ESP32-CAM Video Surveillance Robot

/*
ESP32-CAM Remote Control 
*/

const char* ssid = "Your_WIFI_Network";
const char* password = "Your password";

#include "esp_wifi.h"
#include "esp_camera.h"
#include <WiFi.h>
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"

//
// WARNING!!! Make sure that you have either selected ESP32 Wrover Module,
//            or another board which has PSRAM enabled
//

// Select camera model
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
#define CAMERA_MODEL_AI_THINKER

#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    21
#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      19
#define Y4_GPIO_NUM      18
#define Y3_GPIO_NUM       5
#define Y2_GPIO_NUM       4
#define VSYNC_GPIO_NUM   25
#define HREF_GPIO_NUM    23
#define PCLK_GPIO_NUM    22

#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(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

#else
#error "Camera model not selected"
#endif

void startCameraServer();

const int MotPin0 = 12;  
const int MotPin1 = 13;  
const int MotPin2 = 14;  
const int MotPin3 = 15;  

void initMotors() 
{
  ledcSetup(3, 2000, 8); // 2000 hz PWM, 8-bit resolution
  ledcSetup(4, 2000, 8); // 2000 hz PWM, 8-bit resolution
  ledcSetup(5, 2000, 8); // 2000 hz PWM, 8-bit resolution
  ledcSetup(6, 2000, 8); // 2000 hz PWM, 8-bit resolution
  ledcAttachPin(MotPin0, 3); 
  ledcAttachPin(MotPin1, 4); 
  ledcAttachPin(MotPin2, 5); 
  ledcAttachPin(MotPin3, 6); 
}

const int ServoPin = 2;  
void initServo() 
{
  ledcSetup(8, 50, 16); // 50 hz PWM, 16-bit resolution, range from 3250 to 6500.
  ledcAttachPin(ServoPin, 8); 
}

void setup() 
{
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); // prevent brownouts by silencing them
  
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

  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;
  //init with high specs to pre-allocate larger buffers
  if(psramFound()){
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 12;
    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;
  }

  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_QVGA);
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);

  // Remote Control Car
  initMotors();
  initServo();
  
  ledcSetup(7, 5000, 8);
  ledcAttachPin(4, 7);  //pin4 is LED
  
  Serial.println("ssid: " + (String)ssid);
  Serial.println("password: " + (String)password);
  
  WiFi.begin(ssid, password);
  delay(500);

  long int StartTime=millis();
  while (WiFi.status() != WL_CONNECTED) 
  {
      delay(500);
      if ((StartTime+10000) < millis()) break;
  } 

  /*
  int8_t power;
  esp_wifi_set_max_tx_power(20);
  esp_wifi_get_max_tx_power(&power);
  Serial.printf("wifi power: %d \n",power); 
  */
  
  startCameraServer();

  if (WiFi.status() == WL_CONNECTED) 
  {
    Serial.println("");
    Serial.println("WiFi connected");    
    Serial.print("Camera Ready! Use 'http://");
    Serial.print(WiFi.localIP());
    Serial.println("' to connect");
  } else {
    Serial.println("");
    Serial.println("WiFi disconnected");      
    Serial.print("Camera Ready! Use 'http://");
    Serial.print(WiFi.softAPIP());
    Serial.println("' to connect");
    char* apssid = "ESP32-CAM";
    char* appassword = "12345678";         //AP password require at least 8 characters.
    WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), appassword);    
  }

  for (int i=0;i<5;i++) 
  {
    ledcWrite(7,10);  // flash led
    delay(200);
    ledcWrite(7,0);
    delay(200);    
  }       
}

void loop() {
  // put your main code here, to run repeatedly:
  delay(1000);
  //Serial.printf("RSSi: %ld dBm\n",WiFi.RSSI()); 
}



//SECOND PART OF THE CODE. PUT IT TO ANOTHER TAB "app_httpd.cpp"
//or download entire code from https://www.robbie-app.com/esp32cam_car.zip 


#include <esp32-hal-ledc.h>
int cspeed = 200;  
int noStop = 1;
int xcoord = 0;
float speed_Coeff = (1 + (xcoord/50.0));

#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "Arduino.h"

//#include <dl_lib.h>

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\n\r\n";

httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

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){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.println("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");

    size_t out_len, out_width, out_height;
    uint8_t * out_buf;
    bool s;
    {
        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);
        int64_t fr_end = esp_timer_get_time();
        Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
        return res;
    }

   // dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
//    if (!image_matrix) {
        esp_camera_fb_return(fb);
        Serial.println("dl_matrix3du_alloc failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

//    out_buf = image_matrix->item;
//    out_len = fb->width * fb->height * 3;
//    out_width = fb->width;
//    out_height = fb->height;

