#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "Arduino.h"
#include <ESP32Servo.h>
#include "cJSON.h"
// #include <EEPROM.h>

// #define  EEPROM_speedT 2   //地址范围0-4095
// // #define  EEPROM_speedY 10   //地址范围0-4095
// // #define  EEPROM_speedU 20   //地址范围0-4095
// #define  EEPROM_Size 1024  //开辟1024个位空间

extern int EEPROM_dataT;
// extern int EEPROM_dataY;
// extern int EEPROM_dataU;
/* Initializing pins */
extern int DRV_A;
extern int DRV_B;
extern int DIR_A;
extern int DIR_B;
extern int ledPin;
// extern int buzzerPin;
// extern int servoPin;
extern int ledVal;
extern Servo myservo;
// extern Servo servo_1;
extern int servoPin;
extern int speed1;
extern int speed2;
extern int speed1d;
extern int speed2d;
// servo_1.attach(2,500,2500);

typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;
//定义视频流相关常量
#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;

// 这是一个回调函数，用于编码并发送JPEG数据流
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;
}
// 这是处理图像捕获请求的函数，捕获并发送图像
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.printf("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 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", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}
// 这是处理视频流请求的函数，捕获视频流并发送给客户端
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];

    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.printf("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.printf("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;
    }

    last_frame = 0;
    return res;
}

 // 这是处理命令请求的函数，根据请求执行不同的命令
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);
        Serial.println(buf);
        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);
                Serial.println(buf);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
            free(buf);
            Serial.println(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        Serial.println(buf);
        free(buf);
    } else {
        httpd_resp_send_404(req);
        Serial.println(ESP_FAIL);
        return ESP_FAIL;
    }

    int val = atoi(value);
    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);
    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);
}
 // 这个函数用于处理状态请求，返回相机的当前状态
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+=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, "\"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);
    *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));
}

// 这个函数用于处理设备状态请求，根据请求执行不同的操作，例如控制舵机角度
static esp_err_t state_handler(httpd_req_t *req){

    char*  buf;
    size_t buf_len;
    char cmd[32] = {0,};

    buf_len = httpd_req_get_url_query_len(req) + 1;
    if (buf_len > 1) {
        buf = (char*)malloc(buf_len);
        Serial.println(buf);
        
        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, "cmd", cmd, sizeof(cmd)) == ESP_OK) {
              
            } else {
                free(buf);
                Serial.print("*");
                Serial.println(ESP_FAIL);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
            free(buf);
            Serial.print("**");
            Serial.println(ESP_FAIL);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        free(buf);
        
    } else {
        Serial.print("***");
        Serial.println(ESP_FAIL);
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int res = 0;

    if(!strcmp(cmd, "F")) {
      Serial.println("Forward");
      // digitalWrite(DRV_A, LOW);
      // digitalWrite(DRV_B, HIGH);
      // digitalWrite(DIR_A, LOW);
      // digitalWrite(DIR_B, HIGH);

      Serial1.println("F"); // 发送前进指令

      analogWrite(DRV_A, 0);
      analogWrite(DRV_B, speed1);
      analogWrite(DIR_A, 0);
      analogWrite(DIR_B, speed2);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "B")) {
      Serial.println("Backward");
      // digitalWrite(DRV_A, HIGH);
      // digitalWrite(DRV_B, LOW);
      // digitalWrite(DIR_A, HIGH);
      // digitalWrite(DIR_B, LOW);

      Serial1.println("B"); // 发送后退指令

      analogWrite(DRV_A, speed1);
      analogWrite(DRV_B, 0);
      analogWrite(DIR_A, speed2);
      analogWrite(DIR_B, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "L")) {
      Serial.println("Turn Left");
      
      // digitalWrite(DRV_A, HIGH);
      // digitalWrite(DRV_B, LOW);
      // digitalWrite(DIR_A, LOW);
      // digitalWrite(DIR_B, HIGH);

      Serial1.println("L"); // 发送左转指令

      analogWrite(DRV_A, speed1);
      analogWrite(DRV_B, 0);
      analogWrite(DIR_A, 0);
      analogWrite(DIR_B, speed2);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "R")) {
      Serial.println("Turn Right");

      Serial1.println("R"); // 发送右转指令

      analogWrite(DRV_A, 0);
      analogWrite(DRV_B, speed1);
      analogWrite(DIR_A, speed2);
      analogWrite(DIR_B, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "G")) {
      Serial.println("Forward Left");

      analogWrite(DRV_A, 0);
      analogWrite(DRV_B, 0);
      analogWrite(DIR_A, 0);
      analogWrite(DIR_B, speed2);

