// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "app_httpd.h"
#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "fb_gfx.h"
#include "driver/ledc.h"
#include "sdkconfig.h"
#include "app_mdns.h"
#include "app_camera.h"
#include "dl_tool.hpp"

#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
#include "esp32-hal-log.h"
#define TAG ""
#else
#include "esp_log.h"
static const char *TAG = "camera_httpd";
#endif

#if CONFIG_DL_DETECT_ENABLED
#include <list>
#include "dl_image.hpp"
#include "dl_detect_define.hpp"

#define RGB888_RED 0x0000FF
#define RGB888_GREEN 0x00FF00
#define RGB888_BLUE 0xFF0000

static int8_t detection_enabled = 0;
#endif

#if CONFIG_DL_DETECT_HUMAN_FACE
#include "human_face_detect_msr01.hpp"
#endif

#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
#include "human_face_detect_mnp01.hpp"
#endif

#if CONFIG_DL_DETECT_CAT_FACE
#include "cat_face_detect_mn03.hpp"
#endif

#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
// TODO: recognize human face
static int8_t recognition_enabled = 0;
static int8_t is_enrolling = 0;
#endif

#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
int led_duty = 0;
bool isStreaming = false;
#ifdef CONFIG_LED_LEDC_LOW_SPEED_MODE
#define CONFIG_LED_LEDC_SPEED_MODE LEDC_LOW_SPEED_MODE
#else
#define CONFIG_LED_LEDC_SPEED_MODE LEDC_HIGH_SPEED_MODE
#endif
#endif

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\nX-Timestamp: %d.%06d\r\n\r\n";

httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
void enable_led(bool en)
{ // Turn LED On or Off
    int duty = en ? led_duty : 0;
    if (en && isStreaming && (led_duty > CONFIG_LED_MAX_INTENSITY))
    {
        duty = CONFIG_LED_MAX_INTENSITY;
    }
    ledc_set_duty(CONFIG_LED_LEDC_SPEED_MODE, CONFIG_LED_LEDC_CHANNEL, duty);
    ledc_update_duty(CONFIG_LED_LEDC_SPEED_MODE, CONFIG_LED_LEDC_CHANNEL);
    ESP_LOGI(TAG, "Set LED intensity to %d", duty);
}
#endif

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)
{
    dl::tool::Latency latency_total;
    latency_total.start();

    camera_fb_t *fb = NULL;
    esp_err_t res = ESP_OK;

#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
    enable_led(true);
    vTaskDelay(150 / portTICK_PERIOD_MS); // The LED needs to be turned on ~150ms before the call to esp_camera_fb_get()
    fb = esp_camera_fb_get();             // or it won't be visible in the frame. A better way to do this is needed.
    enable_led(false);
#else
    fb = esp_camera_fb_get();
#endif

    if (!fb)
    {
        ESP_LOGE(TAG, "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", "*");

    char ts[32];
    snprintf(ts, 32, "%ld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec);
    httpd_resp_set_hdr(req, "X-Timestamp", (const char *)ts);

    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);
    latency_total.end();

    ESP_LOGI(TAG, "JPG: %uB %ums", (uint32_t)(fb_len), latency_total.get_period() / 1000);
    return res;
}

static esp_err_t stream_handler(httpd_req_t *req)
{
    camera_fb_t *fb = NULL;
    struct timeval _timestamp;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len = 0;
    uint8_t *_jpg_buf = NULL;
    char *part_buf[128];
    dl::tool::Latency latency_total(24);

#if CONFIG_DL_DETECT_ENABLED
    uint8_t *image_rgb888 = NULL;
    dl::tool::Latency latency_decode;
    dl::tool::Latency latency_encode;
    dl::tool::Latency latency_detect;
#endif

#if CONFIG_DL_DETECT_HUMAN_FACE
    HumanFaceDetectMSR01 detector(0.3F, 0.3F, 10, 0.3F);
#endif

#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
    HumanFaceDetectMNP01 detector2(0.4F, 0.3F, 10);
#endif

