tcp服务端与ESP32Cam通信ESP32Cam通过串口控制ESP32

1. ESP32

   #include <Arduino.h>
   /*
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:.
   
   esp32cam_to_esp32:Connected
   
   esp32cam_to_esp32:Connected
   
   esp32cam_to_esp32:IP Address:
   
   esp32cam_to_esp32:IP Address:
   
   esp32cam_to_esp32:67152064
   
   esp32cam_to_esp32:67152064
   
   esp32cam_to_esp32:Camera Init OK!
   
   esp32cam_to_esp32:Camera Init OK!
   
   esp32cam_to_esp32:Connect To Tcp Server Failed!After 10 Seconds Try Again!
   
   esp32cam_to_esp32:Connect To Tcp Server Failed!After 10 Seconds Try Again!
   
   esp32cam_to_esp32:Connect To Tcp Server Failed!After 10 Seconds Try Again!
   
   esp32cam_to_esp32:Connect To Tcp Server Failed!After 10 Seconds Try Again!
   */
   String recv_data = ""; //接受串口数据的变量
   String esp32_head = "esp32_head:";  //esp32与服务器的通信标识头
   //esp32cam 串口向 esp32发送消息的标识头 主要是联网信息 摄像头初始化信息等 
   // 这些信息 esp32显示在串口或小屏幕上
   String esp32cam_to_esp32 = "esp32cam_to_esp32:";
   const int LED = 2;
   void setup() {
     Serial.begin(115200);
     Serial2.begin(115200);
     pinMode(LED,OUTPUT);
     digitalWrite(LED, LOW);
   }
   
   void loop() {
     if(Serial2.available()){
       recv_data = Serial2.readStringUntil('\n');
       Serial.println(recv_data);
       if(recv_data.substring(0,esp32_head.length()) == esp32_head){
         //消息来自服务器端 处理相关指令 必须这样判断 防止存在 \r\n等看不见的字符
         if(recv_data.substring(0,(esp32_head + "openLed").length()) == (esp32_head + "openLed") ){
           digitalWrite(LED, HIGH);
           Serial2.println( esp32_head + "Led ON!"); //串口发送给ESPCAM ESPCAM在发送给服务器
         }
         if(recv_data.substring(0,(esp32_head + "closeLed").length()) == (esp32_head + "closeLed")  ){
           digitalWrite(LED, LOW);
           Serial2.println( esp32_head + "Led OFF!");
         }
       }else if(recv_data.substring(0,esp32cam_to_esp32.length()) == esp32cam_to_esp32){
         //消息来自esp32cam的数据一般为一些提示信息 可以用在串口或屏幕起到提示作用
         Serial.println(recv_data);
       }else{
         Serial.println("Error Msg!");
       }
     }
   }
   

2. ESP32CAM

   #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
   String esp32_head = "esp32_head:";  //esp32与服务器的通信标识头
   String esp32_cam_head = "esp32_cam_head:"; //esp32cam与服务器的通信标识头
   //esp32cam 串口向 esp32发送消息的标识 发送的消息主要是联网信息 摄像头初始化信息等 
   // 这些信息 esp32用来显示在串口或小屏幕上 起到提醒作用
   String esp32cam_to_esp32 = "esp32cam_to_esp32:"; 
   bool cam_state = true; //打开或关闭摄像头标识
   const int LED = 4;//闪光灯
   const int ZHESHI_LED = 33; //指示灯 亮表示连接上服务器  灭表示没有连上服务器
   String esp32_data = "";//保存esp32串口发过来的数据 然后espcam转发给服务器
   
