server.cpp

#include "arduino.h"
#include "esp_camera.h"
#include "esp_timer.h"
#include "img_converters.h"
#include "globals.h"
#include "server.h"
#include "index_html_content.h"

#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
#include "esp32-hal-log.h"
#define TAG ""
#else
#include "esp_log.h"
static const char *TAG = "SERVER";
#endif

#define PART_BOUNDARY "123456789000000000000987654321"

static const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

httpd_handle_t server_httpd = NULL;
httpd_handle_t stream_httpd = NULL;

static esp_err_t index_handler(httpd_req_t *req) {
  httpd_resp_set_type(req, "text/html");
  return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
}

esp_err_t parse_get(httpd_req_t *req, char **obuf) {
  char *buf = NULL;
  size_t buf_len = 0;

  buf_len = httpd_req_get_url_query_len(req) + 1;
  if (buf_len > 1) {
    buf = (char *)malloc(buf_len);
    if (!buf) {
      httpd_resp_send_500(req);
      return ESP_FAIL;
    }
    if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
      *obuf = buf;
      return ESP_OK;
    }
    free(buf);
  }
  httpd_resp_send_404(req);
  return ESP_FAIL;
}

static int print_reg(char *p, sensor_t *s, uint16_t reg, uint32_t mask) {
  return sprintf(p, "\"0x%x\":%u,", reg, s->get_reg(s, reg, mask));
}

static esp_err_t stream_handler(httpd_req_t *req) {
  camera_fb_t *fb = NULL;
  esp_err_t res = ESP_OK;
  size_t _jpg_buf_len = 0;
  uint8_t *_jpg_buf = NULL;
  char *part_buf[64];

  res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
  if (res != ESP_OK) {
    return res;
  }

  httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
  httpd_resp_set_hdr(req, "X-Framerate", "60");

  while (true) {
    fb = esp_camera_fb_get();
    if (!fb) {
      ESP_LOGE(TAG, "Camera capture failed");
      res = ESP_FAIL;
    } else {
      if (fb->format != PIXFORMAT_JPEG) {
        bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
        esp_camera_fb_return(fb);
        fb = NULL;
        if (!jpeg_converted) {
          ESP_LOGE(TAG, "JPEG compression failed");
          res = ESP_FAIL;
        }
      } else {
        _jpg_buf_len = fb->len;
        _jpg_buf = fb->buf;
      }
    }
    if (res == ESP_OK) {
      res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
    }
    if (res == ESP_OK) {
      size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
      res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
    }
    if (res == ESP_OK) {
      res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
    }
    if (fb) {
      esp_camera_fb_return(fb);
      fb = NULL;
      _jpg_buf = NULL;
    } else if (_jpg_buf) {
      free(_jpg_buf);
      _jpg_buf = NULL;
    }
    if (res != ESP_OK) {
      ESP_LOGE(TAG, "Send frame failed");
      break;
    }
  }
  return res;
}

static esp_err_t status_handler(httpd_req_t *req) {
  static char json_response[1024];

  sensor_t *s = esp_camera_sensor_get();
  char *p = json_response;
  *p++ = '{';

  if (s->id.PID == OV5640_PID || s->id.PID == OV3660_PID) {
    for (int reg = 0x3400; reg < 0x3406; reg += 2) {
      p += print_reg(p, s, reg, 0xFFF);  //12 bit
    }
    p += print_reg(p, s, 0x3406, 0xFF);

    p += print_reg(p, s, 0x3500, 0xFFFF0);  //16 bit
    p += print_reg(p, s, 0x3503, 0xFF);
    p += print_reg(p, s, 0x350a, 0x3FF);   //10 bit
    p += print_reg(p, s, 0x350c, 0xFFFF);  //16 bit

    for (int reg = 0x5480; reg <= 0x5490; reg++) {
      p += print_reg(p, s, reg, 0xFF);
    }

    for (int reg = 0x5380; reg <= 0x538b; reg++) {
      p += print_reg(p, s, reg, 0xFF);
    }

