Compilation error: 'httpd_req_t' was not declared in this scope

[5ssnw]

arduino coding

include "esp_camera.h"

include "camera_index.h"

include "Arduino.h"

include "fd_forward.h"

include "fr_forward.h"

include "fr_flash.h"

include

include

const char ssid = "gt-r"; const char password = "123456789";

define ENROLL_CONFIRM_TIMES 5

define FACE_ID_SAVE_NUMBER 7

define CAMERA_MODEL_AI_THINKER // Has PSRAM

include "camera_pins.h"

using namespace websockets; WebsocketsServer socket_server;

camera_fb_t * fb = NULL;

long current_millis; long last_detected_millis = 0;

define relay_pin 2 // pin 12 can also be used

unsigned long door_opened_millis = 0; long interval = 5000; // open lock for ... milliseconds bool face_recognised = false;

void app_facenet_main(); void app_httpserver_init();

typedef struct { uint8_t image; box_array_t net_boxes; dl_matrix3d_t *face_id; } http_img_process_result;

static inline mtmn_config_t app_mtmn_config() { mtmn_config_t mtmn_config = {0}; mtmn_config.type = FAST; mtmn_config.min_face = 80; mtmn_config.pyramid = 0.707; mtmn_config.pyramid_times = 4; mtmn_config.p_threshold.score = 0.6; mtmn_config.p_threshold.nms = 0.7; mtmn_config.p_threshold.candidate_number = 20; mtmn_config.r_threshold.score = 0.7; mtmn_config.r_threshold.nms = 0.7; mtmn_config.r_threshold.candidate_number = 10; mtmn_config.o_threshold.score = 0.7; mtmn_config.o_threshold.nms = 0.7; mtmn_config.o_threshold.candidate_number = 1; return mtmn_config; } mtmn_config_t mtmn_config = app_mtmn_config();

face_id_name_list st_face_list; static dl_matrix3du_t *aligned_face = NULL;

httpd_handle_t camera_httpd = NULL;

typedef enum { START_STREAM, START_DETECT, SHOW_FACES, START_RECOGNITION, START_ENROLL, ENROLL_COMPLETE, DELETE_ALL, } en_fsm_state; en_fsm_state g_state;

typedef struct { char enroll_name[ENROLL_NAME_LEN]; } httpd_resp_value;

httpd_resp_value st_name;

void setup() { Serial.begin(115200); Serial.setDebugOutput(true); Serial.println();

digitalWrite(relay_pin, LOW); pinMode(relay_pin, OUTPUT);

camera_config_t config; config.ledc_channel = LEDC_CHANNEL_0; config.ledc_timer = LEDC_TIMER_0; config.pin_d0 = Y2_GPIO_NUM; config.pin_d1 = Y3_GPIO_NUM; config.pin_d2 = Y4_GPIO_NUM; config.pin_d3 = Y5_GPIO_NUM; config.pin_d4 = Y6_GPIO_NUM; config.pin_d5 = Y7_GPIO_NUM; config.pin_d6 = Y8_GPIO_NUM; config.pin_d7 = Y9_GPIO_NUM; config.pin_xclk = XCLK_GPIO_NUM; config.pin_pclk = PCLK_GPIO_NUM; config.pin_vsync = VSYNC_GPIO_NUM; config.pin_href = HREF_GPIO_NUM; config.pin_sscb_sda = SIOD_GPIO_NUM; config.pin_sscb_scl = SIOC_GPIO_NUM; config.pin_pwdn = PWDN_GPIO_NUM; config.pin_reset = RESET_GPIO_NUM; config.xclk_freq_hz = 20000000; config.pixel_format = PIXFORMAT_JPEG; //init with high specs to pre-allocate larger buffers if (psramFound()) { config.frame_size = FRAMESIZE_UXGA; config.jpeg_quality = 10; config.fb_count = 2; } else { config.frame_size = FRAMESIZE_SVGA; config.jpeg_quality = 12; config.fb_count = 1; }

if defined(CAMERA_MODEL_ESP_EYE)

pinMode(13, INPUT_PULLUP); pinMode(14, INPUT_PULLUP);

endif

// camera init esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed with error 0x%x", err); return; }

sensor_t * s = esp_camera_sensor_get(); s->set_framesize(s, FRAMESIZE_QVGA);

if defined(CAMERA_MODEL_M5STACK_WIDE)

s->set_vflip(s, 1); s->set_hmirror(s, 1);

endif

WiFi.begin(ssid, password); while (WiFi.status() != WL_CONNECTED) { delay(500); Serial.print("."); } Serial.println(""); Serial.println("WiFi connected");

app_httpserver_init(); app_facenet_main(); socket_server.listen(82);

