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。
2026-10-05 18:22:19 +08:00
commit 4f893ce140
134 changed files with 41128 additions and 0 deletions
@@ -0,0 +1,215 @@
+#include "sdkconfig.h"
+
+#include "esp_camera_af.h"
+
+#include <string.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_timer.h"
+
+#ifndef CONFIG_CAMERA_AF_DEFAULT_TIMEOUT_MS
+#define CONFIG_CAMERA_AF_DEFAULT_TIMEOUT_MS 2000
+#endif
+
+#if defined(CONFIG_CAMERA_AF_SUPPORT) && CONFIG_CAMERA_AF_SUPPORT
+
+#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
+#include "esp32-hal-log.h"
+#define TAG ""
+#else
+#include "esp_log.h"
+#if CONFIG_LOG_DEFAULT_LEVEL > 0
+static const char *TAG = "camera_af";
+#endif
+#endif
+
+static uint32_t s_default_timeout_ms = CONFIG_CAMERA_AF_DEFAULT_TIMEOUT_MS;
+
+bool esp_camera_af_is_supported(const sensor_t *sensor)
+{
+    if (!sensor || !sensor->af_is_supported) {
+        return false;
+    }
+    return sensor->af_is_supported((sensor_t *)sensor) != 0;
+}
+
+esp_err_t esp_camera_af_init(sensor_t *sensor, const esp_camera_af_config_t *config)
+{
+    if (!sensor || !config) {
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    if (config->timeout_ms) {
+        s_default_timeout_ms = config->timeout_ms;
+    }
+
+    if (!esp_camera_af_is_supported(sensor)) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (!sensor->af_init) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    int ret = sensor->af_init(sensor, s_default_timeout_ms);
+    if (ret < 0) {
+        ESP_LOGE(TAG, "AF init failed");
+        return ESP_FAIL;
+    }
+
+    return esp_camera_af_set_mode(sensor, config->mode);
+}
+
+esp_err_t esp_camera_af_set_mode(sensor_t *sensor, esp_camera_af_mode_t mode)
+{
+    if (!sensor) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (!esp_camera_af_is_supported(sensor)) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (!sensor->af_set_mode) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    int ret = sensor->af_set_mode(sensor, (int)mode);
+    return (ret == 0) ? ESP_OK : ESP_FAIL;
+}
+
+esp_err_t esp_camera_af_trigger(sensor_t *sensor)
+{
+    if (!sensor) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (!esp_camera_af_is_supported(sensor)) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (!sensor->af_trigger) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    int ret = sensor->af_trigger(sensor);
+    return (ret == 0) ? ESP_OK : ESP_FAIL;
+}
+
+esp_err_t esp_camera_af_get_status(sensor_t *sensor, esp_camera_af_status_t *out_status)
+{
+    if (!sensor || !out_status) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (!esp_camera_af_is_supported(sensor)) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (!sensor->af_get_status) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    memset(out_status, 0, sizeof(*out_status));
+    int ret = sensor->af_get_status(sensor, &out_status->raw, &out_status->focused, &out_status->busy);
+    return (ret == 0) ? ESP_OK : ESP_FAIL;
+}
+
+esp_err_t esp_camera_af_wait(sensor_t *sensor, uint32_t timeout_ms, esp_camera_af_status_t *out_status)
+{
+    if (!sensor || !out_status) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (!esp_camera_af_is_supported(sensor)) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (!timeout_ms) {
+        timeout_ms = s_default_timeout_ms;
+    }
+
+    const uint64_t start = esp_timer_get_time();
+    while (true) {
+        esp_err_t ret = esp_camera_af_get_status(sensor, out_status);
+        if (ret != ESP_OK) {
+            return ret;
+        }
+
+        if (!out_status->busy) {
+            return ESP_OK;
+        }
+
+        if (timeout_ms && ((esp_timer_get_time() - start) / 1000ULL) > timeout_ms) {
+            return ESP_ERR_TIMEOUT;
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(5));
+    }
+}
+
+esp_err_t esp_camera_af_set_manual_position(sensor_t *sensor, uint16_t position)
+{
+    if (!sensor) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (!esp_camera_af_is_supported(sensor)) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (!sensor->af_set_manual_position) {
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    int ret = sensor->af_set_manual_position(sensor, position);
+    return (ret == 0) ? ESP_OK : ESP_FAIL;
+}
+
+#else // CONFIG_CAMERA_AF_SUPPORT
+
+bool esp_camera_af_is_supported(const sensor_t *sensor)
+{
+    (void)sensor;
+    return false;
+}
+
+esp_err_t esp_camera_af_init(sensor_t *sensor, const esp_camera_af_config_t *config)
+{
+    (void)sensor;
+    (void)config;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+esp_err_t esp_camera_af_set_mode(sensor_t *sensor, esp_camera_af_mode_t mode)
+{
+    (void)sensor;
+    (void)mode;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+esp_err_t esp_camera_af_trigger(sensor_t *sensor)
+{
+    (void)sensor;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+esp_err_t esp_camera_af_get_status(sensor_t *sensor, esp_camera_af_status_t *out_status)
+{
+    (void)sensor;
+    (void)out_status;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+esp_err_t esp_camera_af_wait(sensor_t *sensor, uint32_t timeout_ms, esp_camera_af_status_t *out_status)
+{
+    (void)sensor;
+    (void)timeout_ms;
+    (void)out_status;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+esp_err_t esp_camera_af_set_manual_position(sensor_t *sensor, uint16_t position)
+{
+    (void)sensor;
+    (void)position;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+#endif // CONFIG_CAMERA_AF_SUPPORT