#include "OV7670.
h"
#include <WebSockets.h>
#include <WebSocketsClient.h>
#include <WebSocketsServer.h>
#include <ArduinoJson.h>
#include <WiFi.h>
#include <WiFiMulti.h>
#include <WiFiClient.h>
#include "canvas_htm.h"
String header;
// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0;
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;
volatile uint8_t websock_num = 0, info_available = 0, output_ready = 0;
char info_buffer[80];
const char *ap_ssid = "DD";
const char *ap_password = "7548089146";
const char *ssid_AP_1 = "DD";
const char *pwd_AP_1 = "7548089146";
const char *ssid_AP_2 = "XXXXXXXXX";
const char *pwd_AP_2 = "xxxxxxxxx";
const char *ssid_AP_3 = "XXXXXXXXX";
const char *pwd_AP_3 = "xxxxxxxxx";
const int SIOD = 21; //SDA
const int SIOC = 22; //SCL
const int VSYNC = 34;
const int HREF = 35;
const int XCLK = 32;
const int PCLK = 33;
const int D0 = 27;
const int D1 = 26;
const int D2 = 25;
const int D3 = 15;
const int D4 = 14;
const int D5 = 13;
const int D6 = 12;
const int D7 = 4;
//const int TFT_DC = 2;
//const int TFT_CS = 5;
//DIN <- MOSI 23
//CLK <- SCK 18
#define ssid "DD"
#define password "7548089146"
//#define ssid2 ""
//#define password2 ""
OV7670 *camera;
WiFiMulti wifiMulti;
WiFiServer server(80);
unsigned char pix = 0;
//unsigned char bmpHeader[BMP::headerSize];
unsigned char start_flag = 0xAA;
unsigned char end_flag = 0xFF;
unsigned char ip_flag = 0x11;
WebSocketsServer webSocket(81); // create a websocket server on port 81
const int MA1 = 18;
const int MA2 = 19;
const int MB1 = 23;
const int MB2 = 2;
void stop() {
digitalWrite(19,LOW);
digitalWrite(18,LOW);
digitalWrite(23,LOW);
digitalWrite(2,LOW);
}
void forward() {
digitalWrite(19,HIGH);
digitalWrite(18,LOW);
digitalWrite(23,HIGH);
digitalWrite(2,LOW);
}
void backward() {
digitalWrite(19,LOW);
digitalWrite(18,HIGH);
digitalWrite(23,LOW);
digitalWrite(2,HIGH);
}
void right() {
digitalWrite(19,HIGH);
digitalWrite(18,LOW);
digitalWrite(23,LOW);
digitalWrite(2,LOW);
}
void left() {
digitalWrite(19,HIGH);
digitalWrite(18,LOW);
digitalWrite(23,HIGH);
digitalWrite(2,LOW);
}
void startWebSocket() { // Start a WebSocket server
webSocket.begin(); // start the websocket server
webSocket.onEvent(webSocketEvent); // if there's an incomming websocket
message, go to function 'webSocketEvent'
Serial.println("WebSocket server started.");
}
void startWebServer()
{
server.begin();
Serial.println("Http web server started.");
}
void serve() {
WiFiClient client = server.available();
if (client)
{
//Serial.println("New Client.");
String currentLine = "";
while (client.connected())
{
if (client.available())
{
char c = client.read();
//Serial.write(c);
if (c == '\n')
{
if (currentLine.length() == 0)
{
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
client.print(canvas_htm);
client.println();
break;
}
else
{
currentLine = "";
}
}
else if (c != '\r')
{
currentLine += c;
}
}
}
// close the connection:
client.stop();
}
}
void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t
payloadlength) { // When a WebSocket message is received
int blk_count = 0;
char canvas_VGA[] = "canvas-VGA";
char canvas_Q_VGA[] = "canvas-Q-VGA";
char canvas_QQ_VGA[] = "canvas-QQ-VGA";
char canvas_QQQ_VGA[] = "canvas-QQQ-VGA";
char ipaddr[26] ;
IPAddress localip;
switch (type) {
case WStype_DISCONNECTED: // if the websocket is disconnected
Serial.printf("[%u] Disconnected!\n", num);
break;
case WStype_CONNECTED: { // if a new websocket connection is
established
IPAddress ip = webSocket.remoteIP(num);
Serial.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0],
ip[1], ip[2], ip[3], payload);
webSocket.sendBIN(0, &ip_flag, 1);
localip = WiFi.localIP();
sprintf(ipaddr, "%d.%d.%d.%d", localip[0], localip[1], localip[2],
localip[3]);
webSocket.sendTXT(0, (const char *)ipaddr);
}
break;
case WStype_TEXT:
// if new text data is received
if (payload[0] == '{') { // check if json command was received
DynamicJsonBuffer json_input;
JsonObject& root = json_input.parseObject((const char *)payload);
const char *cmd = root["cmd"];
const int val = root["val"];
const int val2 = root["val2"];
if(val > 0)
{
Serial.println("moving forward");
forward();
//4xPWM motor control
digitalWrite(MA1, 1);
digitalWrite(MA2, 0);
} else {
Serial.println("moving backward");
backward();
digitalWrite(MA1, 0);
digitalWrite(MA2, abs(val));
}
if(val2 > 0){
Serial.println("moving right");
right();
digitalWrite(MB1, 1);
digitalWrite(MB2, 0);
} else {
Serial.println("moving left");
left();
digitalWrite(MB1, 0);
digitalWrite(MB2, abs(val2));
}
