forked from xiaozhi/xiaozhi-esp32
213 lines
6.9 KiB
C++
213 lines
6.9 KiB
C++
|
#include "esp32_camera.h"
|
|||
|
|
#include "mcp_server.h"
|
|||
|
|
#include "display.h"
|
|||
|
|
#include "board.h"
|
|||
|
|
|
|||
|
|
#include <esp_log.h>
|
|||
|
|
#include <esp_heap_caps.h>
|
|||
|
|
#include <img_converters.h>
|
|||
|
|
#include <cstring>
|
|||
|
|
|
|||
|
|
#define TAG "Esp32Camera"
|
|||
|
|
|
|||
|
|
Esp32Camera::Esp32Camera(const camera_config_t& config) {
|
|||
|
|
jpeg_queue_ = xQueueCreate(10, sizeof(JpegChunk));
|
|||
|
|
if (jpeg_queue_ == nullptr) {
|
|||
|
|
ESP_LOGE(TAG, "Failed to create JPEG queue");
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// camera init
|
|||
|
|
esp_err_t err = esp_camera_init(&config); // 配置上面定义的参数
|
|||
|
|
if (err != ESP_OK) {
|
|||
|
|
ESP_LOGE(TAG, "Camera init failed with error 0x%x", err);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
sensor_t *s = esp_camera_sensor_get(); // 获取摄像头型号
|
|||
|
|
if (s->id.PID == GC0308_PID) {
|
|||
|
|
s->set_hmirror(s, 0); // 这里控制摄像头镜像 写1镜像 写0不镜像
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 初始化预览图片的内存
|
|||
|
|
memset(&preview_image_, 0, sizeof(preview_image_));
|
|||
|
|
preview_image_.header.magic = LV_IMAGE_HEADER_MAGIC;
|
|||
|
|
preview_image_.header.cf = LV_COLOR_FORMAT_RGB565;
|
|||
|
|
preview_image_.header.flags = LV_IMAGE_FLAGS_ALLOCATED | LV_IMAGE_FLAGS_MODIFIABLE;
|
|||
|
|
|
|||
|
|
if (config.frame_size == FRAMESIZE_VGA) {
|
|||
|
|
preview_image_.header.w = 640;
|
|||
|
|
preview_image_.header.h = 480;
|
|||
|
|
} else if (config.frame_size == FRAMESIZE_QVGA) {
|
|||
|
|
preview_image_.header.w = 320;
|
|||
|
|
preview_image_.header.h = 240;
|
|||
|
|
}
|
|||
|
|
preview_image_.header.stride = preview_image_.header.w * 2;
|
|||
|
|
preview_image_.data_size = preview_image_.header.w * preview_image_.header.h * 2;
|
|||
|
|
preview_image_.data = (uint8_t*)heap_caps_malloc(preview_image_.data_size, MALLOC_CAP_SPIRAM);
|
|||
|
|
if (preview_image_.data == nullptr) {
|
|||
|
|
ESP_LOGE(TAG, "Failed to allocate memory for preview image");
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Esp32Camera::~Esp32Camera() {
|
|||
|
|
if (fb_) {
|
|||
|
|
esp_camera_fb_return(fb_);
|
|||
|
|
fb_ = nullptr;
|
|||
|
|
}
|
|||
|
|
if (preview_image_.data) {
|
|||
|
|
heap_caps_free((void*)preview_image_.data);
|
|||
|
|
preview_image_.data = nullptr;
|
|||
|
|
}
|
|||
|
|
esp_camera_deinit();
|
|||
|
|
|
|||
|
|
if (jpeg_queue_ != nullptr) {
|
|||
|
|
vQueueDelete(jpeg_queue_);
|
|||
|
|
jpeg_queue_ = nullptr;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void Esp32Camera::SetExplainUrl(const std::string& url, const std::string& token) {
|
|||
|
|
explain_url_ = url;
|
|||
|
|
explain_token_ = token;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool Esp32Camera::Capture() {
|
|||
|
|
if (preview_thread_.joinable()) {
|
|||
|
|
preview_thread_.join();
|
|||
|
|
}
|
|||
|
|
if (encoder_thread_.joinable()) {
|
|||
|
|
encoder_thread_.join();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int frames_to_get = 2;
|
|||
|
|
// Try to get a stable frame
|
|||
|
|
for (int i = 0; i < frames_to_get; i++) {
|
|||
|
|
if (fb_ != nullptr) {
|
|||
|
|
esp_camera_fb_return(fb_);
|
|||
|
|
}
|
|||
|
|
fb_ = esp_camera_fb_get();
|
|||
|
|
if (fb_ == nullptr) {
|
|||
|
|
ESP_LOGE(TAG, "Camera capture failed");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
preview_thread_ = std::thread([this]() {
|
|||
|
|
// 显示预览图片
|
|||
|
|
auto display = Board::GetInstance().GetDisplay();
|
|||
|
|
if (display != nullptr) {
|
|||
|
|
auto src = (uint16_t*)fb_->buf;
|
|||
|
|
auto dst = (uint16_t*)preview_image_.data;
|
|||
|
|
size_t pixel_count = fb_->len / 2;
|
|||
|
|
for (size_t i = 0; i < pixel_count; i++) {
|
|||
|
|
// 交换每个16位字内的字节
|
|||
|
|
dst[i] = __builtin_bswap16(src[i]);
|
|||
|
|
}
|
|||
|
|
display->SetPreviewImage(&preview_image_);
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
