esp32cam监控小车代码以及连线

最新推荐文章于 2024-06-10 15:47:25 发布
最新推荐文章于 2024-06-10 15:47:25 发布
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分类专栏： 程序代码 嵌入式 文章标签： esp32 嵌入式 单片机 c语言 开发语言
原文链接：www.arduino.com
版权 
//Viral Science www.youtube.com/c/viralscience  www.viralsciencecreativity.com
//ESP32 Camera Surveillance Car

#include "esp_camera.h"
#include <WiFi.h>

//
// WARNING!!! Make sure that you have either selected ESP32 Wrover Module,
//            or another board which has PSRAM enabled
//
// Adafruit ESP32 Feather

// Select camera model
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
#define CAMERA_MODEL_AI_THINKER

const char* ssid = "--------";   //Enter SSID WIFI Name
const char* password = "--------";   //Enter WIFI Password


#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    21
#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      19
#define Y4_GPIO_NUM      18
#define Y3_GPIO_NUM       5
#define Y2_GPIO_NUM       4
#define VSYNC_GPIO_NUM   25
#define HREF_GPIO_NUM    23
#define PCLK_GPIO_NUM    22


#elif defined(CAMERA_MODEL_AI_THINKER)
#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

#else
#error "Camera model not selected"
#endif

// GPIO Setting
extern int gpLb =  2; // Left 1
extern int gpLf = 14; // Left 2
extern int gpRb = 15; // Right 1
extern int gpRf = 13; // Right 2
extern int gpLed =  4; // Light
extern String WiFiAddr ="";

void startCameraServer();

void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();


  pinMode(gpLb, OUTPUT); //Left Backward
  pinMode(gpLf, OUTPUT); //Left Forward
  pinMode(gpRb, OUTPUT); //Right Forward
  pinMode(gpRf, OUTPUT); //Right Backward
  pinMode(gpLed, OUTPUT); //Light

  //initialize
  digitalWrite(gpLb, LOW);
  digitalWrite(gpLf, LOW);
  digitalWrite(gpRb, LOW);
  digitalWrite(gpRf, LOW);
  digitalWrite(gpLed, LOW);

  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;
  //init with high specs to pre-allocate larger buffers
  if(psramFound()){
    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;
  }

  // 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;
  }

  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_CIF);

  WiFi.begin(ssid, password);

  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");

  startCameraServer();

  Serial.print("Camera Ready! Use 'http://");
  Serial.print(WiFi.localIP());
  WiFiAddr = WiFi.localIP().toString();
  Serial.println("' to connect");
}

void loop() {
  // put your main code here, to run repeatedly:

}


//File: index.html.gz, Size: 3635 
#define index_html_gz_len 3635
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 0xBA, 0x87, 0x36, 0x39, 0x38, 0x08, 0xB2, 0x5E, 0x2D, 0xC8, 0x7A, 0xA5, 0x1B, 0xA7, 0x17, 0x57,
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 0x7E, 0x7A, 0xEC, 0x51, 0x91, 0x27, 0x93, 0x15, 0xCC, 0xFF, 0xAF, 0x07, 0x70, 0x29, 0x85, 0xF5,
 0x49, 0xA0, 0x38, 0x98, 0x1F, 0x0A, 0xC0, 0x47, 0x1C, 0x7B, 0x4A, 0x6C, 0x25, 0x96, 0x42, 0x37,
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 0x57, 0xF2, 0x0C, 0xF0, 0xC5, 0xB1, 0xFC, 0xFF, 0xCB, 0xFE, 0x0F, 0x86, 0xED, 0x24, 0xF8, 0xD7,
 0x4C, 0x00, 0x00
};


// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "camera_index.h"
#include "Arduino.h"

extern int gpLb;
extern int gpLf;
extern int gpRb;
extern int gpRf;
extern int gpLed;
extern String WiFiAddr;

void WheelAct(int nLf, int nLb, int nRf, int nRb);

typedef struct {
        size_t size; //number of values used for filtering
        size_t index; //current value index
        size_t count; //value count
        int sum;
        int * values; //array to be filled with values
} ra_filter_t;

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";

static ra_filter_t ra_filter;
httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

static ra_filter_t * ra_filter_init(ra_filter_t * filter, size_t sample_size){
    memset(filter, 0, sizeof(ra_filter_t));

    filter->values = (int *)malloc(sample_size * sizeof(int));
    if(!filter->values){
        return NULL;
    }
    memset(filter->values, 0, sample_size * sizeof(int));

    filter->size = sample_size;
    return filter;
}

static int ra_filter_run(ra_filter_t * filter, int value){
    if(!filter->values){
        return value;
    }
    filter->sum -= filter->values[filter->index];
    filter->values[filter->index] = value;
    filter->sum += filter->values[filter->index];
    filter->index++;
    filter->index = filter->index % filter->size;
    if (filter->count < filter->size) {
        filter->count++;
    }
    return filter->sum / filter->count;
}