Serial.print("Camera Ready! Use 'http://"); Serial.print(WiFi.localIP()); Serial.println("' to connect"); }

static esp_err_t index_handler(httpd_req_t req) { httpd_resp_set_type(req, "text/html"); httpd_resp_set_hdr(req, "Content-Encoding", "gzip"); return httpd_resp_send(req, (const char )index_ov2640_html_gz, index_ov2640_html_gz_len); }

httpd_uri_t index_uri = { .uri = "/", .method = HTTP_GET, .handler = index_handler, .user_ctx = NULL };

void app_httpserver_init () { httpd_config_t config = HTTPD_DEFAULT_CONFIG(); if (httpd_start(&camera_httpd, &config) == ESP_OK) Serial.println("httpd_start"); { httpd_register_uri_handler(camera_httpd, &index_uri); } }

void app_facenet_main() { face_id_name_init(&st_face_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES); aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3); read_face_id_from_flash_with_name(&st_face_list); }

static inline int do_enrollment(face_id_name_list face_list, dl_matrix3d_t new_id) { ESP_LOGD(TAG, "START ENROLLING"); int left_sample_face = enroll_face_id_to_flash_with_name(face_list, new_id, st_name.enroll_name); ESP_LOGD(TAG, "Face ID %s Enrollment: Sample %d", st_name.enroll_name, ENROLL_CONFIRM_TIMES - left_sample_face); return left_sample_face; }

static esp_err_t send_face_list(WebsocketsClient &client) { client.send("delete_faces"); // tell browser to delete all faces face_id_node *head = st_face_list.head; char add_face[64]; for (int i = 0; i < st_face_list.count; i++) // loop current faces { sprintf(add_face, "listface:%s", head->id_name); client.send(add_face); //send face to browser head = head->next; } }

static esp_err_t delete_all_faces(WebsocketsClient &client) { delete_face_all_in_flash_with_name(&st_face_list); client.send("delete_faces"); }

void handle_message(WebsocketsClient &client, WebsocketsMessage msg) { if (msg.data() == "stream") { g_state = START_STREAM; client.send("STREAMING"); } if (msg.data() == "detect") { g_state = START_DETECT; client.send("DETECTING"); } if (msg.data().substring(0, 8) == "capture:") { g_state = START_ENROLL; char person[FACE_ID_SAVE_NUMBER ENROLL_NAME_LEN] = {0,}; msg.data().substring(8).toCharArray(person, sizeof(person)); memcpy(st_name.enroll_name, person, strlen(person) + 1); client.send("CAPTURING"); } if (msg.data() == "recognise") { g_state = START_RECOGNITION; client.send("RECOGNISING"); } if (msg.data().substring(0, 7) == "remove:") { char person[ENROLL_NAME_LEN FACE_ID_SAVE_NUMBER]; msg.data().substring(7).toCharArray(person, sizeof(person)); delete_face_id_in_flash_with_name(&st_face_list, person); send_face_list(client); // reset faces in the browser } if (msg.data() == "delete_all") { delete_all_faces(client); } }

void open_door(WebsocketsClient &client) { if (digitalRead(relay_pin) == LOW) { digitalWrite(relay_pin, HIGH); //close (energise) relay so door unlocks Serial.println("Door Unlocked"); client.send("door_open"); door_opened_millis = millis(); // time relay closed and door opened } }

void loop() { auto client = socket_server.accept(); client.onMessage(handle_message); dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, 320, 240, 3); http_img_process_result out_res = {0}; out_res.image = image_matrix->item;

send_face_list(client); client.send("STREAMING");

while (client.available()) { client.poll();

