// 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 "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "fb_gfx.h"
#include "esp32-hal-ledc.h"
#include "sdkconfig.h"

#include "camera_index.h"

#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
#include "esp32-hal-log.h"
#endif

// 开启LED闪光灯设置
#define CONFIG_LED_ILLUMINATOR_ENABLED 0
#if CONFIG_LED_ILLUMINATOR_ENABLED   // LED闪光灯设置
#define LED_LEDC_GPIO 3    //configure LED pin
#define CONFIG_LED_MAX_INTENSITY 255

int led_duty = 0;
bool isStreaming = false;

void setupLedFlash(int pin)
{
#if CONFIG_LED_ILLUMINATOR_ENABLED
    // ledcSetup(0, 100000, 8);
    // ledcAttachPin(pin, 0);
    ledcAttach(pin, 100000, 8);
#else
    log_i("LED flash is disabled -> CONFIG_LED_ILLUMINATOR_ENABLED = 0");
#endif
}

#endif

// 结构体jpg_chunking_t定义了一个包含httpd_req_t指针和长度的结构，用于传输JPEG图像的分块数据。
typedef struct {
    httpd_req_t* req;
    size_t len;
} jpg_chunking_t;

// PART_BOUNDARY是一个字符串常量，用作多部分数据传输中的分界符。
#define PART_BOUNDARY "123456789000000000000987654321"
// _STREAM_CONTENT_TYPE是一个指向字符串常量的指针，表示图像流的内容类型，采用多部分数据传输方式，分界符为PART_BOUNDARY。
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
// _STREAM_BOUNDARY是一个指向字符串常量的指针，表示多部分数据传输中各部分之间的分界符。
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
// _STREAM_PART是一个指向字符串常量的指针，表示每个图像流部分的内容类型、长度和时间戳。
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\nX-Timestamp: %d.%06d\r\n\r\n";

// stream_httpd和camera_httpd是HTTP服务器的句柄（handle），用于管理和处理HTTP请求和响应。
httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

/**
这个结构体表示一个滑动窗口滤波器，用于平滑数据序列。
滤波器的工作原理是维护一个固定大小的窗口，将新的值加入窗口并剔除最旧的值，
然后计算窗口内值的总和。这样可以得到一组平均值，用于平滑输入数据。
*/
typedef struct {
    size_t size;  //用于滤波的值的数量。
    size_t index; //当前值的索引。
    size_t count; //已经存储的值的数量。
    int sum; // 值的总和。
    int* values; //用于存储值的整数数组。
} ra_filter_t;

static ra_filter_t ra_filter;
static ra_filter_t* ra_filter_init(ra_filter_t* filter, size_t sample_size)
{
    memset(filter, 0, sizeof(ra_filter_t));

    filter->values = (int*)malloc(sample_size * sizeof(int));
    if (!filter->values) {
        return NULL;
    }
    memset(filter->values, 0, sample_size * sizeof(int));

    filter->size = sample_size;
    return filter;
}

#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
static int ra_filter_run(ra_filter_t* filter, int value)
{
    if (!filter->values) {
        return value;
    }
    filter->sum -= filter->values[filter->index];
    filter->values[filter->index] = value;
    filter->sum += filter->values[filter->index];
    filter->index++;
    filter->index = filter->index % filter->size;
    if (filter->count < filter->size) {
        filter->count++;
    }
    return filter->sum / filter->count;
}
#endif

#if 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;
    }
    ledcWrite(LED_LEDC_GPIO, duty);
    log_i("Set LED intensity to %d", duty);
}
#endif

static esp_err_t bmp_handler(httpd_req_t* req)
{
    camera_fb_t* fb = NULL;
    esp_err_t res = ESP_OK;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
    uint64_t fr_start = esp_timer_get_time();
#endif
    fb = esp_camera_fb_get();
    if (!fb) {
        log_e("Camera capture failed");
        httpd_resp_send_500(req);// 检查获取图像数据是否成功，如果失败，则记录错误日志并发送500错误响应，并返回ESP_FAIL表示处理失败。
        return ESP_FAIL;
    }

