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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/*----------------------------------------------------------------------------/
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/ TJpgDec - Tiny JPEG Decompressor include file (C)ChaN, 2012
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/----------------------------------------------------------------------------*/
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#ifndef _TJPGDEC
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#define _TJPGDEC
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/*---------------------------------------------------------------------------*/
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/* System Configurations */
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#define JD_SZBUF 512 /* Size of stream input buffer */
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#define JD_FORMAT 0 /* Output pixel format 0:RGB888 (3 BYTE/pix), 1:RGB565 (1 WORD/pix) */
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#define JD_USE_SCALE 1 /* Use descaling feature for output */
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#define JD_TBLCLIP 1 /* Use table for saturation (might be a bit faster but increases 1K bytes of code size) */
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/*---------------------------------------------------------------------------*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* These types must be 16-bit, 32-bit or larger integer */
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typedef int INT;
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typedef unsigned int UINT;
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/* These types must be 8-bit integer */
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typedef char CHAR;
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typedef unsigned char UCHAR;
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typedef unsigned char BYTE;
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/* These types must be 16-bit integer */
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typedef short SHORT;
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typedef unsigned short USHORT;
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typedef unsigned short WORD;
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typedef unsigned short WCHAR;
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/* These types must be 32-bit integer */
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typedef long LONG;
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typedef unsigned long ULONG;
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typedef unsigned long DWORD;
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/* Error code */
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typedef enum {
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JDR_OK = 0, /* 0: Succeeded */
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JDR_INTR, /* 1: Interrupted by output function */
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JDR_INP, /* 2: Device error or wrong termination of input stream */
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JDR_MEM1, /* 3: Insufficient memory pool for the image */
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JDR_MEM2, /* 4: Insufficient stream input buffer */
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JDR_PAR, /* 5: Parameter error */
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JDR_FMT1, /* 6: Data format error (may be damaged data) */
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JDR_FMT2, /* 7: Right format but not supported */
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JDR_FMT3 /* 8: Not supported JPEG standard */
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} JRESULT;
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/* Rectangular structure */
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typedef struct {
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WORD left, right, top, bottom;
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} JRECT;
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/* Decompressor object structure */
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typedef struct JDEC JDEC;
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struct JDEC {
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UINT dctr; /* Number of bytes available in the input buffer */
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BYTE* dptr; /* Current data read ptr */
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BYTE* inbuf; /* Bit stream input buffer */
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BYTE dmsk; /* Current bit in the current read byte */
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BYTE scale; /* Output scaling ratio */
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BYTE msx, msy; /* MCU size in unit of block (width, height) */
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BYTE qtid[3]; /* Quantization table ID of each component */
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SHORT dcv[3]; /* Previous DC element of each component */
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WORD nrst; /* Restart interval */
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UINT width, height; /* Size of the input image (pixel) */
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BYTE* huffbits[2][2]; /* Huffman bit distribution tables [id][dcac] */
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WORD* huffcode[2][2]; /* Huffman code word tables [id][dcac] */
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BYTE* huffdata[2][2]; /* Huffman decoded data tables [id][dcac] */
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LONG* qttbl[4]; /* Dequaitizer tables [id] */
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void* workbuf; /* Working buffer for IDCT and RGB output */
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BYTE* mcubuf; /* Working buffer for the MCU */
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void* pool; /* Pointer to available memory pool */
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UINT sz_pool; /* Size of memory pool (bytes available) */
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UINT (*infunc)(JDEC*, BYTE*, UINT);/* Pointer to jpeg stream input function */
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void* device; /* Pointer to I/O device identifier for the session */
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};
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/* TJpgDec API functions */
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JRESULT jd_prepare (JDEC*, UINT(*)(JDEC*,BYTE*,UINT), void*, UINT, void*);
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JRESULT jd_decomp (JDEC*, UINT(*)(JDEC*,void*,JRECT*), BYTE);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _TJPGDEC */
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