Horldsence
4f893ce140
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。
45 lines
1.4 KiB
TOML
45 lines
1.4 KiB
TOML
[package]
|
|
name = "esp32"
|
|
version = "0.1.0"
|
|
edition = "2021"
|
|
resolver = "2"
|
|
rust-version = "1.82"
|
|
|
|
[[bin]]
|
|
name = "esp32"
|
|
harness = false # no built-in test harness, keeps the generated project simple
|
|
|
|
[dependencies]
|
|
log = "0.4"
|
|
anyhow = "1"
|
|
embedded-svc = "0.29"
|
|
esp-idf-svc = "0.53"
|
|
|
|
# The UDP wire format, shared with the desktop client in client/. It is built for
|
|
# the host too (see protocol/.cargo/config.toml), which is what lets the protocol
|
|
# have unit tests: the frame assembler and the encoder are the parts most likely to
|
|
# be subtly wrong, and neither can be exercised from the firmware.
|
|
protocol = { path = "protocol" }
|
|
|
|
[build-dependencies]
|
|
embuild = "0.33.5"
|
|
|
|
# The official `esp32-camera` component is not part of ESP-IDF itself. It is
|
|
# vendored under components/esp32-camera so the build does not depend on the
|
|
# component registry, and so that one IDF v6 incompatibility can be patched -
|
|
# see the "LOCAL PATCH" comment in components/esp32-camera/target/esp32s3/ll_cam.c.
|
|
#
|
|
# `cam_wrapper` is a tiny local component (see components/cam_wrapper) that
|
|
# wraps `camera_config_t` in a union-free plain struct, which makes the Rust
|
|
# side safe to construct.
|
|
[[package.metadata.esp-idf-sys.extra_components]]
|
|
component_dirs = ["components/esp32-camera", "components/cam_wrapper"]
|
|
bindings_header = "bindings.h"
|
|
bindings_module = "camera"
|
|
|
|
[profile.release]
|
|
opt-level = "s"
|
|
|
|
[profile.dev]
|
|
debug = true
|
|
opt-level = "z" |