#if CONFIG_DL_DETECT_CAT_FACE
    CatFaceDetectMN03 detector(0.4F, 0.3F, 10, 0.3F);
#endif

#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
    dl::tool::Latency latency_recognize;
// TODO: recognize human face
#endif

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

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    httpd_resp_set_hdr(req, "X-Framerate", "60");

#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
    enable_led(true);
    isStreaming = true;
#endif

    while (true)
    {
        latency_total.start();
        fb = esp_camera_fb_get();
        if (!fb)
        {
            ESP_LOGE(TAG, "Camera capture failed");
            res = ESP_FAIL;
        }
        else
        {
            _timestamp.tv_sec = fb->timestamp.tv_sec;
            _timestamp.tv_usec = fb->timestamp.tv_usec;
#if CONFIG_DL_DETECT_ENABLED
            if (!detection_enabled || fb->width > 400)
            {
#endif
                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)
                    {
                        ESP_LOGE(TAG, "JPEG compression failed");
                        res = ESP_FAIL;
                    }
                }
                else
                {
                    _jpg_buf_len = fb->len;
                    _jpg_buf = fb->buf;
                }
#if CONFIG_DL_DETECT_ENABLED
            }
            else
            {
                image_rgb888 = (uint8_t *)dl::tool::malloc_aligned(fb->height * fb->width * 3, sizeof(uint8_t));

                if (!image_rgb888)
                {
                    ESP_LOGE(TAG, "dl_matrix3du_alloc failed");
                    res = ESP_FAIL;
                }
                else
                {
                    latency_decode.start();
                    if (!fmt2rgb888(fb->buf, fb->len, fb->format, image_rgb888))
                    {
                        ESP_LOGE(TAG, "fmt2rgb888 failed");
                        res = ESP_FAIL;
                    }
                    else
                    {
                        latency_decode.end();
                        latency_detect.start();
#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
                        std::list<dl::detect::result_t> &candidates = detector.infer((uint8_t *)image_rgb888, {(int)fb->height, (int)fb->width, 3});
                        std::list<dl::detect::result_t> &results = detector2.infer((uint8_t *)image_rgb888, {(int)fb->height, (int)fb->width, 3}, candidates);
#else
                        std::list<dl::detect::result_t> &results = detector.infer((uint8_t *)image_rgb888, {(int)fb->height, (int)fb->width, 3});
#endif
                        latency_detect.end();

                        if (results.size() > 0 || fb->format != PIXFORMAT_JPEG)
                        {
                            int i = 0;
                            for (std::list<dl::detect::result_t>::iterator prediction = results.begin(); prediction != results.end(); prediction++, i++)
                            {
                                dl::image::draw_hollow_rectangle(image_rgb888, fb->height, fb->width,
                                                                 DL_MAX(prediction->box[0], 0),
                                                                 DL_MAX(prediction->box[1], 0),
                                                                 DL_MAX(prediction->box[2], 0),
                                                                 DL_MAX(prediction->box[3], 0),
                                                                 RGB888_GREEN);
#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
                                dl::image::draw_point(image_rgb888, fb->height, fb->width, DL_MAX(prediction->keypoint[0], 0), DL_MAX(prediction->keypoint[1], 0), 4, RGB888_RED);   // left eye
                                dl::image::draw_point(image_rgb888, fb->height, fb->width, DL_MAX(prediction->keypoint[2], 0), DL_MAX(prediction->keypoint[3], 0), 4, RGB888_RED);   // mouth left corner
                                dl::image::draw_point(image_rgb888, fb->height, fb->width, DL_MAX(prediction->keypoint[4], 0), DL_MAX(prediction->keypoint[5], 0), 4, RGB888_GREEN); // nose
                                dl::image::draw_point(image_rgb888, fb->height, fb->width, DL_MAX(prediction->keypoint[6], 0), DL_MAX(prediction->keypoint[7], 0), 4, RGB888_BLUE);  // right eye
                                dl::image::draw_point(image_rgb888, fb->height, fb->width, DL_MAX(prediction->keypoint[8], 0), DL_MAX(prediction->keypoint[9], 0), 4, RGB888_BLUE);  // mouth right corner
#endif
                            }

