem
	path := copyAssetsToTemp()
	// Start the object detector

	if globalConfig.Motion.OnnxModel != "" {
		var err error
		runtimeConfig.ObjectPredictClient, err = ob.Init(ob.Config{Model: "yolov8n", EnableCoreMl: globalConfig.Motion.OnnxEnableCoreMl})
		if err != nil {
			fmt.Println("Cannot init model:", err)
			return
		}

		defer runtimeConfig.ObjectPredictClient.Close() // Cleanup files

	} else {
		if globalConfig.Motion.NetworkObjectDetectServer == "" {
			globalConfig.Motion.NetworkObjectDetectServer = "127.0.0.1:8555"
			go startObjectDetector(path + "/" + globalConfig.Motion.EmbeddedObjectScript)
			// Set networkObjectDetectServer path to 127.0.0.1:8555
			// time.Sleep(10 * time.Second) // Give time to kill old instance if still running
			// Wait until tcp connection is works to globalConfig.Motion.NetworkObjectDetectServer
			Log("info", "Waiting for object detector to come up")
			if !runtimeConfig.modelReady {
				for {
					conn, err := net.DialTimeout("tcp", globalConfig.Motion.NetworkObjectDetectServer, 1*time.Second)
					if err != nil {
						Log("warning", fmt.Sprintf("Waiting for object detector to start: %v", err))
						time.Sleep(1 * time.Second)
					} else {
						conn.Close()
						break
					}
				}
			}
		} else {
			Log("info", fmt.Sprintf("Checking connection to: %s", globalConfig.Motion.NetworkObjectDetectServer))
			for {
				conn, err := net.DialTimeout("tcp", globalConfig.Motion.NetworkObjectDetectServer, 1*time.Second)
				if err != nil {
					Log("warning", fmt.Sprintf("Waiting for %s to respond: %v", globalConfig.Motion.NetworkObjectDetectServer, err))
					time.Sleep(1 * time.Second)
				} else {
					conn.Close()
					break
				}
			}
		}
	}

	stream = mjpeg.NewStream()
	if globalConfig.EnableOutputStream {
		go startWebcamStream(stream)
	}

	// Define the last image
	imgLast := image.NewRGBA(image.Rect(0, 0, runtimeConfig.HiResStreamParams.Width, runtimeConfig.HiResStreamParams.Height))

	// Start HI Res prebuffering
	runtimeConfig.HiResControlChannel = make(chan RecordMsg)
	go func() {
		for {
			recordRTSPStream(globalConfig.HiResDeviceUrl, runtimeConfig.HiResControlChannel, time.Duration(globalConfig.Motion.PrebufferSeconds)*time.Second)
			// defer close(runtimeConfig.HiResControlChannel)
			time.Sleep(5 * time.Second)
			Log("warning", "Restarting HI RTSP feed")
		}
	}()

	frameChannel := make(chan FrameMsg)
	go func(frameChannel chan FrameMsg) {
		for {
			processRTSPFeed(globalConfig.DeviceUrl, frameChannel)
			// Log("warning", "EXITED")
			//*********** EXITS BELOW ***********//
			time.Sleep(5 * time.Second)
			Log("warning", "Restarting LO RTSP feed")
		}
	}(frameChannel)
	// go dumpRtspFrames(globalConfig.DeviceUrl, "/Volumes/RAMDisk/", 4) // 1 means mod every nTh frame
	// go readFramesFromRam(frameChannel, "/Volumes/RAMDisk/")

	for msg := range frameChannel {
		if msg.Error != "" {
			Log("error", msg.Error)
			continue
		}

		if msg.Frame != nil {
			ptime.Start() // DEBUG TIMER

			rgba, ok := msg.Frame.(*image.RGBA)
			if !ok {
				// Convert to RGBA if it's not already
				rgba = image.NewRGBA(msg.Frame.Bounds())
				draw.Draw(rgba, rgba.Bounds(), msg.Frame, msg.Frame.Bounds().Min, draw.Src)
			}

			// Handle all motion stuff here
			if runtimeConfig.MotionTriggered || (!runtimeConfig.MotionTriggered && CountChangedPixels(rgba, imgLast, uint8(30)) > int(globalConfig.PixelMotionAreaThreshold)) { // Use short-circuit to bypass pixel count if event is already triggered, otherwise we may not be able to identify all objects if motion is triggered
				// If its been more than globalConfig.Motion.EventGap seconds since the last motion event, untrigger
				if runtimeConfig.MotionTriggered && time.Since(runtimeConfig.MotionTriggeredLast) > time.Duration(globalConfig.Motion.EventGap)*time.Second {
					go endMotionEvent() // End the motion event
				}

				// Only run this on every Nth frame
				if predictFrameCounter%everyNthFrame == 0 {
					if predictFrameCounter > 10000 {
						predictFrameCounter = 0
					}
					if msg.Frame != nil {

						var predict []Prediction
						var err error
						// If globalConfig.Motion.OnnxModel is blank run this
						// Send data to objectPredict
						if globalConfig.Motion.OnnxModel == "" {
							predict, err = objectPredict(msg.Frame)
							if err != nil {
								Log("error", fmt.Sprintf("Error running objectPredict: %v", err))
								return
							}
							performDetectionOnObject(nil, rgba, predict)
						} else {
							timer := time.Now()
							objects, resizedImage, err := runtimeConfig.ObjectPredictClient.Predict(msg.Frame)
							if err != nil {
								fmt.Println("Cannot predict:", err)
								return
							}

