🧼 Moves camera to peripherals
This commit is contained in:
Rune Harlyk
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#include <peripherals/camera_service.h>
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namespace Camera {
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static const char *const TAG = "CameraService";
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static const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
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static const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
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static const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
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SemaphoreHandle_t cameraMutex = xSemaphoreCreateMutex();
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camera_fb_t *safe_camera_fb_get() {
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camera_fb_t *fb = NULL;
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if (xSemaphoreTakeRecursive(cameraMutex, portMAX_DELAY) == pdTRUE) {
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fb = esp_camera_fb_get();
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xSemaphoreGiveRecursive(cameraMutex);
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}
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return fb;
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}
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sensor_t *safe_sensor_get() {
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sensor_t *s = NULL;
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if (xSemaphoreTakeRecursive(cameraMutex, portMAX_DELAY) == pdTRUE) {
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s = esp_camera_sensor_get();
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}
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return s;
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}
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void safe_sensor_return() { xSemaphoreGiveRecursive(cameraMutex); }
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CameraService::CameraService()
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: endpoint(CameraSettings::read, CameraSettings::update, this),
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_eventEndpoint(CameraSettings::read, CameraSettings::update, this, EVENT_CAMERA_SETTINGS),
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_persistence(CameraSettings::read, CameraSettings::update, this, CAMERA_SETTINGS_FILE) {
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addUpdateHandler([&](const String &originId) { updateCamera(); }, false);
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}
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esp_err_t CameraService::begin() {
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_eventEndpoint.begin();
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_persistence.readFromFS();
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camera_config_t camera_config;
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camera_config.ledc_channel = LEDC_CHANNEL_0;
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camera_config.ledc_timer = LEDC_TIMER_0;
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#if FT_ENABLED(USE_CAMERA)
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camera_config.pin_d0 = Y2_GPIO_NUM;
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camera_config.pin_d1 = Y3_GPIO_NUM;
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camera_config.pin_d2 = Y4_GPIO_NUM;
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camera_config.pin_d3 = Y5_GPIO_NUM;
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camera_config.pin_d4 = Y6_GPIO_NUM;
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camera_config.pin_d5 = Y7_GPIO_NUM;
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camera_config.pin_d6 = Y8_GPIO_NUM;
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camera_config.pin_d7 = Y9_GPIO_NUM;
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camera_config.pin_xclk = XCLK_GPIO_NUM;
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camera_config.pin_pclk = PCLK_GPIO_NUM;
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camera_config.pin_vsync = VSYNC_GPIO_NUM;
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camera_config.pin_href = HREF_GPIO_NUM;
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camera_config.pin_sccb_sda = SIOD_GPIO_NUM;
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camera_config.pin_sccb_scl = SIOC_GPIO_NUM;
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camera_config.pin_pwdn = PWDN_GPIO_NUM;
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camera_config.pin_reset = RESET_GPIO_NUM;
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#endif
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camera_config.xclk_freq_hz = 20000000;
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camera_config.pixel_format = PIXFORMAT_JPEG;
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if (psramFound()) {
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camera_config.frame_size = FRAMESIZE_SVGA;
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camera_config.jpeg_quality = 10;
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camera_config.fb_location = CAMERA_FB_IN_PSRAM;
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camera_config.fb_count = 2;
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camera_config.grab_mode = CAMERA_GRAB_LATEST;
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} else {
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camera_config.frame_size = FRAMESIZE_SVGA;
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camera_config.jpeg_quality = 12;
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camera_config.fb_count = 1;
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}
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log_i("Initializing camera");
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esp_err_t err = esp_camera_init(&camera_config);
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if (err == ESP_OK)
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ESP_LOGI(TAG, "Camera probe successful");
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else
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ESP_LOGE(TAG, "Camera probe failed with error 0x%x", err);
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return err;
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}
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esp_err_t CameraService::cameraStill(PsychicRequest *request) {
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camera_fb_t *fb = safe_camera_fb_get();
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if (!fb) {
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ESP_LOGE(TAG, "Camera capture failed");
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request->reply(500, "text/plain", "Camera capture failed");
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return ESP_FAIL;
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}
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PsychicStreamResponse response = PsychicStreamResponse(request, "image/jpeg", "capture.jpg");
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response.beginSend();
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response.write(fb->buf, fb->len);
