#include "esp_camera.h" #include #include #include #include #include #include #include #define DUMMY_SERVO1_PIN 12 //We need to create 2 dummy servos. #define DUMMY_SERVO2_PIN 13 //So that ESP32Servo library does not interfere with pwm channel and timer used by esp32 camera. #define PAN_PIN 14 #define TILT_PIN 15 Servo dummyServo1; Servo dummyServo2; Servo panServo; Servo tiltServo; //Camera related constants #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 const char* ssid = "NowISeeYou"; const char* password = "12345678"; AsyncWebServer server(80); AsyncWebSocket wsCamera("/Camera"); AsyncWebSocket wsServoInput("/ServoInput"); uint32_t cameraClientId = 0; #define LIGHT_PIN 4 const int PWMLightChannel = 4; const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(

Pan:
Tilt:
Light:

)HTMLHOMEPAGE"; void handleRoot(AsyncWebServerRequest *request) { request->send_P(200, "text/html", htmlHomePage); } void handleNotFound(AsyncWebServerRequest *request) { request->send(404, "text/plain", "File Not Found"); } void onServoInputWebSocketEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len) { switch (type) { case WS_EVT_CONNECT: Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str()); break; case WS_EVT_DISCONNECT: Serial.printf("WebSocket client #%u disconnected\n", client->id()); panServo.write(90); tiltServo.write(90); ledcWrite(PWMLightChannel, 0); break; case WS_EVT_DATA: AwsFrameInfo *info; info = (AwsFrameInfo*)arg; if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) { std::string myData = ""; myData.assign((char *)data, len); Serial.printf("Key,Value = [%s]\n", myData.c_str()); std::istringstream ss(myData); std::string key, value; std::getline(ss, key, ','); std::getline(ss, value, ','); if ( value != "" ) { int valueInt = atoi(value.c_str()); if (key == "Pan") { panServo.write(valueInt); } else if (key == "Tilt") { tiltServo.write(valueInt); } else if (key == "Light") { ledcWrite(PWMLightChannel, valueInt); } } } break; case WS_EVT_PONG: case WS_EVT_ERROR: break; default: break; } } void onCameraWebSocketEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len) { switch (type) { case WS_EVT_CONNECT: Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str()); cameraClientId = client->id(); break; case WS_EVT_DISCONNECT: Serial.printf("WebSocket client #%u disconnected\n", client->id()); cameraClientId = 0; break; case WS_EVT_DATA: break; case WS_EVT_PONG: case WS_EVT_ERROR: break; default: break; } } void setupCamera() { 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; config.frame_size = FRAMESIZE_VGA; config.jpeg_quality = 10; config.fb_count = 1; // camera init esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed with error 0x%x", err); return; } if (psramFound()) { heap_caps_malloc_extmem_enable(20000); Serial.printf("PSRAM initialized. malloc to take memory from psram above this size"); } } void sendCameraPicture() { if (cameraClientId == 0) { return; } unsigned long startTime1 = millis(); //capture a frame camera_fb_t * fb = esp_camera_fb_get(); if (!fb) { Serial.println("Frame buffer could not be acquired"); return; } unsigned long startTime2 = millis(); wsCamera.binary(cameraClientId, fb->buf, fb->len); esp_camera_fb_return(fb); //Wait for message to be delivered while (true) { AsyncWebSocketClient * clientPointer = wsCamera.client(cameraClientId); if (!clientPointer || !(clientPointer->queueIsFull())) { break; } delay(1); } unsigned long startTime3 = millis(); Serial.printf("Time taken Total: %d|%d|%d\n",startTime3 - startTime1, startTime2 - startTime1, startTime3-startTime2 ); } void setUpPinModes() { dummyServo1.attach(DUMMY_SERVO1_PIN); dummyServo2.attach(DUMMY_SERVO2_PIN); panServo.attach(PAN_PIN); tiltServo.attach(TILT_PIN); //Set up flash light ledcSetup(PWMLightChannel, 1000, 8); pinMode(LIGHT_PIN, OUTPUT); ledcAttachPin(LIGHT_PIN, PWMLightChannel); } void setup(void) { setUpPinModes(); Serial.begin(115200); WiFi.softAP(ssid, password); IPAddress IP = WiFi.softAPIP(); Serial.print("AP IP address: "); Serial.println(IP); server.on("/", HTTP_GET, handleRoot); server.onNotFound(handleNotFound); wsCamera.onEvent(onCameraWebSocketEvent); server.addHandler(&wsCamera); wsServoInput.onEvent(onServoInputWebSocketEvent); server.addHandler(&wsServoInput); server.begin(); Serial.println("HTTP server started"); setupCamera(); } void loop() { wsCamera.cleanupClients(); wsServoInput.cleanupClients(); sendCameraPicture(); //Serial.printf("SPIRam Total heap %d, SPIRam Free Heap %d\n", ESP.getPsramSize(), ESP.getFreePsram()); }