if (millis() - interval > door_opened_millis) { // current time - face recognised time > 5 secs
  digitalWrite(relay_pin, LOW); //open relay
}

fb = esp_camera_fb_get();

if (g_state == START_DETECT || g_state == START_ENROLL || g_state == START_RECOGNITION)
{
  out_res.net_boxes = NULL;
  out_res.face_id = NULL;

  fmt2rgb888(fb->buf, fb->len, fb->format, out_res.image);

  out_res.net_boxes = face_detect(image_matrix, &mtmn_config);

  if (out_res.net_boxes)
  {
    if (align_face(out_res.net_boxes, image_matrix, aligned_face) == ESP_OK)
    {

      out_res.face_id = get_face_id(aligned_face);
      last_detected_millis = millis();
      if (g_state == START_DETECT) {
        client.send("FACE DETECTED");
      }

      if (g_state == START_ENROLL)
      {
        int left_sample_face = do_enrollment(&st_face_list, out_res.face_id);
        char enrolling_message[64];
        sprintf(enrolling_message, "SAMPLE NUMBER %d FOR %s", ENROLL_CONFIRM_TIMES - left_sample_face, st_name.enroll_name);
        client.send(enrolling_message);
        if (left_sample_face == 0)
        {
          ESP_LOGI(TAG, "Enrolled Face ID: %s", st_face_list.tail->id_name);
          g_state = START_STREAM;
          char captured_message[64];
          sprintf(captured_message, "FACE CAPTURED FOR %s", st_face_list.tail->id_name);
          client.send(captured_message);
          send_face_list(client);

        }
      }

      if (g_state == START_RECOGNITION  && (st_face_list.count > 0))
      {
        face_id_node *f = recognize_face_with_name(&st_face_list, out_res.face_id);
        if (f)
        {
          char recognised_message[64];
          sprintf(recognised_message, "DOOR OPEN FOR %s", f->id_name);
          open_door(client);
          client.send(recognised_message);
        }
        else
        {
          client.send("FACE NOT RECOGNISED");
        }
      }
      dl_matrix3d_free(out_res.face_id);
    }

  }
  else
  {
    if (g_state != START_DETECT) {
      client.send("NO FACE DETECTED");
    }
  }

  if (g_state == START_DETECT && millis() - last_detected_millis > 500) { // Detecting but no face detected
    client.send("DETECTING");
  }

}

client.sendBinary((const char *)fb->buf, fb->len);

esp_camera_fb_return(fb);
fb = NULL;

} }

app_htppd.cpp

include "esp_http_server.h"

include "esp_timer.h"

include "esp_camera.h"

include "img_converters.h"

include "camera_index.h"

include "Arduino.h"

include "fb_gfx.h"

include "fd_forward.h"

include "fr_forward.h"

define ENROLL_CONFIRM_TIMES 5

define FACE_ID_SAVE_NUMBER 7

define FACE_COLOR_WHITE 0x00FFFFFF

define FACE_COLOR_BLACK 0x00000000

define FACE_COLOR_RED 0x000000FF

define FACE_COLOR_GREEN 0x0000FF00

define FACE_COLOR_BLUE 0x00FF0000

define FACE_COLOR_YELLOW (FACE_COLOR_RED | FACE_COLOR_GREEN)

define FACE_COLOR_CYAN (FACE_COLOR_BLUE | FACE_COLOR_GREEN)

define FACE_COLOR_PURPLE (FACE_COLOR_BLUE | FACE_COLOR_RED)

typedef struct { size_t size; //number of values used for filtering size_t index; //current value index size_t count; //value count int sum; int * values; //array to be filled with values } ra_filter_t;

typedef struct { httpd_req_t *req; size_t len; } jpg_chunking_t;

define PART_BOUNDARY "123456789000000000000987654321"

static const char _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; static const char _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n"; static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

static ra_filter_t ra_filter; httpd_handle_t stream_httpd = NULL; httpd_handle_t camera_httpd = NULL;

static mtmn_config_t mtmn_config = {0}; static int8_t detection_enabled = 0; static int8_t recognition_enabled = 0; static int8_t is_enrolling = 0; static face_id_list id_list = {0};

static ra_filter_t ra_filter_init(ra_filter_t filter, size_t sample_size){ memset(filter, 0, sizeof(ra_filter_t));

filter->values = (int *)malloc(sample_size * sizeof(int));
if(!filter->values){
    return NULL;
}
memset(filter->values, 0, sample_size * sizeof(int));

filter->size = sample_size;
return filter;

