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TKK_E32221343/brankasq_esp32cam.ino

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#include <ArduinoWebsockets.h>
#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "camera_index.h"
#include "Arduino.h"
#include "fd_forward.h"
#include "fr_forward.h"
#include "fr_flash.h"
using namespace websockets;
WebsocketsServer socket_server;
const char* ssid = "KOPI";
const char* password = "digoreng123";
#define ENROLL_CONFIRM_TIMES 5
#define FACE_ID_SAVE_NUMBER 5
#define flash_pin 4
#define CAMERA_MODEL_AI_THINKER
#include "camera_pins.h"
camera_fb_t * fb = NULL;
unsigned long recognition_start_time = 0;
bool recognition_active = false;
unsigned long detect_start_time = 0;
bool detect_active = false;
face_id_name_list st_face_list;
static dl_matrix3du_t *aligned_face = NULL;
typedef struct {
uint8_t *image;
box_array_t *net_boxes;
dl_matrix3d_t *face_id;
} http_img_process_result;
static inline mtmn_config_t app_mtmn_config() {
mtmn_config_t mtmn_config = {0};
mtmn_config.type = FAST;
mtmn_config.min_face = 100;
mtmn_config.pyramid = 0.707;
mtmn_config.pyramid_times = 4;
mtmn_config.p_threshold.score = 0.6;
mtmn_config.p_threshold.nms = 0.7;
mtmn_config.p_threshold.candidate_number = 20;
mtmn_config.r_threshold.score = 0.7;
mtmn_config.r_threshold.nms = 0.7;
mtmn_config.r_threshold.candidate_number = 10;
mtmn_config.o_threshold.score = 0.7;
mtmn_config.o_threshold.nms = 0.7;
mtmn_config.o_threshold.candidate_number = 1;
return mtmn_config;
}
mtmn_config_t mtmn_config = app_mtmn_config();
typedef enum {
START_STREAM,
START_DETECT,
SHOW_FACES,
START_RECOGNITION,
START_ENROLL,
ENROLL_COMPLETE,
} en_fsm_state;
en_fsm_state g_state;
typedef struct {
char enroll_name[ENROLL_NAME_LEN];
} httpd_resp_value;
httpd_resp_value st_name;
WebsocketsClient activeClient;
void app_facenet_main() {
face_id_name_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_with_name(&st_face_list);
print_all_faces();
}
static inline int do_enrollment(face_id_name_list *face_list, dl_matrix3d_t *new_id)
{
ESP_LOGD(TAG, "START ENROLLING");
int left_sample_face = enroll_face_id_to_flash_with_name(face_list, new_id, st_name.enroll_name);
ESP_LOGD(TAG, "Face ID %s Enrollment: Sample %d",
st_name.enroll_name,
ENROLL_CONFIRM_TIMES - left_sample_face);
return left_sample_face;
}
void app_httpserver_init() {
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
httpd_handle_t camera_httpd = NULL;
if (httpd_start(&camera_httpd, &config) == ESP_OK) {
httpd_uri_t index_uri = {
.uri = "/",
.method = HTTP_GET,
.handler = [](httpd_req_t *req) -> esp_err_t {
httpd_resp_set_type(req, "text/html");
httpd_resp_set_hdr(req, "Content-Encoding", "gzip");
return httpd_resp_send(req, (const char *)index_html_gz, index_html_gz_len);
},
.user_ctx = NULL
};
httpd_register_uri_handler(camera_httpd, &index_uri);
}
}
void send_face_list(WebsocketsClient &client) {
String names = "";
face_id_node *head = st_face_list.head;
for (int i = 0; i < st_face_list.count; i++) {
names += head->id_name;
if (i < st_face_list.count - 1) names += ",";
head = head->next;
}
if (client.available()) {
client.send("facelist:" + names); // hanya kirim satu kali
}
}
void send_feedback(String message) {
if (activeClient.available()) {
activeClient.send(message);
} else {
Serial.println(message);
}
}
bool search_face_id_in_flash_by_name(face_id_name_list *face_list, const char *name) {
if (!name || strlen(name) == 0) return false;
face_id_node *current = face_list->head;
while (current != NULL) {
if (strncmp(current->id_name, name, ENROLL_NAME_LEN) == 0) {
return true; // ditemukan
}
current = current->next;
}
return false; // tidak ditemukan
}
void handle_command(String command) {
