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。
111 lines
3.2 KiB
Python
111 lines
3.2 KiB
Python
#!/usr/bin/env python3
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"""Minimal UDP listener for the camera stream, used to verify the firmware.
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Not the real client - just enough to confirm datagrams arrive, that they
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reassemble into a valid JPEG, and to measure the frame rate independently of
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the Slint app.
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"""
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import socket, sys, time, collections
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HOST = "192.168.1.139"
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PORT = 5600
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DURATION = float(sys.argv[1]) if len(sys.argv) > 1 else 10.0
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# Must match protocol/src/lib.rs: MAGIC, HEADER_LEN, MAX_FRAGMENT_PAYLOAD,
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# DEFAULT_PORT. Duplicated here on purpose - this is a throwaway diagnostic, and
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# making it depend on the Rust crate would defeat the point of it being an
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# independent check of the wire format.
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HEADER = 20
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MAGIC = 0x4D564331
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FRAG = 1400
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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sock.bind(("", PORT))
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# Announce ourselves, exactly as the Slint client will.
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sock.sendto(b"\x00", (HOST, PORT))
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sock.settimeout(0.5)
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frag_bytes = FRAG
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frames = {}
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stats = collections.Counter()
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sizes = []
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start = time.time()
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last_print = start
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while time.time() - start < DURATION:
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try:
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data, _ = sock.recvfrom(2048)
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except socket.timeout:
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continue
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stats["datagrams"] += 1
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if len(data) < HEADER:
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stats["short"] += 1
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continue
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magic = int.from_bytes(data[0:4], "little")
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if magic != MAGIC:
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stats["bad_magic"] += 1
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continue
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frame_id = int.from_bytes(data[4:8], "little")
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frag_index = int.from_bytes(data[8:10], "little")
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frag_count = int.from_bytes(data[10:12], "little")
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total_len = int.from_bytes(data[12:16], "little")
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width = int.from_bytes(data[16:18], "little")
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height = int.from_bytes(data[18:20], "little")
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payload = data[HEADER:]
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if frame_id not in frames:
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if frames:
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stats["superseded"] += 1
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frames[frame_id] = {
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"buf": bytearray(total_len),
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"seen": 0,
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"count": frag_count,
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"total": total_len,
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"w": width,
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"h": height,
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"t0": time.time(),
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}
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f = frames[frame_id]
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off = frag_index * frag_bytes
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if off + len(payload) <= total_len:
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f["buf"][off:off + len(payload)] = payload
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f["seen"] += 1
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else:
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stats["overflow"] += 1
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if f["seen"] >= f["count"]:
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jpeg = bytes(f["buf"])
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if jpeg[:2] == b"\xff\xd8" and jpeg[-2:] == b"\xff\xd9":
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stats["good"] += 1
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sizes.append((f["total"], f["w"], f["h"]))
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else:
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stats["corrupt"] += 1
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del frames[frame_id]
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now = time.time()
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if now - last_print >= 2.0:
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elapsed = now - last_print
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print(
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f" {stats['good']/elapsed:5.1f} fps "
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f"datagrams={stats['datagrams']:5d} "
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f"superseded={stats['superseded']:4d} corrupt={stats['corrupt']:3d} "
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f"good={stats['good']:4d}"
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)
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last_print = now
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sock.close()
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print()
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print("totals:", dict(stats))
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if sizes:
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avg = sum(s[0] for s in sizes) / len(sizes)
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print(f"avg frame: {avg:.0f} bytes, {sizes[0][1]}x{sizes[0][2]}")
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print(f"throughput: {sum(s[0] for s in sizes)/DURATION/1024:.1f} kB/s")
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