}

static int ra_filter_run(ra_filter_t * filter, int value){ if(!filter->values){ return value; } filter->sum -= filter->values[filter->index]; filter->values[filter->index] = value; filter->sum += filter->values[filter->index]; filter->index++; filter->index = filter->index % filter->size; if (filter->count < filter->size) { filter->count++; } return filter->sum / filter->count; }

static void rgb_print(dl_matrix3du_t image_matrix, uint32_t color, const char str){ fb_data_t fb; fb.width = image_matrix->w; fb.height = image_matrix->h; fb.data = image_matrix->item; fb.bytes_per_pixel = 3; fb.format = FB_BGR888; fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str); }

static int rgb_printf(dl_matrix3du_t image_matrix, uint32_t color, const char format, ...){ char loc_buf[64]; char temp = loc_buf; int len; va_list arg; va_list copy; va_start(arg, format); va_copy(copy, arg); len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg); va_end(copy); if(len >= sizeof(loc_buf)){ temp = (char)malloc(len+1); if(temp == NULL) { return 0; } } vsnprintf(temp, len+1, format, arg); va_end(arg); rgb_print(image_matrix, color, temp); if(len > 64){ free(temp); } return len; }

static void draw_face_boxes(dl_matrix3du_t image_matrix, box_array_t boxes, int face_id){ int x, y, w, h, i; uint32_t color = FACE_COLOR_YELLOW; if(face_id < 0){ color = FACE_COLOR_RED; } else if(face_id > 0){ color = FACE_COLOR_GREEN; } fb_data_t fb; fb.width = image_matrix->w; fb.height = image_matrix->h; fb.data = image_matrix->item; fb.bytes_per_pixel = 3; fb.format = FB_BGR888; for (i = 0; i < boxes->len; i++){ // rectangle box x = (int)boxes->box[i].box_p[0]; y = (int)boxes->box[i].box_p[1]; w = (int)boxes->box[i].box_p[2] - x + 1; h = (int)boxes->box[i].box_p[3] - y + 1; fb_gfx_drawFastHLine(&fb, x, y, w, color); fb_gfx_drawFastHLine(&fb, x, y+h-1, w, color); fb_gfx_drawFastVLine(&fb, x, y, h, color); fb_gfx_drawFastVLine(&fb, x+w-1, y, h, color);

if 0

    // landmark
    int x0, y0, j;
    for (j = 0; j < 10; j+=2) {
        x0 = (int)boxes->landmark[i].landmark_p[j];
        y0 = (int)boxes->landmark[i].landmark_p[j+1];
        fb_gfx_fillRect(&fb, x0, y0, 3, 3, color);
    }

endif

}

}

static int run_face_recognition(dl_matrix3du_t image_matrix, box_array_t net_boxes){ dl_matrix3du_t *aligned_face = NULL; int matched_id = 0;

aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3);
if(!aligned_face){
    Serial.println("Could not allocate face recognition buffer");
    return matched_id;
}
if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK){
    if (is_enrolling == 1){
        int8_t left_sample_face = enroll_face(&id_list, aligned_face);

        if(left_sample_face == (ENROLL_CONFIRM_TIMES - 1)){
            Serial.printf("Enrolling Face ID: %d\n", id_list.tail);
        }
        Serial.printf("Enrolling Face ID: %d sample %d\n", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
        rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face);
        if (left_sample_face == 0){
            is_enrolling = 0;
            Serial.printf("Enrolled Face ID: %d\n", id_list.tail);
        }
    } else {
        matched_id = recognize_face(&id_list, aligned_face);
        if (matched_id >= 0) {
            Serial.printf("Match Face ID: %u\n", matched_id);
            rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u", matched_id);
        } else {
            Serial.println("No Match Found");
            rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!");
            matched_id = -1;
        }
    }
} else {
    Serial.println("Face Not Aligned");
    //rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected");
}

dl_matrix3du_free(aligned_face);
return matched_id;