command.trim();
if (command == "stream") {
g_state = START_STREAM;
send_feedback("STREAMING");
}
else if (command == "detect") {
g_state = START_DETECT;
detect_start_time = millis();
detect_active = true;
digitalWrite(flash_pin, HIGH);
send_feedback("DETECTING");
}
else if (command == "flash:on") {
digitalWrite(flash_pin, HIGH);
send_feedback("FLASH ON");
}
else if (command == "flash:off") {
digitalWrite(flash_pin, LOW);
send_feedback("FLASH OFF");
}
else if (command.startsWith("capture:")) {
String person = command.substring(8);
person.trim();
if (person.length() == 0) {
send_feedback("FACE DATA CORRUPTED: NAME EMPTY");
Serial.println("ERROR: Tidak boleh kosong. Nama wajah tidak valid.");
return;
}
// Cek karakter valid
bool valid = true;
for (unsigned int i = 0; i < person.length(); i++) {
char c = person.charAt(i);
if (c < 32 || c > 126) {
valid = false;
break;
}
}
if (!valid) {
send_feedback("FACE DATA CORRUPTED: INVALID CHAR");
Serial.println("ERROR: Nama wajah mengandung karakter tidak valid.");
return;
}
if (search_face_id_in_flash_by_name(&st_face_list, person.c_str())) {
send_feedback("NAME ALREADY EXISTS");
Serial.println("ERROR: Nama sudah ada.");
return;
}
person.toCharArray(st_name.enroll_name, ENROLL_NAME_LEN - 1);
st_name.enroll_name[ENROLL_NAME_LEN - 1] = '\0';
g_state = START_ENROLL;
digitalWrite(flash_pin, HIGH);
send_feedback("CAPTURING");
}
else if (command == "recognise" || command == "DETEKSI") {
Serial.println("READY");
g_state = START_RECOGNITION;
recognition_start_time = millis();
recognition_active = true;
digitalWrite(flash_pin, HIGH);
send_feedback("RECOGNISING");
}
else if (command == "getpin") {
Serial.println("getpin");
}
else if (command.startsWith("newpin:")) {
String newPin = command.substring(7);
newPin.trim();
if (st_face_list.count > 0) {
send_feedback("PIN TIDAK BISA DIUBAH");
return;
}
if (newPin.length() == 6 && newPin.toInt() >= 0) {
Serial.println("SET_PIN:" + newPin);
send_feedback("PIN BARU TERKIRIM");
} else {
send_feedback("PIN INVALID");
}
}
else if (command.startsWith("remove:")) {
String person = command.substring(7);
char person_buf[ENROLL_NAME_LEN * FACE_ID_SAVE_NUMBER];
strncpy(person_buf, person.c_str(), sizeof(person_buf));
person_buf[sizeof(person_buf) - 1] = '\0';
bool result = delete_face_id_in_flash_with_name(&st_face_list, person_buf);
if (result) {
send_feedback("remove:ok");
if (st_face_list.count == 0) {
Serial.println("resetpin");
}
} else {
send_feedback("remove:error");
}
}
else if (command == "delete:allfaces") {
wipe_all_faces_manual();
send_face_list(activeClient);
}
else if (command == "getfacelist") {
String names = "";
face_id_node *node = st_face_list.head;
while (node != nullptr) {
names += node->id_name;
names += ",";
node = node->next;
}
Serial.println("facelist:" + names);
if (activeClient.available()) {
activeClient.send("facelist:" + names);
}
}
}
void handle_message(WebsocketsClient &client, WebsocketsMessage msg) {
handle_command(msg.data());
}
void handle_serial() {
if (Serial.available()) {
String line = Serial.readStringUntil('\n');
line.trim();
if (line.startsWith("PIN:")) {
// Kirim ke WebSocket
if (activeClient.available()) {
activeClient.send("pin:" + line.substring(4)); // kirim hanya angkanya
}
} else {
handle_command(line); // tetap proses perintah lainnya
}
}
}
void handle_websocket() {
if (!activeClient.available()) {
auto client = socket_server.accept();
if (client.available()) {
Serial.println("Web Client Connected");
activeClient = client;
activeClient.onMessage(handle_message);
send_feedback("READY WEBSOCKET");
}
}
if (activeClient.available()) {
activeClient.poll();
}
}
void handle_camera() {
dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, 320, 240, 3);
