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StackChan/firmware/main/hal/hal_ws_avatar.cpp
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Forairaaaaa 5001b7081b add firmware source code (#4) 
* add firmware source code
2026-01-08 09:18:20 +08:00

459 lines
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/*
* SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
*
* SPDX-License-Identifier: MIT
*/
#include "hal.h"
#include <stackchan/stackchan.h>
#include "board/hal_bridge.h"
#include <mooncake_log.h>
#include <board.h>
#include <web_socket.h>
#include <esp_log.h>
#include <arpa/inet.h>
#include <jpg/image_to_jpeg.h>
#include <wifi_station.h>
#include <ArduinoJson.hpp>
#include <settings.h>
#include <mutex>
#include <queue>
#include <vector>
#include <esp_heap_caps.h>
#include <display.h>
#include <lvgl_image.h>
#include "utils/jpeg_to_image/jpeg_decoder.h"
static std::string _tag = "WS-Avatar";
static const std::string _server = "ws://target-server:12800";
static const std::string _setting_ns = "stackchan";
static const std::string _setting_device_name_key = "device_name";
class WebSocketAvatar {
public:
enum class DataType : uint8_t {
Opus = 0x01,
Jpeg = 0x02,
ControlAvatar = 0x03,
ControlMotion = 0x04,
StartCameraStream = 0x05,
StopCameraStream = 0x06,
TextMessage = 0x07,
RequestCall = 0x09,
DeclineCall = 0x0A,
AcceptCall = 0x0B,
EndCall = 0x0C,
SetDeviceName = 0x0D,
GetDeviceName = 0x0E,
HeartbeatPing = 0x10,
HeartbeatPong = 0x11,
VideoModeOn = 0x12,
VideoModeOff = 0x13,
DanceSequence = 0x14,
};
struct ReceivedMessage {
bool binary;
std::vector<uint8_t> data;
};
void init()
{
_url = fmt::format("{}/stackChan/ws?mac={}&deviceType=StackChan", _server, GetHAL().getFactoryMacString());
connect();
GetHAL().onWsCallResponse.connect([this](bool accepted) {
if (!isConnected()) {
return;
}
if (accepted) {
ESP_LOGI(_tag.c_str(), "Sending AcceptCall");
sendPacket(DataType::AcceptCall, nullptr, 0);
} else {
ESP_LOGI(_tag.c_str(), "Sending DeclineCall");
sendPacket(DataType::DeclineCall, nullptr, 0);
}
});
GetHAL().onWsCallEnd.connect([this](WsSignalSource source) {
if (!isConnected()) {
return;
}
if (source != WsSignalSource::Local) {
return;
}
ESP_LOGI(_tag.c_str(), "Sending EndCall");
sendPacket(DataType::EndCall, nullptr, 0);
});
}
void connect()
{
// 销毁旧实例，确保状态复位
_websocket.reset();
auto& board = Board::GetInstance();
auto network = board.GetNetwork();
// 创建 WebSocket 实例
_websocket = network->CreateWebSocket(1);
if (!_websocket) {
ESP_LOGE(_tag.c_str(), "Failed to create websocket");
return;
}
// 设置回调
_websocket->OnConnected([this]() {
ESP_LOGI(_tag.c_str(), "Connected to server!");
_websocket->Send("{\"type\":\"hello\", \"msg\":\"Hello from StackChan!\"}");
});
_websocket->OnDisconnected([this]() { ESP_LOGI(_tag.c_str(), "Disconnected!"); });
_websocket->OnData([this](const char* data, size_t len, bool binary) {
std::lock_guard<std::mutex> lock(_mutex);
_msg_queue.push({binary, std::vector<uint8_t>(data, data + len)});
});
ESP_LOGI(_tag.c_str(), "Connecting to %s...", _url.c_str());
if (!_websocket->Connect(_url.c_str())) {
ESP_LOGE(_tag.c_str(), "Failed to connect");
}
_last_reconnect_attempt = GetHAL().millis();
}
void update()
{
if (!_websocket) {
return;
}
if (!_websocket->IsConnected()) {
if (GetHAL().millis() - _last_reconnect_attempt > 5000) {
connect();
}
} else {
processMessages();
}
if (_is_streaming) {
if (GetHAL().millis() - _last_capture_time >= (_is_video_mode ? 700 : 350)) {
captureAndSendFrame();
_last_capture_time = GetHAL().millis();
}
}
}
void processMessages()
{
std::vector<ReceivedMessage> messages;
{
std::lock_guard<std::mutex> lock(_mutex);
while (!_msg_queue.empty()) {
messages.push_back(std::move(_msg_queue.front()));
_msg_queue.pop();
}
}