							// Detect took
							took := time.Since(timer).Milliseconds()

							for _, object := range objects {
								pred := Prediction{
									Object:     object.ClassID,
									ClassName:  object.ClassName,
									Box:        []float32{object.X1, object.Y1, object.X2, object.Y2},
									Top:        int(object.Y1),
									Bottom:     int(object.Y2),
									Left:       int(object.X1),
									Right:      int(object.X2),
									Confidence: object.Confidence,
									Took:       float64(took),
								}
								predict = append(predict, pred)
							}
							performDetectionOnObject(rgba, resizedImage, predict)
						}
						calcInferenceStats(predict) // Calculate inference stats

						// FIX THIS Its taking way too long to process
						// if len(predict) > 0 {
						// 	// Notify in realtime about detected objects
						// 	type Event struct {
						// 		Type             string       `json:"type"`
						// 		Timestamp        time.Time    `json:"timestamp"`
						// 		PredictedObjects []Prediction `json:"predicted_objects"`
						// 	}

						// 	eventRaw := Event{
						// 		Type:             "objects_predicted",
						// 		Timestamp:        time.Now(),
						// 		PredictedObjects: predict,
						// 	}
						// 	eventJson, err := json.Marshal(eventRaw)
						// 	if err != nil {
						// 		Log("error", fmt.Sprintf("Error marshalling object_predicted event: %v", err))
						// 		return
						// 	}
						// 	go eventHandler("objects_detected", eventJson)
						// }

						// if len(predict) > 0 {
						// 	fname := fmt.Sprintf("%d.jpg", predictFrameCounter)
						// 	saveJPEG(filepath.Join(globalConfig.Video.HiResPath, fname), rgba, 100)
						// }

					}

					predictFrameCounter++
				}
			}

			// if globalConfig.EnableOutputStream {
			// 	streamImage(rgba, stream) // Stream the image to the web
			// }

			imgLast = rgba // Set the last image to the current image

			ptime.Finish() // DEBUG TIMER
			// ptime.PrintStats() // DEBUG TIMER

		}
	}

}

func performDetectionOnObject(originalFrame *image.RGBA, frame *image.RGBA, prediction []Prediction) {
	now := time.Now()
	for _, predict := range prediction {
		// If class is not within LookForClasses, skip it
		if len(globalConfig.Motion.LookForClasses) > 0 {
			found := false
			for _, filterClass := range globalConfig.Motion.LookForClasses {
				if predict.ClassName == filterClass {
					found = true
				}
			}
			if !found {
				continue
			}
		}

		if predict.Confidence < float32(globalConfig.Motion.ConfidenceMinThreshold) {
			continue
		}

		rect := image.Rect(predict.Left, predict.Top, predict.Right, predict.Bottom)

		object := TrackedObject{
			BBox:       rect,
			Center:     image.Pt((predict.Left+predict.Right)/2, (predict.Top+predict.Bottom)/2),
			LastMoved:  now,
			Area:       float64(rect.Dx() * rect.Dy()),
			Class:      predict.ClassName,
			Confidence: predict.Confidence,
		}

		exists := findObjectPosition(object)
		if !exists {

			// Check if this object is within the areas of interest
			for _, ignoreAreaClass := range globalConfig.IgnoreAreasClasses {
				for _, class := range ignoreAreaClass.Class {
					if class == object.Class {
						if object.Center.X > ignoreAreaClass.Left && object.Center.X < ignoreAreaClass.Right && object.Center.Y > ignoreAreaClass.Top && object.Center.Y < ignoreAreaClass.Bottom {
							// This object is within an ignore area, skip it
							// fmt.Printf("Ignoring object %s @ %d|%f\n", object, object.Center)
							// Log("warning", fmt.Sprintf("IGNORING OBJECT @ %d|%f [%s|%f]", object.Center, object.Area, object.Class, object.Confidence))
							return
						}
					}
				}
			}

			Log("info", fmt.Sprintf("TRIGGERED NEW OBJECT @ COORD: %d AREA: %f [%s|%f]", object.Center, object.Area, object.Class, object.Confidence))
			if !runtimeConfig.MotionTriggered {
				// Lock mutex
				runtimeConfig.MotionMutex.Lock()
				runtimeConfig.MotionTriggered = true
				runtimeConfig.MotionTriggeredLast = now
				runtimeConfig.MotionVideo.CameraName = globalConfig.CameraName
				runtimeConfig.MotionVideo.MotionStart = now
				// Generate random string filename for runtimeConfig.MotionVideo.Filename
				runtimeConfig.MotionVideo.ID = generateRandomString(15)
				runtimeConfig.MotionVideo.Objects = append(runtimeConfig.MotionVideo.Objects, object)
				runtimeConfig.MotionVideo.VideoFile = fmt.Sprintf("clip_%s.ts", runtimeConfig.MotionVideo.ID)                                                            // Set filename for video file
				runtimeConfig.HiResControlChannel <- RecordMsg{Record: true, Filename: filepath.Join(globalConfig.Video.HiResPath, runtimeConfig.MotionVideo.VideoFile)} // Start recording