http_img_process_result out_res = {0};
out_res.image = image_matrix->item;
fb = esp_camera_fb_get();
if (!fb) {
Serial.println("Camera capture failed");
dl_matrix3du_free(image_matrix);
return;
}
if (g_state == START_ENROLL)
{
fmt2rgb888(fb->buf, fb->len, fb->format, out_res.image);
out_res.net_boxes = face_detect(image_matrix, &mtmn_config);
if (out_res.net_boxes)
{
if (align_face(out_res.net_boxes, image_matrix, aligned_face) == ESP_OK)
{
out_res.face_id = get_face_id(aligned_face);
if (out_res.face_id && out_res.face_id->item) {
bool valid_face = false;
for (int i = 0; i < FACE_ID_SIZE; i++) {
float val = out_res.face_id->item[i];
if (!isnan(val) && fabs(val) > 1e-5) {
valid_face = true;
break;
}
}
if (valid_face) {
static int last_enroll_count = -1;
int left_sample_face = do_enrollment(&st_face_list, out_res.face_id);
if (left_sample_face != last_enroll_count) {
last_enroll_count = left_sample_face;
char enrolling_message[64];
sprintf(enrolling_message, "SAMPLE NUMBER %d FOR %s", ENROLL_CONFIRM_TIMES - left_sample_face, st_name.enroll_name);
send_feedback(enrolling_message);
}
if (left_sample_face == 0) {
g_state = START_STREAM;
last_enroll_count = -1;
digitalWrite(flash_pin, LOW);
// Reload daftar wajah untuk cek jumlah
read_face_id_from_flash_with_name(&st_face_list);
send_feedback("capture:done"); // beri tahu website bahwa capture selesai
send_face_list(activeClient);
if (st_face_list.count == 1) {
Serial.println("Waiting for newpin...");
}
}
} else {
send_feedback("FACE DATA INVALID, PLEASE RETRY");
Serial.println("Face ID tidak valid: seluruh vektor nol/NaN");
}
dl_matrix3d_free(out_res.face_id);
} else {
send_feedback("FAILED TO GET FACE ID");
Serial.println("Face ID pointer null atau kosong");
}
}
else
{
send_feedback("FACE ALIGNMENT FAILED");
Serial.println("align_face gagal");
}
}
if (out_res.net_boxes)
free(out_res.net_boxes);
}
if (g_state == START_RECOGNITION && recognition_active) {
fmt2rgb888(fb->buf, fb->len, fb->format, out_res.image);
out_res.net_boxes = face_detect(image_matrix, &mtmn_config);
if (out_res.net_boxes) {
if (align_face(out_res.net_boxes, image_matrix, aligned_face) == ESP_OK) {
out_res.face_id = get_face_id(aligned_face);
if (out_res.face_id && st_face_list.count > 0) {
face_id_node *f = recognize_face_with_name(&st_face_list, out_res.face_id);
if (f) {
Serial.printf("DIKENALI: %s\n", f->id_name);
char recognised_message[64];
sprintf(recognised_message, "DOOR OPEN FOR %s", f->id_name);
send_feedback(recognised_message);
g_state = START_STREAM;
recognition_active = false;
digitalWrite(flash_pin, LOW);
} else if (millis() - recognition_start_time >= 5000) {
Serial.println("TAKKENAL");
send_feedback("FACE NOT RECOGNISED");
g_state = START_STREAM;
recognition_active = false;
digitalWrite(flash_pin, LOW);
}
} else if (millis() - recognition_start_time >= 5000) {
Serial.println("TAKKENAL");
send_feedback("FACE NOT RECOGNISED");
g_state = START_STREAM;
recognition_active = false;
digitalWrite(flash_pin, LOW);
}
if (out_res.face_id) {
dl_matrix3d_free(out_res.face_id);
}
} else if (millis() - recognition_start_time >= 5000) {
Serial.println("TAKADA");
send_feedback("NO FACE DETECTED");
g_state = START_STREAM;
recognition_active = false;
digitalWrite(flash_pin, LOW);
}
free(out_res.net_boxes);
} else if (millis() - recognition_start_time >= 5000) {
Serial.println("TAKADA");
send_feedback("NO FACE DETECTED");
g_state = START_STREAM;
recognition_active = false;
digitalWrite(flash_pin, LOW);
}
}
if (g_state == START_DETECT && detect_active) {
fmt2rgb888(fb->buf, fb->len, fb->format, out_res.image);
out_res.net_boxes = face_detect(image_matrix, &mtmn_config);
if (out_res.net_boxes) {
