esp-who/examples/single_chip/recognition_solution/main/app_httpserver.c

/* ESPRESSIF MIT License
 * 
 * Copyright (c) 2018 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
 * 
 * Permission is hereby granted for use on all ESPRESSIF SYSTEMS products, in which case,
 * it is free of charge, to any person obtaining a copy of this software and associated
 * documentation files (the "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished
 * to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in all copies or
 * substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include "app_httpserver.h"
#include "esp_log.h"
#include "image_util.h"
#include "fb_gfx.h"
#include "app_main.h"

static const char *TAG = "app_httpserver";

#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)

#define ENROLL_CONFIRM_TIMES    3
#define FACE_ID_SAVE_NUMBER     10

#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";

face_id_list st_face_list = {0};

dl_matrix3du_t *aligned_face = NULL;

//static void oneshot_timer_callback(void* arg);

const char *number_suffix(int32_t number)
{
    uint8_t n = number % 10;

    if (n == 0)
        return "zero";
    else if (n == 1)
        return "st";
    else if (n == 2)
        return "nd";
    else if (n == 3)
        return "rd";
    else
        return "th";
}

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 x, y, w, h, i;
    uint32_t color = FACE_COLOR_YELLOW;
    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
    }
}

esp_err_t facenet_stream_handler(httpd_req_t *req)
{
    esp_err_t res = ESP_OK;
    if (g_state != WAIT_FOR_CONNECT)
    {
        res = httpd_resp_send_404(req);
        return res;
    }
    g_state = START_DETECT;

    camera_fb_t * fb = NULL;
    size_t _jpg_buf_len = 0;
    uint8_t * _jpg_buf = NULL;
    char * part_buf[64];
    dl_matrix3du_t *image_matrix = NULL;

    int face_id = -1;

    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;

    mtmn_config_t mtmn_config = mtmn_init_config();

    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;
    }

    ESP_LOGI(TAG, "Get count %d\n", st_face_list.count);

    while(true)
    {
        // update fsm state
        if (g_is_enrolling)
        {
            g_state = START_ENROLL;
        }
        else if (g_is_deleting)
        {
            g_is_deleting = 0;
            g_state = START_DELETE;
        }
        else if (g_state != START_ENROLL)
        {
            if (st_face_list.count == 0)
                g_state = START_DETECT;
            else
                g_state = START_RECOGNITION;
        }
        
        ESP_LOGD(TAG, "State: %d, head:%d, tail:%d, count:%d", g_state, st_face_list.head, st_face_list.tail, st_face_list.count);
        // exec event
        if (g_state == START_DELETE)
        {
            int8_t left = delete_face_id_in_flash(&st_face_list);
            if (left >= 0)
                ESP_LOGW(TAG, "%d ID Left", left);
            g_state = START_DETECT;
            continue;
        }

        // Detection Start
        fb = esp_camera_fb_get();
        if (!fb)
        {
            ESP_LOGE(TAG, "Camera capture failed");
            res = ESP_FAIL;
            break;
        }

        fr_start = esp_timer_get_time();
        fr_ready = fr_start;
        fr_face = fr_start;
        fr_encode = fr_start;
        fr_recognize = fr_start;
        image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
        if (!image_matrix)
        {
            ESP_LOGE(TAG, "dl_matrix3du_alloc failed");
            res = ESP_FAIL;
            break;
        }

        if(!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item))
        {
            ESP_LOGW(TAG, "fmt2rgb888 failed");
            _jpg_buf = fb->buf;
            _jpg_buf_len = fb->len;
            //res = ESP_FAIL;
            //dl_matrix3du_free(image_matrix);
            //break;
        }
        else
        {

            fr_ready = esp_timer_get_time();
            box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config);
            fr_face = esp_timer_get_time();
            // Detection End

            fr_recognize = fr_face;
            if (net_boxes)
            {
                if ((g_state == START_ENROLL || g_state == START_RECOGNITION)
                        && (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK))
                {
                    if (g_state == START_ENROLL)
                    {
                        rgb_print(image_matrix, FACE_COLOR_YELLOW, "START ENROLLING");
                        ESP_LOGD(TAG, "START ENROLLING");

                        int left_sample_face = enroll_face_id_to_flash(&st_face_list, aligned_face);
                        ESP_LOGD(TAG, "Face ID %d Enrollment: Taken the %d%s sample",
                                st_face_list.tail,
                                ENROLL_CONFIRM_TIMES - left_sample_face,
                                number_suffix(ENROLL_CONFIRM_TIMES - left_sample_face));
                        gpio_set_level(GPIO_LED_RED, 0);
                        rgb_printf(image_matrix, FACE_COLOR_CYAN, "\nThe %u%s sample",
                                ENROLL_CONFIRM_TIMES - left_sample_face,
                                number_suffix(ENROLL_CONFIRM_TIMES - left_sample_face));

