nav-IRIS | AI Navigating Robot

nav-IRIS is a project that uses Machine Learning to recognize traffic signs, interpret their meaning, and manage bot movement.

Feb 11, 2024

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5975 views

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1 respects

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GPL3+

Devices & Components

Arduino Uno Rev3

esp32cam

Robot Chasis with wheel

Hardware & Tools

Jumper wires (Male to Female)

Software & Tools

Arduino IDE

Project description

Code

Arduino_Code

cpp

Arduino Side Code

1#include <SoftwareSerial.h>
2SoftwareSerial SUART(11, 10); //SRX, STX
3
4//STATUS: DETECTION IS WORKING
5
6void setup()
7{
8  Serial.begin(9600);
9  SUART.begin(9600);
10  pinMode(2, OUTPUT);
11  pinMode(5, OUTPUT);
12  pinMode(4, OUTPUT);
13  pinMode(6, OUTPUT);
14  pinMode(1, INPUT);
15}
16
17void Stop() {
18  digitalWrite(2,LOW);
19  analogWrite(5,0);
20  digitalWrite(4,HIGH);
21  analogWrite(6,0);
22}
23
24void Move_Backward(int speed) {
25  digitalWrite(2,LOW);
26  analogWrite(5,speed);
27  digitalWrite(4,HIGH);
28  analogWrite(6,speed);
29}
30
31void Rotate_Left(int speed) {
32  digitalWrite(2,LOW);
33  analogWrite(5,speed);
34  digitalWrite(4,LOW);
35  analogWrite(6,speed);
36}
37
38void Rotate_Right(int speed) {
39  digitalWrite(2,HIGH);
40  analogWrite(5,speed);
41  digitalWrite(4,HIGH);
42  analogWrite(6,speed);
43}
44
45void Move_Forward(int speed) {
46  digitalWrite(2,HIGH);
47  analogWrite(5,speed);
48  digitalWrite(4,LOW);
49  analogWrite(6,speed);
50}
51
52void loop()
53{
54  char y;
55  if (SUART.available()!=0)
56  {
57    char y = SUART.read();
58    Serial.println(y);
59    switch (y) {
60      case 'P': // Pedestrian Sign
61        Move_Forward(45);
62        break;
63      case 'G': // GO
64        Move_Forward(85);
65        break;
66      case 'S': // STOP SIGN
67        Stop();
68        break;
69      case 'U': // U-TURN SIGN
70        Rotate_Left(80);
71        break;
72      case 'N': //NULL
73        Stop();
74        break;
75      case 'R': //RIGHT TURN SIGN
76        Rotate_Right(60);
77        break;
78      case 'T':
79        Stop();
80        break;
81    }
82  }
83}

#include <SoftwareSerial.h>
SoftwareSerial SUART(11, 10); //SRX, STX

//STATUS: DETECTION IS WORKING

void setup()
{
  Serial.begin(9600);
  SUART.begin(9600);
  pinMode(2, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(1, INPUT);
}

void Stop() {
  digitalWrite(2,LOW);
  analogWrite(5,0);
  digitalWrite(4,HIGH);
  analogWrite(6,0);
}

void Move_Backward(int speed) {
  digitalWrite(2,LOW);
  analogWrite(5,speed);
  digitalWrite(4,HIGH);
  analogWrite(6,speed);
}

void Rotate_Left(int speed) {
  digitalWrite(2,LOW);
  analogWrite(5,speed);
  digitalWrite(4,LOW);
  analogWrite(6,speed);
}

void Rotate_Right(int speed) {
  digitalWrite(2,HIGH);
  analogWrite(5,speed);
  digitalWrite(4,HIGH);
  analogWrite(6,speed);
}

void Move_Forward(int speed) {
  digitalWrite(2,HIGH);
  analogWrite(5,speed);
  digitalWrite(4,LOW);
  analogWrite(6,speed);
}

void loop()
{
  char y;
  if (SUART.available()!=0)
  {
    char y = SUART.read();
    Serial.println(y);
    switch (y) {
      case 'P': // Pedestrian Sign
        Move_Forward(45);
        break;
      case 'G': // GO
        Move_Forward(85);
        break;
      case 'S': // STOP SIGN
        Stop();
        break;
      case 'U': // U-TURN SIGN
        Rotate_Left(80);
        break;
      case 'N': //NULL
        Stop();
        break;
      case 'R': //RIGHT TURN SIGN
        Rotate_Right(60);
        break;
      case 'T':
        Stop();
        break;
    }
  }
}

