ESP32-S3 摄像头图传：固件 + Slint 客户端 + 共享协议
两块 ESP32-S3-WROOM-1-N16R8 图传板（DVP 接口接 OV2640/OV3660/OV5640）， 向队伍客户端与裁判终端推 UDP 图传。固件是跑在 ESP-IDF 上的 Rust，用官方 esp32-camera 组件采集；客户端是 Rust + Slint 桌面程序。 三个 crate 各自独立构建： . firmware，交叉编译到 Xtensa protocol/ 线路格式与帧重组，两端共用，无 ESP-IDF 依赖，有单元测试 client/ Slint 桌面客户端 视频走 UDP 而非 TCP：实测传感器产出 22 fps，TCP MJPEG 只送出 1.9 fps， 且只占用链路能力的 1%——链路是空的，帧堵在队头阻塞后面等一个实时画面 等不起的重传计时器。改为独立数据报、不重传、缺片丢整帧后达到 20.8 fps。 发现是双向的：板子每 2 秒广播 Hello，客户端广播 Subscribe，板子据此定向 推流。板子身份由 MAC 派生，重启不变，所以客户端可以把绑定存进配置。 裁判端同时收两块板子（每个发送方一个重组器），队伍端绑定其中一块并只显示 自己那一边的血量。装甲板接口已预留（ArmorSource trait + ARMOR_PORT）， 当前无数据源，界面显示占位符。 vendor 了 esp32-camera 2.1.7：组件注册表的版本求解器找不到它，且需要打一处 补丁（见 components/esp32-camera/target/esp32s3/ll_cam.c）。 .gitignore 三条 target/ 都锚定在根目录，因为 protocol/ 与 client/ 各自也是 独立 crate；而 components/esp32-camera/target/ 是上游的按芯片分目录，里面是 源码，必须保留。
This commit is contained in:
Horldsence
@@ -0,0 +1,628 @@
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//! ESP32 图传查看器。
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//!
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//! 两种身份，由 [`Role`] 决定：
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//!
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//! - **队伍端** —— 一块画面 + 自己那一边的血量。需要绑定一块板子（选定后不可更改）。
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//! - **裁判端** —— 两块画面左右并排 + 双方血量。不需要绑定。
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//!
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//! 用法：
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//!
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//! ```text
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//! cam-client 默认裁判端
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//! cam-client --role team --team 1 队伍一
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//! cam-client --camera-id 0x3D4D8A9A 绑定到某块板子
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//! ```
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//!
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//! 绑定与身份存在配置文件里（默认 `~/.config/cam-client/config.toml`）。首次运行
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//! 队伍端会列出发现的摄像头，选定后写入，之后不再询问。
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//!
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//! # 为什么血量是占位符
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//!
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//! 装甲板接口已经预留（[`receiver::ArmorSource`] 与 `protocol::ArmorHealth`），但
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//! 现在没有实现也没有数据源。界面显示占位符而不是 0——0 看起来像真值，现场看到会
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//! 以为对方已经没血了。
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mod config;
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mod receiver;
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use std::error::Error;
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use std::net::Ipv4Addr;
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use std::path::PathBuf;
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use std::sync::{Arc, Mutex};
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use std::time::{Duration, Instant};
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use config::{Config, Role};
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use receiver::{
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decode_frame, ArmorSource, CameraInfo, DecodedFrame, NoArmorYet, Receiver,
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SourceStats, ARMOR_BOARDS,
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};
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slint::include_modules!();
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const USAGE: &str = "\
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用法: cam-client [选项]
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--role <team|referee> 身份。默认 referee（无需配置即可看两路）
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--team <0|1> 自己属于哪一边，仅 team 端用
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--camera-id <0xID> 绑定到某块板子（MAC 派生，重启不变）
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--camera <IP> 向哪块板子发订阅（默认 255.255.255.255 广播）
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--config <路径> 配置文件位置
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--list 列出发现的摄像头后退出
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-h, --help 显示这段帮助
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";
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/// 事件循环轮询新数据的间隔。
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///
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/// 不是每帧一次：显示不需要每秒重绘 22 次，更快只是让事件循环和接收路径抢 CPU。
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const UI_POLL: Duration = Duration::from_millis(33);
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/// 帧率统计窗口。
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///
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/// 按计数除以墙钟时间，而不是对帧间隔取平均。一次轮询之间可能完成多帧，所以平均间隔
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/// 量的是**显示**的刷新快慢而不是**相机**的出帧快慢——那会把上限 22fps 的传感器
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/// 报成 36fps。一个笃定的错误数字比没有数字更糟。
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const FPS_WINDOW: Duration = Duration::from_secs(2);
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/// 某一路的显示状态。
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struct View {
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/// 显示哪块板子（`None` = 还没有画面）。
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sender_id: Option<u32>,
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fps: f32,
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window_started: Instant,
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window_frames: u64,
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reported: bool,
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}
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impl View {
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fn new() -> Self {
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Self {
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sender_id: None,
