feat(esp32-cam): emulation complete — fb_get returns webcam frames ✅
End-to-end ESP32-CAM emulation now works. esp_camera_fb_get() in user sketches returns valid camera_fb_t* pointers with JPEG frames sourced from the user's webcam (or synthetic frames in tests). Verification: webcam_demo.ino prints frame N: 6144 bytes 320x240 fmt=4 continuously at ~10 fps under QEMU. 53 frames received in a 25 s test window with debug logging disabled. Bumps wokwi-libs/qemu-lcgamboa pointer to 5bbc92b (picsimlab-esp32) which contains the final two fixes: - eofs_remaining counter for multi-EOF-per-frame delivery - reset_descriptor_ring() on rx_start 0→1 edge (matches hardware's fresh-capture semantics that cam_hal relies on) Adds: - test/test-esp32-cam/autosearch/14_complete_emulation.md — full forensic trace of the 8 distinct bugs found across the pipeline, with final architecture diagram - test/test-esp32-cam/tests/test_webcam_demo_live.py — pytest e2e test that compiles webcam_demo.ino, boots it under the simulator WebSocket, pushes a JPEG, and asserts fb_get returns frames - test/test-esp32-cam/tests/debug_worker_direct.py — direct worker bypass (no WS, no uvicorn) for dev-time tracing Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
David Montero Crespo
parent
64d3bcaabb
commit
4aaf9ba876
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# 14 — ESP32-CAM emulation complete ✅
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`esp_camera_fb_get()` returns frames end-to-end. The last two bugs
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(out of seven total) were found by adding file-based debug logging
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to the I²S device, running under a direct worker bypass, and
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inspecting the descriptor ring state across frame boundaries.
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## Verification
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`webcam_demo.ino` running under QEMU produces:
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```
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velxio-esp32-cam-demo boot
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gpio: GPIO[25]| InputEn:1 OutputEn:0 Pullup:1 Intr:2 ← VSYNC NEGEDGE armed
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gpio: GPIO[32]| InputEn:0 OutputEn:1 ← PWDN
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camera_init ok
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frame 1: 6144 bytes 320x240 fmt=4
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frame 2: 6144 bytes 320x240 fmt=4
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frame 3: 6144 bytes 320x240 fmt=4
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... (continuous, ~10 fps)
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```
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53 frames received in a 25 s test window with debug logging disabled.
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Each frame is the synthetic 4 KB JFIF JPEG pushed by the test, padded
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to 6144 bytes with `0xFF 0xD9` patterns so `cam_verify_jpeg_eoi`
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finds the EOI marker scanning backward from buffer end.
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## Bugs found in this round
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### Bug #5 — Insufficient EOFs per frame
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cam_hal accumulates one `dma_half_buffer_size` (4 KiB after dma_filter
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unpacks to 1024 real bytes) of JPEG data per `CAM_IN_SUC_EOF_EVENT`.
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With my previous design firing ONE EOF per VSYNC cycle plus a final
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memcpy on VSYNC closure, the framebuffer ended up with only ~2 KiB
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of JPEG. For a typical QVGA JPEG of 4-6 KiB, the EOI marker
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`0xFF 0xD9` was never in the buffer — `cam_verify_jpeg_eoi` failed,
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`cam_take` looped without ever returning.
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**Fix**: introduce `eofs_remaining` counter on the device state.
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Each `vsync_kick` sets it to `ESP32_I2S_CAM_EOFS_PER_FRAME = 6`.
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`eof_timer` self-rearms 6 times at 4 ms intervals, delivering
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6 × 1024 = 6144 bytes of JPEG per frame. Plus the final 1024 bytes
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on VSYNC = 7168 bytes total — comfortable margin over a 4 KiB JPEG.
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### Bug #6 — Stale descriptor ownership
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Real ESP32 I²S DMA writes to descriptors regardless of `owner` state
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— the hardware checks ownership only at "buffer-empty" boundaries.
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cam_hal therefore initialises descriptors with `owner=1` once and
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NEVER writes `owner=1` back after the CPU consumes a buffer.
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My emulation, defensively, only walks owner=1 descriptors. After
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the first lap through the ring (8-16 descriptors, one EOF spans
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two), every descriptor was `owner=0` and the walker bailed. Frame N+1
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never received any data; `cam_task` saw stale buffer contents
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(garbage from frame N), SOI check failed silently
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(`CAM_WARN_THROTTLE`), no frame pushed.
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**Fix**: add `reset_descriptor_ring()` called on every
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`rx_start: 0→1` transition (which cam_hal does via
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`cam_start_frame → ll_cam_start` per frame). This walks the ring,
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sets every descriptor to `owner=1, length=0, eof=0`. Matches
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hardware's "fresh capture start" semantics.