Serial.printf("Motor input received: %dL %dR\r\n", val, val2);
}
else {
Serial.println("Unknown command");
//sendMSG("INFO","ESP32: Unknown command received");
}
if (payloadlength == sizeof(canvas_QQQ_VGA)-1) {
if (memcmp(canvas_QQQ_VGA, payload, payloadlength) == 0) {
Serial.printf("canvas_QQQ_VGA");
webSocket.sendBIN(0, &end_flag, 1);
camera = new OV7670(OV7670::Mode::QQQVGA_RGB565, SIOD, SIOC, VSYNC,
HREF, XCLK, PCLK, D0, D1, D2, D3, D4, D5, D6, D7);
}
} else if (payloadlength == sizeof(canvas_QQ_VGA)-1) {
if (memcmp(canvas_QQ_VGA, payload, payloadlength) == 0) {
Serial.printf("canvas_QQ_VGA");
webSocket.sendBIN(0, &end_flag, 1);
camera = new OV7670(OV7670::Mode::QQVGA_RGB565, SIOD, SIOC, VSYNC,
HREF, XCLK, PCLK, D0, D1, D2, D3, D4, D5, D6, D7);
}
} else if (payloadlength == sizeof(canvas_Q_VGA)-1) {
if (memcmp(canvas_Q_VGA, payload, payloadlength) == 0) {
Serial.printf("canvas_Q_VGA");
webSocket.sendBIN(0, &end_flag, 1);
camera = new OV7670(OV7670::Mode::QVGA_RGB565, SIOD, SIOC, VSYNC,
HREF, XCLK, PCLK, D0, D1, D2, D3, D4, D5, D6, D7);
}
} else if (payloadlength == sizeof(canvas_VGA)-1) {
if (memcmp(canvas_VGA, payload, payloadlength) == 0) {
Serial.printf("canvas_VGA");
webSocket.sendBIN(0, &end_flag, 1);
camera = new OV7670(OV7670::Mode::VGA_RGB565, SIOD, SIOC, VSYNC,
HREF, XCLK, PCLK, D0, D1, D2, D3, D4, D5, D6, D7);
}
blk_count = camera->yres/I2SCamera::blockSlice;//30, 60, 120
for (int i=0; i<blk_count; i++) {
if (i == 0) {
camera->startBlock = 1;
camera->endBlock = I2SCamera::blockSlice;
webSocket.sendBIN(0, &start_flag, 1);
}
if (i == blk_count-1) {
webSocket.sendBIN(0, &end_flag, 1);
}
camera->oneFrame();
webSocket.sendBIN(0, camera->frame, camera->xres * I2SCamera::blockSlice
* 2);
camera->startBlock += I2SCamera::blockSlice;
camera->endBlock += I2SCamera::blockSlice;
}
break;
case WStype_ERROR: // if new text data is received
Serial.printf("Error \n");
default:
Serial.printf("WStype %x not handled \n", type);
}
}
void initWifiStation() {
WiFi.mode(WIFI_AP_STA);
WiFi.begin(ssid, password);
Serial.print("\nConnecting to WiFi");
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.print(".");
}
Serial.println(String("\nConnected to the WiFi network (") + ssid + ")" );
Serial.print("\nStation IP address: ");
Serial.println(WiFi.localIP());
void initWifiMulti()
{
wifiMulti.addAP(ssid_AP_1, pwd_AP_1);
//wifiMulti.addAP(ssid_AP_2, pwd_AP_2);
//wifiMulti.addAP(ssid_AP_3, pwd_AP_3);
Serial.println("Connecting Wifi...");
while(wifiMulti.run() != WL_CONNECTED) {
delay(1000);
Serial.print(".");
}
Serial.print("\n");
Serial.print("WiFi connected : ");
Serial.print("IP address : ");
Serial.println(WiFi.localIP());
}
void initWifiAP() {
WiFi.mode(WIFI_AP_STA);
WiFi.softAP(ap_ssid, ap_password);
IPAddress myIP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(myIP);
}
void setup() {
pinMode(19, OUTPUT);
pinMode(18, OUTPUT);
pinMode(23, OUTPUT);
pinMode(2, OUTPUT);
Serial.begin(115200);
initWifiMulti();
initWifiAP();
startWebSocket();
startWebServer();
void loop()
{
webSocket.loop();
serve();
if (info_available == 1) {
info_available = 0;
webSocket.sendTXT(websock_num, info_buffer, strlen(info_buffer));
}
WiFiClient client = server.available(); // Listen for incoming clients
if (client) { // If a new client connects,
currentTime = millis();
previousTime = currentTime;
Serial.println("New Client."); // print a message out in the serial
port
String currentLine = ""; // make a String to hold incoming data
from the client
while (client.connected() && currentTime - previousTime <= timeoutTime) {
currentTime = millis();
// loop while the client's connected
if (client.available()) { // if there's bytes to read from the
client,
char c = client.read(); // read a byte, then
Serial.write(c); // print it out the serial monitor
header += c;
if (c == '\n') { // if the byte is a newline character
// if the current line is blank, you got two newline characters in a row.
// that's the end of the client HTTP request, so send a response:
if (currentLine.length() == 0) {
// HTTP headers always start with a response code (e.g. HTTP/1.1 200
OK)
// and a content-type so the client knows what's coming, then a blank
line:
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
client.print(canvas_htm);
client.println();
// Break out of the while loop
break;
} else { // if you got a newline, then clear currentLine
currentLine = "";
}
} else if (c != '\r') { // if you got anything else but a carriage return
character,
currentLine += c; // add it to the end of the currentLine
}
}
}
}