std::string Esp32Camera::Explain(const std::string& question) {
|
|||
|
|
if (explain_url_.empty() || explain_token_.empty()) {
|
|||
|
|
return "{\"success\": false, \"message\": \"Image explain URL or token is not set\"}";
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// We spawn a thread to encode the image to JPEG
|
|||
|
|
encoder_thread_ = std::thread([this]() {
|
|||
|
|
frame2jpg_cb(fb_, 80, [](void* arg, size_t index, const void* data, size_t len) -> unsigned int {
|
|||
|
|
auto jpeg_queue = (QueueHandle_t)arg;
|
|||
|
|
JpegChunk chunk = {
|
|||
|
|
.data = (uint8_t*)heap_caps_malloc(len, MALLOC_CAP_SPIRAM),
|
|||
|
|
.len = len
|
|||
|
|
};
|
|||
|
|
memcpy(chunk.data, data, len);
|
|||
|
|
xQueueSend(jpeg_queue, &chunk, portMAX_DELAY);
|
|||
|
|
return len;
|
|||
|
|
}, jpeg_queue_);
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
auto http = Board::GetInstance().CreateHttp();
|
|||
|
|
// 构造multipart/form-data请求体
|
|||
|
|
std::string boundary = "----ESP32_CAMERA_BOUNDARY";
|
|||
|
|
|
|||
|
|
// 构造question字段
|
|||
|
|
std::string question_field;
|
|||
|
|
question_field += "--" + boundary + "\r\n";
|
|||
|
|
question_field += "Content-Disposition: form-data; name=\"question\"\r\n";
|
|||
|
|
question_field += "\r\n";
|
|||
|
|
question_field += question + "\r\n";
|
|||
|
|
|
|||
|
|
// 构造文件字段头部
|
|||
|
|
std::string file_header;
|
|||
|
|
file_header += "--" + boundary + "\r\n";
|
|||
|
|
file_header += "Content-Disposition: form-data; name=\"file\"; filename=\"camera.jpg\"\r\n";
|
|||
|
|
file_header += "Content-Type: image/jpeg\r\n";
|
|||
|
|
file_header += "\r\n";
|
|||
|
|
|
|||
|
|
// 构造尾部
|
|||
|
|
std::string multipart_footer;
|
|||
|
|
multipart_footer += "\r\n--" + boundary + "--\r\n";
|
|||
|
|
|
|||
|
|
// 配置HTTP客户端，使用分块传输编码
|
|||
|
|
http->SetHeader("Authorization", "Bearer " + explain_token_);
|
|||
|
|
http->SetHeader("Content-Type", "multipart/form-data; boundary=" + boundary);
|
|||
|
|
http->SetHeader("Transfer-Encoding", "chunked");
|
|||
|
|
if (!http->Open("POST", explain_url_)) {
|
|||
|
|
ESP_LOGE(TAG, "Failed to connect to explain URL");
|
|||
|
|
// Clear the queue
|
|||
|
|
encoder_thread_.join();
|
|||
|
|
JpegChunk chunk;
|
|||
|
|
while (xQueueReceive(jpeg_queue_, &chunk, portMAX_DELAY) == pdPASS) {
|
|||
|
|
if (chunk.data != nullptr) {
|
|||
|
|
heap_caps_free(chunk.data);
|
|||
|
|
} else {
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
return "{\"success\": false, \"message\": \"Failed to connect to explain URL\"}";
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 第一块：question字段
|
|||
|
|
http->Write(question_field.c_str(), question_field.size());
|
|||
|
|
|
|||
|
|
// 第二块：文件字段头部
|
|||
|
|
http->Write(file_header.c_str(), file_header.size());
|
|||
|
|
|
|||
|
|
// 第三块：JPEG数据
|
|||
|
|
size_t total_sent = 0;
|
|||
|
|
while (true) {
|
|||
|
|
JpegChunk chunk;
|
|||
|
|
if (xQueueReceive(jpeg_queue_, &chunk, portMAX_DELAY) != pdPASS) {
|
|||
|
|
ESP_LOGE(TAG, "Failed to receive JPEG chunk");
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
if (chunk.data == nullptr) {
|
|||
|
|
break; // The last chunk
|
|||
|
|
}
|
|||
|
|
http->Write((const char*)chunk.data, chunk.len);
|
|||
|
|
total_sent += chunk.len;
|
|||
|
|
heap_caps_free(chunk.data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 第四块：multipart尾部
|
|||
|
|
http->Write(multipart_footer.c_str(), multipart_footer.size());
|
|||
|
|
|
|||
|
|
// 结束块
|
|||
|
|
http->Write("", 0);
|
|||
|
|
|
|||
|
|
if (http->GetStatusCode() != 200) {
|
|||
|
|
ESP_LOGE(TAG, "Failed to upload photo, status code: %d", http->GetStatusCode());
|
|||
|
|
return "{\"success\": false, \"message\": \"Failed to upload photo\"}";
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
std::string result = http->ReadAll();
|
|||
|
|
http->Close();
|
|||
|
|
|
|||
|
|
ESP_LOGI(TAG, "Explain image size=%dx%d, compressed size=%d, question=%s\n%s", fb_->width, fb_->height, total_sent, question.c_str(), result.c_str());
|
|||
|
|
return result;
|
|||
|
|
}
|