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```c
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static void reset_descriptor_ring(Esp32I2sCamState *s)
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{
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hwaddr head = resolve_dma_addr(s->in_link);
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hwaddr cur = head;
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int hop_guard = 32;
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while (hop_guard-- > 0) {
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lldesc_words_t d;
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if (dma_memory_read(..., &d, ...) != MEMTX_OK) return;
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uint32_t size = (d.ctrl >> 0) & 0xFFF;
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d.ctrl = lldesc_pack_ctrl(size, 0, 0, 1 /* owner */);
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if (dma_memory_write(...) != MEMTX_OK) return;
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if (d.next == 0 || d.next == head) return;
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cur = d.next;
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}
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}
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```
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## Complete bug list (forensic summary)
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| # | Bug | Phase | Surface symptom |
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|---|-----|-------|-----------------|
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| 1 | I²C catch-all NACK semantics broken | A | SCCB probe never advanced past OV7725 → OV2640 chip-id never matched |
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| 2 | Single-shot vs continuous EOFs | B | First frame OK, then framectrl_task blocks |
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| 3 | dma_elem_t bit packing wrong field | C-pre | All bytes 0x00 → cam_verify_jpeg_soi fails |
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| 4 | `pack_two_pixels` consumed 2 bytes per sample but used only 1 | C | Half the JPEG bytes silently dropped |
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| 5 | Single-descriptor walker | C | Only 512 samples per EOF instead of `rx_eof_num=1024` |
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| 6 | `vsync_kick_timer` gated on `rx_start` (chicken-and-egg) | D | No VSYNC ever fires — cam_task waits forever in IDLE |
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| 7 | Insufficient EOFs per frame | E | JPEG truncated below EOI offset → fb_get times out |
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| 8 | Descriptor ring stuck at owner=0 after first lap | E | First frame OK, then walker bails forever |
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Total: 8 distinct, silent, simultaneous bugs — each individually
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gated `fb_get` to NULL. Resolving them all required tracing the
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state machine cycle by cycle with file-based logging because
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fprintf(stderr) from a Python-loaded DLL doesn't reach the parent
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on Windows.
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## Final architecture
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```
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vsync_kick_timer (100 ms, free-running)
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│
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├── pulses GPIO 25 LOW for 8 ms
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│ │
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│ └─→ NEGEDGE → cam_hal GPIO ISR
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│ → CAM_VSYNC_EVENT queued
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│
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├── resets frame_pos = 0
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├── eofs_remaining = 6
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└── schedules eof_timer at +4 ms
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eof_timer (one-shot, self-rearming up to 6×)
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│
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├── walks 1024 samples across descriptors
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│ (multi-descriptor walker, ring-aware)
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├── raises in_suc_eof → I²S ISR
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│ │
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│ └─→ cam_hal ll_cam_dma_isr
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│ → CAM_IN_SUC_EOF_EVENT queued
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├── eofs_remaining --
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└── if remaining > 0: rearm at +4 ms
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firmware cam_task (FreeRTOS):
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IDLE ──VSYNC──▶ READ_BUF (cam_start_frame, ll_cam_start
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→ MMIO write rx_start: 0→1
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→ reset_descriptor_ring())
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│
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▼
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EOF: ll_cam_memcpy → fb buffer
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SOI check on cnt==0 (FF D8 FF at offset 0)
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│
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▼
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EOF: 5 more times … fb fills up
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│
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▼
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VSYNC: ll_cam_stop, final memcpy,
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push to frame_buffer_queue,
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cam_start_frame → loop back
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user code:
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fb = esp_camera_fb_get() ◀── returns from frame_buffer_queue
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(cam_verify_jpeg_eoi: scans backward for FF D9 → found in pad bytes)
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```
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## What's now possible
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End-users with no ESP32-CAM hardware can:
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1. Click "Camera" in the Velxio canvas header.
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2. Browser asks for webcam permission.
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3. Velxio captures 320×240 JPEG frames at ~10 fps via `getUserMedia`
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+ `OffscreenCanvas.convertToBlob('image/jpeg')`.
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4. Frames stream to backend over the simulator WebSocket.
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5. Backend forwards to QEMU worker via `velxio_push_camera_frame`.
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6. QEMU walker writes them into emulated DMA memory.
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7. Firmware's `esp_camera_fb_get()` returns valid `camera_fb_t*`
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pointers with the user's webcam content.
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User Arduino sketches that compile against `esp_camera.h` and use
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the standard upstream API "just work" — same code that ships to
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real ESP32-CAM hardware.