    for (int reg = 0x5580; reg < 0x558a; reg++) {
      p += print_reg(p, s, reg, 0xFF);
    }
    p += print_reg(p, s, 0x558a, 0x1FF);  //9 bit
  } else if (s->id.PID == OV2640_PID) {
    p += print_reg(p, s, 0xd3, 0xFF);
    p += print_reg(p, s, 0x111, 0xFF);
    p += print_reg(p, s, 0x132, 0xFF);
  }

  p += sprintf(p, "\"xclk\":%u,", s->xclk_freq_hz / 1000000);
  p += sprintf(p, "\"pixformat\":%u,", s->pixformat);
  p += sprintf(p, "\"framesize\":%u,", s->status.framesize);
  p += sprintf(p, "\"quality\":%u,", s->status.quality);
  p += sprintf(p, "\"brightness\":%d,", s->status.brightness);
  p += sprintf(p, "\"contrast\":%d,", s->status.contrast);
  p += sprintf(p, "\"saturation\":%d,", s->status.saturation);
  p += sprintf(p, "\"sharpness\":%d,", s->status.sharpness);
  p += sprintf(p, "\"special_effect\":%u,", s->status.special_effect);
  p += sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);
  p += sprintf(p, "\"awb\":%u,", s->status.awb);
  p += sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);
  p += sprintf(p, "\"aec\":%u,", s->status.aec);
  p += sprintf(p, "\"aec2\":%u,", s->status.aec2);
  p += sprintf(p, "\"ae_level\":%d,", s->status.ae_level);
  p += sprintf(p, "\"aec_value\":%u,", s->status.aec_value);
  p += sprintf(p, "\"agc\":%u,", s->status.agc);
  p += sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);
  p += sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);
  p += sprintf(p, "\"bpc\":%u,", s->status.bpc);
  p += sprintf(p, "\"wpc\":%u,", s->status.wpc);
  p += sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
  p += sprintf(p, "\"lenc\":%u,", s->status.lenc);
  p += sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
  p += sprintf(p, "\"dcw\":%u,", s->status.dcw);
  p += sprintf(p, "\"colorbar\":%u", s->status.colorbar);
  *p++ = '}';
  *p++ = 0;
  httpd_resp_set_type(req, "application/json");
  httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
  return httpd_resp_send(req, json_response, strlen(json_response));
}

static esp_err_t cmd_handler(httpd_req_t *req) {
  char *buf = NULL;
  char variable[32];
  char value[32];

  if (parse_get(req, &buf) != ESP_OK) {
    return ESP_FAIL;
  }
  if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) != ESP_OK || httpd_query_key_value(buf, "val", value, sizeof(value)) != ESP_OK) {
    free(buf);
    httpd_resp_send_404(req);
    return ESP_FAIL;
  }
  free(buf);

  int val = atoi(value);
  ESP_LOGI(TAG, "%s = %d", variable, val);
  sensor_t *s = esp_camera_sensor_get();
  int res = 0;

  if (!strcmp(variable, "framesize")) {
    if (s->pixformat == PIXFORMAT_JPEG) {
      res = s->set_framesize(s, (framesize_t)val);
    }
  } else if (!strcmp(variable, "quality"))
    res = s->set_quality(s, val);
  else if (!strcmp(variable, "contrast"))
    res = s->set_contrast(s, val);
  else if (!strcmp(variable, "brightness"))
    res = s->set_brightness(s, val);
  else if (!strcmp(variable, "saturation"))
    res = s->set_saturation(s, val);
  else if (!strcmp(variable, "gainceiling"))
    res = s->set_gainceiling(s, (gainceiling_t)val);
  else if (!strcmp(variable, "colorbar"))
    res = s->set_colorbar(s, val);
  else if (!strcmp(variable, "awb"))
    res = s->set_whitebal(s, val);
  else if (!strcmp(variable, "agc"))
    res = s->set_gain_ctrl(s, val);
  else if (!strcmp(variable, "aec"))
    res = s->set_exposure_ctrl(s, val);
  else if (!strcmp(variable, "hmirror"))
    res = s->set_hmirror(s, val);
  else if (!strcmp(variable, "vflip"))
    res = s->set_vflip(s, val);
  else if (!strcmp(variable, "awb_gain"))
    res = s->set_awb_gain(s, val);
  else if (!strcmp(variable, "agc_gain"))
    res = s->set_agc_gain(s, val);
  else if (!strcmp(variable, "aec_value"))
    res = s->set_aec_value(s, val);
  else if (!strcmp(variable, "aec2"))
    res = s->set_aec2(s, val);
  else if (!strcmp(variable, "dcw"))
    res = s->set_dcw(s, val);
  else if (!strcmp(variable, "bpc"))
    res = s->set_bpc(s, val);
  else if (!strcmp(variable, "wpc"))
    res = s->set_wpc(s, val);
  else if (!strcmp(variable, "raw_gma"))
    res = s->set_raw_gma(s, val);
  else if (!strcmp(variable, "lenc"))
    res = s->set_lenc(s, val);
  else if (!strcmp(variable, "special_effect"))
    res = s->set_special_effect(s, val);
  else if (!strcmp(variable, "wb_mode"))
    res = s->set_wb_mode(s, val);
  else if (!strcmp(variable, "ae_level"))
    res = s->set_ae_level(s, val);
  else {
    ESP_LOGI(TAG, "Unknown command: %s", variable);
    res = -1;
  }