#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
                            latency_recognize.start();
                            // TODO: recognize human face
                            latency_recognize.end();
#endif

                            latency_encode.start();
                            if (!fmt2jpg(image_rgb888, 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;
                            latency_encode.end();
                        }
                        else
                        {
                            _jpg_buf = fb->buf;
                            _jpg_buf_len = fb->len;
                        }
                    }
                    dl::tool::free_aligned(image_rgb888);
                }
            }
#endif
        }
        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, 128, _STREAM_PART, _jpg_buf_len, _timestamp.tv_sec, _timestamp.tv_usec);
            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;
        }
        latency_total.end();

        uint32_t frame_latency = latency_total.get_period() / 1000;
        uint32_t average_frame_latency = latency_total.get_average_period() / 1000;

#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
        if (recognition_enabled)
        {
            ESP_LOGI(TAG, "Frame: %4ums (%.1ffps), Average: %4ums (%.1ffps) | decode: %4ums, detect: %4ums, recognize: %5ums, encode: %4ums",
                     frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency,
                     latency_decode.get_period() / 1000,
                     latency_detect.get_period() / 1000,
                     latency_recognize.get_period() / 1000,
                     latency_encode.get_period() / 1000);
        }
        else
#endif
#if CONFIG_DL_DETECT_ENABLED
            if (detection_enabled)
        {
            ESP_LOGI(TAG, "Frame: %4ums (%.1ffps), Average: %4ums (%.1ffps) | decode: %4ums, detect: %4ums, encode: %4ums",
                     frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency,
                     latency_decode.get_period() / 1000,
                     latency_detect.get_period() / 1000,
                     latency_encode.get_period() / 1000);
        }
        else
#endif
        {
            ESP_LOGI(TAG, "Frame: %4ums (%.1ffps), Average: %4ums (%.1ffps)",
                     frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency);
        }
    }

#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
    isStreaming = false;
    enable_led(false);
#endif

    return res;
}

static esp_err_t parse_get(httpd_req_t *req, char **obuf)
{
    char *buf = NULL;
    size_t buf_len = 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)
        {
            *obuf = buf;
            return ESP_OK;
        }
        free(buf);
    }
    httpd_resp_send_404(req);
    return ESP_FAIL;
}

static esp_err_t cmd_handler(httpd_req_t *req)
{
    char *buf = NULL;
    char variable[32];
    char value[32];

    if (parse_get(req, &buf) != ESP_OK ||
        httpd_query_key_value(buf, "var", variable, sizeof(variable)) != ESP_OK ||
        httpd_query_key_value(buf, "val", value, sizeof(value)) != ESP_OK)
    {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }
    free(buf);

    int val = atoi(value);
    ESP_LOGI(TAG, "%s = %d", variable, val);
    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);
            if (res == 0)
            {
                app_mdns_update_framesize(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);
#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
    else if (!strcmp(variable, "led_intensity"))
    {
        led_duty = val;
        if (isStreaming)
            enable_led(true);
    }
#endif

#if CONFIG_DL_DETECT_ENABLED
    else if (!strcmp(variable, "face_detect"))
    {
        detection_enabled = val;
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
        if (!detection_enabled)
        {
            recognition_enabled = 0;
        }
#endif
    }
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
    else if (!strcmp(variable, "face_enroll"))
        is_enrolling = val;
    else if (!strcmp(variable, "face_recognize"))
    {
        recognition_enabled = val;
        if (recognition_enabled)
        {
            detection_enabled = val;
        }
    }
#endif
#endif
    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 int print_reg(char *p, sensor_t *s, uint16_t reg, uint32_t mask)
{
    return sprintf(p, "\"0x%x\":%u,", reg, s->get_reg(s, reg, mask));
}

