S-Rover/Arduino_control at master · RES-200/S-Rover · GitHub

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#include "esp_camera.h"
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>

struct MOTOR_PINS
{
  int pinEn;
  int pinIN1;
  int pinIN2;
};

std::vector<MOTOR_PINS> motorPins =
{
  {2, 12, 13}, //RIGHT_MOTOR Pins (EnA, IN1, IN2)
  {2, 1, 3},  //LEFT_MOTOR  Pins (EnB, IN3, IN4)
};
#define LIGHT_PIN 4

#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define STOP 0

#define RIGHT_MOTOR 0
#define LEFT_MOTOR 1

#define FORWARD 1
#define BACKWARD -1

const int PWMFreq = 1000; /* 1 KHz */
const int PWMResolution = 8;
const int PWMSpeedChannel = 2;
const int PWMLightChannel = 3;

//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     = "Srover";
const char* password = "12345678";

AsyncWebServer server(80);
AsyncWebSocket wsCamera("/Camera");
AsyncWebSocket wsCarInput("/CarInput");
uint32_t cameraClientId = 0;

const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>

<head>
    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
    <script>
        window.addEventListener('keyup', arrowUp)
        window.addEventListener('keydown', arrowDown)

        function arrowDown(e) {
            const key = document.querySelector(.arrow-key[data-key="${e.keyCode}"]);
            key.classList.add('press')
        }
        function arrowUp(e) {
            const key = document.querySelector(.arrow-key[data-key="${e.keyCode}"]);
            key.classList.remove('press')
        }
    </script>
    <style>
        .slider-container {
            display: flex;
            flex-direction: column;
            align-items: flex-start;
            margin-left: 20px;
        }

        .slider {
            -webkit-appearance: none;
            width: 200px;
            height: 15px;
            border-radius: 5px;
            background: #d3d3d3;
            outline: none;
            opacity: 0.7;
            -webkit-transition: .2s;
            transition: opacity .2s;
            margin-bottom: 10px;
        }

        .slider:hover {
            opacity: 1;
        }

        .slider::-webkit-slider-thumb {
            -webkit-appearance: none;
            appearance: none;
            width: 25px;
            height: 25px;
            border-radius: 50%;
            background: rgb(36, 36, 36);
            cursor: pointer;
        }

        .slider::-moz-range-thumb {
            width: 25px;
            height: 25px;
            border-radius: 50%;
            background: red;
            cursor: pointer;
        }


        * {
            box-sizing: border-box;

            &:before,
            &:after {
                box-sizing: border-box;
            }

            user-select: none;
            z-index: 10;
        }

        html {
            height: 100%;
            margin: 0;
            overflow: auto;
            padding: 0;
            width: 100%;
        }

        body {
            align-content: center;
            background: #ECE9E6;
            background: -webkit-linear-gradient(to left, #ECE9E6, #FFFFFF);
            background: linear-gradient(to left, #ECE9E6, #FFFFFF);
            display: flex;
            flex-direction: column;
            height: 100%;
            justify-content: center;
            margin: 0;
            overflow: auto;
            padding: 0;
            width: 100%;
        }

        h1 {
            font-family: Helvetica, Arial;
            text-align: center;
        }

        .arrow-key-container {
            display: inline-block;
            text-align: center;
            transform: translate3d(0, 0, 0);
        }

        .arrow-key {
            align-items: center;
            background: #ccc;
            border-radius: 6px;
            box-shadow: -1px 1px 0 #999, -2px 2px 0 #999, -3px 3px 0 #999, -4px 4px 0 #999;
            color: #fff;
            display: inline-flex;
            font-size: 30px;
            font-weight: bold;
            height: 50px;
            width: 50px;
            justify-content: center;
            margin: 5px;
            transform: translate3d(0, 0, 0);
            transition: box-shadow .1s linear, transform .1s linear;

            &:active,
            &.press {
                box-shadow: 0px 0px 0 #999, 0px 0px 0 #999, 0px 0px 0 #999, -1px 1px 0 #999;
                transform: translate3d(-3px, 3px, 0);
            }

            &.left:before {
                content: "\2190";
            }

            &.up:before {
                content: "\2191";
            }

            &.down:before {
                content: "\2193";
            }

            &.right:before {
                content: "\2192";
            }
        }

        .button-container {
            position: absolute;
            top: 70%;
            right: 5%;

        }

        .slider-container {
            position: absolute;
            top: 70%;
            left: 5%;
        }