ESP32Cam Code

cpp

1/*
2Author : ChungYi Fu (Kaohsiung, Taiwan)  2021-7-3 22:00
3https://www.facebook.com/francefu
4
5http://192.168.xxx.xxx             //網頁首頁管理介面
6http://192.168.xxx.xxx:81/stream   //取得串流影像       <img src="http://192.168.xxx.xxx:81/stream">
7http://192.168.xxx.xxx/capture     //取得影像          <img src="http://192.168.xxx.xxx/capture">
8http://192.168.xxx.xxx/status      //取得視訊參數值
9
10自訂指令格式 :  
11http://APIP/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
12http://STAIP/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
13
14預設AP端IP： 192.168.4.1
15
16自訂指令格式 http://192.168.xxx.xxx/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
17http://192.168.xxx.xxx/control?ip                      //取得APIP, STAIP
18http://192.168.xxx.xxx/control?mac                     //取得MAC位址
19http://192.168.xxx.xxx/control?restart                 //重啟ESP32-CAM
20http://192.168.xxx.xxx/control?digitalwrite=pin;value  //數位輸出
21http://192.168.xxx.xxx/control?analogwrite=pin;value   //類比輸出
22http://192.168.xxx.xxx/control?digitalread=pin         //數位讀取
23http://192.168.xxx.xxx/control?analogread=pin          //類比讀取
24http://192.168.xxx.xxx/control?touchread=pin           //觸碰讀取
25http://192.168.xxx.xxx/control?resetwifi=ssid;password   //重設Wi-Fi網路
26http://192.168.xxx.xxx/control?flash=value             //內建閃光燈 value= 0~255
27
28官方指令格式 http://192.168.xxx.xxx/control?var=***&val=***
29http://192.168.xxx.xxx/control?var=framesize&val=value    // value = 10->UXGA(1600x1200), 9->SXGA(1280x1024), 8->XGA(1024x768) ,7->SVGA(800x600), 6->VGA(640x480), 5 selected=selected->CIF(400x296), 4->QVGA(320x240), 3->HQVGA(240x176), 0->QQVGA(160x120)
30http://192.168.xxx.xxx/control?var=quality&val=value      // value = 10 ~ 63
31http://192.168.xxx.xxx/control?var=brightness&val=value   // value = -2 ~ 2
32http://192.168.xxx.xxx/control?var=contrast&val=value     // value = -2 ~ 2
33http://192.168.xxx.xxx/control?var=hmirror&val=value      // value = 0 or 1 
34http://192.168.xxx.xxx/control?var=vflip&val=value        // value = 0 or 1 
35http://192.168.xxx.xxx/control?var=flash&val=value        // value = 0 ~ 255   
36      
37查詢Client端IP
38查詢IP：http://192.168.4.1/?ip
39重設網路：http://192.168.4.1/?resetwifi=ssid;password
40*/
41
42//輸入WIFI連線帳號密碼
43const char* ssid     = "AndroidF";   //your network SSID
44const char* password = "abc12345";   //your network password
45
46//輸入AP端連線帳號密碼
47const char* apssid = "ESP32-CAM";
48const char* appassword = "12345678";         //AP密碼至少要8個字元以上
49
50#include <WiFi.h>
51#include <esp32-hal-ledc.h>      //用於控制伺服馬達
52#include "soc/soc.h"             //用於電源不穩不重開機 
53#include "soc/rtc_cntl_reg.h"    //用於電源不穩不重開機
54
55//官方函式庫
56#include "esp_camera.h"          //視訊函式庫
57#include "esp_http_server.h"     //HTTP Server函式庫
58#include "img_converters.h"      //影像格式轉換函式庫
59
60String Feedback="";   //自訂指令回傳客戶端訊息
61
62//自訂指令參數值
63String Command="";
64String cmd="";
65String P1="";
66String P2="";
67String P3="";
68String P4="";
69String P5="";
70String P6="";
71String P7="";
72String P8="";
73String P9="";
74
75//自訂指令拆解狀態值
76byte ReceiveState=0;
77byte cmdState=1;
78byte strState=1;
79byte questionstate=0;
80byte equalstate=0;
81byte semicolonstate=0;
82
83typedef struct {
84        httpd_req_t *req;
85        size_t len;
86} jpg_chunking_t;
87
88#define PART_BOUNDARY "123456789000000000000987654321"
89static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
90static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
91static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
92
93httpd_handle_t stream_httpd = NULL;
94httpd_handle_t camera_httpd = NULL;
95
96//ESP32-CAM模組腳位設定
97#define PWDN_GPIO_NUM     32
98#define RESET_GPIO_NUM    -1
99#define XCLK_GPIO_NUM      0
100#define SIOD_GPIO_NUM     26
101#define SIOC_GPIO_NUM     27
102
103#define Y9_GPIO_NUM       35
104#define Y8_GPIO_NUM       34
105#define Y7_GPIO_NUM       39
106#define Y6_GPIO_NUM       36
107#define Y5_GPIO_NUM       21
108#define Y4_GPIO_NUM       19
109#define Y3_GPIO_NUM       18
110#define Y2_GPIO_NUM        5
111#define VSYNC_GPIO_NUM    25
112#define HREF_GPIO_NUM     23
113#define PCLK_GPIO_NUM     22
114
115void setup() {
116  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);  //關閉電源不穩就重開機的設定
117    
118  Serial.begin(9600);
119  Serial.setDebugOutput(true);  //開啟診斷輸出
120  Serial.println();
121  String serial;
122
123  //視訊組態設定  https://github.com/espressif/esp32-camera/blob/master/driver/include/esp_camera.h
124  camera_config_t config;
125  config.ledc_channel = LEDC_CHANNEL_0;
126  config.ledc_timer = LEDC_TIMER_0;
127  config.pin_d0 = Y2_GPIO_NUM;
128  config.pin_d1 = Y3_GPIO_NUM;
129  config.pin_d2 = Y4_GPIO_NUM;
130  config.pin_d3 = Y5_GPIO_NUM;
131  config.pin_d4 = Y6_GPIO_NUM;
132  config.pin_d5 = Y7_GPIO_NUM;
133  config.pin_d6 = Y8_GPIO_NUM;
134  config.pin_d7 = Y9_GPIO_NUM;
135  config.pin_xclk = XCLK_GPIO_NUM;
136  config.pin_pclk = PCLK_GPIO_NUM;
137  config.pin_vsync = VSYNC_GPIO_NUM;
138  config.pin_href = HREF_GPIO_NUM;
139  config.pin_sscb_sda = SIOD_GPIO_NUM;
140  config.pin_sscb_scl = SIOC_GPIO_NUM;
141  config.pin_pwdn = PWDN_GPIO_NUM;
142  config.pin_reset = RESET_GPIO_NUM;
143  config.xclk_freq_hz = 20000000;
144  config.pixel_format = PIXFORMAT_JPEG;
145  
146  //
147  // WARNING!!! PSRAM IC required for UXGA resolution and high JPEG quality
148  //            Ensure ESP32 Wrover Module or other board with PSRAM is selected
149  //            Partial images will be transmitted if image exceeds buffer size
150  //   
151  // if PSRAM IC present, init with UXGA resolution and higher JPEG quality
152  //                      for larger pre-allocated frame buffer.
153  if(psramFound()){  //是否有PSRAM(Psuedo SRAM)記憶體IC
154    config.frame_size = FRAMESIZE_UXGA;
155    config.jpeg_quality = 10;
156    config.fb_count = 2;
157  } else {
158    config.frame_size = FRAMESIZE_SVGA;
159    config.jpeg_quality = 12;
160    config.fb_count = 1;
161  }
162
163  //視訊初始化
164  esp_err_t err = esp_camera_init(&config);
165  if (err != ESP_OK) {
166    Serial.printf("Camera init failed with error 0x%x", err);
167    ESP.restart();
168  }
169
170  //可自訂視訊框架預設大小(解析度大小)
171  sensor_t * s = esp_camera_sensor_get();
172  // initial sensors are flipped vertically and colors are a bit saturated
173  if (s->id.PID == OV3660_PID) {
174    s->set_vflip(s, 1); // flip it back
175    s->set_brightness(s, 1); // up the brightness just a bit
176    s->set_saturation(s, -2); // lower the saturation
177  }
178  // drop down frame size for higher initial frame rate
179  s->set_framesize(s, FRAMESIZE_QVGA);    //解析度 UXGA(1600x1200), SXGA(1280x1024), XGA(1024x768), SVGA(800x600), VGA(640x480), CIF(400x296), QVGA(320x240), HQVGA(240x176), QQVGA(160x120), QXGA(2048x1564 for OV3660)
180
181  //s->set_vflip(s, 1);  //垂直翻轉
182  //s->set_hmirror(s, 1);  //水平鏡像
183  
184  //閃光燈(GPIO4)
185  ledcAttachPin(4, 4);  
186  ledcSetup(4, 5000, 8);
187  
188  WiFi.mode(WIFI_AP_STA);  //其他模式 WiFi.mode(WIFI_AP); WiFi.mode(WIFI_STA);
189
190  //指定Client端靜態IP
191  //WiFi.config(IPAddress(192, 168, 201, 100), IPAddress(192, 168, 201, 2), IPAddress(255, 255, 255, 0));
192
193  for (int i=0;i<2;i++) {
194    WiFi.begin(ssid, password);    //執行網路連線
195  
196    delay(1000);
197    Serial.println("");
198    Serial.print("Connecting to ");
199    Serial.println(ssid);
200    
201    long int StartTime=millis();
202    while (WiFi.status() != WL_CONNECTED) {
203        delay(500);
204        if ((StartTime+5000) < millis()) break;    //等待10秒連線
205    } 
206  
207    if (WiFi.status() == WL_CONNECTED) {    //若連線成功
208      WiFi.softAP((WiFi.localIP().toString()+"_"+(String)apssid).c_str(), appassword);   //設定SSID顯示客戶端IP         
209      Serial.println("");
210      Serial.println("STAIP address: ");
211      Serial.println(WiFi.localIP());
212      Serial.println("");
213  
214      for (int i=0;i<5;i++) {   //若連上WIFI設定閃光燈快速閃爍
215        ledcWrite(4,10);
216        delay(200);
217        ledcWrite(4,0);
218        delay(200);    
219      }
220      break;
221    }
222  } 
223
224  if (WiFi.status() != WL_CONNECTED) {    //若連線失敗
225    WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), appassword);         
226
227    for (int i=0;i<2;i++) {    //若連不上WIFI設定閃光燈慢速閃爍
228      ledcWrite(4,10);
229      delay(1000);
230      ledcWrite(4,0);
231      delay(1000);    
232    }
233  } 
234  
235  //指定AP端IP
236  //WiFi.softAPConfig(IPAddress(192, 168, 4, 1), IPAddress(192, 168, 4, 1), IPAddress(255, 255, 255, 0)); 
237  Serial.println("");
238  Serial.println("APIP address: ");
239  Serial.println(WiFi.softAPIP());  
240  Serial.println("");
241  
242  startCameraServer(); 
243
244  //設定閃光燈為低電位
245  pinMode(4, OUTPUT);
246  digitalWrite(4, LOW); 
247}
248
249void loop() {
250  String serial = P1;
251  
252  int commandIndex = 0;  // Create an integer variable to store the command index
253  // Map the strings to integer indices
254  if (serial == "PEDESTRIAN") {
255      commandIndex = 1;
256  } else if (serial == "GO") {
257      commandIndex = 2;
258  } else if (serial == "STOP") {
259      commandIndex = 3;
260  } else if (serial == "U_TURN") {
261      commandIndex = 4;
262  } else if (serial == "NULL") {
263      commandIndex = 5;
264  } else if (serial == "RIGHT_TURN") {
265      commandIndex = 6;
266  } 
267
268  switch (commandIndex) {
269    case 1:
270        Serial.println("P");
271        break;
272    case 2:
273        Serial.println("G");
274        break;
275    case 3:
276        Serial.println("S");
277        break;
278    case 4:
279        Serial.println("U");
280        break;
281    case 5:
282        Serial.println("N");
283        break;
284    case 6:
285        Serial.println("R");
286        break;
287    default:
288        Serial.println("T");
289  }
290}
291
292static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
293    jpg_chunking_t *j = (jpg_chunking_t *)arg;
294    if(!index){
295        j->len = 0;
296    }
297    if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){
298        return 0;
299    }
300    j->len += len;
301    return len;
302}
303
304//影像截圖
305static esp_err_t capture_handler(httpd_req_t *req){
306    camera_fb_t * fb = NULL;
307    esp_err_t res = ESP_OK;
308
309    fb = esp_camera_fb_get();
310    if (!fb) {
311        Serial.println("Camera capture failed");
312        httpd_resp_send_500(req);
313        return ESP_FAIL;
314    }
315
316    httpd_resp_set_type(req, "image/jpeg");
317    httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");
318    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
319
320    size_t fb_len = 0;
321    if(fb->format == PIXFORMAT_JPEG){
322        fb_len = fb->len;
323        res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
324    } else {
325        jpg_chunking_t jchunk = {req, 0};
326        res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
327        httpd_resp_send_chunk(req, NULL, 0);
328        fb_len = jchunk.len;
329    }
330    esp_camera_fb_return(fb);
331    return res;
332}
333
334//影像串流
335static esp_err_t stream_handler(httpd_req_t *req){
336    camera_fb_t * fb = NULL;
337    esp_err_t res = ESP_OK;
338    size_t _jpg_buf_len = 0;
339    uint8_t * _jpg_buf = NULL;
340    char * part_buf[64];
341
342    res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
343    if(res != ESP_OK){
344        return res;
345    }
346
347    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
348
349    while(true){
350        fb = esp_camera_fb_get();
351        if (!fb) {
352            Serial.println("Camera capture failed");
353            res = ESP_FAIL;
354        } else {
355          if(fb->format != PIXFORMAT_JPEG){
356              bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
357              esp_camera_fb_return(fb);
358              fb = NULL;
359              if(!jpeg_converted){
360                  Serial.println("JPEG compression failed");
361                  res = ESP_FAIL;
362              }
363          } else {
364              _jpg_buf_len = fb->len;
365              _jpg_buf = fb->buf;
366          }
367        }
368
369        if(res == ESP_OK){
370            res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
371        }
372        if(res == ESP_OK){
373            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
374        }
375        if(res == ESP_OK){
376            size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
377            res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
378        }                
379        if(fb){
380            esp_camera_fb_return(fb);
381            fb = NULL;
382            _jpg_buf = NULL;
383        } else if(_jpg_buf){
384            free(_jpg_buf);
385            _jpg_buf = NULL;
386        }
387        if(res != ESP_OK){
388            break;
389        }
390    }
391
392    return res;
393}