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++ = '{';

    if (s->id.PID == OV5640_PID || s->id.PID == OV3660_PID)
    {
        for (int reg = 0x3400; reg < 0x3406; reg += 2)
        {
            p += print_reg(p, s, reg, 0xFFF); //12 bit
        }
        p += print_reg(p, s, 0x3406, 0xFF);

        p += print_reg(p, s, 0x3500, 0xFFFF0); //16 bit
        p += print_reg(p, s, 0x3503, 0xFF);
        p += print_reg(p, s, 0x350a, 0x3FF);  //10 bit
        p += print_reg(p, s, 0x350c, 0xFFFF); //16 bit

        for (int reg = 0x5480; reg <= 0x5490; reg++)
        {
            p += print_reg(p, s, reg, 0xFF);
        }

        for (int reg = 0x5380; reg <= 0x538b; reg++)
        {
            p += print_reg(p, s, reg, 0xFF);
        }

        for (int reg = 0x5580; reg < 0x558a; reg++)
        {
            p += print_reg(p, s, reg, 0xFF);
        }
        p += print_reg(p, s, 0x558a, 0x1FF); //9 bit
    }
    else
    {
        p += print_reg(p, s, 0xd3, 0xFF);
        p += print_reg(p, s, 0x111, 0xFF);
        p += print_reg(p, s, 0x132, 0xFF);
    }

    p += sprintf(p, "\"board\":\"%s\",", CAM_BOARD);
    p += sprintf(p, "\"xclk\":%u,", s->xclk_freq_hz / 1000000);
    p += sprintf(p, "\"pixformat\":%u,", s->pixformat);
    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, "\"hmirror\":%u,", s->status.hmirror);
    p += sprintf(p, "\"dcw\":%u,", s->status.dcw);
    p += sprintf(p, "\"colorbar\":%u", s->status.colorbar);
#ifdef CONFIG_LED_ILLUMINATOR_ENABLED
    p += sprintf(p, ",\"led_intensity\":%u", led_duty);
#else
    p += sprintf(p, ",\"led_intensity\":%d", -1);
#endif
#if CONFIG_DL_DETECT_ENABLED
    p += sprintf(p, ",\"face_detect\":%u", detection_enabled);
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
    p += sprintf(p, ",\"face_enroll\":%u,", is_enrolling);
    p += sprintf(p, "\"face_recognize\":%u", recognition_enabled);
#endif
#endif
    *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 mdns_handler(httpd_req_t *req)
{
    size_t json_len = 0;
    const char *json_response = app_mdns_query(&json_len);
    httpd_resp_set_type(req, "application/json");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, json_response, json_len);
}

static esp_err_t xclk_handler(httpd_req_t *req)
{
    char *buf = NULL;
    char _xclk[32];

    if (parse_get(req, &buf) != ESP_OK ||
        httpd_query_key_value(buf, "xclk", _xclk, sizeof(_xclk)) != ESP_OK)
    {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }
    free(buf);

    int xclk = atoi(_xclk);
    ESP_LOGI(TAG, "Set XCLK: %d MHz", xclk);

    sensor_t *s = esp_camera_sensor_get();
    int res = s->set_xclk(s, LEDC_TIMER_0, xclk);
    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 reg_handler(httpd_req_t *req)
{
    char *buf = NULL;
    char _reg[32];
    char _mask[32];
    char _val[32];

    if (parse_get(req, &buf) != ESP_OK ||
        httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK ||
        httpd_query_key_value(buf, "mask", _mask, sizeof(_mask)) != ESP_OK ||
        httpd_query_key_value(buf, "val", _val, sizeof(_val)) != ESP_OK)
    {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }
    free(buf);

    int reg = atoi(_reg);
    int mask = atoi(_mask);
    int val = atoi(_val);
    ESP_LOGI(TAG, "Set Register: reg: 0x%02x, mask: 0x%02x, value: 0x%02x", reg, mask, val);

    sensor_t *s = esp_camera_sensor_get();
    int res = s->set_reg(s, reg, mask, val);
    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 greg_handler(httpd_req_t *req)
{
    char *buf = NULL;
    char _reg[32];
    char _mask[32];