}

static size_t jpg_encode_stream(void arg, size_t index, const void data, size_t len){ jpg_chunking_t j = (jpg_chunking_t )arg; if(!index){ j->len = 0; } if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){ return 0; } j->len += len; return len; }

static esp_err_t capture_handler(httpd_req_t req){ camera_fb_t fb = NULL; esp_err_t res = ESP_OK; int64_t fr_start = esp_timer_get_time();

fb = esp_camera_fb_get();
if (!fb) {
    Serial.println("Camera capture failed");
    httpd_resp_send_500(req);
    return ESP_FAIL;
}

httpd_resp_set_type(req, "image/jpeg");
httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

size_t out_len, out_width, out_height;
uint8_t * out_buf;
bool s;
bool detected = false;
int face_id = 0;
if(!detection_enabled || fb->width > 400){
    size_t fb_len = 0;
    if(fb->format == PIXFORMAT_JPEG){
        fb_len = fb->len;
        res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
    } else {
        jpg_chunking_t jchunk = {req, 0};
        res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
        httpd_resp_send_chunk(req, NULL, 0);
        fb_len = jchunk.len;
    }
    esp_camera_fb_return(fb);
    int64_t fr_end = esp_timer_get_time();
    Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}

dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
if (!image_matrix) {
    esp_camera_fb_return(fb);
    Serial.println("dl_matrix3du_alloc failed");
    httpd_resp_send_500(req);
    return ESP_FAIL;
}

out_buf = image_matrix->item;
out_len = fb->width * fb->height * 3;
out_width = fb->width;
out_height = fb->height;

s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
esp_camera_fb_return(fb);
if(!s){
    dl_matrix3du_free(image_matrix);
    Serial.println("to rgb888 failed");
    httpd_resp_send_500(req);
    return ESP_FAIL;
}

box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);

if (net_boxes){
    detected = true;
    if(recognition_enabled){
        face_id = run_face_recognition(image_matrix, net_boxes);
    }
    draw_face_boxes(image_matrix, net_boxes, face_id);
    free(net_boxes->score);
    free(net_boxes->box);
    free(net_boxes->landmark);
    free(net_boxes);
}

jpg_chunking_t jchunk = {req, 0};
s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
dl_matrix3du_free(image_matrix);
if(!s){
    Serial.println("JPEG compression failed");
    return ESP_FAIL;
}

int64_t fr_end = esp_timer_get_time();
Serial.printf("FACE: %uB %ums %s%d\n", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start)/1000), detected?"DETECTED ":"", face_id);
return res;

}

static esp_err_t stream_handler(httpd_req_t req){ camera_fb_t fb = NULL; esp_err_t res = ESP_OK; size_t _jpg_buf_len = 0; uint8_t _jpg_buf = NULL; char part_buf[64]; dl_matrix3du_t *image_matrix = NULL; bool detected = false; int face_id = 0; int64_t fr_start = 0; int64_t fr_ready = 0; int64_t fr_face = 0; int64_t fr_recognize = 0; int64_t fr_encode = 0;

static int64_t last_frame = 0;
if(!last_frame) {
    last_frame = esp_timer_get_time();
}

res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
if(res != ESP_OK){
    return res;
}

httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

while(true){
    detected = false;
    face_id = 0;
    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.println("Camera capture failed");
        res = ESP_FAIL;
    } else {
        fr_start = esp_timer_get_time();
        fr_ready = fr_start;
        fr_face = fr_start;
        fr_encode = fr_start;
        fr_recognize = fr_start;
        if(!detection_enabled || fb->width > 400){
            if(fb->format != PIXFORMAT_JPEG){
                bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
                esp_camera_fb_return(fb);
                fb = NULL;
                if(!jpeg_converted){
                    Serial.println("JPEG compression failed");
                    res = ESP_FAIL;
                }
            } else {
                _jpg_buf_len = fb->len;
                _jpg_buf = fb->buf;
            }
        } else {

            image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);

