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ESP32-CAM Video Surveillance Robot
Build your own video surveillance robot and control it through the Internet with iPhone.
Components and supplies
1
iRobbie-A App
1
Mini Pan/Tilt Camera Platform Anti-Vibration Camera Mount w/ 2 Servos
1
Dual Channel DC Motor Driver L298N
1
FT232RL FTDI Mini USB
1
MB102 Breadboard Power Supply Module
1
18650 Battery Holder
1
Adafruit (PID 3244) Mini 3-Layer Round Robot Chassis Kit - 2WD with DC Motors
1
ESP32-CAM
Apps and platforms
1
Arduino IDE
1
iRobbie-A
Project description
Code
esp32cam_car
arduino
1/* 2ESP32-CAM Remote Control 3*/ 4 5const char* ssid = "Your_WIFI_Network"; 6const char* password = "Your password"; 7 8#include "esp_wifi.h" 9#include "esp_camera.h" 10#include <WiFi.h> 11#include "soc/soc.h" 12#include "soc/rtc_cntl_reg.h" 13 14// 15// WARNING!!! Make sure that you have either selected ESP32 Wrover Module, 16// or another board which has PSRAM enabled 17// 18 19// Select camera model 20//#define CAMERA_MODEL_WROVER_KIT 21//#define CAMERA_MODEL_M5STACK_PSRAM 22#define CAMERA_MODEL_AI_THINKER 23 24#if defined(CAMERA_MODEL_WROVER_KIT) 25#define PWDN_GPIO_NUM -1 26#define RESET_GPIO_NUM -1 27#define XCLK_GPIO_NUM 21 28#define SIOD_GPIO_NUM 26 29#define SIOC_GPIO_NUM 27 30 31#define Y9_GPIO_NUM 35 32#define Y8_GPIO_NUM 34 33#define Y7_GPIO_NUM 39 34#define Y6_GPIO_NUM 36 35#define Y5_GPIO_NUM 19 36#define Y4_GPIO_NUM 18 37#define Y3_GPIO_NUM 5 38#define Y2_GPIO_NUM 4 39#define VSYNC_GPIO_NUM 25 40#define HREF_GPIO_NUM 23 41#define PCLK_GPIO_NUM 22 42 43#elif defined(CAMERA_MODEL_M5STACK_PSRAM) 44#define PWDN_GPIO_NUM -1 45#define RESET_GPIO_NUM 15 46#define XCLK_GPIO_NUM 27 47#define SIOD_GPIO_NUM 25 48#define SIOC_GPIO_NUM 23 49 50#define Y9_GPIO_NUM 19 51#define Y8_GPIO_NUM 36 52#define Y7_GPIO_NUM 18 53#define Y6_GPIO_NUM 39 54#define Y5_GPIO_NUM 5 55#define Y4_GPIO_NUM 34 56#define Y3_GPIO_NUM 35 57#define Y2_GPIO_NUM 32 58#define VSYNC_GPIO_NUM 22 59#define HREF_GPIO_NUM 26 60#define PCLK_GPIO_NUM 21 61 62#elif defined(CAMERA_MODEL_AI_THINKER) 63#define PWDN_GPIO_NUM 32 64#define RESET_GPIO_NUM -1 65#define XCLK_GPIO_NUM 0 66#define SIOD_GPIO_NUM 26 67#define SIOC_GPIO_NUM 27 68 69#define Y9_GPIO_NUM 35 70#define Y8_GPIO_NUM 34 71#define Y7_GPIO_NUM 39 72#define Y6_GPIO_NUM 36 73#define Y5_GPIO_NUM 21 74#define Y4_GPIO_NUM 19 75#define Y3_GPIO_NUM 18 76#define Y2_GPIO_NUM 5 77#define VSYNC_GPIO_NUM 25 78#define HREF_GPIO_NUM 23 79#define PCLK_GPIO_NUM 22 80 81#else 82#error "Camera model not selected" 83#endif 84 85void startCameraServer(); 86 87const int MotPin0 = 12; 88const int MotPin1 = 13; 89const int MotPin2 = 14; 90const int MotPin3 = 15; 91 92void initMotors() 93{ 94 ledcSetup(3, 2000, 8); // 2000 hz PWM, 8-bit resolution 95 ledcSetup(4, 2000, 8); // 2000 hz PWM, 8-bit resolution 96 ledcSetup(5, 2000, 8); // 2000 hz PWM, 8-bit resolution 97 ledcSetup(6, 2000, 8); // 2000 hz PWM, 8-bit resolution 98 ledcAttachPin(MotPin0, 3); 99 ledcAttachPin(MotPin1, 4); 100 ledcAttachPin(MotPin2, 5); 101 ledcAttachPin(MotPin3, 6); 102} 103 104const int ServoPin = 2; 105void initServo() 106{ 107 ledcSetup(8, 50, 16); // 50 hz PWM, 16-bit resolution, range from 3250 to 6500. 108 ledcAttachPin(ServoPin, 8); 109} 110 111void setup() 112{ 113 WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); // prevent brownouts by silencing them 114 115 Serial.begin(115200); 116 Serial.setDebugOutput(true); 117 Serial.println(); 118 119 camera_config_t config; 120 config.ledc_channel = LEDC_CHANNEL_0; 121 config.ledc_timer = LEDC_TIMER_0; 122 config.pin_d0 = Y2_GPIO_NUM; 123 config.pin_d1 = Y3_GPIO_NUM; 124 config.pin_d2 = Y4_GPIO_NUM; 125 config.pin_d3 = Y5_GPIO_NUM; 126 config.pin_d4 = Y6_GPIO_NUM; 127 config.pin_d5 = Y7_GPIO_NUM; 128 config.pin_d6 = Y8_GPIO_NUM; 129 config.pin_d7 = Y9_GPIO_NUM; 130 config.pin_xclk = XCLK_GPIO_NUM; 131 config.pin_pclk = PCLK_GPIO_NUM; 132 config.pin_vsync = VSYNC_GPIO_NUM; 133 config.pin_href = HREF_GPIO_NUM; 134 config.pin_sscb_sda = SIOD_GPIO_NUM; 135 config.pin_sscb_scl = SIOC_GPIO_NUM; 136 config.pin_pwdn = PWDN_GPIO_NUM; 137 config.pin_reset = RESET_GPIO_NUM; 138 config.xclk_freq_hz = 20000000; 139 config.pixel_format = PIXFORMAT_JPEG; 140 //init with high specs to pre-allocate larger buffers 141 if(psramFound()){ 142 config.frame_size = FRAMESIZE_QVGA; 143 config.jpeg_quality = 10; 144 config.fb_count = 2; 145 } else { 146 config.frame_size = FRAMESIZE_QVGA; 147 config.jpeg_quality = 12; 148 config.fb_count = 1; 149 } 150 151 // camera init 152 esp_err_t err = esp_camera_init(&config); 153 if (err != ESP_OK) { 154 Serial.printf("Camera init failed with error 0x%x", err); 155 return; 156 } 157 158 //drop down frame size for higher initial frame rate 159 sensor_t * s = esp_camera_sensor_get(); 160 s->set_framesize(s, FRAMESIZE_QVGA); 161 s->set_vflip(s, 1); 162 s->set_hmirror(s, 1); 163 164 // Remote Control Car 165 initMotors(); 166 initServo(); 167 168 ledcSetup(7, 5000, 8); 169 ledcAttachPin(4, 7); //pin4 is LED 170 171 Serial.println("ssid: " + (String)ssid); 172 Serial.println("password: " + (String)password); 173 174 WiFi.begin(ssid, password); 175 delay(500); 176 177 long int StartTime=millis(); 178 while (WiFi.status() != WL_CONNECTED) 179 { 180 delay(500); 181 if ((StartTime+10000) < millis()) break; 182 } 183 184 /* 185 int8_t power; 186 esp_wifi_set_max_tx_power(20); 187 esp_wifi_get_max_tx_power(&power); 188 Serial.printf("wifi power: %d \ 189",power); 190 */ 191 192 startCameraServer(); 193 194 if (WiFi.status() == WL_CONNECTED) 195 { 196 Serial.println(""); 197 Serial.println("WiFi connected"); 198 Serial.print("Camera Ready! Use 'http://"); 199 Serial.print(WiFi.localIP()); 200 Serial.println("' to connect"); 201 } else { 202 Serial.println(""); 203 Serial.println("WiFi disconnected"); 204 Serial.print("Camera Ready! Use 'http://"); 205 Serial.print(WiFi.softAPIP()); 206 Serial.println("' to connect"); 207 char* apssid = "ESP32-CAM"; 208 char* appassword = "12345678"; //AP password require at least 8 characters. 