forked from xiaozhi/xiaozhi-esp32
303 lines
11 KiB
C++
303 lines
11 KiB
C++
#include "esp32_camera.h"
|
||
#include "mcp_server.h"
|
||
#include "display.h"
|
||
#include "board.h"
|
||
#include "system_info.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) {
|
||
// 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;
|
||
|
||
switch (config.frame_size) {
|
||
case FRAMESIZE_SVGA:
|
||
preview_image_.header.w = 800;
|
||
preview_image_.header.h = 600;
|
||
break;
|
||
case FRAMESIZE_VGA:
|
||
preview_image_.header.w = 640;
|
||
preview_image_.header.h = 480;
|
||
break;
|
||
case FRAMESIZE_QVGA:
|
||
preview_image_.header.w = 320;
|
||
preview_image_.header.h = 240;
|
||
break;
|
||
case FRAMESIZE_128X128:
|
||
preview_image_.header.w = 128;
|
||
preview_image_.header.h = 128;
|
||
break;
|
||
case FRAMESIZE_240X240:
|
||
preview_image_.header.w = 240;
|
||
preview_image_.header.h = 240;
|
||
break;
|
||
default:
|
||
ESP_LOGE(TAG, "Unsupported frame size: %d, image preview will not be shown", config.frame_size);
|
||
preview_image_.data_size = 0;
|
||
preview_image_.data = nullptr;
|
||
return;
|
||
}
|
||
|
||
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();
|
||
}
|
||
|
||
void Esp32Camera::SetExplainUrl(const std::string& url, const std::string& token) {
|
||
explain_url_ = url;
|
||
explain_token_ = token;
|
||
}
|
||
|
||
bool Esp32Camera::Capture() {
|
||
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;
|
||
}
|
||
}
|
||
|
||
// 如果预览图片 buffer 为空，则跳过预览
|
||
// 但仍返回 true，因为此时图像可以上传至服务器
|
||
if (preview_image_.data_size == 0) {
|
||
ESP_LOGW(TAG, "Skip preview because of unsupported frame size");
|
||
return true;
|
||
}
|
||
if (preview_image_.data == nullptr) {
|
||
ESP_LOGE(TAG, "Preview image data is not initialized");
|
||
return true;
|
||
}
|
||
// 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;
|
||
}
|
||
bool Esp32Camera::SetHMirror(bool enabled) {
|
||
sensor_t *s = esp_camera_sensor_get();
|
||
if (s == nullptr) {
|
||
ESP_LOGE(TAG, "Failed to get camera sensor");
|
||
return false;
|
||
}
|
||
|
||
esp_err_t err = s->set_hmirror(s, enabled);
|
||
if (err != ESP_OK) {
|
||
ESP_LOGE(TAG, "Failed to set horizontal mirror: %d", err);
|
||
return false;
|
||
}
|
||
|
||
ESP_LOGI(TAG, "Camera horizontal mirror set to: %s", enabled ? "enabled" : "disabled");
|
||
return true;
|
||
}
|
||
|
||
bool Esp32Camera::SetVFlip(bool enabled) {
|
||
sensor_t *s = esp_camera_sensor_get();
|
||
if (s == nullptr) {
|
||
ESP_LOGE(TAG, "Failed to get camera sensor");
|
||
return false;
|
||
}
|
||
|
||
esp_err_t err = s->set_vflip(s, enabled);
|
||
if (err != ESP_OK) {
|
||
ESP_LOGE(TAG, "Failed to set vertical flip: %d", err);
|
||
return false;
|
||
}
|
||
|
||
ESP_LOGI(TAG, "Camera vertical flip set to: %s", enabled ? "enabled" : "disabled");
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
* @brief 将摄像头捕获的图像发送到远程服务器进行AI分析和解释
|
||
*
|
||
* 该函数将当前摄像头缓冲区中的图像编码为JPEG格式，并通过HTTP POST请求
|
||
* 以multipart/form-data的形式发送到指定的解释服务器。服务器将根据提供的