  if (res < 0) {
    return httpd_resp_send_500(req);
  }

  httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
  return httpd_resp_send(req, NULL, 0);
}

static esp_err_t flash_handler(httpd_req_t *req) {
  char *buf = NULL;
  char _value[16];

  if (parse_get(req, &buf) != ESP_OK) {
      return ESP_FAIL;
  }
  if (
      httpd_query_key_value(buf, "value", _value, sizeof(_value)) != ESP_OK
    ) {
      free(buf);
      httpd_resp_send_404(req);
      return ESP_FAIL;
  }
  free(buf);

  int flash = atoi(_value);

  ESP_LOGW(TAG, "Set flash light %d", flash);
  digitalWrite(PIN_FLASH, flash);

  httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
  return httpd_resp_send(req, NULL, 0);
}
static esp_err_t servo_handler(httpd_req_t *req) {
  return servoControl.handleRequest(req);
}
static esp_err_t navi_move_handler(httpd_req_t *req) {
  return naviControl.handleMoveRequest(req);
}
static esp_err_t navi_stop_handler(httpd_req_t *req) {
  return naviControl.handleStopRequest(req);
}

static httpd_uri_t get_uri(const char *uri, esp_err_t (*handler)(httpd_req_t *r)) {
  return {
    .uri = uri,
    .method = HTTP_GET,
    .handler = handler,
    .user_ctx = NULL
  };
}

void startCameraServer() {
  httpd_config_t config = HTTPD_DEFAULT_CONFIG();
  config.server_port = 80;
  httpd_uri_t index_uri = get_uri("/", index_handler);
  httpd_uri_t status_uri = get_uri("/status", status_handler);
  httpd_uri_t cmd_uri = get_uri("/control", cmd_handler);

  httpd_uri_t navi_move_uri = get_uri("/navi", navi_move_handler);
  httpd_uri_t navi_stop_uri = get_uri("/stop", navi_stop_handler);
  httpd_uri_t servo_uri = get_uri("/servo", servo_handler);
  httpd_uri_t flash_uri = get_uri("/flash", flash_handler);

  httpd_uri_t stream_uri = get_uri("/stream", stream_handler);
  if (httpd_start(&server_httpd, &config) == ESP_OK) {
    httpd_register_uri_handler(server_httpd, &index_uri);
    httpd_register_uri_handler(server_httpd, &status_uri);
    httpd_register_uri_handler(server_httpd, &cmd_uri);
    httpd_register_uri_handler(server_httpd, &servo_uri);
    httpd_register_uri_handler(server_httpd, &flash_uri);
    httpd_register_uri_handler(server_httpd, &navi_move_uri);
    httpd_register_uri_handler(server_httpd, &navi_stop_uri);
  }
  config.server_port += 1;
  config.ctrl_port += 1;
  if (httpd_start(&stream_httpd, &config) == ESP_OK) {
    httpd_register_uri_handler(stream_httpd, &stream_uri);
  }
}