209 WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), appassword); 210 } 211 212 for (int i=0;i<5;i++) 213 { 214 ledcWrite(7,10); // flash led 215 delay(200); 216 ledcWrite(7,0); 217 delay(200); 218 } 219} 220 221void loop() { 222 // put your main code here, to run repeatedly: 223 delay(1000); 224 //Serial.printf("RSSi: %ld dBm\ 225",WiFi.RSSI()); 226} 227 228 229 230//SECOND PART OF THE CODE. PUT IT TO ANOTHER TAB "app_httpd.cpp" 231//or download entire code from https://www.robbie-app.com/esp32cam_car.zip 232 233 234#include <esp32-hal-ledc.h> 235int cspeed = 200; 236int noStop = 1; 237int xcoord = 0; 238float speed_Coeff = (1 + (xcoord/50.0)); 239 240#include "esp_http_server.h" 241#include "esp_timer.h" 242#include "esp_camera.h" 243#include "img_converters.h" 244#include "Arduino.h" 245 246//#include <dl_lib.h> 247 248typedef struct { 249 httpd_req_t *req; 250 size_t len; 251} jpg_chunking_t; 252 253#define PART_BOUNDARY "123456789000000000000987654321" 254static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; 255static const char* _STREAM_BOUNDARY = "\ \ 256--" PART_BOUNDARY "\ \ 257"; 258static const char* _STREAM_PART = "Content-Type: image/jpeg\ \ 259Content-Length: %u\ \ 260\ \ 261"; 262 263httpd_handle_t stream_httpd = NULL; 264httpd_handle_t camera_httpd = NULL; 265 266static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){ 267 jpg_chunking_t *j = (jpg_chunking_t *)arg; 268 if(!index){ 269 j->len = 0; 270 } 271 if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){ 272 return 0; 273 } 274 j->len += len; 275 return len; 276} 277 278static esp_err_t capture_handler(httpd_req_t *req){ 279 camera_fb_t * fb = NULL; 280 esp_err_t res = ESP_OK; 281 int64_t fr_start = esp_timer_get_time(); 282 283 fb = esp_camera_fb_get(); 284 if (!fb) { 285 Serial.println("Camera capture failed"); 286 httpd_resp_send_500(req); 287 return ESP_FAIL; 288 } 289 290 httpd_resp_set_type(req, "image/jpeg"); 291 httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg"); 292 293 size_t out_len, out_width, out_height; 294 uint8_t * out_buf; 295 bool s; 296 { 297 size_t fb_len = 0; 298 if(fb->format == PIXFORMAT_JPEG){ 299 fb_len = fb->len; 300 res = httpd_resp_send(req, (const char *)fb->buf, fb->len); 301 } else { 302 jpg_chunking_t jchunk = {req, 0}; 303 res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL; 304 httpd_resp_send_chunk(req, NULL, 0); 305 fb_len = jchunk.len; 306 } 307 esp_camera_fb_return(fb); 308 int64_t fr_end = esp_timer_get_time(); 309 Serial.printf("JPG: %uB %ums\ 310", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000)); 311 return res; 312 } 313 314 // dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3); 315// if (!image_matrix) { 316 esp_camera_fb_return(fb); 317 Serial.println("dl_matrix3du_alloc failed"); 318 httpd_resp_send_500(req); 319 return ESP_FAIL; 320 } 321 322// out_buf = image_matrix->item; 323// out_len = fb->width * fb->height * 3; 324// out_width = fb->width; 325// out_height = fb->height; 326 327// s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf); 328// esp_camera_fb_return(fb); 329// if(!s){ 330// dl_matrix3du_free(image_matrix); 331// Serial.println("to rgb888 failed"); 332// httpd_resp_send_500(req); 333// return ESP_FAIL; 334// } 335 336// jpg_chunking_t jchunk = {req, 0}; 337// s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk); 338// dl_matrix3du_free(image_matrix); 339// if(!s){ 340 // Serial.println("JPEG compression failed"); 341 // return ESP_FAIL; 342 // } 343 344// int64_t fr_end = esp_timer_get_time(); 345// return res; 346//} 347 348static esp_err_t stream_handler(httpd_req_t *req){ 349 camera_fb_t * fb = NULL; 350 esp_err_t res = ESP_OK; 351 size_t _jpg_buf_len = 0; 352 uint8_t * _jpg_buf = NULL; 353 char * part_buf[64]; 354 // dl_matrix3du_t *image_matrix = NULL; 355 356 static int64_t last_frame = 0; 357 if(!last_frame) { 358 last_frame = esp_timer_get_time(); 359 } 360 361 res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE); 362 if(res != ESP_OK){ 363 return res; 364 } 365 366 while(true){ 367 fb = esp_camera_fb_get(); 368 if (!fb) { 369 Serial.println("Camera capture failed"); 370 res = ESP_FAIL; 371 } else { 372 { 373 if(fb->format != PIXFORMAT_JPEG){ 374 bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len); 375 esp_camera_fb_return(fb); 376 fb = NULL; 377 if(!jpeg_converted){ 378 Serial.println("JPEG compression failed"); 379 res = ESP_FAIL; 380 } 381 } else { 382 _jpg_buf_len = fb->len; 383 _jpg_buf = fb->buf; 384 } 385 } 386 } 387 if(res == ESP_OK){ 388 size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len); 389 res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen); 390 } 391 if(res == ESP_OK){ 392 res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len); 393 } 394 if(res == ESP_OK){ 395 res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY)); 396 } 397 if(fb){ 398 esp_camera_fb_return(fb); 399 fb = NULL; 400 _jpg_buf = NULL; 401 } else if(_jpg_buf){ 402 free(_jpg_buf); 403 _jpg_buf = NULL; 404 } 405 if(res != ESP_OK){ 406 break; 407 } 408 int64_t fr_end = esp_timer_get_time(); 409 int64_t frame_time = fr_end - last_frame; 410 last_frame = fr_end; 411 frame_time /= 1000; 412 Serial.printf("MJPG: %uB %ums (%.1ffps)\ 413", 414 (uint32_t)(_jpg_buf_len), 415 (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time 416 ); 417 } 418 419 last_frame = 0; 420 return res; 421} 422 423enum state {fwd,rev,stp}; 424state actstate = stp; 425 426static esp_err_t cmd_handler(httpd_req_t *req) 427{ 428 char* buf; 429 size_t buf_len; 430 char variable[32] = {0,}; 431 char value[32] = {0,}; 432 433 buf_len = httpd_req_get_url_query_len(req) + 1; 434 if (buf_len > 1) { 435 buf = (char*)malloc(buf_len); 436 if(!buf){ 437 httpd_resp_send_500(req); 438 return ESP_FAIL; 439 } 440 if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) { 441 if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK && 442 httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) { 443 } else { 444 free(buf); 445 httpd_resp_send_404(req); 446 return ESP_FAIL; 447 } 448 } else { 449 free(buf); 450 httpd_resp_send_404(req); 451 return ESP_FAIL; 452 } 453 free(buf); 454 } else { 455 httpd_resp_send_404(req); 456 return ESP_FAIL; 457 } 458 459 int val = atoi(value); 460 sensor_t * s = esp_camera_sensor_get(); 461 int res = 0; 462 463 if(!strcmp(variable, "framesize")) 464 { 465 Serial.println("framesize"); 466 if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val); 467 } 468 else if(!strcmp(variable, "quality")) 469 { 470 Serial.println("quality"); 471 res = s->set_quality(s, val); 472 } 473 //Remote Control Car 474 //Don't use channel 1 and channel 2 475 else if(!strcmp(variable, "flash")) 476 { 477 ledcWrite(7,val); 478 } 479 else if(!strcmp(variable, "speeds")) 480 { 481 if (val > 255) val = 255; 482 else if (val < 0) val = 0; 483 