394
395//指令參數控制
396static esp_err_t cmd_handler(httpd_req_t *req){
397    char*  buf;    //存取網址後帶的參數字串
398    size_t buf_len;
399    char variable[128] = {0,};  //存取參數var值
400    char value[128] = {0,};     //存取參數val值
401    String myCmd = "";
402
403    buf_len = httpd_req_get_url_query_len(req) + 1;
404    if (buf_len > 1) {
405        buf = (char*)malloc(buf_len);
406        if(!buf){
407            httpd_resp_send_500(req);
408            return ESP_FAIL;
409        }
410        if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
411          if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
412            httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
413          } 
414          else {
415            myCmd = String(buf);   //如果非官方格式不含var, val，則為自訂指令格式
416          }
417        }
418        free(buf);
419    } else {
420        httpd_resp_send_404(req);
421        return ESP_FAIL;
422    }
423
424    Feedback="";Command="";cmd="";P1="";P2="";P3="";P4="";P5="";P6="";P7="";P8="";P9="";
425    ReceiveState=0,cmdState=1,strState=1,questionstate=0,equalstate=0,semicolonstate=0;     
426    if (myCmd.length()>0) {
427      myCmd = "?"+myCmd;  //網址後帶的參數字串轉換成自訂指令格式
428      for (int i=0;i<myCmd.length();i++) {
429        getCommand(char(myCmd.charAt(i)));  //拆解自訂指令參數字串
430      }
431    }
432
433    if (cmd.length()>0) {
434      //Serial.println("");
435      //Serial.println("Command: "+Command);
436      //Serial.println("cmd= "+cmd+" ,P1= "+P1+" ,P2= "+P2+" ,P3= "+P3+" ,P4= "+P4+" ,P5= "+P5+" ,P6= "+P6+" ,P7= "+P7+" ,P8= "+P8+" ,P9= "+P9);
437      //Serial.println(""); 
438
439      //自訂指令區塊  http://192.168.xxx.xxx/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
440      if (cmd=="your cmd") {
441        // You can do anything
442        // Feedback="<font color=\"red\">Hello World</font>";   //可為一般文字或HTML語法
443      }
444      else if (cmd=="ip") {  //查詢APIP, STAIP
445        Feedback="AP IP: "+WiFi.softAPIP().toString();    
446        Feedback+="<br>";
447        Feedback+="STA IP: "+WiFi.localIP().toString();
448      }  
449      else if (cmd=="mac") {  //查詢MAC位址
450        Feedback="STA MAC: "+WiFi.macAddress();
451      }  
452      else if (cmd=="restart") {
453        ESP.restart();
454      }  
455      else if (cmd=="digitalwrite") {
456        ledcDetachPin(P1.toInt());
457        pinMode(P1.toInt(), OUTPUT);
458        digitalWrite(P1.toInt(), P2.toInt());
459      }   
460      else if (cmd=="digitalread") {
461        Feedback=String(digitalRead(P1.toInt()));
462      }
463      else if (cmd=="analogwrite") {   
464        if (P1=="4") {
465          ledcAttachPin(4, 4);  
466          ledcSetup(4, 5000, 8);
467          ledcWrite(4,P2.toInt());     
468        }
469        else {
470          ledcAttachPin(P1.toInt(), 9);
471          ledcSetup(9, 5000, 8);
472          ledcWrite(9,P2.toInt());
473        }
474      }       
475      else if (cmd=="analogread") {
476        Feedback=String(analogRead(P1.toInt()));
477      }
478      else if (cmd=="touchread") {
479        Feedback=String(touchRead(P1.toInt()));
480      }
481      else if (cmd=="resetwifi") {  //重設網路連線  
482        for (int i=0;i<2;i++) {
483          WiFi.begin(P1.c_str(), P2.c_str());
484          Serial.print("Connecting to ");
485          Serial.println(P1);
486          long int StartTime=millis();
487          while (WiFi.status() != WL_CONNECTED) {
488              delay(500);
489              if ((StartTime+5000) < millis()) break;
490          } 
491          Serial.println("");
492          Serial.println("STAIP: "+WiFi.localIP().toString());
493          Feedback="STAIP: "+WiFi.localIP().toString();
494  
495          if (WiFi.status() == WL_CONNECTED) {
496            WiFi.softAP((WiFi.localIP().toString()+"_"+P1).c_str(), P2.c_str());
497            for (int i=0;i<2;i++) {    //若連不上WIFI設定閃光燈慢速閃爍
498              ledcWrite(4,10);
499              delay(300);
500              ledcWrite(4,0);
501              delay(300);    
502            }
503            break;
504          }
505        }
506      }   
507      else if (cmd=="flash") {  //控制內建閃光燈
508        ledcAttachPin(4, 4);  
509        ledcSetup(4, 5000, 8);   
510        int val = P1.toInt();
511        ledcWrite(4,val);  
512      }
513      else if (cmd=="serial") { 
514        //if (P1!=""&P1!="stop") Serial.println(P1);
515        //if (P2!=""&P2!="stop") Serial.println(P2);
516        //Serial.println();
517      }       
518      else {
519        Feedback="Command is not defined";
520      }
521
522      if (Feedback=="") Feedback=Command;  //若沒有設定回傳資料就回傳Command值
523    
524      const char *resp = Feedback.c_str();
525      httpd_resp_set_type(req, "text/html");  //設定回傳資料格式
526      httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");  //允許跨網域讀取
527      return httpd_resp_send(req, resp, strlen(resp));
528    } 
529    else {
530      //官方指令區塊，也可在此自訂指令  http://192.168.xxx.xxx/control?var=xxx&val=xxx
531      int val = atoi(value);
532      sensor_t * s = esp_camera_sensor_get();
533      int res = 0;
534
535      if(!strcmp(variable, "framesize")) {
536        if(s->pixformat == PIXFORMAT_JPEG) 
537          res = s->set_framesize(s, (framesize_t)val);
538      }
539      else if(!strcmp(variable, "quality")) res = s->set_quality(s, val);
540      else if(!strcmp(variable, "contrast")) res = s->set_contrast(s, val);
541      else if(!strcmp(variable, "brightness")) res = s->set_brightness(s, val);
542      else if(!strcmp(variable, "hmirror")) res = s->set_hmirror(s, val);
543      else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val);
544      else if(!strcmp(variable, "flash")) {
545        ledcAttachPin(4, 4);  
546        ledcSetup(4, 5000, 8);        
547        ledcWrite(4,val);
548      } 
549      else {
550          res = -1;
551      }
552  
553      if(res){
554          return httpd_resp_send_500(req);
555      }
556
557      if (buf) {
558        Feedback = String(buf);
559        const char *resp = Feedback.c_str();
560        httpd_resp_set_type(req, "text/html");
561        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
562        return httpd_resp_send(req, resp, strlen(resp));  //回傳參數字串
563      }
564      else {
565        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
566        return httpd_resp_send(req, NULL, 0);
567      }
568    }
569}
570
571//顯示視訊參數狀態(須回傳json格式載入初始設定)
572static esp_err_t status_handler(httpd_req_t *req){
573    static char json_response[1024];
574
575    sensor_t * s = esp_camera_sensor_get();
576    char * p = json_response;
577    *p++ = '{';
578    p+=sprintf(p, "\"flash\":%d,", 0);
579    p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);
580    p+=sprintf(p, "\"quality\":%u,", s->status.quality);
581    p+=sprintf(p, "\"brightness\":%d,", s->status.brightness);
582    p+=sprintf(p, "\"contrast\":%d,", s->status.contrast);
583    p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror); 
584    p+=sprintf(p, "\"vflip\":%u", s->status.vflip);
585    *p++ = '}';
586    *p++ = 0;
587    httpd_resp_set_type(req, "application/json");
588    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
589    return httpd_resp_send(req, json_response, strlen(json_response));
590}
591
592//自訂網頁首頁
593static const char PROGMEM INDEX_HTML[] = R"rawliteral(<!doctype html>
594<html>
595    <head>
596        <meta charset="utf-8">
597        <meta name="viewport" content="width=device-width,initial-scale=1">
598        <meta http-equiv="Access-Control-Allow-Headers" content="Origin, X-Requested-With, Content-Type, Accept">
599        <meta http-equiv="Access-Control-Allow-Methods" content="GET,POST,PUT,DELETE,OPTIONS">
600        <meta http-equiv="Access-Control-Allow-Origin" content="*">
601        <title>Teachable Machine</title>
602        <style>
603          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:flex;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:none}.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}
604        </style>
605        <script src="https:\/\/ajax.googleapis.com/ajax/libs/jquery/1.8.0/jquery.min.js"></script>
606        <script src="https:\/\/cdn.jsdelivr.net/npm/@tensorflow/tfjs@1.3.1/dist/tf.min.js"></script>
607        <script src="https:\/\/cdn.jsdelivr.net/npm/@teachablemachine/image@0.8/dist/teachablemachine-image.min.js"></script>  
608        <script src="https:\/\/cdn.jsdelivr.net/npm/@teachablemachine/pose@0.8/dist/teachablemachine-pose.min.js"></script>       
609    </head>
610    <body>
611        <section class="main">
612            <figure>
613              <div id="stream-container" class="image-container hidden">
614                <div class="close" id="close-stream" style="display:none">×</div>
615                <img id="stream" src="" style="display:none" crossorigin="anonymous">
616                <canvas id="canvas" width="0" height="0"></canvas>
617              </div>
618            </figure>         
619            <section id="buttons">
620                <table>
621                <tr><td><button id="restart" onclick="try{fetch(document.location.origin+'/control?restart');}catch(e){}">Restart</button></td><td><button id="get-still" style="display:none">Get Still</button></td><td><button id="toggle-stream" style="display:none"></td></tr>
622                </table>
623            </section>        
624            <div id="logo">
625                <label for="nav-toggle-cb" id="nav-toggle">&#9776;&nbsp;&nbsp;Toggle settings</label>
626            </div>
627            <div id="content">
628                <div id="sidebar">
629                    <input type="checkbox" id="nav-toggle-cb">
630                    <nav id="menu">
631                        <div class="input-group">
632                          <label for="kind">Kind</label>
633                          <select id="kind">
634                            <option value="image">image</option>
635                            <option value="pose">pose</option>
636                          </select>
637                        </div>
638                        <div class="input-group">
639                          <label for="modelPath">Model Path</label>
640                          <input type="text" id="modelPath" value="">
641                        </div>
642                        <div class="input-group">
643                            <label for="btnModel"></label>
644                            <button type="button" id="btnModel" onclick="LoadModel();">Start Recognition</button>
645                        </div>                        
646                        <div class="input-group" id="flash-group">
647                            <label for="flash">Flash</label>
648                            <div class="range-min">0</div>
649                            <input type="range" id="flash" min="0" max="255" value="0" class="default-action">
650                            <div class="range-max">255</div>
651                        </div>
652                        <div class="input-group" id="framesize-group">
653                            <label for="framesize">Resolution</label>
654                            <select id="framesize" class="default-action">
655                                <option value="10">UXGA(1600x1200)</option>
656                                <option value="9">SXGA(1280x1024)</option>
657                                <option value="8">XGA(1024x768)</option>
658                                <option value="7">SVGA(800x600)</option>
659                                <option value="6">VGA(640x480)</option>
660                                <option value="5" selected="selected">CIF(400x296)</option>
661                                <option value="4">QVGA(320x240)</option>
662                                <option value="3">HQVGA(240x176)</option>
663                                <option value="0">QQVGA(160x120)</option>
664                            </select>
665                        </div>
666                        <div class="input-group" id="quality-group">
667                            <label for="quality">Quality</label>
668                            <div class="range-min">10</div>
669                            <input type="range" id="quality" min="10" max="63" value="10" class="default-action">
670                            <div class="range-max">63</div>
671                        </div>
672                        <div class="input-group" id="brightness-group">
673                            <label for="brightness">Brightness</label>
674                            <div class="range-min">-2</div>
675                            <input type="range" id="brightness" min="-2" max="2" value="0" class="default-action">
676                            <div class="range-max">2</div>
677                        </div>
