ESP32 CAM实现Python服务器的TCP视频传输

/*
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);
}

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()