				// Notify in realtime about detected objects
				type Event struct {
					Type                string    `json:"type"`
					Timestamp           time.Time `json:"timestamp"`
					MotionTriggeredLast time.Time `json:"motion_triggered_last"`
					ID                  string    `json:"id"`
					MotionStart         time.Time `json:"motion_start"`
					Objects             []TrackedObject
					CameraName          string `json:"camera_name"`
				}

				eventRaw := Event{
					Type:                "motion_started",
					Timestamp:           time.Now(),
					MotionTriggeredLast: time.Now(),
					ID:                  runtimeConfig.MotionVideo.ID,
					MotionStart:         runtimeConfig.MotionVideo.MotionStart,
					Objects:             runtimeConfig.MotionVideo.Objects,
					CameraName:          runtimeConfig.MotionVideo.CameraName,
				}
				eventJson, err := json.Marshal(eventRaw)
				if err != nil {
					Log("error", fmt.Sprintf("Error marshalling motion_started event: %v", err))
					return
				}
				eventHandler("motion_start", eventJson)

				// Send pushover notification
				if globalConfig.Notifications.EnablePushoverAlerts {
					frameCopy := *frame

					ob.DrawRectangle(&frameCopy, rect, color.RGBA{255, 165, 0, 255}, 2) // Draw orange rectangle

					pt := image.Pt(predict.Left, predict.Top-5)
					if predict.Top-5 < 0 {
						pt = image.Pt(predict.Left, predict.Top+20) // if the box is too close to the top of the image, put the label inside the box
					}
					ob.AddLabelWithTTF(&frameCopy, fmt.Sprintf("%s %.2f", predict.ClassName, predict.Confidence), pt, color.RGBA{255, 165, 0, 255}, 12.0) // Orange size 12 font

					// Send pushover notification
					err := sendPushoverNotification(globalConfig.Notifications.PushoverUserKey, globalConfig.Notifications.PushoverAppToken, "Motion detected!", &frameCopy)
					if err != nil {
						Log("error", fmt.Sprintf("Error sending pushover notification: %v", err))
					}

				}

				// Unlock mutex
				runtimeConfig.MotionMutex.Unlock()
			} else {
				// Lock mutex
				runtimeConfig.MotionMutex.Lock()
				runtimeConfig.MotionTriggeredLast = now
				runtimeConfig.MotionVideo.Objects = append(runtimeConfig.MotionVideo.Objects, object)

				// Notify in realtime about detected objects
				type Event struct {
					Type                string    `json:"type"`
					Timestamp           time.Time `json:"timestamp"`
					MotionTriggeredLast time.Time `json:"motion_triggered_last"`
					ID                  string    `json:"id"`
					MotionStart         time.Time `json:"motion_start"`
					Objects             []TrackedObject
					CameraName          string `json:"camera_name"`
				}

				eventRaw := Event{
					Type:                "motion_update",
					Timestamp:           time.Now(),
					MotionTriggeredLast: time.Now(),
					ID:                  runtimeConfig.MotionVideo.ID,
					MotionStart:         runtimeConfig.MotionVideo.MotionStart,
					Objects:             runtimeConfig.MotionVideo.Objects,
					CameraName:          runtimeConfig.MotionVideo.CameraName,
				}
				eventJson, err := json.Marshal(eventRaw)
				if err != nil {
					Log("error", fmt.Sprintf("Error marshalling motion_update event: %v", err))
					return
				}
				eventHandler("motion_update", eventJson)

				// Unlock mutex
				runtimeConfig.MotionMutex.Unlock()
			}

			// Log("error", fmt.Sprintf("STORED %d OBJECTS", len(runtimeConfig.MotionVideo.Objects)))

			ob.DrawRectangle(frame, rect, color.RGBA{255, 165, 0, 255}, 2) // Draw orange rectangle

			pt := image.Pt(predict.Left, predict.Top-5)
			if predict.Top-5 < 0 {
				pt = image.Pt(predict.Left, predict.Top+20) // if the box is too close to the top of the image, put the label inside the box
			}
			ob.AddLabelWithTTF(frame, fmt.Sprintf("%s %.2f", predict.ClassName, predict.Confidence), pt, color.RGBA{255, 165, 0, 255}, 12.0) // Orange size 12 font

			// Store snapshot of the object
			if runtimeConfig.MotionVideo.ID != "" {
				snapshotFilename := fmt.Sprintf("snap_%s_%s.jpg", runtimeConfig.MotionVideo.ID, generateRandomString(4))
				runtimeConfig.MotionVideo.Snapshots = append(runtimeConfig.MotionVideo.Snapshots, snapshotFilename)

				if originalFrame != nil {
					origWidth, origHeight := ob.GetImageDimensions(originalFrame)
					// Resize the image to the original dimensions
					frame = ob.RemovePadding(frame, origWidth, origHeight)
				}

				// Add frames for gif
				copyFrame := *frame
				gifSliceMutex.Lock()
				gifSlice = append(gifSlice, copyFrame)
				gifSliceMutex.Unlock()

				saveJPEG(filepath.Join(globalConfig.Video.HiResPath, snapshotFilename), frame, 100)
			} else {
				Log("warning", "runtimeConfig.MotionVideo.ID is empty, not writing snapshot. This shouldnt happen.")
			}
		}
	}
}