678                        <div class="input-group" id="contrast-group">
679                            <label for="contrast">Contrast</label>
680                            <div class="range-min">-2</div>
681                            <input type="range" id="contrast" min="-2" max="2" value="0" class="default-action">
682                            <div class="range-max">2</div>
683                        </div>
684                        <div class="input-group" id="hmirror-group">
685                            <label for="hmirror">H-Mirror</label>
686                            <div class="switch">
687                                <input id="hmirror" type="checkbox" class="default-action" checked="checked">
688                                <label class="slider" for="hmirror"></label>
689                            </div>
690                        </div>
691                        <div class="input-group" id="vflip-group">
692                            <label for="vflip">V-Flip</label>
693                            <div class="switch">
694                                <input id="vflip" type="checkbox" class="default-action" checked="checked">
695                                <label class="slider" for="vflip"></label>
696                            </div>
697                        </div>
698                    </nav>
699                </div>
700            </div>
701        </section>
702        <br>
703        <div id="result" style="color:red"><div>
704        
705        <script>
706          document.addEventListener('DOMContentLoaded', function (event) {
707            var baseHost = document.location.origin
708            var streamUrl = baseHost + ':81'
709            const hide = el => {
710              el.classList.add('hidden')
711            }
712            const show = el => {
713              el.classList.remove('hidden')
714            }
715            const disable = el => {
716              el.classList.add('disabled')
717              el.disabled = true
718            }
719            const enable = el => {
720              el.classList.remove('disabled')
721              el.disabled = false
722            }
723            const updateValue = (el, value, updateRemote) => {
724              updateRemote = updateRemote == null ? true : updateRemote
725              let initialValue
726              if (el.type === 'checkbox') {
727                initialValue = el.checked
728                value = !!value
729                el.checked = value
730              } else {
731                initialValue = el.value
732                el.value = value
733              }
734              if (updateRemote && initialValue !== value) {
735                updateConfig(el);
736              }
737            }
738            function updateConfig (el) {
739              let value
740              switch (el.type) {
741                case 'checkbox':
742                  value = el.checked ? 1 : 0
743                  break
744                case 'range':
745                case 'select-one':
746                  value = el.value
747                  break
748                case 'button':
749                case 'submit':
750                  value = '1'
751                  break
752                default:
753                  return
754              }
755              const query = `${baseHost}/control?var=${el.id}&val=${value}`
756              fetch(query)
757                .then(response => {
758                  console.log(`request to ${query} finished, status: ${response.status}`)
759                })
760            }
761            document
762              .querySelectorAll('.close')
763              .forEach(el => {
764                el.onclick = () => {
765                  hide(el.parentNode)
766                }
767              })
768            // read initial values
769            fetch(`${baseHost}/status`)
770              .then(function (response) {
771                return response.json()
772              })
773              .then(function (state) {
774                document
775                  .querySelectorAll('.default-action')
776                  .forEach(el => {
777                    updateValue(el, state[el.id], false)
778                  })
779              })
780            const view = document.getElementById('stream')
781            const viewContainer = document.getElementById('stream-container')
782            const stillButton = document.getElementById('get-still')
783            const streamButton = document.getElementById('toggle-stream')
784            const closeButton = document.getElementById('close-stream')
785            const stopStream = () => {
786              //window.stop();
787              view.src="";
788              streamButton.innerHTML = 'Start Stream'
789            }
790            const startStream = () => {
791              view.src = `${streamUrl}/stream`
792              show(viewContainer)
793              streamButton.innerHTML = 'Stop Stream'
794            }
795            // Attach actions to buttons
796            stillButton.onclick = () => {
797              stopStream()
798              try{
799                view.src = `${baseHost}/capture?_cb=${Date.now()}`
800              }
801              catch(e) {
802                view.src = `${baseHost}/capture?_cb=${Date.now()}`  
803              }
804              show(viewContainer)
805            }
806            closeButton.onclick = () => {
807              stopStream()
808              hide(viewContainer)
809            }
810            streamButton.onclick = () => {
811              const streamEnabled = streamButton.innerHTML === 'Stop Stream'
812              if (streamEnabled) {
813                stopStream()
814              } else {
815                startStream()
816              }
817            }
818            // Attach default on change action
819            document
820              .querySelectorAll('.default-action')
821              .forEach(el => {
822                el.onchange = () => updateConfig(el)
823              })
824          })
825        </script>
826          
827        <script>
828        var getStill = document.getElementById('get-still');
829        var ShowImage = document.getElementById('stream');
830        var canvas = document.getElementById("canvas");
831        var context = canvas.getContext("2d");  
832        var modelPath = document.getElementById('modelPath');
833        var result = document.getElementById('result');
834        var kind = document.getElementById('kind');        
835        let Model;
836        
837        async function LoadModel() {
838          if (modelPath.value=="") {
839            result.innerHTML = "Please input model path.";
840            return;
841          }
842    
843          result.innerHTML = "Please wait for loading model.";
844          
845          const URL = modelPath.value;
846          const modelURL = URL + "model.json";
847          const metadataURL = URL + "metadata.json";
848          if (kind.value=="image") {
849            Model = await tmImage.load(modelURL, metadataURL);
850          }
851          else if (kind.value=="pose") {
852            Model = await tmPose.load(modelURL, metadataURL);
853          }
854          maxPredictions = Model.getTotalClasses();
855          result.innerHTML = "";
856    
857          getStill.style.display = "block";
858          getStill.click();
859        }
860    
861        async function predict() {
862          var data = "";
863          var maxClassName = "";
864          var maxProbability = "";
865    
866          canvas.setAttribute("width", ShowImage.width);
867          canvas.setAttribute("height", ShowImage.height);
868          context.drawImage(ShowImage, 0, 0, ShowImage.width, ShowImage.height); 
869           
870          if (kind.value=="image")
871            var prediction = await Model.predict(canvas);
872          else if (kind.value=="pose") {
873            var { pose, posenetOutput } = await Model.estimatePose(canvas);
874            var prediction = await Model.predict(posenetOutput);
875          }
876    
877          if (maxPredictions>0) {
878            for (let i = 0; i < maxPredictions; i++) {
879              if (i==0) {
880              maxClassName = prediction[i].className;
881              maxProbability = prediction[i].probability;
882              }
883              else {
884              if (prediction[i].probability>maxProbability) {
885                maxClassName = prediction[i].className;
886                maxProbability = prediction[i].probability;
887              }
888              }
889              data += prediction[i].className + "," + prediction[i].probability.toFixed(2) + "<br>";
890            }
891            result.innerHTML = data;
892            result.innerHTML += "<br>Result: " + maxClassName + "," + maxProbability; 
893
894            $.ajax({url: document.location.origin+'/control?serial='+maxClassName+";"+maxProbability+';stop', async: false});
895          }
896          else
897            result.innerHTML = "Unrecognizable";
898            
899          getStill.click();
900        }
901    
902        ShowImage.onload = function (event) {
903          if (Model) {
904          try { 
905            document.createEvent("TouchEvent");
906            setTimeout(function(){predict();},250);
907          }
908          catch(e) { 
909            predict();
910          } 
911          }
912        }    
913        </script>
914    </body>
915</html>)rawliteral";
916
917//網頁首頁   http://192.168.xxx.xxx
918static esp_err_t index_handler(httpd_req_t *req){
919    httpd_resp_set_type(req, "text/html");
920    return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
921}
922
923//自訂網址路徑要執行的函式
924void startCameraServer(){
925  httpd_config_t config = HTTPD_DEFAULT_CONFIG();  //可在HTTPD_DEFAULT_CONFIG()中設定Server Port 
926
927  //http://192.168.xxx.xxx/
928  httpd_uri_t index_uri = {
929      .uri       = "/",
930      .method    = HTTP_GET,
931      .handler   = index_handler,
932      .user_ctx  = NULL
933  };
934
935  //http://192.168.xxx.xxx/status
936  httpd_uri_t status_uri = {
937      .uri       = "/status",
938      .method    = HTTP_GET,
939      .handler   = status_handler,
940      .user_ctx  = NULL
941  };
942
943  //http://192.168.xxx.xxx/control
944  httpd_uri_t cmd_uri = {
945      .uri       = "/control",
946      .method    = HTTP_GET,
947      .handler   = cmd_handler,
948      .user_ctx  = NULL
949  }; 
950
951  //http://192.168.xxx.xxx/capture
952  httpd_uri_t capture_uri = {
953      .uri       = "/capture",
954      .method    = HTTP_GET,
955      .handler   = capture_handler,
956      .user_ctx  = NULL
957  };
958
959  //http://192.168.xxx.xxx:81/stream
960  httpd_uri_t stream_uri = {
961      .uri       = "/stream",
962      .method    = HTTP_GET,
963      .handler   = stream_handler,
964      .user_ctx  = NULL
965  };
966  
967  Serial.printf("Starting web server on port: '%d'\n", config.server_port);  //Server Port
968  if (httpd_start(&camera_httpd, &config) == ESP_OK) {
969      //註冊自訂網址路徑對應執行的函式
970      httpd_register_uri_handler(camera_httpd, &index_uri);
971      httpd_register_uri_handler(camera_httpd, &cmd_uri);
972      httpd_register_uri_handler(camera_httpd, &status_uri);
973      httpd_register_uri_handler(camera_httpd, &capture_uri);
974  }
975  
976  config.server_port += 1;  //Stream Port
977  config.ctrl_port += 1;    //UDP Port
978  Serial.printf("Starting stream server on port: '%d'\n", config.server_port);
979  if (httpd_start(&stream_httpd, &config) == ESP_OK) {
980      httpd_register_uri_handler(stream_httpd, &stream_uri);
981  }
982}
983
984//自訂指令拆解參數字串置入變數
985void getCommand(char c)
986{
987  if (c=='?') ReceiveState=1;
988  if ((c==' ')||(c=='\r')||(c=='\n')) ReceiveState=0;
989  
990  if (ReceiveState==1)
991  {
992    Command=Command+String(c);
993    
994    if (c=='=') cmdState=0;
995    if (c==';') strState++;
996  
997    if ((cmdState==1)&&((c!='?')||(questionstate==1))) cmd=cmd+String(c);
998    if ((cmdState==0)&&(strState==1)&&((c!='=')||(equalstate==1))) P1=P1+String(c);
999    if ((cmdState==0)&&(strState==2)&&(c!=';')) P2=P2+String(c);
1000    if ((cmdState==0)&&(strState==3)&&(c!=';')) P3=P3+String(c);
1001    if ((cmdState==0)&&(strState==4)&&(c!=';')) P4=P4+String(c);
1002    if ((cmdState==0)&&(strState==5)&&(c!=';')) P5=P5+String(c);
1003    if ((cmdState==0)&&(strState==6)&&(c!=';')) P6=P6+String(c);
1004    if ((cmdState==0)&&(strState==7)&&(c!=';')) P7=P7+String(c);
1005    if ((cmdState==0)&&(strState==8)&&(c!=';')) P8=P8+String(c);
1006    if ((cmdState==0)&&(strState>=9)&&((c!=';')||(semicolonstate==1))) P9=P9+String(c);
1007    
1008    if (c=='?') questionstate=1;
1009    if (c=='=') equalstate=1;
1010    if ((strState>=9)&&(c==';')) semicolonstate=1;
1011  }
1012}