    // 设置HTTP响应的Content-Type为image/x-windows-bmp，表示返回的数据为BMP图像类型。
    httpd_resp_set_type(req, "image/x-windows-bmp");
    // 设置HTTP响应的Content-Disposition头部，指定文件名为capture.bmp，使浏览器能够正确处理图像。
    httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.bmp");
    // 设置HTTP响应的Access-Control-Allow-Origin头部，允许所有来源的跨域请求。
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

    // 创建一个字符串ts，格式化摄像头图像的时间戳，并将其设置为HTTP响应的X-Timestamp头部。
    char ts[32];
    snprintf(ts, 32, "%lld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec);
    httpd_resp_set_hdr(req, "X-Timestamp", (const char*)ts);

    // 定义一个指向uint8_t类型的指针buf，用于存储转换后的BMP图像数据。
    uint8_t* buf = NULL;
    // 定义一个size_t类型的变量buf_len，用于存储转换后的BMP图像数据的长度。
    size_t buf_len = 0;
    // 调用frame2bmp函数将摄像头图像转换为BMP格式，并将转换后的数据和长度分别存储到buf和buf_len中。
    bool converted = frame2bmp(fb, &buf, &buf_len);
    // 使用esp_camera_fb_return函数释放摄像头图像数据的缓冲区。
    esp_camera_fb_return(fb);
    // 检查BMP转换是否成功，如果失败，则记录错误日志并发送500错误响应，并返回ESP_FAIL表示处理失败。
    if (!converted) {
        log_e("BMP Conversion failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }
    // 使用httpd_resp_send函数发送BMP图像数据作为HTTP响应的正文。
    res = httpd_resp_send(req, (const char*)buf, buf_len);

    // 使用free函数释放存储转换后的BMP图像数据的缓冲区。
    free(buf);
    buf = NULL;
    // 记录BMP图像处理的时间和发送的字节数的日志信息。
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
    uint64_t fr_end = esp_timer_get_time();
#endif
    log_i("BMP: %llums, %uB", (uint64_t)((fr_end - fr_start) / 1000), buf_len);
    // 返回处理结果res。
    return res;
}

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;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
    int64_t fr_start = esp_timer_get_time();
#endif

#if 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) {
        log_e("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", "*");

    // 创建一个字符串ts，格式化摄像头图像的时间戳，并将其设置为HTTP响应的X-Timestamp头部
    char ts[32];
    snprintf(ts, 32, "%lld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec);
    httpd_resp_set_hdr(req, "X-Timestamp", (const char*)ts);

#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
    size_t fb_len = 0;
#endif
    if (fb->format == PIXFORMAT_JPEG) {
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
        fb_len = fb->len;
#endif
        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);
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
        fb_len = jchunk.len;
#endif
    }
    esp_camera_fb_return(fb);
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
    int64_t fr_end = esp_timer_get_time();
#endif
    log_i("JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start) / 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];

    static int64_t last_frame = 0;
    static int64_t last_converted = 0;
    static int64_t last_get = 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;
    }

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

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

    while (true) {
        last_frame = esp_timer_get_time();

        fb = esp_camera_fb_get();
        last_get = esp_timer_get_time() - last_frame;
        if (!fb) {
            log_e("Camera capture failed");
            res = ESP_FAIL;
        } else {
            _timestamp.tv_sec = fb->timestamp.tv_sec;
            _timestamp.tv_usec = fb->timestamp.tv_usec;
            if (fb->format != PIXFORMAT_JPEG) {
                bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
                last_converted = esp_timer_get_time() - last_frame;
                esp_camera_fb_return(fb);
                fb = NULL;
                if (!jpeg_converted) {
                    log_e("JPEG compression failed");
                    res = ESP_FAIL;
                }
            } else {
                _jpg_buf_len = fb->len;
                _jpg_buf = fb->buf;
            }
        }
        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) {
            log_e("Send frame failed");
            break;
        }
        int64_t fr_end = esp_timer_get_time();

        log_i("last_get: %lld us; last_converted: %lld us", last_get, last_converted);
        int64_t frame_time = fr_end - last_frame;
        frame_time /= 1000;
#if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
        uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
#endif
        log_i("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)",
            (uint32_t)(_jpg_buf_len),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
            avg_frame_time, 1000.0 / avg_frame_time
        );
    }