// Function that goes over lastPositions and checks if any of them are within of a threshold of the current center
func findObjectPosition(object TrackedObject) bool {
	// Check if this object has been seen before
	for i := 0; i < len(lastPositions); i++ {
		distance := math.Sqrt(float64((object.Center.X-lastPositions[i].Center.X)*(object.Center.X-lastPositions[i].Center.X) + (object.Center.Y-lastPositions[i].Center.Y)*(object.Center.Y-lastPositions[i].Center.Y)))
		// fmt.Printf("Distance: %v\n", distance)
		if distance < globalConfig.ObjectCenterMovementThreshold {
			// Compare area as well to see if its +- within the threshold
			areaDiff := math.Abs(object.Area - lastPositions[i].Area)
			// fmt.Printf("Area diff: %v\n", areaDiff)
			if areaDiff < globalConfig.ObjectAreaThreshold {
				// This means a match, overwrite old object with updated one
				// Log("warning", fmt.Sprintf("UPDATING OBJECT @ %d|%f TO %d|%f DISTANCE: %d ADIFF: %d", lastPositions[i].Center, lastPositions[i].Area, object.Center, object.Area, int(distance), int(areaDiff)))
				lastPositions[i] = object
				return true
			}
		}
	}

	// Clean up lastPositions
	for i := 0; i < len(lastPositions); i++ {
		// Check if last update is more than 30 seconds ago
		if time.Since(lastPositions[i].LastMoved) > 30*time.Second {
			// Delete this object
			// Log("error", fmt.Sprintf("EXPIRING OBJECT @ %d|%f [%s|%f]", lastPositions[i].Center, lastPositions[i].Area, lastPositions[i].Class, lastPositions[i].Confidence))
			lastPositions = append(lastPositions[:i], lastPositions[i+1:]...)
		}
	}

	// This is a new object, add it
	lastPositions = append(lastPositions, object)
	return false
}

func streamImage(img *image.RGBA, stream *mjpeg.Stream) {
	// Draw ignore areas from IgnoreAreasClasses
	if globalConfig.StreamDrawIgnoredAreas {
		for _, ignoreAreaClass := range globalConfig.IgnoreAreasClasses {
			// Draw the ignore area
			rect := image.Rect(ignoreAreaClass.Left, ignoreAreaClass.Top, ignoreAreaClass.Right, ignoreAreaClass.Bottom)
			ob.DrawRectangle(img, rect, color.RGBA{255, 0, 0, 0}, 2)
		}
	}

	// Encode the RGBA image to JPEG
	var buf bytes.Buffer
	if err := jpeg.Encode(&buf, img, nil); err != nil {
		// Handle encoding error
		return
	}

	// Stream video over HTTP
	stream.UpdateJPEG(buf.Bytes())
}

func startWebcamStream(stream *mjpeg.Stream) {
	// start http server
	http.Handle("/", stream)

	server := &http.Server{
		Addr:         globalConfig.OutputStreamAddr,
		ReadTimeout:  60 * time.Second,
		WriteTimeout: 60 * time.Second,
	}

	log.Fatal(server.ListenAndServe())
}

func establishConnection() error {
	d := net.Dialer{}
	var err error
	runtimeConfig.objectPredictConn, err = d.Dial("tcp", globalConfig.Motion.NetworkObjectDetectServer)
	return err
}

func objectPredict(imgRaw image.Image) ([]Prediction, error) {
	// Create a channel to communicate the result of the function
	resultChan := make(chan []Prediction, 1)
	errorChan := make(chan error, 1)

	// Start the actual work in a goroutine
	go func() {
		// Start timer
		start := time.Now()

		// Convert the image to a byte array
		buf := new(bytes.Buffer)
		if err := jpeg.Encode(buf, imgRaw, nil); err != nil {
			errorChan <- err
			return
		}
		imgData := buf.Bytes()

		// Check if connection is nil and re-establish it if needed
		if runtimeConfig.objectPredictConn == nil {
			// Re-establish connection
			if err := establishConnection(); err != nil {
				errorChan <- err
				return
			}
		}

		// Check if connection is broken and re-establish it if needed
		if err := runtimeConfig.objectPredictConn.SetDeadline(time.Now().Add(60 * time.Second)); err != nil {
			// Re-establish connection
			if err := establishConnection(); err != nil {
				errorChan <- err
				return
			}
		}

		// Send the size of the image data
		size := uint32(len(imgData))
		sizeBytes := make([]byte, 4)
		binary.BigEndian.PutUint32(sizeBytes, size)
		if _, err := runtimeConfig.objectPredictConn.Write(sizeBytes); err != nil {
			// Re-establish connection
			if err := establishConnection(); err != nil {
				errorChan <- err
				return
			}
		}

		// Send the image data
		if _, err := runtimeConfig.objectPredictConn.Write(imgData); err != nil {
			// Re-establish connection
			if err := establishConnection(); err != nil {
				errorChan <- err
				return
			}
		}

		// Read the response
		reader := bufio.NewReader(runtimeConfig.objectPredictConn)
		respData, err := reader.ReadBytes('\n')
		if err != nil {
			errorChan <- err
			return
		}

		// fmt.Printf("RAW: %s\n", respData)