cspeed = val*2; 484 485 } 486 else if(!strcmp(variable, "xcoord")) 487 { 488 if (val > 255) val = 255; 489 // else if (val < 0) val = 0; 490 xcoord = val; 491 speed_Coeff = (1 + (xcoord/50.0)); 492 493 } 494 else if(!strcmp(variable, "nostop")) 495 { 496 noStop = val; 497 } 498 else if(!strcmp(variable, "servo")) // 3250, 4875, 6500 499 { 500 if (val > 650) val = 650; 501 else if (val < 326) val = 225; 502 ledcWrite(8,10*val); 503 504 } 505 else if(!strcmp(variable, "car")) { 506 507 if(val == 1){ 508 actstate = fwd; 509 ledcWrite(4,cspeed); // pin 12 510 ledcWrite(3,0); // pin 13 511 ledcWrite(5,cspeed); // pin 14 512 ledcWrite(6,0); // pin 15 513 delay(25); 514 } 515 if(val == 0){ 516 actstate = stp; 517 ledcWrite(4,0); 518 ledcWrite(3,0); 519 ledcWrite(5,0); 520 ledcWrite(6,0); 521 } 522 if(val == 2){ 523 actstate = rev; 524 ledcWrite(4,0); 525 ledcWrite(3,cspeed); 526 ledcWrite(5,0); 527 ledcWrite(6,cspeed); 528 delay(25); 529 } 530 531 if(val == 3){ 532 ledcWrite(3,0); 533 ledcWrite(6,0); 534 ledcWrite(5,cspeed+30); 535 ledcWrite(4, cspeed/speed_Coeff); 536 delay(25); 537 } 538 539 if(val == 4){ 540 ledcWrite(3,0); 541 ledcWrite(6,0); 542 ledcWrite(5, cspeed/speed_Coeff); 543 ledcWrite(4,cspeed+30); 544 delay(25); 545 } 546 547 if(val == 5){ 548 ledcWrite(6,0); ledcWrite(3,0); ledcWrite(5,130); 549 delay(25); 550 } 551 552 if(val == 6){ 553 ledcWrite(5,0); ledcWrite(4,130); ledcWrite(6,0); 554 delay(25); 555 } 556 557 if(val == 7){ 558 ledcWrite(4,0); 559 ledcWrite(5,0); 560 ledcWrite(6, cspeed/speed_Coeff); 561 ledcWrite(3,cspeed+30); 562 delay(25); 563 } 564 565 if(val == 8){ 566 ledcWrite(4,0); 567 ledcWrite(5,0); 568 569ledcWrite(6,cspeed+50); 570ledcWrite(3, cspeed/speed_Coeff); 571 572 delay(25); 573 } 574 575if (noStop!=1) 576 { 577 ledcWrite(3, 0); 578 ledcWrite(4, 0); 579 ledcWrite(5, 0); 580 ledcWrite(6, 0); 581 } 582 583 584 585 586 } 587 588 else 589 { 590 Serial.println("variable"); 591 res = -1; 592 } 593 594 if(res){ return httpd_resp_send_500(req); } 595 596 httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 597 return httpd_resp_send(req, NULL, 0); 598 599 600 601 602} 603 604 605 606 607static esp_err_t status_handler(httpd_req_t *req){ 608 static char json_response[1024]; 609 610 sensor_t * s = esp_camera_sensor_get(); 611 char * p = json_response; 612 *p++ = '{'; 613 614 p+=sprintf(p, "\\"framesize\\":%u,", s->status.framesize); 615 p+=sprintf(p, "\\"quality\\":%u,", s->status.quality); 616 *p++ = '}'; 617 *p++ = 0; 618 httpd_resp_set_type(req, "application/json"); 619 httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 620 return httpd_resp_send(req, json_response, strlen(json_response)); 621} 622 623static const char PROGMEM INDEX_HTML[] = R"rawliteral( 624<!doctype html> 625<html> 626 <head> 627 <meta charset="utf-8"> 628 <meta name="viewport" content="width=device-width,initial-scale=1"> 629 <title>ESP32 OV2460</title> 630 <style> 631 body{font-family:Arial,Helvetica,sans-serif;background:#181818;color:#EFEFEF;font-size:16px}h2{font-size:18px}section.main{display:flex}#menu,section.main{flex-direction:column}#menu{display:none;flex-wrap:nowrap;min-width:340px;background:#363636;padding:8px;border-radius:4px;margin-top:-10px;margin-right:10px}#content{display:flex;flex-wrap:wrap;align-items:stretch}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}figure img{display:block;width:100%;height:auto;border-radius:4px;margin-top:8px}@media (min-width: 800px) and (orientation:landscape){#content{display:flex;flex-wrap:nowrap;align-items:stretch}figure img{display:block;max-width:100%;max-height:calc(100vh - 40px);width:auto;height:auto}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}}section#buttons{display:flex;flex-wrap:nowrap;justify-content:space-between}#nav-toggle{cursor:pointer;display:block}#nav-toggle-cb{outline:0;opacity:0;width:0;height:0}#nav-toggle-cb:checked+#menu{display:flex}.input-group{display:flex;flex-wrap:nowrap;line-height:22px;margin:5px 0}.input-group>label{display:inline-block;padding-right:10px;min-width:47%}.input-group input,.input-group select{flex-grow:1}.range-max,.range-min{display:inline-block;padding:0 5px}button{display:block;margin:5px;padding:0 12px;border:0;line-height:28px;cursor:pointer;color:#fff;background:#ff3034;border-radius:5px;font-size:16px;outline:0}button:hover{background:#ff494d}button:active{background:#f21c21}button.disabled{cursor:default;background:#a0a0a0}input[type=range]{-webkit-appearance:none;width:100%;height:22px;background:#363636;cursor:pointer;margin:0}input[type=range]:focus{outline:0}input[type=range]::-webkit-slider-runnable-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 solid #EFEFEF}input[type=range]::-webkit-slider-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;-webkit-appearance:none;margin-top:-11.5px}input[type=range]:focus::-webkit-slider-runnable-track{background:#EFEFEF}input[type=range]::-moz-range-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 solid #EFEFEF}input[type=range]::-moz-range-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer}input[type=range]::-ms-track{width:100%;height:2px;cursor:pointer;background:0 0;border-color:transparent;color:transparent}input[type=range]::-ms-fill-lower{background:#EFEFEF;border:0 solid #EFEFEF;border-radius:0}input[type=range]::-ms-fill-upper{background:#EFEFEF;border:0 solid #EFEFEF;border-radius:0}input[type=range]::-ms-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;height:2px}input[type=range]:focus::-ms-fill-lower{background:#EFEFEF}input[type=range]:focus::-ms-fill-upper{background:#363636}.switch{display:block;position:relative;line-height:22px;font-size:16px;height:22px}.switch input{outline:0;opacity:0;width:0;height:0}.slider{width:50px;height:22px;border-radius:22px;cursor:pointer;background-color:grey}.slider,.slider:before{display:inline-block;transition:.4s}.slider:before{position:relative;content:"";border-radius:50%;height:16px;width:16px;left:4px;top:3px;background-color:#fff}input:checked+.slider{background-color:#ff3034}input:checked+.slider:before{-webkit-transform:translateX(26px);transform:translateX(26px)}select{border:1px solid #363636;font-size:14px;height:22px;outline:0;border-radius:5px}.image-container{position:relative;min-width:160px}.close{position:absolute;right:5px;top:5px;background:#ff3034;width:16px;height:16px;border-radius:100px;color:#fff;text-align:center;line-height:18px;cursor:pointer}.hidden{display:none} 