        .slider-container2 {
            position: absolute;
            top: 35%;
            right: 5%;
            transform: rotate(270deg);
        }
    </style>
</head>

<body class="noselect" align="center" style="background-color:white">
    <div class="slider-container2">
        <p>
            Speed
        </p>
        <input type="range" min="0" max="255" value="150" class="slider speed" id="Speed"
            oninput='sendButtonInput("Speed",value)'>
        <br>
        <p>
            Flash
        </p>
        <input type="range" min="0" max="255" value="0" class="slider light" id="Light"
            oninput='sendButtonInput("Light",value)'>
    </div>
    <div class="button-container">
        <div class="arrow-key up" data-key="38" onkeydown='sendButtonInput("MoveCar","1")'
            onkeyup='sendButtonInput("MoveCar","0")' ontouchstart='sendButtonInput("MoveCar","1")'
            ontouchend='sendButtonInput("MoveCar","0")'>
        </div>
        <br>
        <div class="arrow-key left" data-key="37" onkeydown='sendButtonInput("MoveCar","3")'
            onkeyup='sendButtonInput("MoveCar","0")' ontouchstart='sendButtonInput("MoveCar","3")'
            ontouchend='sendButtonInput("MoveCar","0")'>
        </div>
        <div class="arrow-key down" data-key="40" onkeydown='sendButtonInput("MoveCar","2")'
            onkeyup='sendButtonInput("MoveCar","0")' ontouchstart='sendButtonInput("MoveCar","2")'
            ontouchend='sendButtonInput("MoveCar","0")'>
        </div>
        <div class=" arrow-key right" data-key="39" onkeydown='sendButtonInput("MoveCar","4")'
            onkeyup='sendButtonInput("MoveCar","0")' ontouchstart='sendButtonInput("MoveCar","4")'
            ontouchend='sendButtonInput("MoveCar","0")'>
        </div>
    </div>
    <img id="cameraImage" src="" style="width: 640px ; height: 360px; align-self: center; position:absolute; top:5% ">

    <script>
	window.addEventListener('keyup', arrowUp)
        window.addEventListener('keydown', arrowDown)

        function arrowDown(e) {
            const key = document.querySelector(.arrow-key[data-key="${e.keyCode}"]);
            key.classList.add('press')
        }
        function arrowUp(e) {
            const key = document.querySelector(.arrow-key[data-key="${e.keyCode}"]);
            key.classList.remove('press')
        }
      var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera";
      var webSocketCarInputUrl = "ws:\/\/" + window.location.hostname + "/CarInput";
      var websocketCamera;
      var websocketCarInput;

      function initCameraWebSocket()
      {
        websocketCamera = new WebSocket(webSocketCameraUrl);
        websocketCamera.binaryType = 'blob';
        websocketCamera.onopen    = function(event){};
        websocketCamera.onclose   = function(event){setTimeout(initCameraWebSocket, 2000);};
        websocketCamera.onmessage = function(event)
        {
          var imageId = document.getElementById("cameraImage");
          imageId.src = URL.createObjectURL(event.data);
        };
      }

      function initCarInputWebSocket()
      {
        websocketCarInput = new WebSocket(webSocketCarInputUrl);
        websocketCarInput.onopen    = function(event)
        {
          sendButtonInput("Speed", document.getElementById("Speed").value);
          sendButtonInput("Light", document.getElementById("Light").value);
        };
        websocketCarInput.onclose   = function(event){setTimeout(initCarInputWebSocket, 2000);};
        websocketCarInput.onmessage = function(event){};
      }

      function initWebSocket()
      {
        initCameraWebSocket ();
        initCarInputWebSocket();
      }

      function sendButtonInput(key, value)
      {
        var data = key + "," + value;
        websocketCarInput.send(data);
      }

      window.onload = initWebSocket;
      document.getElementById("mainTable").addEventListener("touchend", function(event){
        event.preventDefault()
      });
    </script>
  </body>
</html>
)HTMLHOMEPAGE";


void rotateMotor(int motorNumber, int motorDirection)
{
  if (motorDirection == FORWARD)
  {
    digitalWrite(motorPins[motorNumber].pinIN1, HIGH);
    digitalWrite(motorPins[motorNumber].pinIN2, LOW);
  }
  else if (motorDirection == BACKWARD)
  {
    digitalWrite(motorPins[motorNumber].pinIN1, LOW);
    digitalWrite(motorPins[motorNumber].pinIN2, HIGH);
  }
  else
  {
    digitalWrite(motorPins[motorNumber].pinIN1, LOW);
    digitalWrite(motorPins[motorNumber].pinIN2, LOW);
  }
}