/*
Author : ChungYi Fu (Kaohsiung, Taiwan)  2021-7-3 22:00
https://www.facebook.com/francefu

http://192.168.xxx.xxx             //網頁首頁管理介面
http://192.168.xxx.xxx:81/stream   //取得串流影像       <img src="http://192.168.xxx.xxx:81/stream">
http://192.168.xxx.xxx/capture     //取得影像          <img src="http://192.168.xxx.xxx/capture">
http://192.168.xxx.xxx/status      //取得視訊參數值

自訂指令格式 :  
http://APIP/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
http://STAIP/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9

預設AP端IP： 192.168.4.1

自訂指令格式 http://192.168.xxx.xxx/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
http://192.168.xxx.xxx/control?ip                      //取得APIP, STAIP
http://192.168.xxx.xxx/control?mac                     //取得MAC位址
http://192.168.xxx.xxx/control?restart                 //重啟ESP32-CAM
http://192.168.xxx.xxx/control?digitalwrite=pin;value  //數位輸出
http://192.168.xxx.xxx/control?analogwrite=pin;value   //類比輸出
http://192.168.xxx.xxx/control?digitalread=pin         //數位讀取
http://192.168.xxx.xxx/control?analogread=pin          //類比讀取
http://192.168.xxx.xxx/control?touchread=pin           //觸碰讀取
http://192.168.xxx.xxx/control?resetwifi=ssid;password   //重設Wi-Fi網路
http://192.168.xxx.xxx/control?flash=value             //內建閃光燈 value= 0~255

官方指令格式 http://192.168.xxx.xxx/control?var=***&val=***
http://192.168.xxx.xxx/control?var=framesize&val=value    // value = 10->UXGA(1600x1200), 9->SXGA(1280x1024), 8->XGA(1024x768) ,7->SVGA(800x600), 6->VGA(640x480), 5 selected=selected->CIF(400x296), 4->QVGA(320x240), 3->HQVGA(240x176), 0->QQVGA(160x120)
http://192.168.xxx.xxx/control?var=quality&val=value      // value = 10 ~ 63
http://192.168.xxx.xxx/control?var=brightness&val=value   // value = -2 ~ 2
http://192.168.xxx.xxx/control?var=contrast&val=value     // value = -2 ~ 2
http://192.168.xxx.xxx/control?var=hmirror&val=value      // value = 0 or 1 
http://192.168.xxx.xxx/control?var=vflip&val=value        // value = 0 or 1 
http://192.168.xxx.xxx/control?var=flash&val=value        // value = 0 ~ 255   
      
查詢Client端IP
查詢IP：http://192.168.4.1/?ip
重設網路：http://192.168.4.1/?resetwifi=ssid;password
*/

//輸入WIFI連線帳號密碼
const char* ssid     = "AndroidF";   //your network SSID
const char* password = "abc12345";   //your network password

//輸入AP端連線帳號密碼
const char* apssid = "ESP32-CAM";
const char* appassword = "12345678";         //AP密碼至少要8個字元以上

#include <WiFi.h>
#include <esp32-hal-ledc.h>      //用於控制伺服馬達
#include "soc/soc.h"             //用於電源不穩不重開機 
#include "soc/rtc_cntl_reg.h"    //用於電源不穩不重開機