632 </style> 633 </head> 634 <body> 635 <figure> 636 <div id="stream-container" class="image-container hidden"> 637 <div class="close" id="close-stream">×</div> 638 <img id="stream" src=""> 639 </div> 640 </figure> 641 <section class="main"> 642 <section id="buttons"> 643 <table> 644 <tr><td align="center"><button id="get-still">Get Still</button></td><td><td>                </td><td align="center"><button id="toggle-stream">Start Stream</button></td></tr> 645 <tr><td></td><td align="center">                <td></td><td></td></tr> 646 <tr><td align="center">                </td><td align="center">                <td></td><td align="center">                </td></tr> 647 <tr><td></td><td align="center" colspan="2"></br></tr> 648 <tr><td></td><td align="center" colspan="2"></br></tr> 649 <tr><td></td><td align="center" colspan="2"></br></tr> 650 <tr><td>Servo</td><td align="center" colspan="2"><input type="range" id="servo" min="325" max="650" value="487" onchange="try{fetch(document.location.origin+'/control?var=servo&val='+this.value);}catch(e){}"><td></td></tr> 651 <tr><td>Flash</td><td align="center" colspan="2"><input type="range" id="flash" min="0" max="255" value="0" onchange="try{fetch(document.location.origin+'/control?var=flash&val='+this.value);}catch(e){}"><td></td></tr> 652 <tr><td>Resolution</td><td align="center" colspan="2"><input type="range" id="framesize" min="0" max="6" value="5" onchange="try{fetch(document.location.origin+'/control?var=framesize&val='+this.value);}catch(e){}"><td></td></tr> 653 <tr><td>Quality</td><td align="center" colspan="2"><input type="range" id="quality" min="10" max="63" value="10" onchange="try{fetch(document.location.origin+'/control?var=quality&val='+this.value);}catch(e){}"><td></td></tr> 654 655 656 </table> 657 </section> 658 </section> 659 <script> 660 document.addEventListener('DOMContentLoaded',function(){function b(B){let C;switch(B.type){case'checkbox':C=B.checked?1:0;break;case'range':case'select-one':C=B.value;break;case'button':case'submit':C='1';break;default:return;}const D=`${c}/control?var=${B.id}&val=${C}`;fetch(D).then(E=>{console.log(`request to ${D} finished, status: ${E.status}`)})}var c=document.location.origin;const e=B=>{B.classList.add('hidden')},f=B=>{B.classList.remove('hidden')},g=B=>{B.classList.add('disabled'),B.disabled=!0},h=B=>{B.classList.remove('disabled'),B.disabled=!1},i=(B,C,D)=>{D=!(null!=D)||D;let E;'checkbox'===B.type?(E=B.checked,C=!!C,B.checked=C):(E=B.value,B.value=C),D&&E!==C?b(B):!D&&('aec'===B.id?C?e(v):f(v):'agc'===B.id?C?(f(t),e(s)):(e(t),f(s)):'awb_gain'===B.id?C?f(x):e(x):'face_recognize'===B.id&&(C?h(n):g(n)))};document.querySelectorAll('.close').forEach(B=>{B.onclick=()=>{e(B.parentNode)}}),fetch(`${c}/status`).then(function(B){return B.json()}).then(function(B){document.querySelectorAll('.default-action').forEach(C=>{i(C,B[C.id],!1)})});const j=document.getElementById('stream'),k=document.getElementById('stream-container'),l=document.getElementById('get-still'),m=document.getElementById('toggle-stream'),n=document.getElementById('face_enroll'),o=document.getElementById('close-stream'),p=()=>{window.stop(),m.innerHTML='Start Stream'},q=()=>{j.src=`${c+':81'}/stream`,f(k),m.innerHTML='Stop Stream'};l.onclick=()=>{p(),j.src=`${c}/capture?_cb=${Date.now()}`,f(k)},o.onclick=()=>{p(),e(k)},m.onclick=()=>{const B='Stop Stream'===m.innerHTML;B?p():q()},n.onclick=()=>{b(n)},document.querySelectorAll('.default-action').forEach(B=>{B.onchange=()=>b(B)});const r=document.getElementById('agc'),s=document.getElementById('agc_gain-group'),t=document.getElementById('gainceiling-group');r.onchange=()=>{b(r),r.checked?(f(t),e(s)):(e(t),f(s))};const u=document.getElementById('aec'),v=document.getElementById('aec_value-group');u.onchange=()=>{b(u),u.checked?e(v):f(v)};const w=document.getElementById('awb_gain'),x=document.getElementById('wb_mode-group');w.onchange=()=>{b(w),w.checked?f(x):e(x)};const y=document.getElementById('face_detect'),z=document.getElementById('face_recognize'),A=document.getElementById('framesize');A.onchange=()=>{b(A),5<A.value&&(i(y,!1),i(z,!1))},y.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(y,!1)):void(b(y),!y.checked&&(g(n),i(z,!1)))},z.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(z,!1)):void(b(z),z.checked?(h(n),i(y,!0)):g(n))}}); 661 </script> 662 </body> 663</html> 664)rawliteral"; 665 666static esp_err_t index_handler(httpd_req_t *req){ 667 httpd_resp_set_type(req, "text/html"); 668 return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML)); 669} 670 671void startCameraServer() 672{ 673 httpd_config_t config = HTTPD_DEFAULT_CONFIG(); 674 675 httpd_uri_t index_uri = { 676 .uri = "/", 677 .method = HTTP_GET, 678 .handler = index_handler, 679 .user_ctx = NULL 680 }; 681 682 httpd_uri_t status_uri = { 683 .uri = "/status", 684 .method = HTTP_GET, 685 .handler = status_handler, 686 .user_ctx = NULL 687 }; 688 689 httpd_uri_t cmd_uri = { 690 .uri = "/control", 691 .method = HTTP_GET, 692 .handler = cmd_handler, 693 .user_ctx = NULL 694 }; 695 696 httpd_uri_t capture_uri = { 697 .uri = "/capture", 698 .method = HTTP_GET, 699 .handler = capture_handler, 700 .user_ctx = NULL 701 }; 702 703 httpd_uri_t stream_uri = { 704 .uri = "/stream", 705 .method = HTTP_GET, 706 .handler = stream_handler, 707 .user_ctx = NULL 708 }; 709 710 Serial.printf("Starting web server on port: '%d'\ 711", config.server_port); 712 if (httpd_start(&camera_httpd, &config) == ESP_OK) { 713 httpd_register_uri_handler(camera_httpd, &index_uri); 714 httpd_register_uri_handler(camera_httpd, &cmd_uri); 715 httpd_register_uri_handler(camera_httpd, &status_uri); 716 httpd_register_uri_handler(camera_httpd, &capture_uri); 717 } 718 719 config.server_port += 1; 720 config.ctrl_port += 1; 721 Serial.printf("Starting stream server on port: '%d'\ 722", config.server_port); 723 if (httpd_start(&stream_httpd, &config) == ESP_OK) { 724 httpd_register_uri_handler(stream_httpd, &stream_uri); 725 } 726}
esp32cam_car
arduino
