.I use esp32 and send images to a python server that I created
.The esp32 camera captures images and sends to the server
The response times for sending the images to the server are done at different times each time, .once every 7 seconds and once every half a second
.I would like to know how to optimize the running time and make it uniform and faster
Here is my arduino code:
#include <Arduino.h>
#include <WiFi.h>
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"
#include "esp_camera.h"
//#include "app_httpd.cpp"
#include "carMotor.h"
//String serverName = "192.168.43.61"; // REPLACE WITH YOUR Raspberry Pi IP ADDRESS
//String serverName = "192.168.164.104";
String serverName = "192.168.50.104";
//String serverName = "example.com"; // OR REPLACE WITH YOUR DOMAIN NAME
String serverPath = "/upload"; // The default serverPath should be upload.php
const int serverPort = 8000;
WiFiClient client;
// CAMERA_MODEL_AI_THINKER
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#define STOP_SIGN "stop"
#define SPEED_LIMIT_50 "limit50"
#define PEDESTRIAN "pedestrian"
#define KEEP_RIGHT "keepRight"
#define CROSSWALK "crossWalk"
#define SPEED_LIMIT_100 "limit100"
#define SPEED_50 40
#define SPEED_100 80
#define DEFAULT_SPEED 60
void WheelAct(int nLf, int nLb, int nRf, int nRb);
const int timerInterval = 30000; // time between each HTTP POST image
unsigned long previousMillis = 0; // last time image was sent
int carSpeed = DEFAULT_SPEED;
int cycle = 10;
void setup() {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
Serial.begin(115200);
pinMode(gpLb, OUTPUT); //Left Backward
pinMode(gpLf, OUTPUT); //Left Forward
pinMode(gpRb, OUTPUT); //Right Forward
pinMode(gpRf, OUTPUT); //Right Backward
pinMode(gpLed, OUTPUT); //Light
//initialize
digitalWrite(gpLb, LOW);
digitalWrite(gpLf, LOW);
digitalWrite(gpRb, LOW);
digitalWrite(gpRf, LOW);
digitalWrite(gpLed, LOW);
WiFi.mode(WIFI_STA);
Serial.println();
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
Serial.print(".");
delay(500);
}
Serial.println();
Serial.print("ESP32-CAM IP Address: ");
Serial.println(WiFi.localIP());
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;
//config.frame_size = FRAMESIZE_QQVGA;
config.frame_size = FRAMESIZE_96X96;
// init with high specs to pre-allocate larger buffers
if(psramFound()){
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 10; //0-63 lower number means higher quality
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_CIF;
config.jpeg_quality = 12; //0-63 lower number means higher quality
config.fb_count = 1;
}
// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
delay(1000);
ESP.restart();
}
//establishConnection();
}
void handlePedestrian(){
stop();
}
void handleStopSign(){
//stop for 3 seconds
stop();
delay(3000);
}
void handleCrossWalk(){
carSpeed = 35;
moveForward();
}
void handleKeepRight(){
int lastSpeed = carSpeed;
carSpeed = 35;
moveRight();
carSpeed = lastSpeed;
}
void handleLimit50(){
carSpeed = SPEED_50;
}
void handleLimit100(){
carSpeed = SPEED_100;
}
void drive(String direction) {
if (strcmp(direction.c_str(), PEDESTRIAN) == 0) {
handlePedestrian();
}
else if (strcmp(direction.c_str(), STOP_SIGN) == 0) {
handleStopSign();
}
else if (strcmp(direction.c_str(), CROSSWALK) == 0) {
handleCrossWalk();
}
else if (strcmp(direction.c_str(), KEEP_RIGHT) == 0) {
handleKeepRight();
}
else if (strcmp(direction.c_str(), SPEED_LIMIT_50) == 0) {
handleLimit50();
}