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fps: 0.0,
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window_started: Instant::now(),
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window_frames: 0,
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reported: false,
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}
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}
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/// 累计窗口内的帧数，算出帧率。
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fn update_fps(&mut self, stats: &SourceStats) {
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let window = self.window_started.elapsed();
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if window < FPS_WINDOW {
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return;
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}
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self.fps = (stats.frames_shown - self.window_frames) as f32 / window.as_secs_f32();
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self.window_frames = stats.frames_shown;
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self.window_started = Instant::now();
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}
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}
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/// 解码后的画面缓存，供事件循环取用。
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///
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/// 解码线程只处理纯数据（`Vec<u8>` + 尺寸），`slint::Image` 的构造留在事件循环，
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/// 因为 `slint::Image` 不是 `Send`。
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type DecodedSlots = Arc<Mutex<Vec<(u32, DecodedFrame)>>>;
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fn main() -> Result<(), Box<dyn Error>> {
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env_logger::Builder::from_env(env_logger::Env::default().default_filter_or("info")).init();
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let args = Args::parse(std::env::args().skip(1))?;
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if args.help {
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print!("{USAGE}");
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return Ok(());
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}
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let config_path = args.config.clone().unwrap_or_else(config::default_config_path);
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// 命令行覆盖配置文件，这样现场可以临时当另一台机器用而不用改文件。
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let mut config = Config::load(&config_path)?;
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if let Some(role) = args.role {
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config.role = role;
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}
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if let Some(team) = args.team {
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config.team = team;
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}
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if let Some(id) = args.camera_id {
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config.camera_id = Some(id);
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}
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log::info!(
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"role={} team={} camera_id={:?} config={}",
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config.role.as_str(),
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config.team,
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config.camera_id,
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config_path.display()
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);
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let rx = Arc::new(Receiver::start(
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args.camera,
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config.role.to_protocol(),
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)?);
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let discovery = rx.discovery();
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let frames = rx.frames();
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if args.list {
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// 等几个广播周期，让列表有内容。
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let socket = bind_socket()?;
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let for_list = Arc::clone(&rx);
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let handle = std::thread::spawn(move || for_list.run(socket));
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std::thread::sleep(Duration::from_secs(5));
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let cameras = discovery.online_cameras();
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if cameras.is_empty() {
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println!("没有发现摄像头。板子每 2 秒广播一次，再等等或检查网络。");
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} else {
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println!("发现 {} 块板子:", cameras.len());
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for c in cameras {
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println!(" 0x{:08X} {} (id 与 MAC 派生，重启不变)", c.id, c.addr);
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}
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}
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rx.shutdown();
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let _ = handle.join();
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return Ok(());
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}
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// 血量目前没有数据源。接口已经就位，装甲板接上后换掉这一行即可。
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let armor: Arc<dyn ArmorSource> = Arc::new(NoArmorYet);
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let decoded: DecodedSlots = Arc::new(Mutex::new(Vec::new()));
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// 接收线程。