1/* 2ESP32-CAM Remote Control 3*/ 4 5const char* ssid = "Your_WIFI_Network"; 6const 7 char* password = "Your password"; 8 9#include "esp_wifi.h" 10#include "esp_camera.h" 11#include 12 <WiFi.h> 13#include "soc/soc.h" 14#include "soc/rtc_cntl_reg.h" 15 16// 17// 18 WARNING!!! Make sure that you have either selected ESP32 Wrover Module, 19// or 20 another board which has PSRAM enabled 21// 22 23// Select camera model 24//#define 25 CAMERA_MODEL_WROVER_KIT 26//#define CAMERA_MODEL_M5STACK_PSRAM 27#define CAMERA_MODEL_AI_THINKER 28 29#if 30 defined(CAMERA_MODEL_WROVER_KIT) 31#define PWDN_GPIO_NUM -1 32#define RESET_GPIO_NUM 33 -1 34#define XCLK_GPIO_NUM 21 35#define SIOD_GPIO_NUM 26 36#define SIOC_GPIO_NUM 37 27 38 39#define Y9_GPIO_NUM 35 40#define Y8_GPIO_NUM 34 41#define 42 Y7_GPIO_NUM 39 43#define Y6_GPIO_NUM 36 44#define Y5_GPIO_NUM 19 45#define 46 Y4_GPIO_NUM 18 47#define Y3_GPIO_NUM 5 48#define Y2_GPIO_NUM 4 49#define 50 VSYNC_GPIO_NUM 25 51#define HREF_GPIO_NUM 23 52#define PCLK_GPIO_NUM 22 53 54#elif 55 defined(CAMERA_MODEL_M5STACK_PSRAM) 56#define PWDN_GPIO_NUM -1 57#define RESET_GPIO_NUM 58 15 59#define XCLK_GPIO_NUM 27 60#define SIOD_GPIO_NUM 25 61#define 62 SIOC_GPIO_NUM 23 63 64#define Y9_GPIO_NUM 19 65#define Y8_GPIO_NUM 66 36 67#define Y7_GPIO_NUM 18 68#define Y6_GPIO_NUM 39 69#define 70 Y5_GPIO_NUM 5 71#define Y4_GPIO_NUM 34 72#define Y3_GPIO_NUM 35 73#define 74 Y2_GPIO_NUM 32 75#define VSYNC_GPIO_NUM 22 76#define HREF_GPIO_NUM 26 77#define 78 PCLK_GPIO_NUM 21 79 80#elif defined(CAMERA_MODEL_AI_THINKER) 81#define PWDN_GPIO_NUM 82 32 83#define RESET_GPIO_NUM -1 84#define XCLK_GPIO_NUM 0 85#define 86 SIOD_GPIO_NUM 26 87#define SIOC_GPIO_NUM 27 88 89#define Y9_GPIO_NUM 90 35 91#define Y8_GPIO_NUM 34 92#define Y7_GPIO_NUM 39 93#define 94 Y6_GPIO_NUM 36 95#define Y5_GPIO_NUM 21 96#define Y4_GPIO_NUM 19 97#define 98 Y3_GPIO_NUM 18 99#define Y2_GPIO_NUM 5 100#define VSYNC_GPIO_NUM 25 101#define 102 HREF_GPIO_NUM 23 103#define PCLK_GPIO_NUM 22 104 105#else 106#error "Camera 107 model not selected" 108#endif 109 110void startCameraServer(); 111 112const int 113 MotPin0 = 12; 114const int MotPin1 = 13; 115const int MotPin2 = 14; 116const 117 int MotPin3 = 15; 118 119void initMotors() 120{ 121 ledcSetup(3, 2000, 8); // 122 2000 hz PWM, 8-bit resolution 123 ledcSetup(4, 2000, 8); // 2000 hz PWM, 8-bit 124 resolution 125 ledcSetup(5, 2000, 8); // 2000 hz PWM, 8-bit resolution 126 ledcSetup(6, 127 2000, 8); // 2000 hz PWM, 8-bit resolution 128 ledcAttachPin(MotPin0, 3); 129 130 ledcAttachPin(MotPin1, 4); 131 ledcAttachPin(MotPin2, 5); 132 ledcAttachPin(MotPin3, 133 6); 134} 135 136const int ServoPin = 2; 137void initServo() 138{ 139 ledcSetup(8, 140 50, 16); // 50 hz PWM, 16-bit resolution, range from 3250 to 6500. 141 ledcAttachPin(ServoPin, 142 8); 143} 144 145void setup() 146{ 147 WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 148 0); // prevent brownouts by silencing them 149 150 Serial.begin(115200); 151 152 Serial.setDebugOutput(true); 153 Serial.println(); 154 155 camera_config_t config; 156 157 config.ledc_channel = LEDC_CHANNEL_0; 158 config.ledc_timer = LEDC_TIMER_0; 159 160 config.pin_d0 = Y2_GPIO_NUM; 161 config.pin_d1 = Y3_GPIO_NUM; 162 config.pin_d2 163 = Y4_GPIO_NUM; 164 config.pin_d3 = Y5_GPIO_NUM; 165 config.pin_d4 = Y6_GPIO_NUM; 166 167 config.pin_d5 = Y7_GPIO_NUM; 168 config.pin_d6 = Y8_GPIO_NUM; 169 config.pin_d7 170 = Y9_GPIO_NUM; 171 config.pin_xclk = XCLK_GPIO_NUM; 172 config.pin_pclk = PCLK_GPIO_NUM; 173 174 config.pin_vsync = VSYNC_GPIO_NUM; 175 config.pin_href = HREF_GPIO_NUM; 176 config.pin_sscb_sda 177 = SIOD_GPIO_NUM; 178 config.pin_sscb_scl = SIOC_GPIO_NUM; 179 config.pin_pwdn 180 = PWDN_GPIO_NUM; 181 config.pin_reset = RESET_GPIO_NUM; 182 config.xclk_freq_hz 183 = 20000000; 184 config.pixel_format = PIXFORMAT_JPEG; 185 //init with high specs 186 to pre-allocate larger buffers 187 if(psramFound()){ 188 config.frame_size = 189 FRAMESIZE_QVGA; 190 config.jpeg_quality = 10; 191 config.fb_count = 2; 192 193 } else { 194 config.frame_size = FRAMESIZE_QVGA; 195 config.jpeg_quality 196 = 12; 197 config.fb_count = 1; 198 } 199 200 // camera init 201 esp_err_t 202 err = esp_camera_init(&config); 203 if (err != ESP_OK) { 204 Serial.printf("Camera 205 init failed with error 0x%x", err); 206 return; 207 } 208 209 //drop down 210 frame size for higher initial frame rate 211 sensor_t * s = esp_camera_sensor_get(); 212 213 s->set_framesize(s, FRAMESIZE_QVGA); 214 s->set_vflip(s, 1); 215 s->set_hmirror(s, 216 1); 217 218 // Remote Control Car 219 initMotors(); 220 initServo(); 221 222 223 ledcSetup(7, 5000, 8); 224 ledcAttachPin(4, 7); //pin4 is LED 225 226 Serial.println("ssid: 227 " + (String)ssid); 228 Serial.println("password: " + (String)password); 229 230 231 WiFi.begin(ssid, password); 232 delay(500); 233 234 long int StartTime=millis(); 235 236 while (WiFi.status() != WL_CONNECTED) 237 { 238 delay(500); 239 if 240 ((StartTime+10000) < millis()) break; 241 } 242 243 /* 244 int8_t power; 245 246 esp_wifi_set_max_tx_power(20); 247 esp_wifi_get_max_tx_power(&power); 248 Serial.printf("wifi 249 power: %d \ 250",power); 251 */ 252 253 startCameraServer(); 254 255 if (WiFi.status() 256 == WL_CONNECTED) 257 { 258 Serial.println(""); 259 Serial.println("WiFi 260 connected"); 261 Serial.print("Camera Ready! Use 'http://"); 262 Serial.print(WiFi.localIP()); 263 264 Serial.println("' to connect"); 265 } else { 266 Serial.println(""); 267 268 Serial.println("WiFi disconnected"); 269 Serial.print("Camera Ready! 270 Use 'http://"); 271 Serial.print(WiFi.softAPIP()); 272 Serial.println("' 273 to connect"); 274 char* apssid = "ESP32-CAM"; 275 char* appassword = "12345678"; 276 //AP password require at least 8 characters. 277 WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), 278 appassword); 279 } 280 281 for (int i=0;i<5;i++) 282 { 283 ledcWrite(7,10); 284 // flash led 285 delay(200); 286 ledcWrite(7,0); 287 delay(200); 288 289 } 290} 291 292void loop() { 293 // put your main code here, to run repeatedly: 294 295 delay(1000); 296 //Serial.printf("RSSi: %ld dBm\ 297",WiFi.RSSI()); 298} 299 300 301 302//SECOND 303 PART OF THE CODE. PUT IT TO ANOTHER TAB "app_httpd.cpp" 304//or download entire 305 code from https://www.robbie-app.com/esp32cam_car.zip 306 307 308#include <esp32-hal-ledc.h> 309int 310 cspeed = 200; 311int noStop = 1; 312int xcoord = 0; 313float speed_Coeff = (1 314 + (xcoord/50.0)); 315 316#include "esp_http_server.h" 317#include "esp_timer.h" 318#include 319 "esp_camera.h" 320#include "img_converters.h" 321#include "Arduino.h" 322 323//#include 324 <dl_lib.h> 325 326typedef struct { 327 httpd_req_t *req; 328 size_t 329 len; 330} jpg_chunking_t; 331 332#define PART_BOUNDARY "123456789000000000000987654321" 333static 334 const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; 335static 336 const char* _STREAM_BOUNDARY = "\ \ 