            if (!image_matrix) {
                Serial.println("dl_matrix3du_alloc failed");
                res = ESP_FAIL;
            } else {
                if(!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item)){
                    Serial.println("fmt2rgb888 failed");
                    res = ESP_FAIL;
                } else {
                    fr_ready = esp_timer_get_time();
                    box_array_t *net_boxes = NULL;
                    if(detection_enabled){
                        net_boxes = face_detect(image_matrix, &mtmn_config);
                    }
                    fr_face = esp_timer_get_time();
                    fr_recognize = fr_face;
                    if (net_boxes || fb->format != PIXFORMAT_JPEG){
                        if(net_boxes){
                            detected = true;
                            if(recognition_enabled){
                                face_id = run_face_recognition(image_matrix, net_boxes);
                            }
                            fr_recognize = esp_timer_get_time();
                            draw_face_boxes(image_matrix, net_boxes, face_id);
                            free(net_boxes->score);
                            free(net_boxes->box);
                            free(net_boxes->landmark);
                            free(net_boxes);
                        }
                        if(!fmt2jpg(image_matrix->item, fb->width*fb->height*3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len)){
                            Serial.println("fmt2jpg failed");
                            res = ESP_FAIL;
                        }
                        esp_camera_fb_return(fb);
                        fb = NULL;
                    } else {
                        _jpg_buf = fb->buf;
                        _jpg_buf_len = fb->len;
                    }
                    fr_encode = esp_timer_get_time();
                }
                dl_matrix3du_free(image_matrix);
            }
        }
    }
    if(res == ESP_OK){
        res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
    }
    if(res == ESP_OK){
        size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
        res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
    }
    if(res == ESP_OK){
        res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
    }
    if(fb){
        esp_camera_fb_return(fb);
        fb = NULL;
        _jpg_buf = NULL;
    } else if(_jpg_buf){
        free(_jpg_buf);
        _jpg_buf = NULL;
    }
    if(res != ESP_OK){
        break;
    }
    int64_t fr_end = esp_timer_get_time();

    int64_t ready_time = (fr_ready - fr_start)/1000;
    int64_t face_time = (fr_face - fr_ready)/1000;
    int64_t recognize_time = (fr_recognize - fr_face)/1000;
    int64_t encode_time = (fr_encode - fr_recognize)/1000;
    int64_t process_time = (fr_encode - fr_start)/1000;

    int64_t frame_time = fr_end - last_frame;
    last_frame = fr_end;
    frame_time /= 1000;
    uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
    Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps), %u+%u+%u+%u=%u %s%d\n",
        (uint32_t)(_jpg_buf_len),
        (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
        avg_frame_time, 1000.0 / avg_frame_time,
        (uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time,
        (detected)?"DETECTED ":"", face_id
    );
}

last_frame = 0;
return res;

}

static esp_err_t cmd_handler(httpd_req_t req){ char buf; size_t buf_len; char variable[32] = {0,}; char value[32] = {0,};

buf_len = httpd_req_get_url_query_len(req) + 1;
if (buf_len > 1) {
    buf = (char*)malloc(buf_len);
    if(!buf){
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }
    if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
        if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
            httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
        } else {
            free(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
    } else {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }
    free(buf);
} else {
    httpd_resp_send_404(req);
    return ESP_FAIL;
}

int val = atoi(value);
sensor_t * s = esp_camera_sensor_get();
int res = 0;