		// Parse the response data as a Prediction
		var preds []Prediction
		if err := json.Unmarshal(respData, &preds); err != nil {
			errorChan <- err
			return
		}

		for i, pred := range preds {
			box := pred.Box
			preds[i].Top = int(box[1])
			preds[i].Bottom = int(box[3])
			preds[i].Left = int(box[0])
			preds[i].Right = int(box[2])
			preds[i].Took = float64(time.Since(start).Milliseconds())
		}

		resultChan <- preds
	}()

	// Wait for the result or the context timeout
	select {
	case result := <-resultChan:
		return result, nil
	case err := <-errorChan:
		Log("debug", fmt.Sprintf("Error running objectPredict: %v", err))
		return nil, err
	}
}

func startObjectDetector(scriptPath string) {
	basePath := filepath.Dir(scriptPath)
	restartCount := 0
	pidFileName := filepath.Base(scriptPath) + ".pid"
	pidFilePath := filepath.Join("/tmp", pidFileName)

	// Read the first line of the script to get the shebang
	file, err := os.Open(scriptPath)
	if err != nil {
		Log("error", fmt.Sprintf("Error opening script: %v", err))
		return
	}
	reader := bufio.NewReader(file)
	shebang, err := reader.ReadString('\n')
	file.Close()
	if err != nil {
		Log("error", fmt.Sprintf("Error reading shebang: %v", err))
		return
	}

	// Extract the interpreter from the shebang
	shebang = strings.TrimSpace(strings.TrimPrefix(shebang, "#!"))
	interpreterArgs := strings.Split(shebang, " ")
	if len(interpreterArgs) < 2 {
		interpreterArgs = []string{"python3"} // Default interpreter if shebang is not found or incorrect
	}

	// Try to read existing PID file
	pidData, err := os.ReadFile(pidFilePath)
	if err == nil {
		pid, err := strconv.Atoi(string(pidData))
		if err == nil {
			process, err := os.FindProcess(pid)
			if err == nil {
				process.Kill() // Try to kill the existing process
			}
		}
	}

	for {
		if restartCount > 3 {
			Log("error", "Embedded python script failed 3 times, giving up")
			os.Exit(1)
		}

		cmd := exec.Command(interpreterArgs[0], append(interpreterArgs[1:], "-u", scriptPath)...)
		cmd.Dir = basePath

		stdout, err := cmd.StdoutPipe()
		if err != nil {
			Log("error", fmt.Sprintf("Error creating StdoutPipe for Cmd: %v", err))
			continue
		}

		var stderr bytes.Buffer
		cmd.Stderr = &stderr

		Log("info", "Starting embedded python object server")
		err = cmd.Start()

		if err != nil {
			Log("error", fmt.Sprintf("Error starting Cmd: %v", err))
			continue
		}

		// Write PID to file
		err = os.WriteFile(pidFilePath, []byte(strconv.Itoa(cmd.Process.Pid)), 0644)
		if err != nil {
			Log("error", fmt.Sprintf("Error writing PID to file: %v", err))
			cmd.Process.Kill()
			continue
		}

		go readOutput(stdout)

		// Create a channel to catch signals to the process
		c := make(chan os.Signal, 1)
		signal.Notify(c, os.Interrupt, syscall.SIGTERM)
		go func() {
			<-c
			if cmd.Process != nil {
				cmd.Process.Kill()
			}
			os.Remove(pidFilePath) // Remove PID file
			os.Exit(1)
		}()

		runtimeConfig.modelReady = true // Allow objectPredict to start sending images

		err = cmd.Wait()
		if err != nil {
			Log("error", fmt.Sprintf("Embedded python script failed: %s", stderr.String()))
		} else {
			Log("info", "Embedded python script exited, restarting...")
		}

		os.Remove(pidFilePath) // Remove PID file

		time.Sleep(2 * time.Second)
		restartCount++
	}
}

// Helped function for startObjectDetector
func readOutput(r io.ReadCloser) {
	scanner := bufio.NewScanner(r)
	for scanner.Scan() {
		// Strip newlines
		out := strings.TrimSuffix(scanner.Text(), "\n")

		// Strip empty lines
		if out == "" {
			continue
		}

		Log("debug", fmt.Sprintf("PYTHON_MODEL_STDOUT: %s", out))
	}
}

// Function that copies assetsFs to /tmp in a random folder and returns path
func copyAssetsToTemp() string {
	// Create a random folder in /tmp
	r := rand.New(rand.NewSource(time.Now().UnixNano()))
	tempDir := fmt.Sprintf("/tmp/%d", r.Intn(1000)+1)
	os.Mkdir(tempDir, 0755)

	// Delete the temporary directory when the application exits
	c := make(chan os.Signal, 1)
	signal.Notify(c, os.Interrupt, syscall.SIGTERM)
	go func() {
		<-c
		os.RemoveAll(tempDir)
		os.Exit(0)
	}()

	// Copy assets to temp dir
	assets, err := assetsFs.ReadDir("assets") // Read the "assets" directory instead of "."
	if err != nil {
		panic(err)
	}

	for _, asset := range assets {

		if asset.IsDir() {
			continue
		}
		data, err := assetsFs.ReadFile("assets/" + asset.Name()) // Add "assets/" prefix when reading the file
		if err != nil {
			panic(err)
		}

		err = os.WriteFile(filepath.Join(tempDir, asset.Name()), data, 0644)
		if err != nil {
			panic(err)
		}