else if (strcmp(direction.c_str(), SPEED_LIMIT_100) == 0) {
handleLimit100();
}
else { //none
moveForward();
}
}
void lights(bool on) {
if (on) {
digitalWrite(gpLed, HIGH);
}
else {
digitalWrite(gpLed, LOW);
}
}
int ControlSpeed() {
int parton = cycle * carSpeed/100;
return parton;
}
void moveForward() {
int parton = ControlSpeed();
for (int loop=0; loop<100; loop++) {
WheelAct(HIGH, LOW, HIGH, LOW);
delay(parton);
WheelAct(LOW, LOW, LOW, LOW);
delay(cycle-parton);
}
}
void moveBackward() {
int parton = ControlSpeed();
for (int loop=0; loop<100; loop++) {
WheelAct(LOW, HIGH, LOW, HIGH);
delay(parton);
WheelAct(LOW, LOW, LOW, LOW);
delay(cycle-parton);
}
}
void moveRight() {
int parton = ControlSpeed();
for (int loop=0; loop<100; loop++) {
WheelAct(LOW, HIGH, HIGH, LOW);
delay(parton);
WheelAct(LOW, LOW, LOW, LOW);
delay(cycle-parton);
}
}
void moveLeft() {
int parton = ControlSpeed();
for (int loop=0; loop<100; loop++) {
WheelAct(HIGH, LOW, LOW, HIGH);
delay(parton);
WheelAct(LOW, LOW, LOW, LOW);
delay(cycle-parton);
}
}
void loop() {
String response = sendPhoto();
response.trim();
drive(response);
delay(500);
}
void stop(){
WheelAct(LOW, LOW, LOW, LOW);
}
void establishConnection() {
// Establish the initial connection with the server
if (client.connect(serverName.c_str(), serverPort)) {
Serial.println("Connection successful!");
} else {
Serial.println("Connection to " + serverName + " failed.");
}
}
void closeConnection() {
// Close the connection with the server
client.stop();
Serial.println("Connection closed.");
}
String sendPhoto() {
String getAll;
String getBody;
camera_fb_t * fb = NULL;
fb = esp_camera_fb_get();
if(!fb) {
Serial.println("Camera capture failed");
delay(1000);
ESP.restart();
}
Serial.println("Connecting to server: " + serverName);
if (client.connect(serverName.c_str(), serverPort)) {
Serial.println("Connection successful!");
String head = "--RandomNerdTutorials\r\nContent-Disposition: form-data; name=\"imageFile\"; filename=\"esp32-cam.jpg\"\r\nContent-Type: image/jpeg\r\n\r\n";
String tail = "\r\n--RandomNerdTutorials--\r\n";
uint32_t imageLen = fb->len;
uint32_t extraLen = head.length() + tail.length();
uint32_t totalLen = imageLen + extraLen;
client.println("POST " + serverPath + " HTTP/1.1");
client.println("Host: " + serverName);
client.println("Content-Length: " + String(totalLen));
client.println("Content-Type: multipart/form-data; boundary=RandomNerdTutorials");
client.println();
client.print(head);
Serial.print("head sent!");
uint8_t *fbBuf = fb->buf;
size_t fbLen = fb->len;
for (size_t n = 0 ; n < fbLen; n=n+1024) {
Serial.print(".");
if (n+1024 < fbLen) {
client.write(fbBuf, 1024);
fbBuf += 1024;
}
else if (fbLen%1024>0) {
size_t remainder = fbLen%1024;
client.write(fbBuf, remainder);
}
}
client.print(tail);
Serial.print("tail sent!");
esp_camera_fb_return(fb);
int timoutTimer = 10000;
long startTimer = millis();
boolean state = false;
while ((startTimer + timoutTimer) > millis()) {
Serial.print(".");
delay(100);
while (client.available()) {
char c = client.read();
if (c == '\n') {
if (getAll.length()==0) { state=true; }
getAll = "";
}
else if (c != '\r') { getAll += String(c); }
if (state==true) { getBody += String(c); }
startTimer = millis();
}
if (getBody.length()>0) { break; }
}
Serial.println();
client.stop();
Serial.println(getBody);
Serial.println("Photo sent");
}
else {
getBody = "Connection to " + serverName + " failed.";
Serial.println(getBody);
}
return getBody;
}
Thank you