for (const auto& msg : messages) {
handleMessage(msg);
}
}
void handleMessage(const ReceivedMessage& msg)
{
if (msg.binary) {
if (msg.data.size() < 1) return;
DataType type = static_cast<DataType>(msg.data[0]);
ESP_LOGI(_tag.c_str(), "Received binary type: %d, len: %d", (int)type, (int)msg.data.size());
switch (type) {
case DataType::StartCameraStream: {
ESP_LOGI(_tag.c_str(), "Start Camera Stream");
setStreamingEnabled(true);
_websocket->Send("camera stream started");
break;
}
case DataType::StopCameraStream: {
ESP_LOGI(_tag.c_str(), "Stop Camera Stream");
setStreamingEnabled(false);
_websocket->Send("camera stream stopped");
break;
}
case DataType::ControlAvatar: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
std::string payload(msg.data.begin() + 5, msg.data.end());
// ESP_LOGI(_tag.c_str(), "Control Avatar Payload: %s", payload.c_str());
GetHAL().onWsAvatarData.emit(payload);
}
break;
}
case DataType::ControlMotion: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
std::string payload(msg.data.begin() + 5, msg.data.end());
// ESP_LOGI(_tag.c_str(), "Control Motion Payload: %s", payload.c_str());
GetHAL().onWsMotionData.emit(payload);
}
break;
}
case DataType::RequestCall: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
std::string payload(msg.data.begin() + 5, msg.data.end());
ESP_LOGI(_tag.c_str(), "RequestCall Payload: %s", payload.c_str());
GetHAL().onWsCallRequest.emit(payload);
}
break;
}
case DataType::EndCall: {
ESP_LOGI(_tag.c_str(), "EndCall");
GetHAL().onWsCallEnd.emit(WsSignalSource::Remote);
break;
}
case DataType::SetDeviceName: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
std::string payload(msg.data.begin() + 5, msg.data.end());
ESP_LOGI(_tag.c_str(), "SetDeviceName Payload: %s", payload.c_str());
Settings settings(_setting_ns, true);
settings.SetString(_setting_device_name_key, payload);
}
break;
}
case DataType::GetDeviceName: {
ESP_LOGI(_tag.c_str(), "GetDeviceName");
Settings settings(_setting_ns, false);
auto device_name = settings.GetString(_setting_device_name_key, "StackChan");
sendPacket(DataType::GetDeviceName, (const uint8_t*)device_name.c_str(), device_name.size());
break;
}
case DataType::HeartbeatPing: {
ESP_LOGI(_tag.c_str(), "HeartbeatPing");
sendPacket(DataType::HeartbeatPong, nullptr, 0);
break;
}
case DataType::TextMessage: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
std::string payload(msg.data.begin() + 5, msg.data.end());
ESP_LOGI(_tag.c_str(), "TextMessage Payload: %s", payload.c_str());
ArduinoJson::JsonDocument doc;
auto error = ArduinoJson::deserializeJson(doc, payload);
if (error) {
ESP_LOGE(_tag.c_str(), "DeserializeJson failed: %s", error.c_str());
return;
}
WsTextMessage_t text_msg;
if (doc["name"].is<std::string>()) {
text_msg.name = doc["name"].as<std::string>();
}
if (doc["content"].is<std::string>()) {
text_msg.content = doc["content"].as<std::string>();
}
GetHAL().onWsTextMessage.emit(text_msg);
}
break;
}
case DataType::VideoModeOn: {
ESP_LOGI(_tag.c_str(), "VideoModeOn");
GetHAL().onWsVideoModeChange.emit(true);
_is_video_mode = true;
break;
}
case DataType::VideoModeOff: {
ESP_LOGI(_tag.c_str(), "VideoModeOff");
GetHAL().onWsVideoModeChange.emit(false);
_is_video_mode = false;
break;
}
case DataType::Jpeg: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
ESP_LOGI(_tag.c_str(), "Jpeg Frame Received, size: %d", (int)(msg.data.size() - 5));
static int64_t _time_count = 0;
static int64_t _interval = 0;
_time_count = esp_timer_get_time();
size_t jpeg_len = msg.data.size() - 5;
uint8_t* jpeg_data = (uint8_t*)heap_caps_malloc(jpeg_len, MALLOC_CAP_8BIT);
if (jpeg_data) {
memcpy(jpeg_data, msg.data.data() + 5, jpeg_len);
auto image = jpeg_dec::decode_to_lvgl(jpeg_data, jpeg_len);
if (image) {