		// Make *.py files executable
		if filepath.Ext(asset.Name()) == ".py" {
			err = os.Chmod(filepath.Join(tempDir, asset.Name()), 0755)
			if err != nil {
				panic(err)
			}
		}
	}

	return tempDir
}

// This function prints out embedded template.json file
func printTemplateFile() {
	fileBytes, err := assetsFs.ReadFile("assets/template.json")
	if err != nil {
		log.Fatalf("Failed to read template file: %v", err)
	}

	fmt.Println(string(fileBytes))
}

func generateRandomString(length int) string {
	const charset = "abcdefghijklmnopqrstuvwxyz" + "ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789"
	seededRand := rand.New(rand.NewSource(time.Now().UnixNano()))
	b := make([]byte, length)
	for i := range b {
		b[i] = charset[seededRand.Intn(len(charset))]
	}
	return string(b)
}

func CountChangedPixels(img1, img2 *image.RGBA, threshold uint8) int {
	if img1.Bounds() != img2.Bounds() {
		return -1
	}

	count := 0
	for y := 0; y < img1.Bounds().Dy(); y++ {
		for x := 0; x < img1.Bounds().Dx(); x++ {
			offset := y*img1.Stride + x*4
			r1, g1, b1 := int(img1.Pix[offset]), int(img1.Pix[offset+1]), int(img1.Pix[offset+2])
			r2, g2, b2 := int(img2.Pix[offset]), int(img2.Pix[offset+1]), int(img2.Pix[offset+2])
			gray1 := (299*r1 + 587*g1 + 114*b1) / 1000
			gray2 := (299*r2 + 587*g2 + 114*b2) / 1000
			diff := gray1 - gray2
			if diff < 0 {
				diff = -diff
			}
			if uint8(diff) > threshold {
				count++
			}
		}
	}

	return count
}

func saveJPEG(filename string, img *image.RGBA, quality int) {
	file, err := os.Create(filename)
	if err != nil {
		Log("error", fmt.Sprintf("File create error: %s", err))
		return
	}
	defer file.Close()

	options := &jpeg.Options{Quality: quality} // Quality ranges from 1 to 100
	err = jpeg.Encode(file, img, options)
	if err != nil {
		Log("error", fmt.Sprintf("JPEG encode error: %s", err))
		return
	}
}

func sendToMQTT(topic string, message string, host string, port int, user string, pass string) error {
	// MQTT client options
	opts := mqtt.NewClientOptions().AddBroker(fmt.Sprintf("tcp://%s:%d", host, port))

	if user != "" && pass != "" {
		opts.SetUsername(user)
		opts.SetPassword(pass)
	}

	// Create and connect the client
	client := mqtt.NewClient(opts)
	if token := client.Connect(); token.Wait() && token.Error() != nil {
		Log("error", fmt.Sprintf("Failed to connect to MQTT: %s", token.Error()))
		return token.Error() // Return the connection error
	}
	defer client.Disconnect(250)

	// Publish the message
	token := client.Publish(topic, 0, false, message)
	token.Wait()
	if token.Error() != nil {
		Log("error", fmt.Sprintf("Failed to publish to MQTT: %s", token.Error()))
		return token.Error() // Return the publishing error
	}

	return nil // Return nil if there were no errors
}

func calcInferenceStats(predict []Prediction) {
	// Calculate avg of all predict times for this run
	stats := InferenceStats{}
	stats.Min = math.MaxFloat64
	count := 0

	if len(predict) == 0 {
		return
	}

	for _, prediction := range predict {
		if prediction.Took > float64(1000/everyNthFrame) {
			Log("warning", fmt.Sprintf("Inference took %fms, max ceiling should be: %dms", prediction.Took, 1000/everyNthFrame))
		}

		if prediction.Took > stats.Max {
			stats.Max = prediction.Took
		}

		if prediction.Took < stats.Min {
			stats.Min = prediction.Took
		}

		stats.Avg += prediction.Took
		count++
	}

	stats.Avg = stats.Avg / float64(count)

	runtimeConfig.InferenceTimingBuffer = append(runtimeConfig.InferenceTimingBuffer, stats)

	if len(runtimeConfig.InferenceTimingBuffer) >= interenceAvgInterval {
		statsFinal := InferenceStats{}
		statsFinal.Min = math.MaxFloat64
		statsFinal.Max = 0 // Initialize Max to 0
		// Calculate avg inference time
		for _, inferenceTime := range runtimeConfig.InferenceTimingBuffer {
			statsFinal.Avg += inferenceTime.Avg
			if inferenceTime.Min < statsFinal.Min {
				statsFinal.Min = inferenceTime.Min
			}

			if inferenceTime.Max > statsFinal.Max {
				statsFinal.Max = inferenceTime.Max
			}
		}

		statsFinal.Avg = statsFinal.Avg / float64(len(runtimeConfig.InferenceTimingBuffer))