//    s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
//    esp_camera_fb_return(fb);
//    if(!s){
//        dl_matrix3du_free(image_matrix);
//        Serial.println("to rgb888 failed");
//        httpd_resp_send_500(req);
//        return ESP_FAIL;
//    }

//    jpg_chunking_t jchunk = {req, 0};
//    s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
//    dl_matrix3du_free(image_matrix);
//    if(!s){
 //       Serial.println("JPEG compression failed");
 //       return ESP_FAIL;
 //   }

//    int64_t fr_end = esp_timer_get_time();
//    return res;
//}

static esp_err_t stream_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len = 0;
    uint8_t * _jpg_buf = NULL;
    char * part_buf[64];
  //  dl_matrix3du_t *image_matrix = NULL;

    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;
    }

    while(true){
        fb = esp_camera_fb_get();
        if (!fb) {
            Serial.println("Camera capture failed");
            res = ESP_FAIL;
        } else {
             {
                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){
                        Serial.println("JPEG compression failed");
                        res = ESP_FAIL;
                    }
                } else {
                    _jpg_buf_len = fb->len;
                    _jpg_buf = fb->buf;
                }
            }
        }
        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 frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        Serial.printf("MJPG: %uB %ums (%.1ffps)\n",
            (uint32_t)(_jpg_buf_len),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time           
        );
    }

    last_frame = 0;
    return res;
}

enum state {fwd,rev,stp};
state actstate = stp;

static esp_err_t cmd_handler(httpd_req_t *req)
{
    char*  buf;
    size_t buf_len;
    char variable[32] = {0,};
    char value[32] = {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) {
            if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
                httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
            } else {
                free(buf);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
            free(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        free(buf);
    } else {
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }
 
    int val = atoi(value);
    sensor_t * s = esp_camera_sensor_get();
    int res = 0;
    
    if(!strcmp(variable, "framesize")) 
    {
        Serial.println("framesize");
        if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);
    }
    else if(!strcmp(variable, "quality")) 
    {
      Serial.println("quality");
      res = s->set_quality(s, val);
    }
    //Remote Control Car 
    //Don't use channel 1 and channel 2
    else if(!strcmp(variable, "flash")) 
    {
      ledcWrite(7,val);
    }  
    else if(!strcmp(variable, "speeds")) 
    {
      if      (val > 255) val = 255;
      else if (val <   0) val = 0;       
      cspeed = val*2;
     
    }   
     else if(!strcmp(variable, "xcoord")) 
    {
      if      (val > 255) val = 255;
     // else if (val <   0) val = 0;       
      xcoord = val;
      speed_Coeff = (1 + (xcoord/50.0));
      
    }     
    else if(!strcmp(variable, "nostop")) 
    {
      noStop = val;
    }             
    else if(!strcmp(variable, "servo")) // 3250, 4875, 6500
    {
      if      (val > 650) val = 650;
      else if (val < 326) val = 225;   
      ledcWrite(8,10*val);

    }     
    else if(!strcmp(variable, "car")) {  

 if(val == 1){
   actstate = fwd;  
      ledcWrite(4,cspeed);  // pin 12
        ledcWrite(3,0);      // pin 13
        ledcWrite(5,cspeed);  // pin 14  
        ledcWrite(6,0);      // pin 15   
  delay(25);
    }
    if(val == 0){
      actstate = stp; 
   ledcWrite(4,0);
        ledcWrite(3,0);
        ledcWrite(5,0);     
        ledcWrite(6,0);  
    }
    if(val == 2){
      actstate = rev; 
    ledcWrite(4,0);
        ledcWrite(3,cspeed);
        ledcWrite(5,0);  
        ledcWrite(6,cspeed); 
  delay(25);
    }
  
    if(val == 3){
    ledcWrite(3,0);
        ledcWrite(6,0); 
        ledcWrite(5,cspeed+30); 
        ledcWrite(4,    cspeed/speed_Coeff); 
  delay(25);
    }

    if(val == 4){
   ledcWrite(3,0);
        ledcWrite(6,0); 
        ledcWrite(5,    cspeed/speed_Coeff);
        ledcWrite(4,cspeed+30); 
  delay(25);
    }

    if(val == 5){
        ledcWrite(6,0); ledcWrite(3,0); ledcWrite(5,130); 
  delay(25); 
    }

    if(val == 6){
        ledcWrite(5,0); ledcWrite(4,130); ledcWrite(6,0); 
  delay(25);
    }

    if(val == 7){
     ledcWrite(4,0);
        ledcWrite(5,0);   
  ledcWrite(6,    cspeed/speed_Coeff); 
  ledcWrite(3,cspeed+30);       
  delay(25);
    }

    if(val == 8){
    ledcWrite(4,0);
        ledcWrite(5,0); 
       
ledcWrite(6,cspeed+50); 
ledcWrite(3,    cspeed/speed_Coeff); 
  
  delay(25);
    }

if (noStop!=1) 
      {
        ledcWrite(3, 0);
        ledcWrite(4, 0);  
        ledcWrite(5, 0);  
        ledcWrite(6, 0);
      }      