if(!strcmp(variable, "framesize")) {
    if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);
}
else if(!strcmp(variable, "quality")) res = s->set_quality(s, val);
else if(!strcmp(variable, "contrast")) res = s->set_contrast(s, val);
else if(!strcmp(variable, "brightness")) res = s->set_brightness(s, val);
else if(!strcmp(variable, "saturation")) res = s->set_saturation(s, val);
else if(!strcmp(variable, "gainceiling")) res = s->set_gainceiling(s, (gainceiling_t)val);
else if(!strcmp(variable, "colorbar")) res = s->set_colorbar(s, val);
else if(!strcmp(variable, "awb")) res = s->set_whitebal(s, val);
else if(!strcmp(variable, "agc")) res = s->set_gain_ctrl(s, val);
else if(!strcmp(variable, "aec")) res = s->set_exposure_ctrl(s, val);
else if(!strcmp(variable, "hmirror")) res = s->set_hmirror(s, val);
else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val);
else if(!strcmp(variable, "awb_gain")) res = s->set_awb_gain(s, val);
else if(!strcmp(variable, "agc_gain")) res = s->set_agc_gain(s, val);
else if(!strcmp(variable, "aec_value")) res = s->set_aec_value(s, val);
else if(!strcmp(variable, "aec2")) res = s->set_aec2(s, val);
else if(!strcmp(variable, "dcw")) res = s->set_dcw(s, val);
else if(!strcmp(variable, "bpc")) res = s->set_bpc(s, val);
else if(!strcmp(variable, "wpc")) res = s->set_wpc(s, val);
else if(!strcmp(variable, "raw_gma")) res = s->set_raw_gma(s, val);
else if(!strcmp(variable, "lenc")) res = s->set_lenc(s, val);
else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val);
else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val);
else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val);
else if(!strcmp(variable, "face_detect")) {
    detection_enabled = val;
    if(!detection_enabled) {
        recognition_enabled = 0;
    }
}
else if(!strcmp(variable, "face_enroll")) is_enrolling = val;
else if(!strcmp(variable, "face_recognize")) {
    recognition_enabled = val;
    if(recognition_enabled){
        detection_enabled = val;
    }
}
else {
    res = -1;
}

if(res){
    return httpd_resp_send_500(req);
}

httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
return httpd_resp_send(req, NULL, 0);

}

static esp_err_t status_handler(httpd_req_t *req){ static char json_response[1024];

sensor_t * s = esp_camera_sensor_get();
char * p = json_response;
*p++ = '{';

p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);
p+=sprintf(p, "\"quality\":%u,", s->status.quality);
p+=sprintf(p, "\"brightness\":%d,", s->status.brightness);
p+=sprintf(p, "\"contrast\":%d,", s->status.contrast);
p+=sprintf(p, "\"saturation\":%d,", s->status.saturation);
p+=sprintf(p, "\"sharpness\":%d,", s->status.sharpness);
p+=sprintf(p, "\"special_effect\":%u,", s->status.special_effect);
p+=sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);
p+=sprintf(p, "\"awb\":%u,", s->status.awb);
p+=sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);
p+=sprintf(p, "\"aec\":%u,", s->status.aec);
p+=sprintf(p, "\"aec2\":%u,", s->status.aec2);
p+=sprintf(p, "\"ae_level\":%d,", s->status.ae_level);
p+=sprintf(p, "\"aec_value\":%u,", s->status.aec_value);
p+=sprintf(p, "\"agc\":%u,", s->status.agc);
p+=sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);
p+=sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);
p+=sprintf(p, "\"bpc\":%u,", s->status.bpc);
p+=sprintf(p, "\"wpc\":%u,", s->status.wpc);
p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
p+=sprintf(p, "\"lenc\":%u,", s->status.lenc);
p+=sprintf(p, "\"vflip\":%u,", s->status.vflip);
p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
p+=sprintf(p, "\"dcw\":%u,", s->status.dcw);
p+=sprintf(p, "\"colorbar\":%u,", s->status.colorbar);
p+=sprintf(p, "\"face_detect\":%u,", detection_enabled);
p+=sprintf(p, "\"face_enroll\":%u,", is_enrolling);
p+=sprintf(p, "\"face_recognize\":%u", recognition_enabled);
*p++ = '}';
*p++ = 0;
httpd_resp_set_type(req, "application/json");
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
return httpd_resp_send(req, json_response, strlen(json_response));

}

static esp_err_t index_handler(httpd_req_t req){ httpd_resp_set_type(req, "text/html"); httpd_resp_set_hdr(req, "Content-Encoding", "gzip"); sensor_t s = esp_camera_sensor_get(); if (s->id.PID == OV3660_PID) { return httpd_resp_send(req, (const char )index_ov2640_html_gz_len, index_ov2640_html_gz_len); } return httpd_resp_send(req, (const char )index_ov2640_html_gz, index_ov2640_html_gz_len); }

static esp_err_t gpio12On_handler(httpd_req_t *req){ Serial.println("ON, 12.port HIGH"); digitalWrite(12, HIGH); return httpd_resp_send(req, NULL, 0); }