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;
}

static esp_err_t capture_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.printf("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");

    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);
    int64_t fr_end = esp_timer_get_time();
    Serial.printf("JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}

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];

    static int64_t last_frame = 0;
    if(!last_frame) {
        last_frame = esp_timer_get_time();
    }

    res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
    if(res != ESP_OK){
        return res;
    }

    while(true){
        fb = esp_camera_fb_get();
        if (!fb) {
            Serial.printf("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.printf("JPEG compression failed");
                    res = ESP_FAIL;
                }
            } else {
                _jpg_buf_len = fb->len;
                _jpg_buf = fb->buf;
            }
        }
        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(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(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;
        }
        int64_t fr_end = esp_timer_get_time();

        int64_t frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
        Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)"
            ,(uint32_t)(_jpg_buf_len),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
            avg_frame_time, 1000.0 / avg_frame_time
        );
    }

    last_frame = 0;
    return res;
}

static esp_err_t cmd_handler(httpd_req_t *req){
    char*  buf;
    size_t buf_len;
    char variable[32] = {0,};
    char value[32] = {0,};

    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 {
                free(buf);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
            free(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        free(buf);
    } else {
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    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, "saturation")) res = s->set_saturation(s, val);
    else if(!strcmp(variable, "gainceiling")) res = s->set_gainceiling(s, (gainceiling_t)val);
    else if(!strcmp(variable, "colorbar")) res = s->set_colorbar(s, val);
    else if(!strcmp(variable, "awb")) res = s->set_whitebal(s, val);
    else if(!strcmp(variable, "agc")) res = s->set_gain_ctrl(s, val);
    else if(!strcmp(variable, "aec")) res = s->set_exposure_ctrl(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, "awb_gain")) res = s->set_awb_gain(s, val);
    else if(!strcmp(variable, "agc_gain")) res = s->set_agc_gain(s, val);
    else if(!strcmp(variable, "aec_value")) res = s->set_aec_value(s, val);
    else if(!strcmp(variable, "aec2")) res = s->set_aec2(s, val);
    else if(!strcmp(variable, "dcw")) res = s->set_dcw(s, val);
    else if(!strcmp(variable, "bpc")) res = s->set_bpc(s, val);
    else if(!strcmp(variable, "wpc")) res = s->set_wpc(s, val);
    else if(!strcmp(variable, "raw_gma")) res = s->set_raw_gma(s, val);
    else if(!strcmp(variable, "lenc")) res = s->set_lenc(s, val);
    else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val);
    else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val);
    else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val);
    else {
        res = -1;
    }

    if(res){
        return httpd_resp_send_500(req);
    }

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, NULL, 0);
}

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, "\"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, "\"saturation\":%d,", s->status.saturation);
    p+=sprintf(p, "\"special_effect\":%u,", s->status.special_effect);
    p+=sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);
    p+=sprintf(p, "\"awb\":%u,", s->status.awb);
    p+=sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);
    p+=sprintf(p, "\"aec\":%u,", s->status.aec);
    p+=sprintf(p, "\"aec2\":%u,", s->status.aec2);
    p+=sprintf(p, "\"ae_level\":%d,", s->status.ae_level);
    p+=sprintf(p, "\"aec_value\":%u,", s->status.aec_value);
    p+=sprintf(p, "\"agc\":%u,", s->status.agc);
    p+=sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);
    p+=sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);
    p+=sprintf(p, "\"bpc\":%u,", s->status.bpc);
    p+=sprintf(p, "\"wpc\":%u,", s->status.wpc);
    p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
    p+=sprintf(p, "\"lenc\":%u,", s->status.lenc);
    p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
    p+=sprintf(p, "\"dcw\":%u,", s->status.dcw);
    p+=sprintf(p, "\"colorbar\":%u", s->status.colorbar);
    *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));
}

static esp_err_t index_handler(httpd_req_t *req){
    httpd_resp_set_type(req, "text/html");
    String page = "";
     page += "<meta name=\"viewport\" content=\"width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0\">\n";
 page += "<script>var xhttp = new XMLHttpRequest();</script>";
 page += "<script>function getsend(arg) { xhttp.open('GET', arg +'?' + new Date().getTime(), true); xhttp.send() } </script>";
 //page += "<p align=center><IMG SRC='http://" + WiFiAddr + ":81/stream' style='width:280px;'></p><br/><br/>";
 page += "<p align=center><IMG SRC='http://" + WiFiAddr + ":81/stream' style='width:300px; transform:rotate(180deg);'></p><br/><br/>";
 