//官方函式庫
#include "esp_camera.h"          //視訊函式庫
#include "esp_http_server.h"     //HTTP Server函式庫
#include "img_converters.h"      //影像格式轉換函式庫

String Feedback="";   //自訂指令回傳客戶端訊息

//自訂指令參數值
String Command="";
String cmd="";
String P1="";
String P2="";
String P3="";
String P4="";
String P5="";
String P6="";
String P7="";
String P8="";
String P9="";

//自訂指令拆解狀態值
byte ReceiveState=0;
byte cmdState=1;
byte strState=1;
byte questionstate=0;
byte equalstate=0;
byte semicolonstate=0;

typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;

#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 stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

//ESP32-CAM模組腳位設定
#define PWDN_GPIO_NUM     32
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM      0
#define SIOD_GPIO_NUM     26
#define SIOC_GPIO_NUM     27

#define Y9_GPIO_NUM       35
#define Y8_GPIO_NUM       34
#define Y7_GPIO_NUM       39
#define Y6_GPIO_NUM       36
#define Y5_GPIO_NUM       21
#define Y4_GPIO_NUM       19
#define Y3_GPIO_NUM       18
#define Y2_GPIO_NUM        5
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     23
#define PCLK_GPIO_NUM     22

void setup() {
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);  //關閉電源不穩就重開機的設定
    
  Serial.begin(9600);
  Serial.setDebugOutput(true);  //開啟診斷輸出
  Serial.println();
  String serial;

  //視訊組態設定  https://github.com/espressif/esp32-camera/blob/master/driver/include/esp_camera.h
  camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
  
  //
  // WARNING!!! PSRAM IC required for UXGA resolution and high JPEG quality
  //            Ensure ESP32 Wrover Module or other board with PSRAM is selected
  //            Partial images will be transmitted if image exceeds buffer size
  //   
  // if PSRAM IC present, init with UXGA resolution and higher JPEG quality
  //                      for larger pre-allocated frame buffer.
  if(psramFound()){  //是否有PSRAM(Psuedo SRAM)記憶體IC
    config.frame_size = FRAMESIZE_UXGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }

  //視訊初始化
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    ESP.restart();
  }

  //可自訂視訊框架預設大小(解析度大小)
  sensor_t * s = esp_camera_sensor_get();
  // initial sensors are flipped vertically and colors are a bit saturated
  if (s->id.PID == OV3660_PID) {
    s->set_vflip(s, 1); // flip it back
    s->set_brightness(s, 1); // up the brightness just a bit
    s->set_saturation(s, -2); // lower the saturation
  }
  // drop down frame size for higher initial frame rate
  s->set_framesize(s, FRAMESIZE_QVGA);    //解析度 UXGA(1600x1200), SXGA(1280x1024), XGA(1024x768), SVGA(800x600), VGA(640x480), CIF(400x296), QVGA(320x240), HQVGA(240x176), QQVGA(160x120), QXGA(2048x1564 for OV3660)

  //s->set_vflip(s, 1);  //垂直翻轉
  //s->set_hmirror(s, 1);  //水平鏡像
  
  //閃光燈(GPIO4)
  ledcAttachPin(4, 4);  
  ledcSetup(4, 5000, 8);
  
  WiFi.mode(WIFI_AP_STA);  //其他模式 WiFi.mode(WIFI_AP); WiFi.mode(WIFI_STA);

  //指定Client端靜態IP
  //WiFi.config(IPAddress(192, 168, 201, 100), IPAddress(192, 168, 201, 2), IPAddress(255, 255, 255, 0));

  for (int i=0;i<2;i++) {
    WiFi.begin(ssid, password);    //執行網路連線
  
    delay(1000);
    Serial.println("");
    Serial.print("Connecting to ");
    Serial.println(ssid);
    
    long int StartTime=millis();
    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
        if ((StartTime+5000) < millis()) break;    //等待10秒連線
    } 
  
    if (WiFi.status() == WL_CONNECTED) {    //若連線成功
      WiFi.softAP((WiFi.localIP().toString()+"_"+(String)apssid).c_str(), appassword);   //設定SSID顯示客戶端IP         
      Serial.println("");
      Serial.println("STAIP address: ");
      Serial.println(WiFi.localIP());
      Serial.println("");
  
      for (int i=0;i<5;i++) {   //若連上WIFI設定閃光燈快速閃爍
        ledcWrite(4,10);
        delay(200);
        ledcWrite(4,0);
        delay(200);    
      }
      break;
    }
  } 

  if (WiFi.status() != WL_CONNECTED) {    //若連線失敗
    WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), appassword);         

    for (int i=0;i<2;i++) {    //若連不上WIFI設定閃光燈慢速閃爍
      ledcWrite(4,10);
      delay(1000);
      ledcWrite(4,0);
      delay(1000);    
    }
  } 
  
  //指定AP端IP
  //WiFi.softAPConfig(IPAddress(192, 168, 4, 1), IPAddress(192, 168, 4, 1), IPAddress(255, 255, 255, 0)); 
  Serial.println("");
  Serial.println("APIP address: ");
  Serial.println(WiFi.softAPIP());  
  Serial.println("");
  
  startCameraServer(); 

  //設定閃光燈為低電位
  pinMode(4, OUTPUT);
  digitalWrite(4, LOW); 
}

void loop() {
  String serial = P1;
  
  int commandIndex = 0;  // Create an integer variable to store the command index
  // Map the strings to integer indices
  if (serial == "PEDESTRIAN") {
      commandIndex = 1;
  } else if (serial == "GO") {
      commandIndex = 2;
  } else if (serial == "STOP") {
      commandIndex = 3;
  } else if (serial == "U_TURN") {
      commandIndex = 4;
  } else if (serial == "NULL") {
      commandIndex = 5;
  } else if (serial == "RIGHT_TURN") {
      commandIndex = 6;
  } 

  switch (commandIndex) {
    case 1:
        Serial.println("P");
        break;
    case 2:
        Serial.println("G");
        break;
    case 3:
        Serial.println("S");
        break;
    case 4:
        Serial.println("U");
        break;
    case 5:
        Serial.println("N");
        break;
    case 6:
        Serial.println("R");
        break;
    default:
        Serial.println("T");
  }
}

static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
    jpg_chunking_t *j = (jpg_chunking_t *)arg;
    if(!index){
        j->len = 0;
    }
    if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){
        return 0;
    }
    j->len += len;
    return len;
}

//影像截圖
static esp_err_t capture_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;

    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.println("Camera capture failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    httpd_resp_set_type(req, "image/jpeg");
    httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

    size_t fb_len = 0;
    if(fb->format == PIXFORMAT_JPEG){
        fb_len = fb->len;
        res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
    } else {
        jpg_chunking_t jchunk = {req, 0};
        res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
        httpd_resp_send_chunk(req, NULL, 0);
        fb_len = jchunk.len;
    }
    esp_camera_fb_return(fb);
    return res;
}

//影像串流
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", "*");

    while(true){
        fb = esp_camera_fb_get();
        if (!fb) {
            Serial.println("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){
                  Serial.println("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, (const char *)_jpg_buf, _jpg_buf_len);
        }
        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(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){
            break;
        }
    }

    return res;
}

//指令參數控制
static esp_err_t cmd_handler(httpd_req_t *req){
    char*  buf;    //存取網址後帶的參數字串
    size_t buf_len;
    char variable[128] = {0,};  //存取參數var值
    char value[128] = {0,};     //存取參數val值
    String myCmd = "";

    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) {
          if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
            httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
          } 
          else {
            myCmd = String(buf);   //如果非官方格式不含var, val，則為自訂指令格式
          }
        }
        free(buf);
    } else {
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    Feedback="";Command="";cmd="";P1="";P2="";P3="";P4="";P5="";P6="";P7="";P8="";P9="";
    ReceiveState=0,cmdState=1,strState=1,questionstate=0,equalstate=0,semicolonstate=0;     
    if (myCmd.length()>0) {
      myCmd = "?"+myCmd;  //網址後帶的參數字串轉換成自訂指令格式
      for (int i=0;i<myCmd.length();i++) {
        getCommand(char(myCmd.charAt(i)));  //拆解自訂指令參數字串
      }
    }

    if (cmd.length()>0) {
      //Serial.println("");
      //Serial.println("Command: "+Command);
      //Serial.println("cmd= "+cmd+" ,P1= "+P1+" ,P2= "+P2+" ,P3= "+P3+" ,P4= "+P4+" ,P5= "+P5+" ,P6= "+P6+" ,P7= "+P7+" ,P8= "+P8+" ,P9= "+P9);
      //Serial.println(""); 