void moveCar(int inputValue)
{
  Serial.printf("Got value as %d\n", inputValue);
  switch(inputValue)
  {

    case UP:
      rotateMotor(RIGHT_MOTOR, FORWARD);
      rotateMotor(LEFT_MOTOR, FORWARD);
      break;

    case DOWN:
      rotateMotor(RIGHT_MOTOR, BACKWARD);
      rotateMotor(LEFT_MOTOR, BACKWARD);
      break;

    case LEFT:
      rotateMotor(RIGHT_MOTOR, FORWARD);
      rotateMotor(LEFT_MOTOR, BACKWARD);
      break;

    case RIGHT:
      rotateMotor(RIGHT_MOTOR, BACKWARD);
      rotateMotor(LEFT_MOTOR, FORWARD);
      break;

    case STOP:
      rotateMotor(RIGHT_MOTOR, STOP);
      rotateMotor(LEFT_MOTOR, STOP);
      break;

    default:
      rotateMotor(RIGHT_MOTOR, STOP);
      rotateMotor(LEFT_MOTOR, STOP);
      break;
  }
}

const char* htmlCameraPage PROGMEM = R"=====(
<!DOCTYPE html>
<html>
<head>
    <title>Camera Feed</title>
    <style>
        body, html {
            margin: 0;
            padding: 0;
            width: 100%;
            height: 100%;
            overflow: hidden;
        }
        #cameraImage {
            width: 100%;
            height: 100%;
            object-fit: cover;
            position: absolute;
            top: 0;
            left: 0;
        }
    </style>
</head>
<body>
    <img id="cameraImage" src="">
    <script>
        var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera";
        var websocketCamera;

        function initCameraWebSocket()
        {
            websocketCamera = new WebSocket(webSocketCameraUrl);
            websocketCamera.binaryType = 'blob';
            websocketCamera.onopen    = function(event){};
            websocketCamera.onclose   = function(event){setTimeout(initCameraWebSocket, 2000);};
            websocketCamera.onmessage = function(event)
            {
                var imageId = document.getElementById("cameraImage");
                imageId.src = URL.createObjectURL(event.data);
            };
        }

        window.onload = initCameraWebSocket;
    </script>
</body>
</html>
)=====";

void handleCamera(AsyncWebServerRequest *request)
{
  request->send_P(200, "text/html", htmlCameraPage);
}


void handleRoot(AsyncWebServerRequest *request)
{
  request->send_P(200, "text/html", htmlHomePage);
}

void handleNotFound(AsyncWebServerRequest *request)
{
    request->send(404, "text/plain", "File Not Found");
}

void onCarInputWebSocketEvent(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());
      moveCar(0);
      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);
        std::istringstream ss(myData);
        std::string key, value;
        std::getline(ss, key, ',');
        std::getline(ss, value, ',');
        Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str());
        int valueInt = atoi(value.c_str());
        if (key == "MoveCar")
        {
          moveCar(valueInt);
        }
        else if (key == "Speed")
        {
          ledcWrite(PWMSpeedChannel, 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_4;
  config.ledc_timer = LEDC_TIMER_2;
  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()
{

  //Set up PWM
  ledcSetup(PWMSpeedChannel, PWMFreq, PWMResolution);
  ledcSetup(PWMLightChannel, PWMFreq, PWMResolution);

  for (int i = 0; i < motorPins.size(); i++)
  {
    pinMode(motorPins[i].pinEn, OUTPUT);
    pinMode(motorPins[i].pinIN1, OUTPUT);
    pinMode(motorPins[i].pinIN2, OUTPUT);
    /* Attach the PWM Channel to the motor enb Pin */
    ledcAttachPin(motorPins[i].pinEn, PWMSpeedChannel);
  }
  moveCar(STOP);

  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);

  server.on("/camera", HTTP_GET, handleCamera);

  wsCamera.onEvent(onCameraWebSocketEvent);
  server.addHandler(&wsCamera);

  wsCarInput.onEvent(onCarInputWebSocketEvent);
  server.addHandler(&wsCarInput);

  server.begin();
  Serial.println("HTTP server started");

  setupCamera();
}


void loop()
{
  wsCamera.cleanupClients();
  wsCarInput.cleanupClients();
  sendCameraPicture();
  Serial.printf("SPIRam Total heap %d, SPIRam Free Heap %d\n", ESP.getPsramSize(), ESP.getFreePsram());
}