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{
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let rx = Arc::clone(&rx);
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std::thread::Builder::new()
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.name("udp-reader".into())
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.spawn(move || {
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let Ok(socket) = bind_socket() else {
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log::error!("could not bind the socket for the receive loop");
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return;
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};
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rx.run(socket);
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})?;
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}
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// 解码线程：一张 VGA 的 JPEG 要几毫秒，放在收包线程里会挤进数据报之间，造成
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// 链路上本不存在的丢帧。
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{
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let frames = Arc::clone(&frames);
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let decoded = Arc::clone(&decoded);
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std::thread::Builder::new()
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.name("jpeg-decode".into())
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.spawn(move || {
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loop {
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if frames.pending_senders().is_empty() {
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std::thread::sleep(Duration::from_millis(5));
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continue;
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}
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for sender_id in frames.pending_senders() {
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let Some(frame) = frames.take(sender_id) else {
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continue;
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};
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match decode_frame(&frame.data) {
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Some(pixels) => {
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let mut slot = decoded.lock().expect("decoded mutex poisoned");
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// 同一路只保留最新一张，避免解码已经过时的画面。
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slot.retain(|(id, _)| *id != sender_id);
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slot.push((sender_id, pixels));
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}
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None => log::warn!(
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"frame {} from 0x{:08X} is not a decodable JPEG ({} bytes)",
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frame.frame_id,
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frame.sender_id,
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frame.data.len()
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),
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}
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}
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}
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})?;
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}
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let timer = slint::Timer::default();
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// 每个身份一个闭包，而不是一个闭包里再 match 身份。
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//
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// 两种身份是两个不同的组件类型（TeamApp / RefereeApp），没有共同的超类可以
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// 在一个闭包里统一调用 set_frame/set_frame_a。写成两个分支后每边都拿到具体
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// 类型，属性赋值直接调用，不再需要 match 身份——那种 match 会让编译器在每个
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// 赋值点都检查一遍身份，而它本来就是编译期就定死的。
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match config.role {
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Role::Team => {
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let ui = TeamApp::new()?;
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ui.show()?;
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let weak = ui.as_weak();
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let discovery = Arc::clone(&discovery);
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let decoded = Arc::clone(&decoded);
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let armor = Arc::clone(&armor);
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let config_path = config_path.clone();
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let team = config.team;
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let bound = config.camera_id;
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let mut view = View::new();
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// 绑定回调与刷新定时器都要读这份列表，所以用锁共享，而不是让其中一个
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// 把 `choices` 移走。
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let choices: Arc<Mutex<Vec<CameraChoice>>> = Arc::new(Mutex::new(Vec::new()));
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// 绑定完成时写配置。"选定不可更改"就落在这里：此后配置里已有
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// camera_id，界面不再出现选择页。
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let choices_for_pick = Arc::clone(&choices);
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let pick_handle = ui.on_pick(move |index| {
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let Ok(index) = usize::try_from(index) else {
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return;
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};
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let picked = choices_for_pick
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.lock()
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.expect("choices mutex poisoned")
