ESP32 CAM与服务器（python）TCP视频传输

1. ESP32 CAM 代码  基于Arduino实现

   /*
   网络调试助手
   https://soft.3dmgame.com/down/213757.html
   */
   #include <Arduino.h>
   #include <WiFi.h>
   #include "esp_camera.h"
   #include <vector>
   
   const char *ssid = "dsx_zj";
   const char *password = "dsxbs725";
   const IPAddress serverIP(192,168,0,2); //欲访问的地址
   uint16_t serverPort = 8080;         //服务器端口号
   
   #define maxcache 1430
   
   WiFiClient client; //声明一个客户端对象，用于与服务器进行连接
   
   //CAMERA_MODEL_AI_THINKER类型摄像头的引脚定义
   #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
   
   static camera_config_t camera_config = {
       .pin_pwdn = PWDN_GPIO_NUM,
       .pin_reset = RESET_GPIO_NUM,
       .pin_xclk = XCLK_GPIO_NUM,
       .pin_sscb_sda = SIOD_GPIO_NUM,
       .pin_sscb_scl = SIOC_GPIO_NUM,
       
       .pin_d7 = Y9_GPIO_NUM,
       .pin_d6 = Y8_GPIO_NUM,
       .pin_d5 = Y7_GPIO_NUM,
       .pin_d4 = Y6_GPIO_NUM,
       .pin_d3 = Y5_GPIO_NUM,
       .pin_d2 = Y4_GPIO_NUM,
       .pin_d1 = Y3_GPIO_NUM,
       .pin_d0 = Y2_GPIO_NUM,
       .pin_vsync = VSYNC_GPIO_NUM,
       .pin_href = HREF_GPIO_NUM,
       .pin_pclk = PCLK_GPIO_NUM,
       
       .xclk_freq_hz = 20000000,
       .ledc_timer = LEDC_TIMER_0,
       .ledc_channel = LEDC_CHANNEL_0,
       
       .pixel_format = PIXFORMAT_JPEG,
       .frame_size = FRAMESIZE_VGA,
       .jpeg_quality = 12,
       .fb_count = 1,
   };
   void wifi_init()
   {
       WiFi.mode(WIFI_STA);
       WiFi.setSleep(false); //关闭STA模式下wifi休眠，提高响应速度
       WiFi.begin(ssid, password);
       while (WiFi.status() != WL_CONNECTED)
       {
           delay(500);
           Serial.print(".");
       }
       Serial.println("WiFi Connected!");
       Serial.print("IP Address:");
       Serial.println(WiFi.localIP());
   }
   esp_err_t camera_init() {
       //initialize the camera
       esp_err_t err = esp_camera_init(&camera_config);
       if (err != ESP_OK) {
           Serial.println("Camera Init Failed");
           return err;
       }
       sensor_t * s = esp_camera_sensor_get();
       //initial sensors are flipped vertically and colors are a bit saturated
       if (s->id.PID == OV2640_PID) {
       //        s->set_vflip(s, 1);//flip it back
       //        s->set_brightness(s, 1);//up the blightness just a bit
       //        s->set_contrast(s, 1);
       }
       Serial.println("Camera Init OK!");
       return ESP_OK;
   }
    
   void setup()
   {
       Serial.begin(115200);
       wifi_init();
       camera_init();
   }
   