Serial.println("Wajah Terdeteksi");
send_feedback("FACE DETECTED");
g_state = START_STREAM;
detect_active = false;
digitalWrite(flash_pin, LOW);
}
else {
if (millis() - detect_start_time >= 5000) {
Serial.println("Tidak ada wajah");
send_feedback("FACE NOT RECOGNISED");
g_state = START_STREAM;
detect_active = false;
digitalWrite(flash_pin, LOW);
}
}
}
if (activeClient.available()) {
activeClient.sendBinary((const char *)fb->buf, fb->len);
}
esp_camera_fb_return(fb);
fb = NULL;
dl_matrix3du_free(image_matrix);
}
void print_all_faces() {
face_id_node *head = st_face_list.head;
int index = 0;
while (head) {
Serial.printf("[%d] Nama: ", index++);
// Tampilkan karakter satu per satu secara heksadesimal dan normal
for (int i = 0; i < ENROLL_NAME_LEN; i++) {
char c = head->id_name[i];
if (c == '\0') break;
if (c < 32 || c > 126) {
Serial.printf("[0x%02X]", c); // karakter non-printable
} else {
Serial.print(c); // karakter biasa
}
}
Serial.println();
head = head->next;
}
if (index == 0) {
Serial.println("Tidak ada wajah yang tersimpan.");
}
}
void wipe_all_faces_manual() {
face_id_node *f = st_face_list.head;
while (f != NULL) {
delete_face_id_in_flash_with_name(&st_face_list, f->id_name);
f = f->next;
}
face_id_name_init(&st_face_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES);
Serial.println("Semua data wajah dihapus manual.");
}
void remove_corrupted_faces() {
int corrupt_count = 0;
bool found_corrupt;
do {
found_corrupt = false;
face_id_node *current = st_face_list.head;
while (current != NULL) {
bool corrupt = true;
// Cek semua byte = 0xFF
for (int i = 0; i < ENROLL_NAME_LEN; i++) {
if ((uint8_t)current->id_name[i] != 0xFF) {
corrupt = false;
break;
}
}
// Cek juga karakter ASCII printable
if (!corrupt) {
for (int i = 0; i < ENROLL_NAME_LEN; i++) {
char c = current->id_name[i];
if (c == '\0') break;
if (c < 32 || c > 126) {
corrupt = true;
break;
}
}
}
if (corrupt) {
Serial.print("Menghapus wajah korup: ");
for (int i = 0; i < ENROLL_NAME_LEN; i++) {
Serial.printf("[0x%02X]", (uint8_t)current->id_name[i]);
}
Serial.println();
delete_face_id_in_flash_with_name(&st_face_list, current->id_name);
corrupt_count++;
// Reload list wajah dan mulai ulang dari head
read_face_id_from_flash_with_name(&st_face_list);
found_corrupt = true;
break;
}
current = current->next;
}
} while (found_corrupt);
Serial.printf("Total wajah korup yang dihapus: %d\n", corrupt_count);
}
void setup() {
Serial.begin(9600);
Serial.setDebugOutput(true);
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;
if (psramFound()) {
config.frame_size = FRAMESIZE_UXGA;
config.jpeg_quality = 10;
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 12;
config.fb_count = 1;
}
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
sensor_t * s = esp_camera_sensor_get();
s->set_framesize(s, FRAMESIZE_QVGA);
s->set_vflip(s, 1);
s->set_hmirror(s, 1);
pinMode(flash_pin, OUTPUT);
digitalWrite(flash_pin, LOW);
WiFi.begin(ssid, password);
unsigned long startAttemptTime = millis();
const unsigned long wifiTimeout = 10000;
while (WiFi.status() != WL_CONNECTED && millis() - startAttemptTime < wifiTimeout) {
delay(500);
Serial.println("MENGHUBUNGKAN WIFI...");
}
if (WiFi.status() == WL_CONNECTED) {
Serial.println("READY");
Serial.println(WiFi.localIP());
} else {
Serial.println("WIFI NOT CONNECTED");
}
// cek apakah ada data yang tidak valid
read_face_id_from_flash_with_name(&st_face_list);
remove_corrupted_faces();
if (st_face_list.count == 0) {
delay(1200);
Serial.println("resetpin");
}
app_httpserver_init();
app_facenet_main();
socket_server.listen(82);
g_state = START_STREAM;
}
void loop() {
handle_serial();
handle_camera();
handle_websocket();
}
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