                        if (left_sample_face == 0)
                        {
                            ESP_LOGI(TAG, "Enrolled Face ID: %d", st_face_list.tail ? st_face_list.tail - 1 : FACE_ID_SAVE_NUMBER - 1);
                            rgb_printf(image_matrix, FACE_COLOR_CYAN, "\n\nEnrolled Face ID: %d", st_face_list.tail - 1);
                            g_is_enrolling = 0;
                            g_state = START_RECOGNITION;
                        }
                    }
                    else
                    {
                        face_id = recognize_face(&st_face_list, aligned_face);

                        if (face_id >= 0)
                        {
                            gpio_set_level(GPIO_LED_RED, 1);
                            rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello ID %u", face_id);
                        }
                        else
                        {
                            rgb_print(image_matrix, FACE_COLOR_RED, "\nWHO?");
                        }
                    }
                }

                draw_face_boxes(image_matrix, net_boxes);
                dl_lib_free(net_boxes->score);
                dl_lib_free(net_boxes->box);
                dl_lib_free(net_boxes->landmark);
                dl_lib_free(net_boxes);

                fr_recognize = esp_timer_get_time();
                if(!fmt2jpg(image_matrix->item, fb->width*fb->height*3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len))
                {
                    ESP_LOGE(TAG, "fmt2jpg failed");
                }
                esp_camera_fb_return(fb);
                fb = NULL;
            }
            else
            {
                _jpg_buf = fb->buf;
                _jpg_buf_len = fb->len;
            }
        }
        dl_matrix3du_free(image_matrix);
        fr_encode = esp_timer_get_time();


        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(res == ESP_OK){
            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
        }
        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;
        ESP_LOGD(TAG, "MJPG: %uKB %ums (%.1ffps), %u+%u+%u+%u=%u",
                (uint32_t)(_jpg_buf_len/1024),
                (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
                (uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time);
    }

    last_frame = 0;
    g_state = WAIT_FOR_WAKEUP;
    return ESP_OK;
}

httpd_uri_t _face_stream_handler = {
    .uri       = "/face_stream",
    .method    = HTTP_GET,
    .handler   = facenet_stream_handler,
    .user_ctx  = NULL
};

httpd_handle_t camera_httpd = NULL;

//const esp_timer_create_args_t oneshot_timer_args = {
//            .callback = &oneshot_timer_callback,
//            /* argument specified here will be passed to timer callback function */
//            .name = "one-shot"
//};
//esp_timer_handle_t oneshot_timer;
//
//static void oneshot_timer_callback(void* arg)
//{
//    //if(g_state != START_ENROLL)
//    //    g_is_enrolling = 1;
//}


static void IRAM_ATTR gpio_isr_handler_enroll(void* arg)
{
    if(g_state != START_ENROLL)
        g_is_enrolling = 1;
    //esp_timer_start_once(oneshot_timer, 500000);
    //if(err == ESP_ERR_INVALID_STATE)
    //{
    //    ESP_ERROR_CHECK(esp_timer_stop(oneshot_timer));
    //    g_is_enrolling = 0;
    //    g_is_deleting = 1;
    //    gpio_set_level(GPIO_LED_WHITE, 0);
    //}
}

static void IRAM_ATTR gpio_isr_handler_delete(void* arg)
{
    g_is_enrolling = 0;
    g_is_deleting = 1;
    
}

void app_httpserver_init ()
{
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
    config.stack_size = 4096 * 2;

    //ESP_ERROR_CHECK(esp_timer_create(&oneshot_timer_args, &oneshot_timer));

    gpio_config_t io_conf = {0};
    io_conf.mode = GPIO_MODE_INPUT;
    io_conf.intr_type = GPIO_PIN_INTR_POSEDGE;
    io_conf.pin_bit_mask = 1LL << GPIO_BUTTON | 1LL << GPIO_BOOT;
    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
    gpio_config(&io_conf);
    gpio_isr_handler_add(GPIO_BUTTON, gpio_isr_handler_enroll, NULL);
    gpio_isr_handler_add(GPIO_BOOT, gpio_isr_handler_delete, NULL);

    face_id_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(&st_face_list);

    if (httpd_start(&camera_httpd, &config) == ESP_OK)
    {
        httpd_register_uri_handler(camera_httpd, &_face_stream_handler);
    }
}