   void loop()
   {
       Serial.println("Try To Connect TCP Server!");
       if (client.connect(serverIP, serverPort)) //尝试访问目标地址
       {
           Serial.println("Connect Tcp Server Success!");
           //client.println("Frame Begin");  //46 72 61 6D 65 20 42 65 67 69 6E // 0D 0A 代表换行  //向服务器发送数据
           while (1){       
             camera_fb_t * fb = esp_camera_fb_get();
             uint8_t * temp = fb->buf; //这个是为了保存一个地址，在摄像头数据发送完毕后需要返回，否则会出现板子发送一段时间后自动重启，不断重复
             if (!fb)
             {
                 Serial.println( "Camera Capture Failed");
             }
             else
             { 
               //先发送Frame Begin 表示开始发送图片 然后将图片数据分包发送 每次发送1430 余数最后发送 
               //完毕后发送结束标志 Frame Over 表示一张图片发送完毕 
               client.print("Frame Begin"); //一张图片的起始标志
               // 将图片数据分段发送
               int leng = fb->len;
               int timess = leng/maxcache;
               int extra = leng%maxcache;
               for(int j = 0;j< timess;j++)
               {
                 client.write(fb->buf, maxcache); 
                 for(int i =0;i< maxcache;i++)
                 {
                   fb->buf++;
                 }
               }
               client.write(fb->buf, extra);
               client.print("Frame Over");      // 一张图片的结束标志
               Serial.print("This Frame Length:");
               Serial.print(fb->len);
               Serial.println(".Succes To Send Image For TCP!");
               //return the frame buffer back to the driver for reuse
               fb->buf = temp; //将当时保存的指针重新返还
               esp_camera_fb_return(fb);  //这一步在发送完毕后要执行，具体作用还未可知。        
             }
             delay(20);//短暂延时 增加数据传输可靠性
           }
           /*
           while (client.connected() || client.available()) //如果已连接或有收到的未读取的数据
           {
               if (client.available()) //如果有数据可读取
               {
                   String line = client.readStringUntil('\n'); //读取数据到换行符
                   Serial.print("ReceiveData：");
                   Serial.println(line);
                   client.print("--From ESP32--:Hello Server!");    
               }
           }
           Serial.println("close connect!");
           client.stop(); //关闭客户端
           */
       }
       else
       {
           Serial.println("Connect To Tcp Server Failed!After 10 Seconds Try Again!");
           client.stop(); //关闭客户端
       }
       delay(10000);
   }

2. TCP服务器代码 基于python实现

   import socket
   import threading
   import time
   import numpy as np
   import cv2
   
   begin_data = b'Frame Begin'
   end_data = b'Frame Over'
   
   #接收数据
   # ESP32发送一张照片的流程
   # 先发送Frame Begin 表示开始发送图片 然后将图片数据分包发送 每次发送1430 余数最后发送
   # 完毕后发送结束标志 Frame Over 表示一张图片发送完毕
   # 1430 来自ESP32cam发送的一个包大小为1430 接收到数据 data格式为b''
   def handle_sock(sock, addr):
       temp_data = b''
       t1 = int(round(time.time() * 1000))
       while True:
           data = sock.recv(1430)
           # 如果这一帧数据包的开头是 b'Frame Begin' 则是一张图片的开始
           if data[0:len(begin_data)] == begin_data:
               # 将这一帧数据包的开始标志信息（b'Frame Begin'）清除   因为他不属于图片数据
               data = data[len(begin_data):len(data)]
               # 判断这一帧数据流是不是最后一个帧 最后一针数据的结尾时b'Frame Over'
               while data[-len(end_data):] != end_data:
                   temp_data = temp_data + data  # 不是结束的包 讲数据添加进temp_data
                   data = sock.recv(1430)# 继续接受数据 直到接受的数据包包含b'Frame Over' 表示是这张图片的最后一针
               # 判断为最后一个包 将数据去除 结束标志信息 b'Frame Over'
               temp_data = temp_data + data[0:(len(data) - len(end_data))]  # 将多余的（\r\nFrame Over）去掉 其他放入temp_data
               # 显示图片
               receive_data = np.frombuffer(temp_data, dtype='uint8')  # 将获取到的字符流数据转换成1维数组
               r_img = cv2.imdecode(receive_data, cv2.IMREAD_COLOR)  # 将数组解码成图像
               r_img = r_img.reshape(480, 640, 3)
               t2 = int(round(time.time() * 1000))
               fps = 1000//(t2-t1)
               cv2.putText(r_img, "FPS" + str(fps), (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2)
               cv2.imshow('server_frame', r_img)
               if cv2.waitKey(1) & 0xFF == ord('q'):
                   break
               t1 = t2
               print("接收到的数据包大小：" + str(len(temp_data)))  # 显示该张照片数据大小
               temp_data = b''  # 清空数据 便于下一章照片使用
   
   server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
   server.bind(('192.168.0.2', 8080))
   server.listen(5)
   CONNECTION_LIST = []
   
   #主线程循环接收客户端连接
   while True:
       sock, addr = server.accept()
       CONNECTION_LIST.append(sock)
       print('Connect--{}'.format(addr))
       #连接成功后开一个线程用于处理客户端
       client_thread = threading.Thread(target=handle_sock, args=(sock, addr))
       client_thread.start()