      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "H")) {
      Serial.println("Backward Left");

      analogWrite(DRV_A, speed1);
      analogWrite(DRV_B, 0);
      analogWrite(DIR_A, 0);
      analogWrite(DIR_B, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "I")) {
      Serial.println("Forward Right");

      analogWrite(DRV_A, 0);
      analogWrite(DRV_B, speed1);
      analogWrite(DIR_A, 0);
      analogWrite(DIR_B, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "J")) {
      Serial.println("Backward Right");

      analogWrite(DRV_A, 0);
      analogWrite(DRV_B, 0);
      analogWrite(DIR_A, speed2);
      analogWrite(DIR_B, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "S")) {
      Serial.println("Stop");

      Serial1.println("S"); // 发送停止指令

      analogWrite(DRV_A, 0);
      analogWrite(DRV_B, 0);
      analogWrite(DIR_A, 0);
      analogWrite(DIR_B, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    // else if(!strcmp(cmd, "V")) {
    //   Serial.println("Horn On");
    //   digitalWrite(buzzerPin, HIGH);
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, "OK", 2);
    // }
    
    // else if(!strcmp(cmd, "v")) {
    //   Serial.println("Horn Off");
    //   digitalWrite(buzzerPin, LOW);
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, "OK", 2);
    // }
    else if(!strcmp(cmd, "T")) {
      speed1=105;   //左
      speed2=105;
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    else if(!strcmp(cmd, "Y")) {
      speed1=165;
      speed2=165;
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }        
    else if(!strcmp(cmd, "U")) {
      speed1=255;
      speed2=255;
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }  
    // else if(!strcmp(cmd, "W")) {
    //   Serial.println("LED On");
    //   ledcWrite(7, ledVal);
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, "OK", 2);
    // }
    
    else if(!strcmp(cmd, "w")) {
      Serial.println("LED Off");

      Serial1.println("w"); // 发送关灯指令

      ledcWrite(7, 0);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    
    // else if (!strcmp(cmd, "x")){
    //   Serial.println("Flash Light : Low (20)");
    //   ledVal = 20;
    //   ledcWrite(7, ledVal);
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, "OK", 2);
    // }
    // else if (!strcmp(cmd, "y")){
    //   Serial.println("Flash Light : Medium (50)");
    //   ledVal = 50;
    //   ledcWrite(7, ledVal);
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, "OK", 2);
    // }
    // else if (!strcmp(cmd, "z")){
    //   Serial.println("Flash Light : Bright (100)");
    //   ledVal = 100;
    //   ledcWrite(7, ledVal);
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, "OK", 2);
    // }    
    else if (!strcmp(cmd, "Z")){
      Serial.println("Flash Light : Super Bright (255)");

      Serial1.println("Z"); // 发送开灯指令

      ledVal = 255;
      ledcWrite(7, ledVal);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }   
    

    else if (!strcmp(cmd, "a")){
      Serial.println("Servo q (0)");
      // ledcWrite(8, 400);

      myservo.write(110);
      delay(100);
      myservo.write(90);
      delay(100);
      digitalWrite(servoPin, LOW);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }
    else if (!strcmp(cmd, "b")){
      Serial.println("Servo q (6500)");
      // ledcWrite(8, 6000);
      myservo.write(70);
      delay(100);
      myservo.write(90);
      delay(100);
      digitalWrite(servoPin, LOW);
      httpd_resp_set_type(req, "text/html");
      return httpd_resp_send(req, "OK", 2);
    }

    // else if (!strcmp(cmd, "n")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataT=EEPROM.read(EEPROM_speedT);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataT);
    //   if (EEPROM_dataT<60)
    //     EEPROM_dataT=EEPROM_dataT+1;
    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataT);
    //   EEPROM.write(EEPROM_speedT,EEPROM_dataT);
    //   EEPROM.commit();

    //   String response = String(EEPROM_dataT); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req,response.c_str(), response.length());
    // }

    // else if (!strcmp(cmd, "m")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataT=EEPROM.read(EEPROM_speedT);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataT);
    //   if (EEPROM_dataT>0)
    //     EEPROM_dataT=EEPROM_dataT-1;
    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataT);
    //   EEPROM.write(EEPROM_speedT,EEPROM_dataT);
    //   EEPROM.commit();

    //   String response = String(EEPROM_dataT); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, response.c_str(), response.length());
    // }

    // else if (!strcmp(cmd, "h")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataT=EEPROM.read(EEPROM_speedT);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataT);

    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataT);
    //   EEPROM.write(EEPROM_speedT,EEPROM_dataT);
    //   EEPROM.commit();

    //   speed1=125+EEPROM_dataT;
    //   speed2=155;

    //   String response = String(EEPROM_dataT); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req,"OK", 2);
    // }