   #define maxcache 1430  //图像数据包的大小
   
   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,
   };
   //初始化摄像头
   esp_err_t camera_init() {
       //initialize the camera
       esp_err_t err = esp_camera_init(&camera_config);
       if (err != ESP_OK) {
           Serial.println( esp32cam_to_esp32 + "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(esp32cam_to_esp32 + "Camera Init OK!");
       return ESP_OK;
   }
   //初始化wifi
   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.println(esp32cam_to_esp32 + ".");
       }
       Serial.println(esp32cam_to_esp32 + "Connected");
       Serial.println(esp32cam_to_esp32 + "IP Address:");
       Serial.println(esp32cam_to_esp32 + WiFi.localIP());
   }
   
   void setup()
   {
     Serial.begin(115200);
     pinMode(ZHESHI_LED, OUTPUT);
     digitalWrite(ZHESHI_LED, HIGH);
     pinMode(LED, OUTPUT);
     digitalWrite(LED, LOW);
     wifi_init();
     camera_init();
   }
   
   void loop()
   {
     if (client.connect(serverIP, serverPort)) //尝试访问目标地址
     {
        client.println(esp32_cam_head + "Hello Server,I Am ESP32CAM!");
        digitalWrite(ZHESHI_LED, LOW);
        while (client.connected() || client.available()) //如果已连接或有收到的未读取的数据
        {
           // 读取串口esp32数据 转发给服务器
           if(Serial.available())
           {
             esp32_data = Serial.readStringUntil('\n');
             client.println(esp32_data);
           }
           if (client.available()) //如果tcp网络有数据可读取 读取网络数据
           {
             String line = client.readStringUntil('\n'); //读取数据到换行符
             // 如果数据是服务器发送给esp32的 则通过串口发给esp32
             if (line.substring(0,esp32_head.length()) == esp32_head)
             {
                 Serial.println(line);
             }
             // 如果数据是服务器发送给esp32cam的 则 根据指令处理相关逻辑
             if (line.substring(0,esp32_cam_head.length()) == esp32_cam_head)
             {
               // 打开摄像头
               if(line == (esp32_cam_head + "openCam") ){
                 cam_state = true;
                 client.println(esp32_cam_head + "Camera ON!");
               }
               // 关闭摄像头
               if(line == (esp32_cam_head + "closeCam") ){
                 cam_state = false;
                 client.println(esp32_cam_head + "Camera OFF!");
               }
               // 打开闪光灯
               if(line == (esp32_cam_head + "openLed") ){
                 digitalWrite(LED, HIGH);
                 client.println(esp32_cam_head + "Led ON!");
               }
               // 关闭闪光灯
               if(line == (esp32_cam_head + "closeLed") ){
                 digitalWrite(LED, LOW);
                 client.println(esp32_cam_head + "Led OFF!");
               }
             }
           }
           // 视频传输
           if(cam_state)
           {
             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(esp32cam_to_esp32 +  "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
           }
       }
     }
     else
     {
         digitalWrite(ZHESHI_LED, HIGH);
         Serial.println(esp32cam_to_esp32 + "Connect To Tcp Server Failed!After 10 Seconds Try Again!");
         client.stop(); //关闭客户端
     }
     delay(10000);
   }

