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。
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Horldsence
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// Copyright 2015-2025 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef _IMG_CONVERTERS_H_
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#define _IMG_CONVERTERS_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "esp_camera.h"
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#include "jpeg_decoder.h"
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typedef size_t (* jpg_out_cb)(void * arg, size_t index, const void* data, size_t len);
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/**
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* @brief Convert image buffer to JPEG
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*
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* @param src Source buffer in RGB565, RGB888, YUYV or GRAYSCALE format
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* @param src_len Length in bytes of the source buffer
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* @param width Width in pixels of the source image
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* @param height Height in pixels of the source image
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* @param format Format of the source image
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* @param quality JPEG quality of the resulting image
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* @param cp Callback to be called to write the bytes of the output JPEG
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* @param arg Pointer to be passed to the callback
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*
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* @return true on success
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*/
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bool fmt2jpg_cb(uint8_t *src, size_t src_len, uint16_t width, uint16_t height, pixformat_t format, uint8_t quality, jpg_out_cb cb, void * arg);
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/**
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* @brief Convert camera frame buffer to JPEG
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*
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* @param fb Source camera frame buffer
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* @param quality JPEG quality of the resulting image
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* @param cp Callback to be called to write the bytes of the output JPEG
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* @param arg Pointer to be passed to the callback
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*
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* @return true on success
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*/
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bool frame2jpg_cb(camera_fb_t * fb, uint8_t quality, jpg_out_cb cb, void * arg);
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/**
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* @brief Convert image buffer to JPEG buffer
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*
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* @param src Source buffer in RGB565, RGB888, YUYV or GRAYSCALE format
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* @param src_len Length in bytes of the source buffer
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* @param width Width in pixels of the source image
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* @param height Height in pixels of the source image
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* @param format Format of the source image
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* @param quality JPEG quality of the resulting image
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* @param out Pointer to be populated with the address of the resulting buffer.
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* You MUST free the pointer once you are done with it.
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* @param out_len Pointer to be populated with the length of the output buffer
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*
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* @return true on success
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*/
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bool fmt2jpg(uint8_t *src, size_t src_len, uint16_t width, uint16_t height, pixformat_t format, uint8_t quality, uint8_t ** out, size_t * out_len);
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/**
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* @brief Convert camera frame buffer to JPEG buffer
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*
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* @param fb Source camera frame buffer
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* @param quality JPEG quality of the resulting image
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* @param out Pointer to be populated with the address of the resulting buffer
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* @param out_len Pointer to be populated with the length of the output buffer
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*
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* @return true on success
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*/
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bool frame2jpg(camera_fb_t * fb, uint8_t quality, uint8_t ** out, size_t * out_len);
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/**
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* @brief Convert image buffer to BMP buffer
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*
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* @param src Source buffer in JPEG, RGB565, RGB888, YUYV or GRAYSCALE format
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* @param src_len Length in bytes of the source buffer
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* @param width Width in pixels of the source image
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* @param height Height in pixels of the source image
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* @param format Format of the source image
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* @param out Pointer to be populated with the address of the resulting buffer
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* @param out_len Pointer to be populated with the length of the output buffer
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*
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* @return true on success
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*/
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bool fmt2bmp(uint8_t *src, size_t src_len, uint16_t width, uint16_t height, pixformat_t format, uint8_t ** out, size_t * out_len);
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/**
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* @brief Convert camera frame buffer to BMP buffer
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*
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* @param fb Source camera frame buffer
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* @param out Pointer to be populated with the address of the resulting buffer
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* @param out_len Pointer to be populated with the length of the output buffer
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*
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* @return true on success
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*/
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bool frame2bmp(camera_fb_t * fb, uint8_t ** out, size_t * out_len);
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/**
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* @brief Convert image buffer to RGB888 buffer (used for face detection)
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*
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* @param src Source buffer in JPEG, RGB565, RGB888, YUYV or GRAYSCALE format
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* @param src_len Length in bytes of the source buffer
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* @param format Format of the source image
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* @param rgb_buf Pointer to the output buffer (width * height * 3)
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*
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* @return true on success
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*/
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bool fmt2rgb888(const uint8_t *src_buf, size_t src_len, pixformat_t format, uint8_t * rgb_buf);
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// Macros for backwards compatibility
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#define JPG_SCALE_NONE JPEG_IMAGE_SCALE_0
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#define JPG_SCALE_2X JPEG_IMAGE_SCALE_1_2
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#define JPG_SCALE_4X JPEG_IMAGE_SCALE_1_4
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#define JPG_SCALE_8X JPEG_IMAGE_SCALE_1_8
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#define JPG_SCALE_MAX JPEG_IMAGE_SCALE_1_8
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bool jpg2rgb565(const uint8_t *src, size_t src_len, uint8_t * out, esp_jpeg_image_scale_t scale);
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/**
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* @brief Chroma subsampling modes for JPEG encoding.
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*
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* CHROMA_444: full chroma resolution (4:4:4)
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* CHROMA_422: horizontal chroma subsampling (4:2:2)
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* CHROMA_420: horizontal and vertical subsampling (4:2:0)
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*/
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typedef enum {
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CHROMA_444 = 1,
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CHROMA_422 = 2,
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CHROMA_420 = 3
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} chroma_t;
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/**
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* @brief Set default chroma subsampling mode for JPEG encoding.
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*
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* @param chroma Chroma subsampling mode (CHROMA_444, CHROMA_422, CHROMA_420)
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*/
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void jpgSetChroma(chroma_t chroma);
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/**
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* @brief Configure RGB565 input byte order for JPEG encoding.
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*
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* Controls how RGB565 source pixel data is interpreted before JPEG conversion.
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* By default, the encoder assumes big-endian byte order (MSB first), which
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* matches most ESP32 camera and frame buffer outputs.
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*
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* @param enable True to use big-endian RGB565 (default), false for little-endian.
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*/
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void jpgSetRgb565BE(bool enable);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _IMG_CONVERTERS_H_ */
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