    // else if (!strcmp(cmd, "j")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataY=EEPROM.read(EEPROM_speedY);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataY);
    //   if (EEPROM_dataY>0)
    //     EEPROM_dataY=EEPROM_dataY+1;
    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataY);
    //   EEPROM.write(EEPROM_speedY,EEPROM_dataY);
    //   EEPROM.commit();
    //   //  speed1=speed1d+EEPROM_data;
    //   String response = String(EEPROM_dataY); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, response.c_str(), response.length());
    // }
    // else if (!strcmp(cmd, "k")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataY=EEPROM.read(EEPROM_speedY);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataY);
    //   if (EEPROM_dataY>0)
    //     EEPROM_dataY=EEPROM_dataY-1;
    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataY);
    //   EEPROM.write(EEPROM_speedY,EEPROM_dataY);
    //   EEPROM.commit();
    //   //  speed1=speed1d+EEPROM_data;
    //   String response = String(EEPROM_dataY); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, response.c_str(), response.length());
    // }

    // else if (!strcmp(cmd, "i")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataU=EEPROM.read(EEPROM_speedU);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataU);
    //   if (EEPROM_dataU>0)
    //     EEPROM_dataU=EEPROM_dataU+1;
    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataU);
    //   EEPROM.write(EEPROM_speedU,EEPROM_dataU);
    //   EEPROM.commit();
    //   //  speed1=speed1d+EEPROM_data;
    //   String response = String(EEPROM_dataU); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, response.c_str(), response.length());
    // }

    // else if (!strcmp(cmd, "o")){
    //   EEPROM.begin(EEPROM_Size);  //开启EEPROM
    //   EEPROM_dataU=EEPROM.read(EEPROM_speedU);
    //   Serial.printf("last_EEPROM_speed:%d",EEPROM_dataU);
    //   if (EEPROM_dataU>0)
    //     EEPROM_dataU=EEPROM_dataU-1;
    //   Serial.printf("now_EEPROM_speed:%d",EEPROM_dataU);
    //   EEPROM.write(EEPROM_speedU,EEPROM_dataU);
    //   EEPROM.commit();
    //   //  speed1=speed1d+EEPROM_data;
    //   String response = String(EEPROM_dataU); // 将整数转换为字符串
    //   httpd_resp_set_type(req, "text/html");
    //   return httpd_resp_send(req, response.c_str(), response.length());
    // }


    
    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 esp_err_t data_handler(httpd_req_t *req) {
//     char buf[1024];  // 增加缓冲区大小
//     int ret, remaining = req->content_len;

//     char request_data[1024];  // 增加缓冲区大小
//     int data_index = 0;

//     while (remaining > 0) {
//         ret = httpd_req_recv(req, buf, MIN(remaining, sizeof(buf)));
//         if (ret <= 0) {
//             if (ret == HTTPD_SOCK_ERR_TIMEOUT) {
//                 httpd_resp_send_408(req);
//             } else {
//                 httpd_resp_send_500(req);
            
//             return ESP_FAIL;
//         }

//         for (int i = 0; i < ret; i++) {
//             request_data[data_index] = buf[i];
//             data_index++;
//         }

//         remaining -= ret;
//     }

//     // 解析JSON数据
//     cJSON *root = cJSON_Parse(request_data);
//     if (root == NULL) {
//         // JSON解析失败
//         httpd_resp_send_500(req);
//         return ESP_FAIL;
//     }

//     // 获取JSON对象中的数据项
//     cJSON *value1 = cJSON_GetObjectItem(root, "value1");
//     cJSON *value2 = cJSON_GetObjectItem(root, "value2");

//     if (value1 == NULL || value2 == NULL) {
//         // JSON数据项不存在
//         //httpd_resp_send_400(req);  // 使用400 Bad Request
//         httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "Bad Request");
//         cJSON_Delete(root);
//         return ESP_FAIL;
//     }

//     // 将数据项转换为整数
//     int intValue1 = value1->valueint;
//     int intValue2 = value2->valueint;

//     // 打印解析后的数据
//     printf("Received JSON data - value1: %d, value2: %d\n", intValue1, intValue2);

//     cJSON_Delete(root);

//     // 发送响应给客户端
//     httpd_resp_set_type(req, "text/plain");
//     httpd_resp_send(req, "JSON data received and processed", -1);

//     return ESP_OK;
// }
// }


 

// 这是启动相机服务器的函数，它会注册URI处理程序，包括视频流处理程序
void startCameraServer(){
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
    

    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 state_uri = {
        .uri       = "/state",
        .method    = HTTP_GET,
        .handler   = state_handler,
        .user_ctx  = NULL
    };
    // httpd_uri_t data_uri = {
    // .uri       = "/data",
    // .method    = HTTP_GET,
    // .handler   = data_handler,
    // .user_ctx  = NULL
    // };

    Serial.printf("Starting web server on port: '%d'", config.server_port);
    if (httpd_start(&camera_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(camera_httpd, &cmd_uri);
        httpd_register_uri_handler(camera_httpd, &capture_uri);
        httpd_register_uri_handler(camera_httpd, &status_uri);
        httpd_register_uri_handler(camera_httpd, &state_uri);
        // httpd_register_uri_handler(camera_httpd, &data_uri);
    }

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