		// Log avg inference time
		type Event struct {
			Type         string    `json:"type"`
			Timestamp    time.Time `json:"timestamp"`
			InferenceAvg float64   `json:"inference_avg"`
			InferenceMin float64   `json:"inference_min"`
			InferenceMax float64   `json:"inference_max"`
			Ceiling      int       `json:"ceiling"`
		}

		eventRaw := Event{
			Type:         "inferencing_avg",
			Timestamp:    time.Now(),
			InferenceAvg: statsFinal.Avg,
			InferenceMin: statsFinal.Min,
			InferenceMax: statsFinal.Max,
			Ceiling:      1000 / everyNthFrame,
		}
		eventJson, err := json.Marshal(eventRaw)
		if err != nil {
			Log("error", fmt.Sprintf("Error marshalling inference_avg event: %v: Event: %v", err, eventRaw))
			return
		}
		eventHandler("inference_avg", eventJson)
		Log("notice", fmt.Sprintf("Inference avg: %fms, min: %fms, max: %fms", statsFinal.Avg, statsFinal.Min, statsFinal.Max))

		// Clear inferenceTimingLog
		runtimeConfig.InferenceTimingBuffer = make([]InferenceStats, 0)
	}
}

func endMotionEvent() {
	// Log("info", fmt.Sprintf("SINCE_LAST_EVENT: %d GAP: %d", time.Since(runtimeConfig.MotionTriggeredLast), time.Duration(globalConfig.Motion.EventGap)*time.Second))
	Log("info", "MOTION_ENDED")
	runtimeConfig.MotionTriggered = false
	runtimeConfig.MotionMutex.Lock()

	if globalConfig.Notifications.EnablePushoverAlerts { // Send pushover notification
		// // Create gif from snapshots
		gifSliceMutex.Lock()
		CreateGIF(gifSlice, fmt.Sprintf("%s/%s.gif", globalConfig.Video.HiResPath, runtimeConfig.MotionVideo.ID), 100)
		gifSlice = make([]image.RGBA, 0)
		gifSliceMutex.Unlock()

		// Send pushover notification
		err := sendPushoverNotificationGif(globalConfig.Notifications.PushoverUserKey, globalConfig.Notifications.PushoverAppToken, "Motion ended", fmt.Sprintf("%s/%s.gif", globalConfig.Video.HiResPath, runtimeConfig.MotionVideo.ID))
		if err != nil {
			Log("error", fmt.Sprintf("Error sending pushover notification: %v", err))
		}
		// Delete gif
		err = os.Remove(fmt.Sprintf("%s/%s.gif", globalConfig.Video.HiResPath, runtimeConfig.MotionVideo.ID))
		if err != nil {
			Log("error", fmt.Sprintf("Error removing gif file: %v", err))
		}
	}

	// Stop Hi res recording and dump json file as well as clear struct
	runtimeConfig.MotionVideo.MotionEnd = time.Now()
	runtimeConfig.HiResControlChannel <- RecordMsg{Record: false}

	if globalConfig.Video.RecodeTsToMp4 { // Store this for future reference
		runtimeConfig.MotionVideo.RecodedToMp4 = true
		go func(videoFile string) {
			// Recode the ts file to mp4
			_, err := recodeToMP4(videoFile)
			if err != nil {
				Log("error", fmt.Sprintf("Error recoding ts file to mp4: %v", err))
			} else {
				// Remove the ts file
				err = os.Remove(videoFile)
				if err != nil {
					Log("error", fmt.Sprintf("Error removing ts file: %v", err))
				}
			}
		}(filepath.Join(globalConfig.Video.HiResPath, runtimeConfig.MotionVideo.VideoFile))
	}

	jsonData, err := json.Marshal(runtimeConfig.MotionVideo)
	if err != nil {
		Log("error", fmt.Sprintf("Error marshalling metadata: %v", err))
	}

	err = os.WriteFile(filepath.Join(globalConfig.Video.HiResPath, fmt.Sprintf("meta_%s.json", runtimeConfig.MotionVideo.ID)), jsonData, 0644)
	if err != nil {
		Log("error", fmt.Sprintf("Error writing metadata file: %v", err))
	}

	// Notify in realtime about detected objects
	// type Event struct {
	// 	Type                string          `json:"type"`
	// 	Timestamp           time.Time       `json:"timestamp"`
	// 	MotionTriggeredLast time.Time       `json:"motion_triggered_last"`
	// 	ID                  string          `json:"id"`
	// 	MotionStart         time.Time       `json:"motion_start"`
	// 	MotionEnd           time.Time       `json:"motion_end"`
	// 	Objects             []TrackedObject `json:"objects"`
	// 	RecodedToMp4        bool            `json:"recoded_to_mp4"`
	// 	Snapshots           []string        `json:"snapshots"`
	// 	VideoFile           string          `json:"video_file"`
	// 	CameraName          string          `json:"camera_name"`
	// 	MetadataPath        string          `json:"metadata_path"`
	// }

	// eventRaw := Event{
	// 	Type:                "motion_ended",
	// 	Timestamp:           time.Now(),
	// 	MotionTriggeredLast: runtimeConfig.MotionTriggeredLast,
	// 	ID:                  runtimeConfig.MotionVideo.ID,
	// 	MotionStart:         runtimeConfig.MotionVideo.MotionStart,
	// 	MotionEnd:           runtimeConfig.MotionVideo.MotionEnd,
	// 	Objects:             runtimeConfig.MotionVideo.Objects,
	// 	RecodedToMp4:        runtimeConfig.MotionVideo.RecodedToMp4,
	// 	Snapshots:           runtimeConfig.MotionVideo.Snapshots,
	// 	VideoFile:           runtimeConfig.MotionVideo.VideoFile,
	// 	CameraName:          runtimeConfig.MotionVideo.CameraName,
	// 	MetadataPath:        filepath.Join(globalConfig.Video.HiResPath, fmt.Sprintf("meta_%s.json", runtimeConfig.MotionVideo.ID)),
	// }
	// eventJson, err := json.Marshal(eventRaw)
	// if err != nil {
	// 	Log("error", fmt.Sprintf("Error marshalling motion_ended event: %v", err))
	// 	return
	// }
	// eventHandler("motion_end", eventJson)