    if (parse_get(req, &buf) != ESP_OK ||
        httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK ||
        httpd_query_key_value(buf, "mask", _mask, sizeof(_mask)) != ESP_OK)
    {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }
    free(buf);

    int reg = atoi(_reg);
    int mask = atoi(_mask);
    sensor_t *s = esp_camera_sensor_get();
    int res = s->get_reg(s, reg, mask);
    if (res < 0)
    {
        return httpd_resp_send_500(req);
    }
    ESP_LOGI(TAG, "Get Register: reg: 0x%02x, mask: 0x%02x, value: 0x%02x", reg, mask, res);

    char buffer[20];
    const char *val = itoa(res, buffer, 10);
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, val, strlen(val));
}

static int parse_get_var(char *buf, const char *key, int def)
{
    char _int[16];
    if (httpd_query_key_value(buf, key, _int, sizeof(_int)) != ESP_OK)
    {
        return def;
    }
    return atoi(_int);
}

static esp_err_t pll_handler(httpd_req_t *req)
{
    char *buf = NULL;

    if (parse_get(req, &buf) != ESP_OK)
    {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int bypass = parse_get_var(buf, "bypass", 0);
    int mul = parse_get_var(buf, "mul", 0);
    int sys = parse_get_var(buf, "sys", 0);
    int root = parse_get_var(buf, "root", 0);
    int pre = parse_get_var(buf, "pre", 0);
    int seld5 = parse_get_var(buf, "seld5", 0);
    int pclken = parse_get_var(buf, "pclken", 0);
    int pclk = parse_get_var(buf, "pclk", 0);
    free(buf);

    ESP_LOGI(TAG, "Set Pll: bypass: %d, mul: %d, sys: %d, root: %d, pre: %d, seld5: %d, pclken: %d, pclk: %d", bypass, mul, sys, root, pre, seld5, pclken, pclk);
    sensor_t *s = esp_camera_sensor_get();
    int res = s->set_pll(s, bypass, mul, sys, root, pre, seld5, pclken, pclk);
    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 win_handler(httpd_req_t *req)
{
    char *buf = NULL;

    if (parse_get(req, &buf) != ESP_OK)
    {
        free(buf);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int startX = parse_get_var(buf, "sx", 0);
    int startY = parse_get_var(buf, "sy", 0);
    int endX = parse_get_var(buf, "ex", 0);
    int endY = parse_get_var(buf, "ey", 0);
    int offsetX = parse_get_var(buf, "offx", 0);
    int offsetY = parse_get_var(buf, "offy", 0);
    int totalX = parse_get_var(buf, "tx", 0);
    int totalY = parse_get_var(buf, "ty", 0);
    int outputX = parse_get_var(buf, "ox", 0);
    int outputY = parse_get_var(buf, "oy", 0);
    bool scale = parse_get_var(buf, "scale", 0) == 1;
    bool binning = parse_get_var(buf, "binning", 0) == 1;
    free(buf);

    ESP_LOGI(TAG, "Set Window: Start: %d %d, End: %d %d, Offset: %d %d, Total: %d %d, Output: %d %d, Scale: %u, Binning: %u", startX, startY, endX, endY, offsetX, offsetY, totalX, totalY, outputX, outputY, scale, binning);
    sensor_t *s = esp_camera_sensor_get();
    int res = s->set_res_raw(s, startX, startY, endX, endY, offsetX, offsetY, totalX, totalY, outputX, outputY, scale, binning);
    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 index_handler(httpd_req_t *req)
{
    extern const unsigned char index_ov2640_html_gz_start[] asm("_binary_index_ov2640_html_gz_start");
    extern const unsigned char index_ov2640_html_gz_end[] asm("_binary_index_ov2640_html_gz_end");
    size_t index_ov2640_html_gz_len = index_ov2640_html_gz_end - index_ov2640_html_gz_start;

    extern const unsigned char index_ov3660_html_gz_start[] asm("_binary_index_ov3660_html_gz_start");
    extern const unsigned char index_ov3660_html_gz_end[] asm("_binary_index_ov3660_html_gz_end");
    size_t index_ov3660_html_gz_len = index_ov3660_html_gz_end - index_ov3660_html_gz_start;