    }

    else 
    { 
      Serial.println("variable");
      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 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++ = '{';

    p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);
    p+=sprintf(p, "\"quality\":%u,", s->status.quality);
    *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 const char PROGMEM INDEX_HTML[] = R"rawliteral(
<!doctype html>
<html>
    <head>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width,initial-scale=1">
        <title>ESP32 OV2460</title>
        <style>
          body{font-family:Arial,Helvetica,sans-serif;background:#181818;color:#EFEFEF;font-size:16px}h2{font-size:18px}section.main{display:flex}#menu,section.main{flex-direction:column}#menu{display:none;flex-wrap:nowrap;min-width:340px;background:#363636;padding:8px;border-radius:4px;margin-top:-10px;margin-right:10px}#content{display:flex;flex-wrap:wrap;align-items:stretch}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}figure img{display:block;width:100%;height:auto;border-radius:4px;margin-top:8px}@media (min-width: 800px) and (orientation:landscape){#content{display:flex;flex-wrap:nowrap;align-items:stretch}figure img{display:block;max-width:100%;max-height:calc(100vh - 40px);width:auto;height:auto}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}}section#buttons{display:flex;flex-wrap:nowrap;justify-content:space-between}#nav-toggle{cursor:pointer;display:block}#nav-toggle-cb{outline:0;opacity:0;width:0;height:0}#nav-toggle-cb:checked+#menu{display:flex}.input-group{display:flex;flex-wrap:nowrap;line-height:22px;margin:5px 0}.input-group>label{display:inline-block;padding-right:10px;min-width:47%}.input-group input,.input-group select{flex-grow:1}.range-max,.range-min{display:inline-block;padding:0 5px}button{display:block;margin:5px;padding:0 12px;border:0;line-height:28px;cursor:pointer;color:#fff;background:#ff3034;border-radius:5px;font-size:16px;outline:0}button:hover{background:#ff494d}button:active{background:#f21c21}button.disabled{cursor:default;background:#a0a0a0}input[type=range]{-webkit-appearance:none;width:100%;height:22px;background:#363636;cursor:pointer;margin:0}input[type=range]:focus{outline:0}input[type=range]::-webkit-slider-runnable-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 solid #EFEFEF}input[type=range]::-webkit-slider-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;-webkit-appearance:none;margin-top:-11.5px}input[type=range]:focus::-webkit-slider-runnable-track{background:#EFEFEF}input[type=range]::-moz-range-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 solid #EFEFEF}input[type=range]::-moz-range-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer}input[type=range]::-ms-track{width:100%;height:2px;cursor:pointer;background:0 0;border-color:transparent;color:transparent}input[type=range]::-ms-fill-lower{background:#EFEFEF;border:0 solid #EFEFEF;border-radius:0}input[type=range]::-ms-fill-upper{background:#EFEFEF;border:0 solid #EFEFEF;border-radius:0}input[type=range]::-ms-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;height:2px}input[type=range]:focus::-ms-fill-lower{background:#EFEFEF}input[type=range]:focus::-ms-fill-upper{background:#363636}.switch{display:block;position:relative;line-height:22px;font-size:16px;height:22px}.switch input{outline:0;opacity:0;width:0;height:0}.slider{width:50px;height:22px;border-radius:22px;cursor:pointer;background-color:grey}.slider,.slider:before{display:inline-block;transition:.4s}.slider:before{position:relative;content:"";border-radius:50%;height:16px;width:16px;left:4px;top:3px;background-color:#fff}input:checked+.slider{background-color:#ff3034}input:checked+.slider:before{-webkit-transform:translateX(26px);transform:translateX(26px)}select{border:1px solid #363636;font-size:14px;height:22px;outline:0;border-radius:5px}.image-container{position:relative;min-width:160px}.close{position:absolute;right:5px;top:5px;background:#ff3034;width:16px;height:16px;border-radius:100px;color:#fff;text-align:center;line-height:18px;cursor:pointer}.hidden{display:none}
        </style>
    </head>
    <body>
    <figure>
      <div id="stream-container" class="image-container hidden">
        <div class="close" id="close-stream">×</div>
        <img id="stream" src="">
      </div>
    </figure>
        <section class="main">
            <section id="buttons">
                <table>
                <tr><td align="center"><button id="get-still">Get Still</button></td><td><td>&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp</td><td align="center"><button id="toggle-stream">Start Stream</button></td></tr>
                <tr><td></td><td align="center">&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp<td></td><td></td></tr>
                <tr><td align="center">&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp</td><td align="center">&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp<td></td><td align="center">&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp</td></tr>
                <tr><td></td><td align="center" colspan="2"></br></tr>
                <tr><td></td><td align="center" colspan="2"></br></tr>
                <tr><td></td><td align="center" colspan="2"></br></tr>
                <tr><td>Servo</td><td align="center" colspan="2"><input type="range" id="servo" min="325" max="650" value="487" onchange="try{fetch(document.location.origin+'/control?var=servo&val='+this.value);}catch(e){}"><td></td></tr>
                <tr><td>Flash</td><td align="center" colspan="2"><input type="range" id="flash" min="0" max="255" value="0" onchange="try{fetch(document.location.origin+'/control?var=flash&val='+this.value);}catch(e){}"><td></td></tr>
                <tr><td>Resolution</td><td align="center" colspan="2"><input type="range" id="framesize" min="0" max="6" value="5" onchange="try{fetch(document.location.origin+'/control?var=framesize&val='+this.value);}catch(e){}"><td></td></tr>
                <tr><td>Quality</td><td align="center" colspan="2"><input type="range" id="quality" min="10" max="63" value="10" onchange="try{fetch(document.location.origin+'/control?var=quality&val='+this.value);}catch(e){}"><td></td></tr>
                