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.get(index)
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.map(|c| c.id_text.to_string());
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let Some(id_text) = picked else {
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return;
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};
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let Some(id) = parse_id(&id_text).ok() else {
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log::error!("could not read back the selected id {id_text:?}");
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return;
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};
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let saved = Config {
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role: Role::Team,
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team,
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camera_id: Some(id),
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camera_addr: None,
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};
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if let Err(err) = saved.save(&config_path) {
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log::error!("could not save the binding: {err}");
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log::error!("画面仍会显示，但下次启动要重新选择");
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} else {
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log::info!("bound to camera 0x{id:08X}; saved in the config");
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}
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});
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let choices_for_poll = Arc::clone(&choices);
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timer.start(slint::TimerMode::Repeated, UI_POLL, move || {
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let Some(ui) = weak.upgrade() else {
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return;
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};
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let cameras = discovery.online_cameras();
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// 未绑定：只显示选择界面。
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let Some(bound) = bound else {
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let updated: Vec<CameraChoice> = cameras
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.iter()
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.map(|c| CameraChoice {
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id_text: format!("0x{:08X}", c.id).into(),
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addr_text: format!("{} ({:?})", c.addr, c.silence()).into(),
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online: c.is_online(),
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})
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.collect();
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*choices_for_poll.lock().expect("choices mutex poisoned") = updated.clone();
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ui.set_choices(std::rc::Rc::new(slint::VecModel::from(updated)).into());
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ui.set_choosing(true);
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return;
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};
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ui.set_choosing(false);
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if view.sender_id != Some(bound) {
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view = View::new();
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view.sender_id = Some(bound);
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}
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if let Some(image) = take_decoded(&decoded, bound) {
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ui.set_frame(image);
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}
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let stats = discovery.stats(bound);
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view.update_fps(&stats);
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if !view.reported && stats.frames_shown > 0 {
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log_diagnostics(&stats, bound);
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view.reported = true;
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}
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ui.set_stats(render_camera_stats(&cameras, bound, &stats, view.fps));
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ui.set_health(render_health(team, armor.as_ref()));
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});
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// 绑定回调必须活到窗口关闭。CallbackHandle 是 Copy，但 Drop 会注销
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// 回调，所以必须真的把它泄漏掉——之前用 `mem::forget` 编译器提示它对
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// Copy 类型无效，那确实无效：第一次点击后回调就被注销了，第二次点击
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// 什么也不会发生。
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std::boxed::Box::leak(Box::new(pick_handle));
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}
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Role::Referee => {
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let ui = RefereeApp::new()?;
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ui.show()?;
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let weak = ui.as_weak();
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let discovery = Arc::clone(&discovery);
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let decoded = Arc::clone(&decoded);
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let armor = Arc::clone(&armor);
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let mut views: Vec<View> = (0..2).map(|_| View::new()).collect();
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timer.start(slint::TimerMode::Repeated, UI_POLL, move || {
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let Some(ui) = weak.upgrade() else {
