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。
105 lines
2.5 KiB
C
105 lines
2.5 KiB
C
#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include "esp_err.h"
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#include "sensor.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Auto-focus modes.
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*
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* - AUTO: sensor runs its internal AF routine (continuous, if supported).
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* - MANUAL: AF is not running automatically; user triggers focus explicitly.
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*/
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typedef enum {
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ESP_CAMERA_AF_MODE_AUTO = 0,
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ESP_CAMERA_AF_MODE_MANUAL = 1,
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} esp_camera_af_mode_t;
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/**
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* @brief Auto-focus configuration.
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*
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* Notes:
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* - Some fields are sensor-dependent (e.g., manual position control).
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* - For sensors without AF hardware/firmware support, APIs return ESP_ERR_NOT_SUPPORTED.
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*/
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typedef struct {
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esp_camera_af_mode_t mode;
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/**
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* @brief Step size for manual stepping algorithms.
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*
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* Used by software search helpers and sensors that expose manual lens control.
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*/
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uint16_t step_size;
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/**
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* @brief Inclusive focus range limits for manual stepping algorithms.
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*/
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uint16_t range_min;
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uint16_t range_max;
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/**
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* @brief Default timeout used by AF operations, in milliseconds.
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*/
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uint32_t timeout_ms;
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} esp_camera_af_config_t;
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/**
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* @brief AF status values (sensor-specific raw values).
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*/
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typedef struct {
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uint8_t raw;
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bool focused;
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bool busy;
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} esp_camera_af_status_t;
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/**
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* @brief Return whether the attached sensor supports AF through this module.
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*/
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bool esp_camera_af_is_supported(const sensor_t *sensor);
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/**
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* @brief Initialize AF support for the attached sensor.
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*/
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esp_err_t esp_camera_af_init(sensor_t *sensor, const esp_camera_af_config_t *config);
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/**
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* @brief Change AF mode.
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*/
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esp_err_t esp_camera_af_set_mode(sensor_t *sensor, esp_camera_af_mode_t mode);
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/**
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* @brief Trigger a single autofocus cycle (if supported).
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*/
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esp_err_t esp_camera_af_trigger(sensor_t *sensor);
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/**
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* @brief Read current AF status.
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*/
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esp_err_t esp_camera_af_get_status(sensor_t *sensor, esp_camera_af_status_t *out_status);
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/**
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* @brief Wait for AF to finish or report focused.
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*
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* @param timeout_ms If 0, uses config timeout passed to esp_camera_af_init().
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*/
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esp_err_t esp_camera_af_wait(sensor_t *sensor, uint32_t timeout_ms, esp_camera_af_status_t *out_status);
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/**
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* @brief Set manual lens position.
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*
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* Some sensors (including OV5640 when using internal AF firmware only) may not expose a safe
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* manual lens position register via the public driver; in those cases this returns ESP_ERR_NOT_SUPPORTED.
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*/
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esp_err_t esp_camera_af_set_manual_position(sensor_t *sensor, uint16_t position);
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#ifdef __cplusplus
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}
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#endif
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