编译报错
以下为代码
#include "esp_camera.h"
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>
#include <ESP32Servo.h>
#define DUMMY_SERVO1_PIN 12 //我们需要创建 2 个虚拟舵机。
#define DUMMY_SERVO2_PIN 13 //使 ESP32Servo 库不会干扰
#define PAN_PIN 14 // 左右旋转连接ESP32 cam的引脚
#define TILT_PIN 15 // 上下旋转连接ESP32 cam的引脚
Servo dummyServo1;
Servo dummyServo2;
Servo panServo;
Servo tiltServo;
//Camera related constants
#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
//设置网络名称和密码热点随意设置
const char* ssid = "tongyong";
const char* password = "666666";
AsyncWebServer server(80);
AsyncWebSocket wsCamera("/Camera");
AsyncWebSocket wsServoInput("/ServoInput");
uint32_t cameraClientId = 0;
#define LIGHT_PIN 4
const int PWMLightChannel = 4;
const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
<style>
.noselect {
-webkit-touch-callout: none;
-webkit-user-select: none;
-khtml-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
}
.slidecontainer {
width: 100%;
}
.slider {
-webkit-appearance: none;
width: 100%;
height: 20px;
border-radius: 5px;
background: #d3d3d3;
outline: none;
opacity: 0.7;
-webkit-transition: .2s;
transition: opacity .2s;
}
.slider:hover {
opacity: 1;
}
.slider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 40px;
height: 40px;
border-radius: 50%;
background: red;
cursor: pointer;
}
.slider::-moz-range-thumb {
width: 40px;
height: 40px;
border-radius: 50%;
background: red;
cursor: pointer;
}
</style>
</head>
<body class="noselect" align="center" style="background-color:white">
<table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<img id="cameraImage" src="" style="width:400px;height:250px"></td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>S:</b></td>//进度条修改的字符显示"S:"旋转左右
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="180" value="90" class="slider" id="Pan" oninput='sendButtonInput("Pan",value)'>
</div>
</td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>T:</b></td> //进度条修改的字符显示"T:"上下旋转
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="180" value="90" class="slider" id="Tilt" oninput='sendButtonInput("Tilt",value)'>
</div>
</td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>Light:</b></td> //进度条修改的字符显示"Light:"灯光
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="255" value="0" class="slider" id="Light" oninput='sendButtonInput("Light",value)'>
</div>
</td>
</tr>
</table>
<script>
var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera";
var webSocketServoInputUrl = "ws:\/\/" + window.location.hostname + "/ServoInput";
var websocketCamera;
var websocketServoInput;
function initCameraWebSocket()
{
websocketCamera = new WebSocket(webSocketCameraUrl);
websocketCamera.binaryType = 'blob';
websocketCamera.onopen = function(event){};
websocketCamera.onclose = function(event){setTimeout(initCameraWebSocket, 2000);};
websocketCamera.onmessage = function(event)
{
var imageId = document.getElementById("cameraImage");
imageId.src = URL.createObjectURL(event.data);
};
}
function initServoInputWebSocket()
{
websocketServoInput = new WebSocket(webSocketServoInputUrl);
websocketServoInput.onopen = function(event)
{
var panButton = document.getElementById("Pan");
sendButtonInput("Pan", panButton.value);
var tiltButton = document.getElementById("Tilt");
sendButtonInput("Tilt", tiltButton.value);
var lightButton = document.getElementById("Light");
sendButtonInput("Light", lightButton.value);
};
websocketServoInput.onclose = function(event){setTimeout(initServoInputWebSocket, 2000);};
websocketServoInput.onmessage = function(event){};
}
function initWebSocket()
{
initCameraWebSocket ();
initServoInputWebSocket();
}
function sendButtonInput(key, value)
{
var data = key + "," + value;
websocketServoInput.send(data);
}
window.onload = initWebSocket;
document.getElementById("mainTable").addEventListener("touchend", function(event){
event.preventDefault()
});
</script>
</body>
</html>
)HTMLHOMEPAGE";
void handleRoot(AsyncWebServerRequest *request)
{
request->send_P(200, "text/html", htmlHomePage);
}
void handleNotFound(AsyncWebServerRequest *request)
{
request->send(404, "text/plain", "File Not Found");
}
void onServoInputWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
panServo.write(90);
tiltServo.write(90);
ledcWrite(PWMLightChannel, 0);
break;
case WS_EVT_DATA:
AwsFrameInfo *info;
info = (AwsFrameInfo*)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT)
{
std::string myData = "";
myData.assign((char *)data, len);
Serial.printf("Key,Value = [%s]\n", myData.c_str());
std::istringstream ss(myData);
std::string key, value;
std::getline(ss, key, ',');
std::getline(ss, value, ',');
if ( value != "" )
{
int valueInt = atoi(value.c_str());
if (key == "Pan")
{
panServo.write(valueInt);
}
else if (key == "Tilt")
{
tiltServo.write(valueInt);
}
else if (key == "Light")
{
ledcWrite(PWMLightChannel, valueInt);
}
}
}
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void onCameraWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
cameraClientId = client->id();
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
cameraClientId = 0;
break;
case WS_EVT_DATA:
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void setupCamera()
{
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_VGA;
config.jpeg_quality = 10;
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);
return;
}
if (psramFound())
{
heap_caps_malloc_extmem_enable(20000);
Serial.printf("PSRAM initialized. malloc to take memory from psram above this size");
}
}
void sendCameraPicture()
{
if (cameraClientId == 0)
{
return;
}
unsigned long startTime1 = millis();
//capture a frame
camera_fb_t * fb = esp_camera_fb_get();
if (!fb)
{
Serial.println("Frame buffer could not be acquired");
return;
}
unsigned long startTime2 = millis();
wsCamera.binary(cameraClientId, fb->buf, fb->len);
esp_camera_fb_return(fb);
//等待消息送达
while (true)
{
AsyncWebSocketClient * clientPointer = wsCamera.client(cameraClientId);
if (!clientPointer || !(clientPointer->queueIsFull()))
{
break;
}
delay(1);
}
unsigned long startTime3 = millis();
Serial.printf("Time taken Total: %d|%d|%d\n",startTime3 - startTime1, startTime2 - startTime1, startTime3-startTime2 );
}
void setUpPinModes()
{
dummyServo1.attach(DUMMY_SERVO1_PIN);
dummyServo2.attach(DUMMY_SERVO2_PIN);
panServo.attach(PAN_PIN);
tiltServo.attach(TILT_PIN);
//Set up flash light
ledcSetup(PWMLightChannel, 1000, 8);
pinMode(LIGHT_PIN, OUTPUT);
ledcAttachPin(LIGHT_PIN, PWMLightChannel);
}
void setup(void)
{
setUpPinModes();
Serial.begin(115200);
WiFi.softAP(ssid, password);
IPAddress IP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(IP);
server.on("/", HTTP_GET, handleRoot);
server.onNotFound(handleNotFound);
wsCamera.onEvent(onCameraWebSocketEvent);
server.addHandler(&wsCamera);
wsServoInput.onEvent(onServoInputWebSocketEvent);
server.addHandler(&wsServoInput);
server.begin();
Serial.println("HTTP server started");
setupCamera();
}
void loop()
{
wsCamera.cleanupClients();
wsServoInput.cleanupClients();
sendCameraPicture();
}
以下为报错信息
gen_esp32part.py:507: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