#if 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;

    // 调用httpd_req_get_url_query_len函数获取URL查询参数的长度，并将其赋值给buf_len。
    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];   // 存储命令参数名
    char value[32];   // 存储命令参数值

    if (parse_get(req, &buf) != ESP_OK) {
        return ESP_FAIL;
    }
    if (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);   // 将value转换为整数类型。
    log_i("%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);
        }
  } 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);
  }
#if CONFIG_LED_ILLUMINATOR_ENABLED
    else if (!strcmp(variable, "led_intensity")) {
        led_duty = val;
    if (isStreaming) {
      enable_led(true);
    }
    }
#endif

    else {
        log_i("Unknown command: %s", variable);
        res = -1;
    }

    if (res < 0) {
        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];   // 存储生成的JSON响应

    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 if (s->id.PID == OV2640_PID) {
        p += print_reg(p, s, 0xd3, 0xFF);
        p += print_reg(p, s, 0x111, 0xFF);
        p += print_reg(p, s, 0x132, 0xFF);
    }

    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);
#if CONFIG_LED_ILLUMINATOR_ENABLED
    p += sprintf(p, ",\"led_intensity\":%u", led_duty);
#else
    p += sprintf(p, ",\"led_intensity\":%d", -1);
#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 xclk_handler(httpd_req_t* req)
{
    char* buf = NULL;
    char _xclk[32];

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

// 用于设置寄存器的值
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) {
        return ESP_FAIL;
    }
    if (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);
    log_i("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);
}

// 用于获取寄存器的值
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) {
        return ESP_FAIL;
    }
    if (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);
    }
    log_i("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) {
        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);

    log_i("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) {
        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);

    log_i("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)
{
    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) {
      return httpd_resp_send(req, (const char*)index_ov3660_html_gz, index_ov3660_html_gz_len);
    } else {
        log_e("Camera sensor not found");
        return httpd_resp_send_500(req);
    }
}

void startCameraServer()
{
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
    config.max_uri_handlers = 16;

    httpd_uri_t index_uri = {
        .uri = "/",
        .method = HTTP_GET,
        .handler = index_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t status_uri = {
        .uri = "/status",
        .method = HTTP_GET,
        .handler = status_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t cmd_uri = {
        .uri = "/control",
        .method = HTTP_GET,
        .handler = cmd_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t capture_uri = {
        .uri = "/capture",
        .method = HTTP_GET,
        .handler = capture_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t stream_uri = {
        .uri = "/stream",
        .method = HTTP_GET,
        .handler = stream_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t bmp_uri = {
        .uri = "/bmp",
        .method = HTTP_GET,
        .handler = bmp_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t xclk_uri = {
        .uri = "/xclk",
        .method = HTTP_GET,
        .handler = xclk_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t reg_uri = {
        .uri = "/reg",
        .method = HTTP_GET,
        .handler = reg_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t greg_uri = {
        .uri = "/greg",
        .method = HTTP_GET,
        .handler = greg_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t pll_uri = {
        .uri = "/pll",
        .method = HTTP_GET,
        .handler = pll_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    httpd_uri_t win_uri = {
        .uri = "/resolution",
        .method = HTTP_GET,
        .handler = win_handler,
        .user_ctx = NULL
#ifdef CONFIG_HTTPD_WS_SUPPORT
        ,
        .is_websocket = true,
        .handle_ws_control_frames = false,
        .supported_subprotocol = NULL
#endif
    };

    ra_filter_init(&ra_filter, 20);

    log_i("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, &bmp_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);
    }

    config.server_port += 1;
    config.ctrl_port += 1;
    log_i("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);
    }
}

void setupLedFlash(int pin)
{
#if CONFIG_LED_ILLUMINATOR_ENABLED
  ledcAttach(pin, 5000, 8);
#else
  log_i("LED flash is disabled -> CONFIG_LED_ILLUMINATOR_ENABLED = 0");
#endif
}