// ESP_LOGI(_tag.c_str(), "Done");
_interval = esp_timer_get_time() - _time_count;
mclog::info("jpeg decode time: {} ms", _interval / 1000);
GetHAL().onWsVideoFrame.emit(image);
} else {
ESP_LOGE(_tag.c_str(), "Failed to decode JPEG");
}
heap_caps_free(jpeg_data);
} else {
ESP_LOGE(_tag.c_str(), "Failed to allocate memory for JPEG");
}
}
break;
}
case DataType::DanceSequence: {
// Protocol: [Type(1)] [Length(4)] [Payload]
if (msg.data.size() >= 5) {
std::string payload(msg.data.begin() + 5, msg.data.end());
// ESP_LOGI(_tag.c_str(), "Dance Payload:\n%s", payload.c_str());
ESP_LOGI(_tag.c_str(), "DanceSequence size: %d", (int)payload.size());
GetHAL().onWsDanceData.emit(payload);
}
break;
}
default:
break;
}
} else {
ESP_LOGI(_tag.c_str(), "Received text: %.*s", (int)msg.data.size(), (char*)msg.data.data());
}
}
bool isConnected()
{
return _websocket && _websocket->IsConnected();
}
void captureAndSendFrame()
{
if (!isConnected()) {
return;
}
static int64_t _time_count = 0;
static int64_t _interval = 0;
auto camera = hal_bridge::board_get_camera();
if (!camera) {
return;
}
_time_count = esp_timer_get_time();
if (camera->StreamCaptures()) {
_interval = esp_timer_get_time() - _time_count;
mclog::info("camera capture time: {} ms", _interval / 1000);
const uint8_t* frameData = camera->GetFrameData();
size_t frameSize = camera->GetFrameSize();
int width = camera->GetFrameWidth();
int height = camera->GetFrameHeight();
int format = camera->GetFrameFormat();
uint8_t* jpeg_data = nullptr;
size_t jpeg_len = 0;
// 压缩为 JPEG
_time_count = esp_timer_get_time();
if (image_to_jpeg((uint8_t*)frameData, frameSize, width, height, (v4l2_pix_fmt_t)format, 20, &jpeg_data,
&jpeg_len)) {
_interval = esp_timer_get_time() - _time_count;
// mclog::info("jpeg encode time: {} ms, size: {}", _interval / 1000, jpeg_len);
mclog::info("jpeg encode time: {} ms", _interval / 1000);
if (jpeg_data) {
sendPacket(DataType::Jpeg, jpeg_data, jpeg_len); // Type 2 for JPEG
free(jpeg_data);
}
}
}
}
void setStreamingEnabled(bool enabled)
{
_is_streaming = enabled;
}
private:
std::unique_ptr<WebSocket> _websocket;
std::string _url;
uint32_t _last_reconnect_attempt = 0;
uint32_t _last_capture_time = 0;
bool _is_streaming = false;
bool _is_video_mode = false;
std::mutex _mutex;
std::queue<ReceivedMessage> _msg_queue;
void sendPacket(DataType type, const uint8_t* data, size_t len)
{
if (!_websocket || !_websocket->IsConnected()) {
return;
}
static int64_t _time_count = 0;
static int64_t _interval = 0;
_time_count = esp_timer_get_time();
std::vector<uint8_t> packet;
packet.reserve(1 + 4 + len);
// [1 byte type]
packet.push_back(static_cast<uint8_t>(type));
// [4 bytes length] (Big Endian)
uint32_t net_len = htonl((uint32_t)len);
const uint8_t* len_ptr = (const uint8_t*)&net_len;
packet.push_back(len_ptr[0]);
packet.push_back(len_ptr[1]);
packet.push_back(len_ptr[2]);
packet.push_back(len_ptr[3]);
// [payload]
if (len > 0) {
packet.insert(packet.end(), data, data + len);
}
// _time_count = esp_timer_get_time();
_websocket->Send(packet.data(), packet.size(), true);
_interval = esp_timer_get_time() - _time_count;
mclog::info("send time: {} ms, size: {}", _interval / 1000, packet.size());
}
};
static void _websocket_task(void* param)
{
ESP_LOGI(_tag.c_str(), "Start WebSocket Avatar Task");
// 等待网络连接
while (!WifiStation::GetInstance().IsConnected()) {
vTaskDelay(pdMS_TO_TICKS(1000));
}
ESP_LOGI(_tag.c_str(), "Network connected!");
static WebSocketAvatar ws_avatar;
ws_avatar.init();
while (true) {
ws_avatar.update();
GetHAL().delay(20);
}
}
void Hal::startWebSocketAvatar()
{
auto& board = Board::GetInstance();
board.StartNetwork();
xTaskCreate(_websocket_task, "ws_avatar_task", 8192, NULL, 5, NULL);
}
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