    extern const unsigned char index_ov5640_html_gz_start[] asm("_binary_index_ov5640_html_gz_start");
    extern const unsigned char index_ov5640_html_gz_end[] asm("_binary_index_ov5640_html_gz_end");
    size_t index_ov5640_html_gz_len = index_ov5640_html_gz_end - index_ov5640_html_gz_start;

    httpd_resp_set_type(req, "text/html");
    httpd_resp_set_hdr(req, "Content-Encoding", "gzip");
    sensor_t *s = esp_camera_sensor_get();
    if (s != NULL)
    {
        if (s->id.PID == OV3660_PID)
        {
            return httpd_resp_send(req, (const char *)index_ov3660_html_gz_start, index_ov3660_html_gz_len);
        }
        else if (s->id.PID == OV5640_PID)
        {
            return httpd_resp_send(req, (const char *)index_ov5640_html_gz_start, index_ov5640_html_gz_len);
        }
        else
        {
            return httpd_resp_send(req, (const char *)index_ov2640_html_gz_start, index_ov2640_html_gz_len);
        }
    }
    else
    {
        ESP_LOGE(TAG, "Camera sensor not found");
        return httpd_resp_send_500(req);
    }
}

static esp_err_t monitor_handler(httpd_req_t *req)
{
    extern const unsigned char monitor_html_gz_start[] asm("_binary_monitor_html_gz_start");
    extern const unsigned char monitor_html_gz_end[] asm("_binary_monitor_html_gz_end");
    size_t monitor_html_gz_len = monitor_html_gz_end - monitor_html_gz_start;
    httpd_resp_set_type(req, "text/html");
    httpd_resp_set_hdr(req, "Content-Encoding", "gzip");
    return httpd_resp_send(req, (const char *)monitor_html_gz_start, monitor_html_gz_len);
}

void app_httpd_main()
{
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
    config.max_uri_handlers = 12;

    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 xclk_uri = {
        .uri = "/xclk",
        .method = HTTP_GET,
        .handler = xclk_handler,
        .user_ctx = NULL};

    httpd_uri_t reg_uri = {
        .uri = "/reg",
        .method = HTTP_GET,
        .handler = reg_handler,
        .user_ctx = NULL};

    httpd_uri_t greg_uri = {
        .uri = "/greg",
        .method = HTTP_GET,
        .handler = greg_handler,
        .user_ctx = NULL};

    httpd_uri_t pll_uri = {
        .uri = "/pll",
        .method = HTTP_GET,
        .handler = pll_handler,
        .user_ctx = NULL};

    httpd_uri_t win_uri = {
        .uri = "/resolution",
        .method = HTTP_GET,
        .handler = win_handler,
        .user_ctx = NULL};

    httpd_uri_t mdns_uri = {
        .uri = "/mdns",
        .method = HTTP_GET,
        .handler = mdns_handler,
        .user_ctx = NULL};

    httpd_uri_t monitor_uri = {
        .uri = "/monitor",
        .method = HTTP_GET,
        .handler = monitor_handler,
        .user_ctx = NULL};

    ESP_LOGI(TAG, "Starting web server on port: '%d'", 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);

        httpd_register_uri_handler(camera_httpd, &xclk_uri);
        httpd_register_uri_handler(camera_httpd, &reg_uri);
        httpd_register_uri_handler(camera_httpd, &greg_uri);
        httpd_register_uri_handler(camera_httpd, &pll_uri);
        httpd_register_uri_handler(camera_httpd, &win_uri);

        httpd_register_uri_handler(camera_httpd, &mdns_uri);
        httpd_register_uri_handler(camera_httpd, &monitor_uri);
    }

    config.server_port += 1;
    config.ctrl_port += 1;
    ESP_LOGI(TAG, "Starting stream server on port: '%d'", config.server_port);
    if (httpd_start(&stream_httpd, &config) == ESP_OK)
    {
        httpd_register_uri_handler(stream_httpd, &stream_uri);
    }
}