337--" PART_BOUNDARY "\ \ 338"; 339static 340 const char* _STREAM_PART = "Content-Type: image/jpeg\ \ 341Content-Length: %u\ \ 342\ \ 343"; 344 345httpd_handle_t 346 stream_httpd = NULL; 347httpd_handle_t camera_httpd = NULL; 348 349static size_t 350 jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){ 351 jpg_chunking_t 352 *j = (jpg_chunking_t *)arg; 353 if(!index){ 354 j->len = 0; 355 } 356 357 if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){ 358 return 359 0; 360 } 361 j->len += len; 362 return len; 363} 364 365static esp_err_t 366 capture_handler(httpd_req_t *req){ 367 camera_fb_t * fb = NULL; 368 esp_err_t 369 res = ESP_OK; 370 int64_t fr_start = esp_timer_get_time(); 371 372 fb = esp_camera_fb_get(); 373 374 if (!fb) { 375 Serial.println("Camera capture failed"); 376 httpd_resp_send_500(req); 377 378 return ESP_FAIL; 379 } 380 381 httpd_resp_set_type(req, "image/jpeg"); 382 383 httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg"); 384 385 386 size_t out_len, out_width, out_height; 387 uint8_t * out_buf; 388 bool 389 s; 390 { 391 size_t fb_len = 0; 392 if(fb->format == PIXFORMAT_JPEG){ 393 394 fb_len = fb->len; 395 res = httpd_resp_send(req, (const char 396 *)fb->buf, fb->len); 397 } else { 398 jpg_chunking_t jchunk = 399 {req, 0}; 400 res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL; 401 402 httpd_resp_send_chunk(req, NULL, 0); 403 fb_len = jchunk.len; 404 405 } 406 esp_camera_fb_return(fb); 407 int64_t fr_end = esp_timer_get_time(); 408 409 Serial.printf("JPG: %uB %ums\ 410", (uint32_t)(fb_len), (uint32_t)((fr_end 411 - fr_start)/1000)); 412 return res; 413 } 414 415 // dl_matrix3du_t 416 *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3); 417// if (!image_matrix) 418 { 419 esp_camera_fb_return(fb); 420 Serial.println("dl_matrix3du_alloc 421 failed"); 422 httpd_resp_send_500(req); 423 return ESP_FAIL; 424 425 } 426 427// out_buf = image_matrix->item; 428// out_len = fb->width * 429 fb->height * 3; 430// out_width = fb->width; 431// out_height = fb->height; 432 433// 434 s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf); 435// esp_camera_fb_return(fb); 436// 437 if(!s){ 438// dl_matrix3du_free(image_matrix); 439// Serial.println("to 440 rgb888 failed"); 441// httpd_resp_send_500(req); 442// return ESP_FAIL; 443// 444 } 445 446// jpg_chunking_t jchunk = {req, 0}; 447// s = fmt2jpg_cb(out_buf, 448 out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk); 449// 450 dl_matrix3du_free(image_matrix); 451// if(!s){ 452 // Serial.println("JPEG 453 compression failed"); 454 // return ESP_FAIL; 455 // } 456 457// int64_t 458 fr_end = esp_timer_get_time(); 459// return res; 460//} 461 462static esp_err_t 463 stream_handler(httpd_req_t *req){ 464 camera_fb_t * fb = NULL; 465 esp_err_t 466 res = ESP_OK; 467 size_t _jpg_buf_len = 0; 468 uint8_t * _jpg_buf = NULL; 469 470 char * part_buf[64]; 471 // dl_matrix3du_t *image_matrix = NULL; 472 473 static 474 int64_t last_frame = 0; 475 if(!last_frame) { 476 last_frame = esp_timer_get_time(); 477 478 } 479 480 res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE); 481 if(res 482 != ESP_OK){ 483 return res; 484 } 485 486 while(true){ 487 fb 488 = esp_camera_fb_get(); 489 if (!fb) { 490 Serial.println("Camera 491 capture failed"); 492 res = ESP_FAIL; 493 } else { 494 { 495 496 if(fb->format != PIXFORMAT_JPEG){ 497 bool jpeg_converted 498 = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len); 499 esp_camera_fb_return(fb); 500 501 fb = NULL; 502 if(!jpeg_converted){ 503 Serial.println("JPEG 504 compression failed"); 505 res = ESP_FAIL; 506 } 507 508 } else { 509 _jpg_buf_len = fb->len; 510 _jpg_buf 511 = fb->buf; 512 } 513 } 514 } 515 if(res 516 == ESP_OK){ 517 size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, 518 _jpg_buf_len); 519 res = httpd_resp_send_chunk(req, (const char *)part_buf, 520 hlen); 521 } 522 if(res == ESP_OK){ 523 res = httpd_resp_send_chunk(req, 524 (const char *)_jpg_buf, _jpg_buf_len); 525 } 526 if(res == ESP_OK){ 527 528 res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY)); 529 530 } 531 if(fb){ 532 esp_camera_fb_return(fb); 533 fb 534 = NULL; 535 _jpg_buf = NULL; 536 } else if(_jpg_buf){ 537 free(_jpg_buf); 538 539 _jpg_buf = NULL; 540 } 541 if(res != ESP_OK){ 542 break; 543 544 } 545 int64_t fr_end = esp_timer_get_time(); 546 int64_t frame_time 547 = fr_end - last_frame; 548 last_frame = fr_end; 549 frame_time /= 550 1000; 551 Serial.printf("MJPG: %uB %ums (%.1ffps)\ 552", 553 (uint32_t)(_jpg_buf_len), 554 555 (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time 556 ); 557 558 } 559 560 last_frame = 0; 561 return res; 562} 563 564enum state {fwd,rev,stp}; 565state 566 actstate = stp; 567 568static esp_err_t cmd_handler(httpd_req_t *req) 569{ 570 char* 571 buf; 572 size_t buf_len; 573 char variable[32] = {0,}; 574 char value[32] 575 = {0,}; 576 577 buf_len = httpd_req_get_url_query_len(req) + 1; 578 if (buf_len 579 > 1) { 580 buf = (char*)malloc(buf_len); 581 if(!buf){ 582 httpd_resp_send_500(req); 583 584 return ESP_FAIL; 585 } 586 if (httpd_req_get_url_query_str(req, 587 buf, buf_len) == ESP_OK) { 588 if (httpd_query_key_value(buf, "var", 589 variable, sizeof(variable)) == ESP_OK && 590 httpd_query_key_value(buf, 591 "val", value, sizeof(value)) == ESP_OK) { 592 } else { 593 free(buf); 594 595 httpd_resp_send_404(req); 596 return ESP_FAIL; 597 598 } 599 } else { 600 free(buf); 601 httpd_resp_send_404(req); 602 603 return ESP_FAIL; 604 } 605 free(buf); 606 } else { 607 608 httpd_resp_send_404(req); 609 return ESP_FAIL; 610 } 611 612 613 int val = atoi(value); 614 sensor_t * s = esp_camera_sensor_get(); 615 int 616 res = 0; 617 618 if(!strcmp(variable, "framesize")) 619 { 620 Serial.println("framesize"); 621 622 if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val); 623 624 } 625 else if(!strcmp(variable, "quality")) 626 { 627 Serial.println("quality"); 628 629 res = s->set_quality(s, val); 630 } 631 //Remote Control Car 632 //Don't 633 use channel 1 and channel 2 634 else if(!strcmp(variable, "flash")) 635 { 636 637 ledcWrite(7,val); 638 } 639 else if(!strcmp(variable, "speeds")) 640 641 { 642 if (val > 255) val = 255; 643 else if (val < 0) val 644 = 0; 645 cspeed = val*2; 646 647 } 648 else if(!strcmp(variable, 649 "xcoord")) 650 { 651 if (val > 255) val = 255; 652 // else if 653 (val < 0) val = 0; 654 xcoord = val; 655 speed_Coeff = (1 + (xcoord/50.0)); 656 657 658 } 659 else if(!strcmp(variable, "nostop")) 