	// 	// Clear the whole runtimeConfig.MotionVideo struct
	runtimeConfig.MotionVideo = VideoMetadata{}

	runtimeConfig.MotionMutex.Unlock()
}

func sendPushoverNotification(userKey string, appToken string, msg string, img *image.RGBA) error {
	// Convert the image to JPEG format
	var imgBuffer bytes.Buffer
	if err := jpeg.Encode(&imgBuffer, img, nil); err != nil {
		return fmt.Errorf("error encoding image: %v", err)
	}

	// Create a new HTTP request
	var b bytes.Buffer
	w := multipart.NewWriter(&b)

	// Set up form fields
	if err := w.WriteField("token", appToken); err != nil {
		return fmt.Errorf("WriteField Error: %v", err)
	}
	if err := w.WriteField("user", userKey); err != nil {
		return fmt.Errorf("WriteField Error: %v", err)
	}
	if err := w.WriteField("message", msg); err != nil {
		return fmt.Errorf("WriteField Error: %v", err)
	}

	// Attach the in-memory image as an attachment
	fw, err := w.CreateFormFile("attachment", "image.jpg")
	if err != nil {
		return fmt.Errorf("CreateFormFile Error: %v", err)
	}
	if _, err := io.Copy(fw, &imgBuffer); err != nil {
		return fmt.Errorf("copy File Error: %v", err)
	}

	// Close the writer
	w.Close()

	// Create a HTTP request to Pushover API
	req, err := http.NewRequest("POST", "https://api.pushover.net/1/messages.json", &b)
	if err != nil {
		return fmt.Errorf("NewRequest Error: %v", err)
	}

	// Set the content type, this will include the boundary.
	req.Header.Set("Content-Type", w.FormDataContentType())

	// Execute the request
	resp, err := http.DefaultClient.Do(req)
	if err != nil {
		return fmt.Errorf("error executing request: %v", err)
	}
	defer resp.Body.Close()

	// Check the response
	if resp.StatusCode != http.StatusOK {
		return fmt.Errorf("Non-OK HTTP status: %s", resp.Status)
	}

	return nil
}

// CreateGIF creates a GIF file from a slice of *image.RGBA images
func CreateGIF(images []image.RGBA, outputPath string, delay int) error {
	outFile, err := os.Create(outputPath)
	if err != nil {
		return err
	}
	defer outFile.Close()

	anim := &gif.GIF{}
	for _, srcImg := range images {
		// Convert image.RGBA to *image.Paletted
		bounds := srcImg.Bounds()
		palettedImage := image.NewPaletted(bounds, palette.Plan9)
		draw.Draw(palettedImage, palettedImage.Rect, &srcImg, bounds.Min, draw.Over)

		anim.Image = append(anim.Image, palettedImage)
		anim.Delay = append(anim.Delay, delay)
	}

	return gif.EncodeAll(outFile, anim)
}

func sendPushoverNotificationGif(userKey string, appToken string, msg string, gifPath string) error {
	// Open the GIF file
	file, err := os.Open(gifPath)
	if err != nil {
		return fmt.Errorf("Error opening GIF file: %v", err)
	}
	defer file.Close()

	// Create a new HTTP request
	var b bytes.Buffer
	w := multipart.NewWriter(&b)

	// Set up form fields
	if err := w.WriteField("token", appToken); err != nil {
		return fmt.Errorf("WriteField Error: %v", err)
	}
	if err := w.WriteField("user", userKey); err != nil {
		return fmt.Errorf("WriteField Error: %v", err)
	}
	if err := w.WriteField("message", msg); err != nil {
		return fmt.Errorf("WriteField Error: %v", err)
	}

	// Attach the GIF file as an attachment
	fw, err := w.CreateFormFile("attachment", "image.gif")
	if err != nil {
		return fmt.Errorf("CreateFormFile Error: %v", err)
	}
	if _, err := io.Copy(fw, file); err != nil {
		return fmt.Errorf("Copy File Error: %v", err)
	}

	// Close the writer
	w.Close()

	// Create a HTTP request to Pushover API
	req, err := http.NewRequest("POST", "https://api.pushover.net/1/messages.json", &b)
	if err != nil {
		return fmt.Errorf("NewRequest Error: %v", err)
	}

	// Set the content type, this will include the boundary.
	req.Header.Set("Content-Type", w.FormDataContentType())

	// Execute the request
	resp, err := http.DefaultClient.Do(req)
	if err != nil {
		return fmt.Errorf("Error executing request: %v", err)
	}
	defer resp.Body.Close()

	// Check the response
	if resp.StatusCode != http.StatusOK {
		return fmt.Errorf("Non-OK HTTP status: %s", resp.Status)
	}

	return nil
}