 page += "<p align=center> <button style=background-color:lightgrey;width:90px;height:80px οnmοusedοwn=getsend('go') οnmοuseup=getsend('stop') ontouchstart=getsend('go') ontouchend=getsend('stop') ><b>Forward</b></button> </p>";
 page += "<p align=center>";
 page += "<button style=background-color:lightgrey;width:90px;height:80px; οnmοusedοwn=getsend('left') οnmοuseup=getsend('stop') ontouchstart=getsend('left') ontouchend=getsend('stop')><b>Left</b></button>&nbsp;";
 page += "<button style=background-color:indianred;width:90px;height:80px οnmοusedοwn=getsend('stop') οnmοuseup=getsend('stop')><b>Stop</b></button>&nbsp;";
 page += "<button style=background-color:lightgrey;width:90px;height:80px οnmοusedοwn=getsend('right') οnmοuseup=getsend('stop') ontouchstart=getsend('right') ontouchend=getsend('stop')><b>Right</b></button>";
 page += "</p>";

 page += "<p align=center><button style=background-color:lightgrey;width:90px;height:80px οnmοusedοwn=getsend('back') οnmοuseup=getsend('stop') ontouchstart=getsend('back') ontouchend=getsend('stop') ><b>Backward</b></button></p>";  

 page += "<p align=center>";
 page += "<button style=background-color:yellow;width:140px;height:40px οnmοusedοwn=getsend('ledon')><b>Light ON</b></button>";
 page += "<button style=background-color:yellow;width:140px;height:40px οnmοusedοwn=getsend('ledoff')><b>Light OFF</b></button>";
 page += "</p>";
 
    return httpd_resp_send(req, &page[0], strlen(&page[0]));
}

static esp_err_t go_handler(httpd_req_t *req){
    WheelAct(HIGH, LOW, HIGH, LOW);
    Serial.println("Go");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t back_handler(httpd_req_t *req){
    WheelAct(LOW, HIGH, LOW, HIGH);
    Serial.println("Back");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t left_handler(httpd_req_t *req){
    WheelAct(HIGH, LOW, LOW, HIGH);
    Serial.println("Left");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t right_handler(httpd_req_t *req){
    WheelAct(LOW, HIGH, HIGH, LOW);
    Serial.println("Right");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t stop_handler(httpd_req_t *req){
    WheelAct(LOW, LOW, LOW, LOW);
    Serial.println("Stop");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t ledon_handler(httpd_req_t *req){
    digitalWrite(gpLed, HIGH);
    Serial.println("LED ON");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t ledoff_handler(httpd_req_t *req){
    digitalWrite(gpLed, LOW);
    Serial.println("LED OFF");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

void startCameraServer(){
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();

    httpd_uri_t go_uri = {
        .uri       = "/go",
        .method    = HTTP_GET,
        .handler   = go_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t back_uri = {
        .uri       = "/back",
        .method    = HTTP_GET,
        .handler   = back_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t stop_uri = {
        .uri       = "/stop",
        .method    = HTTP_GET,
        .handler   = stop_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t left_uri = {
        .uri       = "/left",
        .method    = HTTP_GET,
        .handler   = left_handler,
        .user_ctx  = NULL
    };
    
    httpd_uri_t right_uri = {
        .uri       = "/right",
        .method    = HTTP_GET,
        .handler   = right_handler,
        .user_ctx  = NULL
    };
    
    httpd_uri_t ledon_uri = {
        .uri       = "/ledon",
        .method    = HTTP_GET,
        .handler   = ledon_handler,
        .user_ctx  = NULL
    };
    
    httpd_uri_t ledoff_uri = {
        .uri       = "/ledoff",
        .method    = HTTP_GET,
        .handler   = ledoff_handler,
        .user_ctx  = NULL
    };

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

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

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

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

   httpd_uri_t stream_uri = {
        .uri       = "/stream",
        .method    = HTTP_GET,
        .handler   = stream_handler,
        .user_ctx  = NULL
    };


    ra_filter_init(&ra_filter, 20);
    Serial.printf("Starting web server on port: '%d'", config.server_port);
    if (httpd_start(&camera_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(camera_httpd, &index_uri);
        httpd_register_uri_handler(camera_httpd, &go_uri); 
        httpd_register_uri_handler(camera_httpd, &back_uri); 
        httpd_register_uri_handler(camera_httpd, &stop_uri); 
        httpd_register_uri_handler(camera_httpd, &left_uri);
        httpd_register_uri_handler(camera_httpd, &right_uri);
        httpd_register_uri_handler(camera_httpd, &ledon_uri);
        httpd_register_uri_handler(camera_httpd, &ledoff_uri);
    }

    config.server_port += 1;
    config.ctrl_port += 1;
    Serial.printf("Starting stream server on port: '%d'", config.server_port);
    if (httpd_start(&stream_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(stream_httpd, &stream_uri);
    }
}

void WheelAct(int nLf, int nLb, int nRf, int nRb)
{
 digitalWrite(gpLf, nLf);
 digitalWrite(gpLb, nLb);
 digitalWrite(gpRf, nRf);
 digitalWrite(gpRb, nRb);
}

在这里插入图片描述
在这里插入图片描述
在这里插入图片描述

终是蝶衣梦晓楼
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