660 { 661 662 noStop = val; 663 } 664 else if(!strcmp(variable, "servo")) 665 // 3250, 4875, 6500 666 { 667 if (val > 650) val = 650; 668 else 669 if (val < 326) val = 225; 670 ledcWrite(8,10*val); 671 672 } 673 674 else if(!strcmp(variable, "car")) { 675 676 if(val == 1){ 677 actstate 678 = fwd; 679 ledcWrite(4,cspeed); // pin 12 680 ledcWrite(3,0); // 681 pin 13 682 ledcWrite(5,cspeed); // pin 14 683 ledcWrite(6,0); // 684 pin 15 685 delay(25); 686 } 687 if(val == 0){ 688 actstate = stp; 689 690 ledcWrite(4,0); 691 ledcWrite(3,0); 692 ledcWrite(5,0); 693 694 ledcWrite(6,0); 695 } 696 if(val == 2){ 697 actstate = rev; 698 699 ledcWrite(4,0); 700 ledcWrite(3,cspeed); 701 ledcWrite(5,0); 702 703 ledcWrite(6,cspeed); 704 delay(25); 705 } 706 707 if(val 708 == 3){ 709 ledcWrite(3,0); 710 ledcWrite(6,0); 711 ledcWrite(5,cspeed+30); 712 713 ledcWrite(4, cspeed/speed_Coeff); 714 delay(25); 715 } 716 717 718 if(val == 4){ 719 ledcWrite(3,0); 720 ledcWrite(6,0); 721 ledcWrite(5, 722 cspeed/speed_Coeff); 723 ledcWrite(4,cspeed+30); 724 delay(25); 725 726 } 727 728 if(val == 5){ 729 ledcWrite(6,0); ledcWrite(3,0); ledcWrite(5,130); 730 731 delay(25); 732 } 733 734 if(val == 6){ 735 ledcWrite(5,0); ledcWrite(4,130); 736 ledcWrite(6,0); 737 delay(25); 738 } 739 740 if(val == 7){ 741 ledcWrite(4,0); 742 743 ledcWrite(5,0); 744 ledcWrite(6, cspeed/speed_Coeff); 745 ledcWrite(3,cspeed+30); 746 747 delay(25); 748 } 749 750 if(val == 8){ 751 ledcWrite(4,0); 752 753 ledcWrite(5,0); 754 755ledcWrite(6,cspeed+50); 756ledcWrite(3, 757 cspeed/speed_Coeff); 758 759 delay(25); 760 } 761 762if (noStop!=1) 763 764 { 765 ledcWrite(3, 0); 766 ledcWrite(4, 0); 767 ledcWrite(5, 768 0); 769 ledcWrite(6, 0); 770 } 771 772 773 774 775 } 776 777 778 else 779 { 780 Serial.println("variable"); 781 res = -1; 782 783 } 784 785 if(res){ return httpd_resp_send_500(req); } 786 787 httpd_resp_set_hdr(req, 788 "Access-Control-Allow-Origin", "*"); 789 return httpd_resp_send(req, NULL, 790 0); 791 792 793 794 795} 796 797 798 799 800static esp_err_t status_handler(httpd_req_t 801 *req){ 802 static char json_response[1024]; 803 804 sensor_t * s = esp_camera_sensor_get(); 805 806 char * p = json_response; 807 *p++ = '{'; 808 809 p+=sprintf(p, "\\"framesize\\":%u,", 810 s->status.framesize); 811 p+=sprintf(p, "\\"quality\\":%u,", s->status.quality); 812 813 *p++ = '}'; 814 *p++ = 0; 815 httpd_resp_set_type(req, "application/json"); 816 817 httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 818 return 819 httpd_resp_send(req, json_response, strlen(json_response)); 820} 821 822static const 823 char PROGMEM INDEX_HTML[] = R"rawliteral( 824<!doctype html> 825<html> 826 <head> 827 828 <meta charset="utf-8"> 829 <meta name="viewport" content="width=device-width,initial-scale=1"> 830 831 <title>ESP32 OV2460</title> 832 <style> 833 body{font-family:Arial,Helvetica,sans-serif;background:#181818;color:#EFEFEF;font-size:16px}h2{font-size:18px}section.main{display:flex}#menu,section.main{flex-direction:column}#menu{display:none;flex-wrap:nowrap;min-width:340px;background:#363636;padding:8px;border-radius:4px;margin-top:-10px;margin-right:10px}#content{display:flex;flex-wrap:wrap;align-items:stretch}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}figure 834 img{display:block;width:100%;height:auto;border-radius:4px;margin-top:8px}@media 835 (min-width: 800px) and (orientation:landscape){#content{display:flex;flex-wrap:nowrap;align-items:stretch}figure 836 img{display:block;max-width:100%;max-height:calc(100vh - 40px);width:auto;height:auto}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}}section#buttons{display:flex;flex-wrap:nowrap;justify-content:space-between}#nav-toggle{cursor:pointer;display:block}#nav-toggle-cb{outline:0;opacity:0;width:0;height:0}#nav-toggle-cb:checked+#menu{display:flex}.input-group{display:flex;flex-wrap:nowrap;line-height:22px;margin:5px 837 0}.input-group>label{display:inline-block;padding-right:10px;min-width:47%}.input-group 838 input,.input-group select{flex-grow:1}.range-max,.range-min{display:inline-block;padding:0 839 5px}button{display:block;margin:5px;padding:0 12px;border:0;line-height:28px;cursor:pointer;color:#fff;background:#ff3034;border-radius:5px;font-size:16px;outline:0}button:hover{background:#ff494d}button:active{background:#f21c21}button.disabled{cursor:default;background:#a0a0a0}input[type=range]{-webkit-appearance:none;width:100%;height:22px;background:#363636;cursor:pointer;margin:0}input[type=range]:focus{outline:0}input[type=range]::-webkit-slider-runnable-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 840 solid #EFEFEF}input[type=range]::-webkit-slider-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;-webkit-appearance:none;margin-top:-11.5px}input[type=range]:focus::-webkit-slider-runnable-track{background:#EFEFEF}input[type=range]::-moz-range-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 841 solid #EFEFEF}input[type=range]::-moz-range-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer}input[type=range]::-ms-track{width:100%;height:2px;cursor:pointer;background:0 842 0;border-color:transparent;color:transparent}input[type=range]::-ms-fill-lower{background:#EFEFEF;border:0 843 solid #EFEFEF;border-radius:0}input[type=range]::-ms-fill-upper{background:#EFEFEF;border:0 844 solid #EFEFEF;border-radius:0}input[type=range]::-ms-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;height:2px}input[type=range]:focus::-ms-fill-lower{background:#EFEFEF}input[type=range]:focus::-ms-fill-upper{background:#363636}.switch{display:block;position:relative;line-height:22px;font-size:16px;height:22px}.switch 845 input{outline:0;opacity:0;width:0;height:0}.slider{width:50px;height:22px;border-radius:22px;cursor:pointer;background-color:grey}.slider,.slider:before{display:inline-block;transition:.4s}.slider:before{position:relative;content:"";border-radius:50%;height:16px;width:16px;left:4px;top:3px;background-color:#fff}input:checked+.slider{background-color:#ff3034}input:checked+.slider:before{-webkit-transform:translateX(26px);transform:translateX(26px)}select{border:1px 846 solid #363636;font-size:14px;height:22px;outline:0;border-radius:5px}.image-container{position:relative;min-width:160px}.close{position:absolute;right:5px;top:5px;background:#ff3034;width:16px;height:16px;border-radius:100px;color:#fff;text-align:center;line-height:18px;cursor:pointer}.hidden{display:none} 847 848 </style> 849 </head> 850 <body> 851 <figure> 852 <div id="stream-container" 853 class="image-container hidden"> 854 <div class="close" id="close-stream">×</div> 855 856 <img id="stream" src=""> 857 </div> 858 </figure> 859 <section 860 class="main"> 861 <section id="buttons"> 862 <table> 863 864 <tr><td align="center"><button id="get-still">Get Still</button></td><td><td>                </td><td 865 align="center"><button id="toggle-stream">Start Stream</button></td></tr> 866 867 <tr><td></td><td align="center">                <td></td><td></td></tr> 868 869 <tr><td align="center">                </td><td 870 align="center">                <td></td><td 871 align="center">                </td></tr> 872 873 <tr><td></td><td align="center" colspan="2"></br></tr> 874 <tr><td></td><td 875 align="center" colspan="2"></br></tr> 876 <tr><td></td><td align="center" 877 colspan="2"></br></tr> 878 <tr><td>Servo</td><td align="center" 879 colspan="2"><input type="range" id="servo" min="325" max="650" value="487" 880 onchange="try{fetch(document.location.origin+'/control?var=servo&val='+this.value);}catch(e){}"><td></td></tr> 881 882 <tr><td>Flash</td><td align="center" colspan="2"><input type="range" 883 id="flash" min="0" max="255" value="0" onchange="try{fetch(document.location.origin+'/control?var=flash&val='+this.value);}catch(e){}"><td></td></tr> 884 885 <tr><td>Resolution</td><td align="center" colspan="2"><input 886 type="range" id="framesize" min="0" max="6" value="5" onchange="try{fetch(document.location.origin+'/control?var=framesize&val='+this.value);}catch(e){}"><td></td></tr> 887 888 <tr><td>Quality</td><td align="center" colspan="2"><input type="range" 889 id="quality" min="10" max="63" value="10" onchange="try{fetch(document.location.origin+'/control?var=quality&val='+this.value);}catch(e){}"><td></td></tr> 890 891 892 893 </table> 894 </section> 895 896 </section> 897 <script> 898 document.addEventListener('DOMContentLoaded',function(){function 899 b(B){let C;switch(B.type){case'checkbox':C=B.checked?1:0;break;case'range':case'select-one':C=B.value;break;case'button':case'submit':C='1';break;default:return;}const 900 D=`${c}/control?var=${B.id}&val=${C}`;fetch(D).then(E=>{console.log(`request to 901 ${D} finished, status: ${E.status}`)})}var c=document.location.origin;const e=B=>{B.classList.add('hidden')},f=B=>{B.classList.remove('hidden')},g=B=>{B.classList.add('disabled'),B.disabled=!0},h=B=>{B.classList.remove('disabled'),B.disabled=!1},i=(B,C,D)=>{D=!(null!=D)||D;let 902 E;'checkbox'===B.type?(E=B.checked,C=!!C,B.checked=C):(E=B.value,B.value=C),D&&E!==C?b(B):!D&&('aec'===B.id?C?e(v):f(v):'agc'===B.id?C?(f(t),e(s)):(e(t),f(s)):'awb_gain'===B.id?C?f(x):e(x):'face_recognize'===B.id&&(C?h(n):g(n)))};document.querySelectorAll('.close').forEach(B=>{B.onclick=()=>{e(B.parentNode)}}),fetch(`${c}/status`).then(function(B){return 903 B.json()}).then(function(B){document.querySelectorAll('.default-action').forEach(C=>{i(C,B[C.id],!1)})});const 904 j=document.getElementById('stream'),k=document.getElementById('stream-container'),l=document.getElementById('get-still'),m=document.getElementById('toggle-stream'),n=document.getElementById('face_enroll'),o=document.getElementById('close-stream'),p=()=>{window.stop(),m.innerHTML='Start 905 Stream'},q=()=>{j.src=`${c+':81'}/stream`,f(k),m.innerHTML='Stop Stream'};l.onclick=()=>{p(),j.src=`${c}/capture?_cb=${Date.now()}`,f(k)},o.onclick=()=>{p(),e(k)},m.onclick=()=>{const 906 B='Stop Stream'===m.innerHTML;B?p():q()},n.onclick=()=>{b(n)},document.querySelectorAll('.default-action').forEach(B=>{B.onchange=()=>b(B)});const 907 r=document.getElementById('agc'),s=document.getElementById('agc_gain-group'),t=document.getElementById('gainceiling-group');r.onchange=()=>{b(r),r.checked?(f(t),e(s)):(e(t),f(s))};const 908 u=document.getElementById('aec'),v=document.getElementById('aec_value-group');u.onchange=()=>{b(u),u.checked?e(v):f(v)};const 909 w=document.getElementById('awb_gain'),x=document.getElementById('wb_mode-group');w.onchange=()=>{b(w),w.checked?f(x):e(x)};const 910 y=document.getElementById('face_detect'),z=document.getElementById('face_recognize'),A=document.getElementById('framesize');A.onchange=()=>{b(A),5<A.value&&(i(y,!1),i(z,!1))},y.onchange=()=>{return 911 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void 912 i(y,!1)):void(b(y),!y.checked&&(g(n),i(z,!1)))},z.onchange=()=>{return 5<A.value?(alert('Please 913 select CIF or lower resolution before enabling this feature!'),void i(z,!1)):void(b(z),z.checked?(h(n),i(y,!0)):g(n))}}); 914 915 </script> 916 </body> 917</html> 918)rawliteral"; 919 920static esp_err_t 921 index_handler(httpd_req_t *req){ 922 httpd_resp_set_type(req, "text/html"); 923 924 return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML)); 925} 926 927void 928 startCameraServer() 929{ 930 httpd_config_t config = HTTPD_DEFAULT_CONFIG(); 931 932 933 httpd_uri_t index_uri = { 934 .uri = "/", 935 .method 936 = HTTP_GET, 937 .handler = index_handler, 938 .user_ctx = NULL 939 940 }; 941 942 httpd_uri_t status_uri = { 943 .uri = "/status", 944 945 .method = HTTP_GET, 946 .handler = status_handler, 947 .user_ctx 948 = NULL 949 }; 950 951 httpd_uri_t cmd_uri = { 952 .uri = "/control", 953 954 .method = HTTP_GET, 955 .handler = cmd_handler, 956 .user_ctx 957 = NULL 958 }; 959 960 httpd_uri_t capture_uri = { 961 .uri = 962 "/capture", 963 .method = HTTP_GET, 964 .handler = capture_handler, 965 966 .user_ctx = NULL 967 }; 968 969 httpd_uri_t stream_uri = { 970 .uri 971 = "/stream", 972 .method = HTTP_GET, 973 .handler = 974 stream_handler, 975 .user_ctx = NULL 976 }; 977 978 Serial.printf("Starting 979 web server on port: '%d'\ 980", config.server_port); 981 if (httpd_start(&camera_httpd, 982 &config) == ESP_OK) { 983 httpd_register_uri_handler(camera_httpd, &index_uri); 984 985 httpd_register_uri_handler(camera_httpd, &cmd_uri); 986 httpd_register_uri_handler(camera_httpd, 987 &status_uri); 988 httpd_register_uri_handler(camera_httpd, &capture_uri); 989 990 } 991 992 config.server_port += 1; 993 config.ctrl_port += 1; 994 Serial.printf("Starting 995 stream server on port: '%d'\ 996", config.server_port); 997 if (httpd_start(&stream_httpd, 998 &config) == ESP_OK) { 999 httpd_register_uri_handler(stream_httpd, &stream_uri); 1000 1001 } 1002}
Downloadable files
Video Surveillance Robot Connection Diagram
Video Surveillance Robot Connection Diagram
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