3. TCP Server

   import socket
   import threading
   import time
   import cv2
   import numpy as np
   from tkinter import *
   # 监听连接
   def handle_accept():
       while True:
           # 阻塞连接 info一个socket对象
           info, addr = server.accept()
           client_list.append(info) #有客户端连接 将客户端对象放在列表
           # 开线程 用于接受客户端数据
           t = threading.Thread(target=recv_data, args=(info, addr))
           t.start()
   # 接收客户端数据
   def recv_data(sock, addr):
       temp_data = b''   # 保存一张照片数据
       while True:
           try:
               data = sock.recv(1430)
           except Exception as e:
               print(e)
               sock.close()
               client_list.remove(sock) #data = sock.recv(1430) 出现异常 先关闭在移除
           if bool(data): # 判断数据不为 b''
               # print('收到客户端的信息：' + data.decode('utf-8'))
               # 如果这一帧数据包的开头是 b'Frame Begin' 则是一张图片的开始
               #图像数据  标志位 b'Frame Begin'
               if data[0:len(begin_data)] == begin_data:
                   t1 = int(round(time.time() * 1000))
                   # 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
               # esp32发送过来的数据 标志位b'esp32_head:'
               if data[0:len(esp32_head)] == esp32_head:
                   print('来自ESP32的消息：' + data.decode())
               # esp32cam发送过来的数据 标志位 b'esp32_cam_head:'
               if data[0:len(esp32_cam_head)] == esp32_cam_head:
                   print('来自ESP32CAM的消息：' + data.decode())
   # 关闭ESP32cam摄像头 别忘记发送数据带 esp32_cam_head
   def close_cam():
       for s in client_list:
           try:
               s.send(esp32_cam_head + 'closeCam'.encode())
           except:
               try:
                   s.close()
                   client_list.remove(s)
               except:
                   print("Client is Closed!")
   # 打开ESP32cam摄像头 别忘记发送数据带 esp32_cam_head
   def open_cam():
       for s in client_list:
           try:
               s.send(esp32_cam_head + 'openCam'.encode())
           except:
               try:
                   s.close()
                   client_list.remove(s)
               except:
                   print("Client is Closed!")
   # 打开ESP32cam闪光灯 别忘记发送数据带 esp32_cam_head
   def open_led():
       for s in client_list:
           try:
               s.send(esp32_cam_head + 'openLed'.encode())
           except:
               try:
                   s.close()
                   client_list.remove(s)
               except:
                   print("Client is Closed!")
   # 关闭ESP32cam闪光灯 别忘记发送数据带 esp32_cam_head
   def close_led():
       for s in client_list:
           try:
               s.send(esp32_cam_head + 'closeLed'.encode())
           except:
               try:
                   s.close()
                   client_list.remove(s)
               except:
                   print("Client is Closed!")
   # 打开ESP32上的led 别忘记发送数据带 esp32_head
   def open_esp32_led():
       for s in client_list:
           try:
               s.send(esp32_head + 'openLed'.encode())
           except:
               try:
                   s.close()
                   client_list.remove(s)
               except:
                   print("Client is Closed!")
   # 关闭ESP32上的led 别忘记发送数据带 esp32_head
   def close_esp32_led():
       for s in client_list:
           try:
               s.send(esp32_head + 'closeLed'.encode())
           except:
               try:
                   s.close()
                   client_list.remove(s)
               except:
                   print("Client is Closed!")
   
   client_list = [] #列表存放客户端对象
   begin_data = b'Frame Begin' # 接受摄像头一张照片数据的起始标志
   end_data = b'Frame Over'    # 接受摄像头一张照片数据的结束标志
   esp32_head = b'esp32_head:' # 发送和接受esp32消息的标志头
   esp32_cam_head = b'esp32_cam_head:' # 发送和接受esp32cam消息的标志头
   # 创建窗口
   win = Tk()
   # 设置窗口大小
   win.geometry("440x300")
   # 添加一个Label用于显示视频
   label = Label(win)
   label.grid(row=0, column=0)
   btn = Button(win, text="关闭摄像头", command=close_cam)
   btn.grid(row=1, column=1)
   btn = Button(win, text="打开摄像头", command=open_cam)
   btn.grid(row=2, column=1)
   btn = Button(win, text="打开闪光灯", command=open_led)
   btn.grid(row=3, column=1)
   btn = Button(win, text="关闭闪光灯", command=close_led)
   btn.grid(row=4, column=1)
   btn = Button(win, text="打开ESP32灯", command=open_esp32_led)
   btn.grid(row=5, column=1)
   btn = Button(win, text="关闭ESP32灯", command=close_esp32_led)
   btn.grid(row=6, column=1)
   server = socket.socket() #创建回话对象
   host = ('192.168.0.2', 8080) #设置主机
   server.bind(host)  #建立长期的连接
   server.listen(5)   #设置监听
   # 开线程 监听连接
   t0 = threading.Thread(target=handle_accept)
   t0.start()
   win.mainloop()