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esp_camera_fb_return(fb);
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return response.endSend();
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}
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void streamTask(void *pv) {
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esp_err_t res = ESP_OK;
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PsychicRequest *request = static_cast<PsychicRequest *>(pv);
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httpd_req_t *copy = nullptr;
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res = httpd_req_async_handler_begin(request->request(), ©);
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if (res != ESP_OK) {
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return;
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}
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PsychicHttpServer *server = request->server();
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PsychicRequest new_request = PsychicRequest(server, copy);
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request = &new_request;
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PsychicStreamResponse response = PsychicStreamResponse(request, _STREAM_CONTENT_TYPE);
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camera_fb_t *fb = NULL;
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char *part_buf[64];
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size_t buf_len = 0;
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uint8_t *buf = NULL;
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int64_t fr_start = esp_timer_get_time();
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response.beginSend();
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for (;;) {
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fb = safe_camera_fb_get();
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if (!fb) {
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ESP_LOGE("Stream", "Camera capture failed");
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break;
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}
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if (fb->format != PIXFORMAT_JPEG) {
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if (!frame2jpg(fb, 80, &buf, &buf_len)) break;
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} else {
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buf_len = fb->len;
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buf = fb->buf;
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}
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size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, buf_len);
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size_t w = response.write((const char *)part_buf, hlen);
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w += response.write((const char *)buf, buf_len);
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w += response.write((char *)_STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
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if (w == 62) break;
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esp_camera_fb_return(fb);
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safe_sensor_return();
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buf = NULL;
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taskYIELD();
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int64_t delay = 30000ll - esp_timer_get_time() - fr_start;
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if (delay > 0) vTaskDelay(pdMS_TO_TICKS(delay));
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}
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ESP_LOGI("Stream", "Stream ended");
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response.endSend();
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httpd_req_async_handler_complete(copy);
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vTaskDelete(NULL);
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}
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esp_err_t CameraService::cameraStream(PsychicRequest *request) {
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g_taskManager.createTask(streamTask, "Stream client task", 4096, request, 4);
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vTaskDelay(pdMS_TO_TICKS(100));
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return ESP_OK;
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}
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void CameraService::updateCamera() {
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ESP_LOGI("CameraSettings", "Updating camera settings");
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sensor_t *s = safe_sensor_get();
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if (!s) {
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ESP_LOGE("CameraSettings", "Failed to update camera settings");
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safe_sensor_return();
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return;
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}
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s->set_pixformat(s, _state.pixformat);
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s->set_framesize(s, _state.framesize);
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s->set_brightness(s, _state.brightness);
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s->set_contrast(s, _state.contrast);
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s->set_saturation(s, _state.saturation);
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s->set_sharpness(s, _state.sharpness);
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s->set_denoise(s, _state.denoise);
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s->set_gainceiling(s, _state.gainceiling);
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s->set_quality(s, _state.quality);
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s->set_colorbar(s, _state.colorbar);
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s->set_awb_gain(s, _state.awb_gain);
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s->set_wb_mode(s, _state.wb_mode);
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s->set_aec2(s, _state.aec2);
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s->set_ae_level(s, _state.ae_level);
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s->set_aec_value(s, _state.aec_value);
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s->set_agc_gain(s, _state.agc_gain);
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s->set_bpc(s, _state.bpc);
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s->set_wpc(s, _state.wpc);
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s->set_special_effect(s, _state.special_effect);
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s->set_raw_gma(s, _state.raw_gma);
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s->set_lenc(s, _state.lenc);
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s->set_hmirror(s, _state.hmirror);
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s->set_vflip(s, _state.vflip);
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s->set_dcw(s, _state.dcw);
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safe_sensor_return();
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}
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} // namespace Camera
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