               
                </table>
            </section>         
        </section>
        <script>
          document.addEventListener('DOMContentLoaded',function(){function b(B){let C;switch(B.type){case'checkbox':C=B.checked?1:0;break;case'range':case'select-one':C=B.value;break;case'button':case'submit':C='1';break;default:return;}const D=`${c}/control?var=${B.id}&val=${C}`;fetch(D).then(E=>{console.log(`request to ${D} finished, status: ${E.status}`)})}var c=document.location.origin;const e=B=>{B.classList.add('hidden')},f=B=>{B.classList.remove('hidden')},g=B=>{B.classList.add('disabled'),B.disabled=!0},h=B=>{B.classList.remove('disabled'),B.disabled=!1},i=(B,C,D)=>{D=!(null!=D)||D;let E;'checkbox'===B.type?(E=B.checked,C=!!C,B.checked=C):(E=B.value,B.value=C),D&&E!==C?b(B):!D&&('aec'===B.id?C?e(v):f(v):'agc'===B.id?C?(f(t),e(s)):(e(t),f(s)):'awb_gain'===B.id?C?f(x):e(x):'face_recognize'===B.id&&(C?h(n):g(n)))};document.querySelectorAll('.close').forEach(B=>{B.onclick=()=>{e(B.parentNode)}}),fetch(`${c}/status`).then(function(B){return B.json()}).then(function(B){document.querySelectorAll('.default-action').forEach(C=>{i(C,B[C.id],!1)})});const j=document.getElementById('stream'),k=document.getElementById('stream-container'),l=document.getElementById('get-still'),m=document.getElementById('toggle-stream'),n=document.getElementById('face_enroll'),o=document.getElementById('close-stream'),p=()=>{window.stop(),m.innerHTML='Start Stream'},q=()=>{j.src=`${c+':81'}/stream`,f(k),m.innerHTML='Stop Stream'};l.onclick=()=>{p(),j.src=`${c}/capture?_cb=${Date.now()}`,f(k)},o.onclick=()=>{p(),e(k)},m.onclick=()=>{const B='Stop Stream'===m.innerHTML;B?p():q()},n.onclick=()=>{b(n)},document.querySelectorAll('.default-action').forEach(B=>{B.onchange=()=>b(B)});const r=document.getElementById('agc'),s=document.getElementById('agc_gain-group'),t=document.getElementById('gainceiling-group');r.onchange=()=>{b(r),r.checked?(f(t),e(s)):(e(t),f(s))};const u=document.getElementById('aec'),v=document.getElementById('aec_value-group');u.onchange=()=>{b(u),u.checked?e(v):f(v)};const w=document.getElementById('awb_gain'),x=document.getElementById('wb_mode-group');w.onchange=()=>{b(w),w.checked?f(x):e(x)};const y=document.getElementById('face_detect'),z=document.getElementById('face_recognize'),A=document.getElementById('framesize');A.onchange=()=>{b(A),5<A.value&&(i(y,!1),i(z,!1))},y.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(y,!1)):void(b(y),!y.checked&&(g(n),i(z,!1)))},z.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(z,!1)):void(b(z),z.checked?(h(n),i(y,!0)):g(n))}});
        </script>
    </body>
</html>
)rawliteral";

static esp_err_t index_handler(httpd_req_t *req){
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
}

void startCameraServer()
{
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();

    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
    };
    
    Serial.printf("Starting web server on port: '%d'\n", 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);
    }

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