static esp_err_t gpio12Off_handler(httpd_req_t *req){ Serial.println("OFF, 12.port LOW"); digitalWrite(12, LOW); return httpd_resp_send(req, NULL, 0); }

static esp_err_t gpio13On_handler(httpd_req_t *req){ Serial.println("ON, 13.port HIGH"); digitalWrite(13, HIGH); return httpd_resp_send(req, NULL, 0); }

static esp_err_t gpio13Off_handler(httpd_req_t *req){ Serial.println("OF, 13.port LOW"); digitalWrite(13, LOW); return httpd_resp_send(req, NULL, 0); }

void startCameraServer(){ httpd_config_t config = HTTPD_DEFAULT_CONFIG();

httpd_uri_t index_uri = {
    .uri       = "/",
    .method    = HTTP_GET,
    .handler   = index_handler,
    .user_ctx  = NULL
};

httpd_uri_t status_uri = {
    .uri       = "/status",
    .method    = HTTP_GET,
    .handler   = status_handler,
    .user_ctx  = NULL
};

httpd_uri_t cmd_uri = {
    .uri       = "/control",
    .method    = HTTP_GET,
    .handler   = cmd_handler,
    .user_ctx  = NULL
};

httpd_uri_t capture_uri = {
    .uri       = "/capture",
    .method    = HTTP_GET,
    .handler   = capture_handler,
    .user_ctx  = NULL
};

httpd_uri_t stream_uri = { .uri = "/stream", .method = HTTP_GET, .handler = stream_handler, .user_ctx = NULL };

httpd_uri_t gpio12On_uri = {
    .uri = "/gpio12On",
    .method = HTTP_GET,
    .handler = gpio12On_handler,
    .user_ctx = NULL
};

httpd_uri_t gpio12Off_uri = {
    .uri = "/gpio12Off",
    .method = HTTP_GET,
    .handler = gpio12Off_handler,
    .user_ctx = NULL
};

httpd_uri_t gpio13On_uri = {
    .uri = "/gpio13On",
    .method = HTTP_GET,
    .handler = gpio13On_handler,
    .user_ctx = NULL
};

httpd_uri_t gpio13Off_uri = {
    .uri = "/gpio13Off",
    .method = HTTP_GET,
    .handler = gpio13Off_handler,
    .user_ctx = NULL
};
ra_filter_init(&ra_filter, 20);

mtmn_config.type = FAST;
mtmn_config.min_face = 80;
mtmn_config.pyramid = 0.707;
mtmn_config.pyramid_times = 4;
mtmn_config.p_threshold.score = 0.6;
mtmn_config.p_threshold.nms = 0.7;
mtmn_config.p_threshold.candidate_number = 20;
mtmn_config.r_threshold.score = 0.7;
mtmn_config.r_threshold.nms = 0.7;
mtmn_config.r_threshold.candidate_number = 10;
mtmn_config.o_threshold.score = 0.7;
mtmn_config.o_threshold.nms = 0.7;
mtmn_config.o_threshold.candidate_number = 1;

face_id_init(&id_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES);

Serial.printf("Starting web server on port: '%d'\n", config.server_port);
if (httpd_start(&camera_httpd, &config) == ESP_OK) {
    httpd_register_uri_handler(camera_httpd, &index_uri);
    httpd_register_uri_handler(camera_httpd, &cmd_uri);
    httpd_register_uri_handler(camera_httpd, &status_uri);
    httpd_register_uri_handler(camera_httpd, &capture_uri);
}

config.server_port += 1;
config.ctrl_port += 1;
Serial.printf("Starting stream server on port: '%d'\n", config.server_port);
if (httpd_start(&stream_httpd, &config) == ESP_OK) {
    httpd_register_uri_handler(stream_httpd, &stream_uri);
    httpd_register_uri_handler(stream_httpd, &gpio12On_uri);
    httpd_register_uri_handler(stream_httpd, &gpio12Off_uri);
    httpd_register_uri_handler(stream_httpd, &gpio13On_uri);
    httpd_register_uri_handler(stream_httpd, &gpio13Off_uri);
}

}