|
||
* 问题对图像进行AI分析并返回结果。
|
||
*
|
||
* 实现特点：
|
||
* - 使用独立线程编码JPEG，与主线程分离
|
||
* - 采用分块传输编码(chunked transfer encoding)优化内存使用
|
||
* - 通过队列机制实现编码线程和发送线程的数据同步
|
||
* - 支持设备ID、客户端ID和认证令牌的HTTP头部配置
|
||
*
|
||
* @param question 要向AI提出的关于图像的问题，将作为表单字段发送
|
||
* @return std::string 服务器返回的JSON格式响应字符串
|
||
* 成功时包含AI分析结果，失败时包含错误信息
|
||
* 格式示例：{"success": true, "result": "分析结果"}
|
||
* {"success": false, "message": "错误信息"}
|
||
*
|
||
* @note 调用此函数前必须先调用SetExplainUrl()设置服务器URL
|
||
* @note 函数会等待之前的编码线程完成后再开始新的处理
|
||
* @warning 如果摄像头缓冲区为空或网络连接失败，将返回错误信息
|
||
*/
|
||
std::string Esp32Camera::Explain(const std::string& question) {
|
||
if (explain_url_.empty()) {
|
||
return "{\"success\": false, \"message\": \"Image explain URL or token is not set\"}";
|
||
}
|
||
|
||
// 创建局部的 JPEG 队列, 40 entries is about to store 512 * 40 = 20480 bytes of JPEG data
|
||
QueueHandle_t jpeg_queue = xQueueCreate(40, sizeof(JpegChunk));
|
||
if (jpeg_queue == nullptr) {
|
||
ESP_LOGE(TAG, "Failed to create JPEG queue");
|
||
return "{\"success\": false, \"message\": \"Failed to create JPEG queue\"}";
|
||
}
|
||
|
||
// We spawn a thread to encode the image to JPEG
|
||
encoder_thread_ = std::thread([this, jpeg_queue]() {
|
||
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_aligned_alloc(16, len, MALLOC_CAP_SPIRAM),
|
||
.len = len
|
||
};
|
||
memcpy(chunk.data, data, len);
|
||
xQueueSend(jpeg_queue, &chunk, portMAX_DELAY);
|
||
return len;
|
||
}, jpeg_queue);
|
||
});
|
||
|
||
auto network = Board::GetInstance().GetNetwork();
|
||
auto http = network->CreateHttp(3);
|
||
// 构造multipart/form-data请求体
|
||
std::string boundary = "----ESP32_CAMERA_BOUNDARY";
|
||
|
||
// 配置HTTP客户端，使用分块传输编码
|
||
http->SetHeader("Device-Id", SystemInfo::GetMacAddress().c_str());
|
||
http->SetHeader("Client-Id", Board::GetInstance().GetUuid().c_str());
|
||
if (!explain_token_.empty()) {
|
||
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;
|
||
}
|
||
}
|
||
vQueueDelete(jpeg_queue);
|
||
return "{\"success\": false, \"message\": \"Failed to connect to explain URL\"}";
|
||
}
|
||
|
||
{
|
||
// 第一块：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";
|
||
http->Write(question_field.c_str(), question_field.size());
|
||
}
|
||
{
|
||
// 第二块：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";
|
||
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);
|
||
}
|
||
// Wait for the encoder thread to finish
|
||
encoder_thread_.join();
|
||
// 清理队列
|
||
vQueueDelete(jpeg_queue);
|
||
|
||
{
|
||
// 第四块：multipart尾部
|
||
std::string multipart_footer;
|
||
multipart_footer += "\r\n--" + boundary + "--\r\n";
|
||
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();
|
||
|
||
// Get remain task stack size
|
||
size_t remain_stack_size = uxTaskGetStackHighWaterMark(nullptr);
|
||
ESP_LOGI(TAG, "Explain image size=%dx%d, compressed size=%d, remain stack size=%d, question=%s\n%s",
|
||
fb_->width, fb_->height, total_sent, remain_stack_size, question.c_str(), result.c_str());
|
||
return result;
|
||
}
|