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return;
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};
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let cameras = discovery.online_cameras();
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// 两路按 id 顺序填槽。槽位保持稳定（不会因为某块板子临时离线就重新
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// 洗牌），否则画面会左右跳动。
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let ids: Vec<u32> = cameras.iter().map(|c| c.id).take(2).collect();
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for (i, view) in views.iter_mut().enumerate() {
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let wanted = ids.get(i).copied();
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if view.sender_id != wanted {
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*view = View::new();
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view.sender_id = wanted;
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}
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}
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for (i, view) in views.iter_mut().enumerate() {
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let Some(sender_id) = view.sender_id else {
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continue;
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};
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if let Some(image) = take_decoded(&decoded, sender_id) {
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if i == 0 {
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ui.set_frame_a(image);
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} else {
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ui.set_frame_b(image);
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}
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}
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let stats = discovery.stats(sender_id);
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view.update_fps(&stats);
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if !view.reported && stats.frames_shown > 0 {
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log_diagnostics(&stats, sender_id);
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view.reported = true;
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}
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|
||||
let view_stats = render_camera_stats(&cameras, sender_id, &stats, view.fps);
|
||||
|
||||
if i == 0 {
|
||||
ui.set_stats_a(view_stats);
|
||||
} else {
|
||||
ui.set_stats_b(view_stats);
|
||||
}
|
||||
}
|
||||
|
||||
ui.set_health_a(render_health(0, armor.as_ref()));
|
||||
ui.set_health_b(render_health(1, armor.as_ref()));
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
// Timer 一旦被 drop 就停止，所以要活到进程结束。
|
||||
let _timer = Box::leak(Box::new(timer));
|
||||
|
||||
slint::run_event_loop()?;
|
||||
|
||||
rx.shutdown();
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// 从解码缓存里取出某一路的最新画面。
|
||||
///
|
||||
/// 解码线程只处理纯数据，`slint::Image` 的构造留在这里——`slint::Image` 不是
|
||||
/// `Send`，跨不了线程。
|
||||
fn take_decoded(
|
||||
decoded: &DecodedSlots,
|
||||
sender_id: u32,
|
||||
) -> Option<slint::Image> {
|
||||
let mut slot = decoded.lock().expect("decoded mutex poisoned");
|
||||
|
||||
let pos = slot.iter().position(|(id, _)| *id == sender_id)?;
|
||||
let (_, pixels) = slot.remove(pos);
|
||||
|
||||
let buffer = slint::SharedPixelBuffer::<slint::Rgba8Pixel>::clone_from_slice(
|
||||
&pixels.rgba,
|
||||
pixels.width,
|
||||
pixels.height,
|
||||
);
|
||||
|
||||
Some(slint::Image::from_rgba8(buffer))
|
||||
}
|
||||
|
||||
/// 命令行参数。
|
||||
struct Args {
|
||||
role: Option<Role>,
|
||||
team: Option<u8>,
|
||||
camera_id: Option<u32>,
|
||||
camera: Ipv4Addr,
|
||||
config: Option<PathBuf>,
|
||||
list: bool,
|
||||
help: bool,
|
||||
}
|
||||
|
||||
impl Args {
|
||||
fn parse(argv: impl Iterator<Item = String>) -> Result<Self, Box<dyn Error>> {
|
||||
let mut args = Args {
|
||||
role: None,
|
||||
team: None,
|
||||
camera_id: None,
|
||||
camera: protocol::BROADCAST_ADDR,
|
||||
config: None,
|
||||
list: false,
|
||||
help: false,
|
||||
};
|
||||
|
||||
let mut it = argv.peekable();
|
||||
|
||||
while let Some(arg) = it.next() {
|
||||
match arg.as_str() {
|
||||
"-h" | "--help" => args.help = true,
|
||||
"--list" => args.list = true,
|
||||
"--role" => {
|
||||
let v = it.next().ok_or("--role needs a value")?;
|
||||
args.role =
|
||||
Some(Role::parse(&v).ok_or("role must be `team` or `referee`")?);
|
||||
}
|
||||
"--team" => {
|
||||
let v = it.next().ok_or("--team needs a value")?;
|
||||
args.team = Some(v.parse().map_err(|_| "--team must be 0 or 1")?);
|
||||
}
|
||||
"--camera-id" => {
|
||||
let v = it.next().ok_or("--camera-id needs a value")?;
|
||||
args.camera_id = Some(parse_id(&v)?);
|
||||
}
|
||||
"--camera" => {
|
||||
let v = it.next().ok_or("--camera needs a value")?;
|
||||
args.camera = v
|
||||
.parse()
|
||||
.map_err(|_| "--camera must be an IPv4 address")?;
|
||||
}
|
||||
"--config" => {
|
||||
args.config = Some(PathBuf::from(it.next().ok_or("--config needs a path")?));
|
||||
}
|
||||
other => {
|
||||
return Err(format!("unknown argument {other:?}\n\n{USAGE}").into());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Ok(args)
|
||||
}
|
||||
}
|
||||
|
||||
/// 绑定 UDP 接收 socket。
|
||||
///
|
||||
/// 固定端口（而非临时端口）是必须的：板子从订阅的**源端口**学到推流目标，而这个
|
||||
/// socket 同时承担收包。
|
||||
fn bind_socket() -> std::io::Result<std::net::UdpSocket> {
|
||||
let socket = std::net::UdpSocket::bind(std::net::SocketAddrV4::new(
|
||||
Ipv4Addr::UNSPECIFIED,
|
||||
protocol::DEFAULT_PORT,
|
||||
))?;
|
||||
socket.set_read_timeout(Some(Duration::from_millis(100)))?;
|
||||
|
||||
// 广播是发现的前提：板子靠它宣告存在，客户端靠它发起订阅。
|
||||
let _ = socket.set_broadcast(true);
|
||||
Ok(socket)
|
||||
}
|
||||
|
||||
/// 解析 `0x1A2B3C4D` 或十进制形式的板子 id。
|
||||
fn parse_id(text: &str) -> Result<u32, Box<dyn Error>> {
|
||||
let text = text.trim();
|
||||
|
||||
if let Some(hex) = text.strip_prefix("0x").or_else(|| text.strip_prefix("0X")) {
|
||||
Ok(u32::from_str_radix(hex, 16)?)
|
||||
} else {
|
||||
Ok(text.parse()?)