      //自訂指令區塊  http://192.168.xxx.xxx/control?cmd=P1;P2;P3;P4;P5;P6;P7;P8;P9
      if (cmd=="your cmd") {
        // You can do anything
        // Feedback="<font color=\"red\">Hello World</font>";   //可為一般文字或HTML語法
      }
      else if (cmd=="ip") {  //查詢APIP, STAIP
        Feedback="AP IP: "+WiFi.softAPIP().toString();    
        Feedback+="<br>";
        Feedback+="STA IP: "+WiFi.localIP().toString();
      }  
      else if (cmd=="mac") {  //查詢MAC位址
        Feedback="STA MAC: "+WiFi.macAddress();
      }  
      else if (cmd=="restart") {
        ESP.restart();
      }  
      else if (cmd=="digitalwrite") {
        ledcDetachPin(P1.toInt());
        pinMode(P1.toInt(), OUTPUT);
        digitalWrite(P1.toInt(), P2.toInt());
      }   
      else if (cmd=="digitalread") {
        Feedback=String(digitalRead(P1.toInt()));
      }
      else if (cmd=="analogwrite") {   
        if (P1=="4") {
          ledcAttachPin(4, 4);  
          ledcSetup(4, 5000, 8);
          ledcWrite(4,P2.toInt());     
        }
        else {
          ledcAttachPin(P1.toInt(), 9);
          ledcSetup(9, 5000, 8);
          ledcWrite(9,P2.toInt());
        }
      }       
      else if (cmd=="analogread") {
        Feedback=String(analogRead(P1.toInt()));
      }
      else if (cmd=="touchread") {
        Feedback=String(touchRead(P1.toInt()));
      }
      else if (cmd=="resetwifi") {  //重設網路連線  
        for (int i=0;i<2;i++) {
          WiFi.begin(P1.c_str(), P2.c_str());
          Serial.print("Connecting to ");
          Serial.println(P1);
          long int StartTime=millis();
          while (WiFi.status() != WL_CONNECTED) {
              delay(500);
              if ((StartTime+5000) < millis()) break;
          } 
          Serial.println("");
          Serial.println("STAIP: "+WiFi.localIP().toString());
          Feedback="STAIP: "+WiFi.localIP().toString();
  
          if (WiFi.status() == WL_CONNECTED) {
            WiFi.softAP((WiFi.localIP().toString()+"_"+P1).c_str(), P2.c_str());
            for (int i=0;i<2;i++) {    //若連不上WIFI設定閃光燈慢速閃爍
              ledcWrite(4,10);
              delay(300);
              ledcWrite(4,0);
              delay(300);    
            }
            break;
          }
        }
      }   
      else if (cmd=="flash") {  //控制內建閃光燈
        ledcAttachPin(4, 4);  
        ledcSetup(4, 5000, 8);   
        int val = P1.toInt();
        ledcWrite(4,val);  
      }
      else if (cmd=="serial") { 
        //if (P1!=""&P1!="stop") Serial.println(P1);
        //if (P2!=""&P2!="stop") Serial.println(P2);
        //Serial.println();
      }       
      else {
        Feedback="Command is not defined";
      }

      if (Feedback=="") Feedback=Command;  //若沒有設定回傳資料就回傳Command值
    
      const char *resp = Feedback.c_str();
      httpd_resp_set_type(req, "text/html");  //設定回傳資料格式
      httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");  //允許跨網域讀取
      return httpd_resp_send(req, resp, strlen(resp));
    } 
    else {
      //官方指令區塊，也可在此自訂指令  http://192.168.xxx.xxx/control?var=xxx&val=xxx
      int val = atoi(value);
      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, "hmirror")) res = s->set_hmirror(s, val);
      else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val);
      else if(!strcmp(variable, "flash")) {
        ledcAttachPin(4, 4);  
        ledcSetup(4, 5000, 8);        
        ledcWrite(4,val);
      } 
      else {
          res = -1;
      }
  
      if(res){
          return httpd_resp_send_500(req);
      }

      if (buf) {
        Feedback = String(buf);
        const char *resp = Feedback.c_str();
        httpd_resp_set_type(req, "text/html");
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        return httpd_resp_send(req, resp, strlen(resp));  //回傳參數字串
      }
      else {
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        return httpd_resp_send(req, NULL, 0);
      }
    }
}

//顯示視訊參數狀態(須回傳json格式載入初始設定)
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++ = '{';
    p+=sprintf(p, "\"flash\":%d,", 0);
    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, "\"hmirror\":%u,", s->status.hmirror); 
    p+=sprintf(p, "\"vflip\":%u", s->status.vflip);
    *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));
}

//自訂網頁首頁
static const char PROGMEM INDEX_HTML[] = R"rawliteral(<!doctype html>
<html>
    <head>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width,initial-scale=1">
        <meta http-equiv="Access-Control-Allow-Headers" content="Origin, X-Requested-With, Content-Type, Accept">
        <meta http-equiv="Access-Control-Allow-Methods" content="GET,POST,PUT,DELETE,OPTIONS">
        <meta http-equiv="Access-Control-Allow-Origin" content="*">
        <title>Teachable Machine</title>
        <style>
          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:flex;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:none}.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}
        </style>
        <script src="https:\/\/ajax.googleapis.com/ajax/libs/jquery/1.8.0/jquery.min.js"></script>
        <script src="https:\/\/cdn.jsdelivr.net/npm/@tensorflow/tfjs@1.3.1/dist/tf.min.js"></script>
        <script src="https:\/\/cdn.jsdelivr.net/npm/@teachablemachine/image@0.8/dist/teachablemachine-image.min.js"></script>  
        <script src="https:\/\/cdn.jsdelivr.net/npm/@teachablemachine/pose@0.8/dist/teachablemachine-pose.min.js"></script>       
    </head>
    <body>
        <section class="main">
            <figure>
              <div id="stream-container" class="image-container hidden">
                <div class="close" id="close-stream" style="display:none">×</div>
                <img id="stream" src="" style="display:none" crossorigin="anonymous">
                <canvas id="canvas" width="0" height="0"></canvas>
              </div>
            </figure>         
            <section id="buttons">
                <table>
                <tr><td><button id="restart" onclick="try{fetch(document.location.origin+'/control?restart');}catch(e){}">Restart</button></td><td><button id="get-still" style="display:none">Get Still</button></td><td><button id="toggle-stream" style="display:none"></td></tr>
                </table>
            </section>        
            <div id="logo">
                <label for="nav-toggle-cb" id="nav-toggle">&#9776;&nbsp;&nbsp;Toggle settings</label>
            </div>
            <div id="content">
                <div id="sidebar">
                    <input type="checkbox" id="nav-toggle-cb">
                    <nav id="menu">
                        <div class="input-group">
                          <label for="kind">Kind</label>
                          <select id="kind">
                            <option value="image">image</option>
                            <option value="pose">pose</option>
                          </select>
                        </div>
                        <div class="input-group">
                          <label for="modelPath">Model Path</label>
                          <input type="text" id="modelPath" value="">
                        </div>
                        <div class="input-group">
                            <label for="btnModel"></label>
                            <button type="button" id="btnModel" onclick="LoadModel();">Start Recognition</button>
                        </div>                        
                        <div class="input-group" id="flash-group">
                            <label for="flash">Flash</label>
                            <div class="range-min">0</div>
                            <input type="range" id="flash" min="0" max="255" value="0" class="default-action">
                            <div class="range-max">255</div>
                        </div>
                        <div class="input-group" id="framesize-group">
                            <label for="framesize">Resolution</label>
                            <select id="framesize" class="default-action">
                                <option value="10">UXGA(1600x1200)</option>
                                <option value="9">SXGA(1280x1024)</option>
                                <option value="8">XGA(1024x768)</option>
                                <option value="7">SVGA(800x600)</option>
                                <option value="6">VGA(640x480)</option>
                                <option value="5" selected="selected">CIF(400x296)</option>
                                <option value="4">QVGA(320x240)</option>
                                <option value="3">HQVGA(240x176)</option>
                                <option value="0">QQVGA(160x120)</option>
                            </select>
                        </div>
                        <div class="input-group" id="quality-group">
                            <label for="quality">Quality</label>
                            <div class="range-min">10</div>
                            <input type="range" id="quality" min="10" max="63" value="10" class="default-action">
                            <div class="range-max">63</div>
                        </div>
                        <div class="input-group" id="brightness-group">
                            <label for="brightness">Brightness</label>
                            <div class="range-min">-2</div>
                            <input type="range" id="brightness" min="-2" max="2" value="0" class="default-action">
                            <div class="range-max">2</div>
                        </div>
                        <div class="input-group" id="contrast-group">
                            <label for="contrast">Contrast</label>
                            <div class="range-min">-2</div>
                            <input type="range" id="contrast" min="-2" max="2" value="0" class="default-action">
                            <div class="range-max">2</div>
                        </div>
                        <div class="input-group" id="hmirror-group">
                            <label for="hmirror">H-Mirror</label>
                            <div class="switch">
                                <input id="hmirror" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="hmirror"></label>
                            </div>
                        </div>
                        <div class="input-group" id="vflip-group">
                            <label for="vflip">V-Flip</label>
                            <div class="switch">
                                <input id="vflip" type="checkbox" class="default-action" checked="checked">
                                <label class="slider" for="vflip"></label>
                            </div>
                        </div>
                    </nav>
                </div>
            </div>
        </section>
        <br>
        <div id="result" style="color:red"><div>
        