|
||||
}
|
||||
}
|
||||
|
||||
/// 一次性诊断，在某一路第一次出画面时记录。
|
||||
///
|
||||
/// 不再单列"无法解码"计数：那是链路正常但内容坏了的情形，会在解码线程里逐帧告警，
|
||||
/// 汇总在这里反而会把它和普通的丢帧混在一起。
|
||||
fn log_diagnostics(stats: &SourceStats, sender_id: u32) {
|
||||
log::info!(
|
||||
"camera 0x{sender_id:08X}: {} frames shown | {} dropped ({:.1}%) | \
|
||||
{} datagrams | {}x{} {} bytes",
|
||||
stats.frames_shown,
|
||||
stats.frames_dropped,
|
||||
stats.loss_percent(),
|
||||
stats.datagrams,
|
||||
stats.width,
|
||||
stats.height,
|
||||
stats.last_frame_len,
|
||||
);
|
||||
}
|
||||
|
||||
/// 把某一路的统计渲染成界面结构。
|
||||
fn render_camera_stats(
|
||||
cameras: &[CameraInfo],
|
||||
sender_id: u32,
|
||||
stats: &SourceStats,
|
||||
fps: f32,
|
||||
) -> CameraStats {
|
||||
let online = cameras
|
||||
.iter()
|
||||
.find(|c| c.id == sender_id)
|
||||
.map(CameraInfo::is_online)
|
||||
.unwrap_or(false);
|
||||
|
||||
// 从没出过画面时区分"在线但还没收到"和"离线"：前者只是刚连上，显示"等待画面"
|
||||
// 比让人以为板子挂了诚实。
|
||||
let status = if stats.frames_shown == 0 {
|
||||
if online {
|
||||
"已连接，等待画面…".to_string()
|
||||
} else {
|
||||
"离线".to_string()
|
||||
}
|
||||
} else {
|
||||
format!("0x{:08X}", sender_id)
|
||||
};
|
||||
|
||||
CameraStats {
|
||||
online,
|
||||
status_text: status.into(),
|
||||
fps: format!("{fps:.1}").into(),
|
||||
resolution: format!("{}x{}", stats.width, stats.height).into(),
|
||||
frame_bytes: format!("{:.1} kB", stats.last_frame_len as f32 / 1024.0).into(),
|
||||
frames_shown: stats.frames_shown.to_string().into(),
|
||||
frames_dropped: stats.frames_dropped.to_string().into(),
|
||||
loss_percent: format!("{:.1}%", stats.loss_percent()).into(),
|
||||
datagrams: stats.datagrams.to_string().into(),
|
||||
gap_ms: stats
|
||||
.last_interval
|
||||
.map(|d| format!("{:.0} ms", d.as_secs_f32() * 1000.0))
|
||||
.unwrap_or_else(|| "-".to_string())
|
||||
.into(),
|
||||
}
|
||||
}
|
||||
|
||||
/// 渲染一边的血量。
|
||||
///
|
||||
/// 现在永远走 `available == false` 的分支，因为还没有数据源。装甲板接上后
|
||||
/// [`ArmorSource::health`] 返回 `Some`，界面自动显示真实数值，这里不用改。
|
||||
///
|
||||
/// 没有数据时用占位符而不是 0：0 看起来像真值，现场看到会以为对方已经没血了。
|
||||
fn render_health(team: u8, armor: &dyn ArmorSource) -> TeamHealth {
|
||||
let name = match team {
|
||||
0 => "队伍一",
|
||||
_ => "队伍二",
|
||||
};
|
||||
|
||||
match armor.health(team) {
|
||||
Some(hps) => TeamHealth {
|
||||
team_name: format!("{name} · 装甲板").into(),
|
||||
available: true,
|
||||
placeholder: String::new().into(),
|
||||
hps: std::rc::Rc::new(slint::VecModel::from(
|
||||
hps.iter().map(|hp| *hp as i32).collect::<Vec<i32>>(),
|
||||
))
|
||||
.into(),
|
||||
},
|
||||
None => TeamHealth {
|
||||
team_name: name.into(),
|
||||
available: false,
|
||||
placeholder:
|
||||
"装甲板未接入：血量接口已预留（protocol::ArmorHealth），当前无数据源".into(),
|
||||
// 依然给出 4 个格子：界面用 `available` 决定颜色，所以空数组会让占位
|
||||
// 框整个消失，看起来像布局出错，而不是像"还没有数据"。
|
||||
hps: std::rc::Rc::new(slint::VecModel::from(vec![0i32; ARMOR_BOARDS])).into(),
|
||||
},
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user