        <script>
          document.addEventListener('DOMContentLoaded', function (event) {
            var baseHost = document.location.origin
            var streamUrl = baseHost + ':81'
            const hide = el => {
              el.classList.add('hidden')
            }
            const show = el => {
              el.classList.remove('hidden')
            }
            const disable = el => {
              el.classList.add('disabled')
              el.disabled = true
            }
            const enable = el => {
              el.classList.remove('disabled')
              el.disabled = false
            }
            const updateValue = (el, value, updateRemote) => {
              updateRemote = updateRemote == null ? true : updateRemote
              let initialValue
              if (el.type === 'checkbox') {
                initialValue = el.checked
                value = !!value
                el.checked = value
              } else {
                initialValue = el.value
                el.value = value
              }
              if (updateRemote && initialValue !== value) {
                updateConfig(el);
              }
            }
            function updateConfig (el) {
              let value
              switch (el.type) {
                case 'checkbox':
                  value = el.checked ? 1 : 0
                  break
                case 'range':
                case 'select-one':
                  value = el.value
                  break
                case 'button':
                case 'submit':
                  value = '1'
                  break
                default:
                  return
              }
              const query = `${baseHost}/control?var=${el.id}&val=${value}`
              fetch(query)
                .then(response => {
                  console.log(`request to ${query} finished, status: ${response.status}`)
                })
            }
            document
              .querySelectorAll('.close')
              .forEach(el => {
                el.onclick = () => {
                  hide(el.parentNode)
                }
              })
            // read initial values
            fetch(`${baseHost}/status`)
              .then(function (response) {
                return response.json()
              })
              .then(function (state) {
                document
                  .querySelectorAll('.default-action')
                  .forEach(el => {
                    updateValue(el, state[el.id], false)
                  })
              })
            const view = document.getElementById('stream')
            const viewContainer = document.getElementById('stream-container')
            const stillButton = document.getElementById('get-still')
            const streamButton = document.getElementById('toggle-stream')
            const closeButton = document.getElementById('close-stream')
            const stopStream = () => {
              //window.stop();
              view.src="";
              streamButton.innerHTML = 'Start Stream'
            }
            const startStream = () => {
              view.src = `${streamUrl}/stream`
              show(viewContainer)
              streamButton.innerHTML = 'Stop Stream'
            }
            // Attach actions to buttons
            stillButton.onclick = () => {
              stopStream()
              try{
                view.src = `${baseHost}/capture?_cb=${Date.now()}`
              }
              catch(e) {
                view.src = `${baseHost}/capture?_cb=${Date.now()}`  
              }
              show(viewContainer)
            }
            closeButton.onclick = () => {
              stopStream()
              hide(viewContainer)
            }
            streamButton.onclick = () => {
              const streamEnabled = streamButton.innerHTML === 'Stop Stream'
              if (streamEnabled) {
                stopStream()
              } else {
                startStream()
              }
            }
            // Attach default on change action
            document
              .querySelectorAll('.default-action')
              .forEach(el => {
                el.onchange = () => updateConfig(el)
              })
          })
        </script>
          
        <script>
        var getStill = document.getElementById('get-still');
        var ShowImage = document.getElementById('stream');
        var canvas = document.getElementById("canvas");
        var context = canvas.getContext("2d");  
        var modelPath = document.getElementById('modelPath');
        var result = document.getElementById('result');
        var kind = document.getElementById('kind');        
        let Model;
        
        async function LoadModel() {
          if (modelPath.value=="") {
            result.innerHTML = "Please input model path.";
            return;
          }
    
          result.innerHTML = "Please wait for loading model.";
          
          const URL = modelPath.value;
          const modelURL = URL + "model.json";
          const metadataURL = URL + "metadata.json";
          if (kind.value=="image") {
            Model = await tmImage.load(modelURL, metadataURL);
          }
          else if (kind.value=="pose") {
            Model = await tmPose.load(modelURL, metadataURL);
          }
          maxPredictions = Model.getTotalClasses();
          result.innerHTML = "";
    
          getStill.style.display = "block";
          getStill.click();
        }
    
        async function predict() {
          var data = "";
          var maxClassName = "";
          var maxProbability = "";
    
          canvas.setAttribute("width", ShowImage.width);
          canvas.setAttribute("height", ShowImage.height);
          context.drawImage(ShowImage, 0, 0, ShowImage.width, ShowImage.height); 
           
          if (kind.value=="image")
            var prediction = await Model.predict(canvas);
          else if (kind.value=="pose") {
            var { pose, posenetOutput } = await Model.estimatePose(canvas);
            var prediction = await Model.predict(posenetOutput);
          }
    
          if (maxPredictions>0) {
            for (let i = 0; i < maxPredictions; i++) {
              if (i==0) {
              maxClassName = prediction[i].className;
              maxProbability = prediction[i].probability;
              }
              else {
              if (prediction[i].probability>maxProbability) {
                maxClassName = prediction[i].className;
                maxProbability = prediction[i].probability;
              }
              }
              data += prediction[i].className + "," + prediction[i].probability.toFixed(2) + "<br>";
            }
            result.innerHTML = data;
            result.innerHTML += "<br>Result: " + maxClassName + "," + maxProbability; 

            $.ajax({url: document.location.origin+'/control?serial='+maxClassName+";"+maxProbability+';stop', async: false});
          }
          else
            result.innerHTML = "Unrecognizable";
            
          getStill.click();
        }
    
        ShowImage.onload = function (event) {
          if (Model) {
          try { 
            document.createEvent("TouchEvent");
            setTimeout(function(){predict();},250);
          }
          catch(e) { 
            predict();
          } 
          }
        }    
        </script>
    </body>
</html>)rawliteral";

//網頁首頁   http://192.168.xxx.xxx
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));
}

//自訂網址路徑要執行的函式
void startCameraServer(){
  httpd_config_t config = HTTPD_DEFAULT_CONFIG();  //可在HTTPD_DEFAULT_CONFIG()中設定Server Port 

  //http://192.168.xxx.xxx/
  httpd_uri_t index_uri = {
      .uri       = "/",
      .method    = HTTP_GET,
      .handler   = index_handler,
      .user_ctx  = NULL
  };

  //http://192.168.xxx.xxx/status
  httpd_uri_t status_uri = {
      .uri       = "/status",
      .method    = HTTP_GET,
      .handler   = status_handler,
      .user_ctx  = NULL
  };

  //http://192.168.xxx.xxx/control
  httpd_uri_t cmd_uri = {
      .uri       = "/control",
      .method    = HTTP_GET,
      .handler   = cmd_handler,
      .user_ctx  = NULL
  }; 

  //http://192.168.xxx.xxx/capture
  httpd_uri_t capture_uri = {
      .uri       = "/capture",
      .method    = HTTP_GET,
      .handler   = capture_handler,
      .user_ctx  = NULL
  };

  //http://192.168.xxx.xxx:81/stream
  httpd_uri_t stream_uri = {
      .uri       = "/stream",
      .method    = HTTP_GET,
      .handler   = stream_handler,
      .user_ctx  = NULL
  };
  
  Serial.printf("Starting web server on port: '%d'\n", config.server_port);  //Server Port
  if (httpd_start(&camera_httpd, &config) == ESP_OK) {
      //註冊自訂網址路徑對應執行的函式
      httpd_register_uri_handler(camera_httpd, &index_uri);
      httpd_register_uri_handler(camera_httpd, &cmd_uri);
      httpd_register_uri_handler(camera_httpd, &status_uri);
      httpd_register_uri_handler(camera_httpd, &capture_uri);
  }
  
  config.server_port += 1;  //Stream Port
  config.ctrl_port += 1;    //UDP Port
  Serial.printf("Starting stream server on port: '%d'\n", config.server_port);
  if (httpd_start(&stream_httpd, &config) == ESP_OK) {
      httpd_register_uri_handler(stream_httpd, &stream_uri);
  }
}

//自訂指令拆解參數字串置入變數
void getCommand(char c)
{
  if (c=='?') ReceiveState=1;
  if ((c==' ')||(c=='\r')||(c=='\n')) ReceiveState=0;
  
  if (ReceiveState==1)
  {
    Command=Command+String(c);
    
    if (c=='=') cmdState=0;
    if (c==';') strState++;
  
    if ((cmdState==1)&&((c!='?')||(questionstate==1))) cmd=cmd+String(c);
    if ((cmdState==0)&&(strState==1)&&((c!='=')||(equalstate==1))) P1=P1+String(c);
    if ((cmdState==0)&&(strState==2)&&(c!=';')) P2=P2+String(c);
    if ((cmdState==0)&&(strState==3)&&(c!=';')) P3=P3+String(c);
    if ((cmdState==0)&&(strState==4)&&(c!=';')) P4=P4+String(c);
    if ((cmdState==0)&&(strState==5)&&(c!=';')) P5=P5+String(c);
    if ((cmdState==0)&&(strState==6)&&(c!=';')) P6=P6+String(c);
    if ((cmdState==0)&&(strState==7)&&(c!=';')) P7=P7+String(c);
    if ((cmdState==0)&&(strState==8)&&(c!=';')) P8=P8+String(c);
    if ((cmdState==0)&&(strState>=9)&&((c!=';')||(semicolonstate==1))) P9=P9+String(c);
    
    if (c=='?') questionstate=1;
    if (c=='=') equalstate=1;
    if ((strState>=9)&&(c==';')) semicolonstate=1;
  }
}

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