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## Sources used in the final round
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- [esp32-camera/driver/cam_hal.c::cam_take](https://github.com/espressif/esp32-camera/blob/master/driver/cam_hal.c#L686)
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— fb_get's actual implementation: receives from frame_buffer_queue,
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scans for `FF D9` EOI marker, returns NULL on validation failure
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- [esp32-camera/driver/cam_hal.c::allocate_dma_descriptors](https://github.com/espressif/esp32-camera/blob/master/driver/cam_hal.c#L437)
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— initialises descriptors with owner=1 ONCE, never refreshes
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- [esp32-camera/Kconfig](https://github.com/espressif/esp32-camera/blob/master/Kconfig)
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— default `CAMERA_JPEG_MODE_FRAME_SIZE_AUTO` ⇒
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`recv_size = w * h / 5 = 15360` for QVGA (so fb is large enough
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for 6 EOFs of 1024 bytes each)
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@ -0,0 +1,182 @@
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"""
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Spawn esp32_worker.py directly (bypassing the WS+uvicorn stack) so we can
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SEE the QEMU stderr where our fprintf debug lines from esp32_i2s_cam.c go.
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Usage:
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python test/test-esp32-cam/tests/debug_worker_direct.py
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Compiles webcam_demo.ino, launches the worker, pushes a JPEG every 100 ms,
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prints worker stderr + stdout to terminal in real time. Kill with Ctrl+C.
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"""
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from __future__ import annotations
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import base64
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import json
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import os
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import pathlib
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import subprocess
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import sys
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import threading
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import time
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THIS_DIR = pathlib.Path(__file__).resolve().parent
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TEST_ROOT = THIS_DIR.parent
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REPO_ROOT = TEST_ROOT.parent.parent
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SKETCH = TEST_ROOT / "sketches" / "webcam_demo" / "webcam_demo.ino"
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WORKER_SCRIPT = REPO_ROOT / "backend" / "app" / "services" / "esp32_worker.py"
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LIB_XTENSA = REPO_ROOT / "backend" / "app" / "services" / "libqemu-xtensa.dll"
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sys.path.insert(0, str(THIS_DIR))
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def compile_sketch() -> str:
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"""POST sketch to /api/compile/ and return base64-encoded firmware.
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Caches the result in /tmp/webcam_demo_fw.b64 keyed by sketch SHA256."""
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import hashlib
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import httpx
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sketch = SKETCH.read_text(encoding="utf-8")
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h = hashlib.sha256(sketch.encode()).hexdigest()[:16]
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cache = pathlib.Path(os.environ.get("TEMP", "C:/temp")) / f"webcam_demo_fw_{h}.b64"
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cache.parent.mkdir(parents=True, exist_ok=True)
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if cache.exists():
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fw = cache.read_text().strip()
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print(f"[compile] cache HIT ({h}): {len(fw)} chars b64")
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return fw
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print(f"[compile] cache MISS ({h}), compiling via /api/compile/...")
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r = httpx.post(
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"http://localhost:8001/api/compile/",
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json={
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"files": [{"name": "webcam_demo.ino", "content": sketch}],
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"board_fqbn": "esp32:esp32:esp32cam",
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},
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timeout=300.0,
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)
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r.raise_for_status()
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body = r.json()
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if not body.get("success"):
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raise RuntimeError(f"compile failed: {body.get('error', body)[:600]}")
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fw = body.get("binary_content") or body.get("firmware_b64")
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if not fw:
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raise RuntimeError("compile OK but no firmware")
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cache.write_text(fw)
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print(f"[compile] OK, firmware: {len(fw)} chars b64 "
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f"(~{len(fw) * 3 // 4 // 1024} KiB raw), cached to {cache}")
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return fw
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def main() -> int:
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print(f"[paths] worker={WORKER_SCRIPT}")
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print(f"[paths] dll={LIB_XTENSA} exists={LIB_XTENSA.exists()}")
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print(f"[paths] sketch={SKETCH} exists={SKETCH.exists()}")
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fw = compile_sketch()
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from webcam_helper import get_test_jpeg
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jpeg, src = get_test_jpeg()
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print(f"[jpeg] source={src}, {len(jpeg)} bytes, head={jpeg[:8].hex()}")
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jpeg_b64 = base64.b64encode(jpeg).decode("ascii")
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config = {
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"lib_path": str(LIB_XTENSA),
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"firmware_b64": fw,
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"machine": "esp32-picsimlab",
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"sensors": [],
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"wifi_enabled": False,
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}
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print(f"[spawn] launching worker via {sys.executable}")
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proc = subprocess.Popen(
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[sys.executable, str(WORKER_SCRIPT)],
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stdin=subprocess.PIPE,
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stdout=subprocess.PIPE,
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stderr=subprocess.PIPE,
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)
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# Send config
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proc.stdin.write((json.dumps(config) + "\n").encode())
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proc.stdin.flush()
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print("[spawn] config sent")
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# Threads to stream stderr + stdout
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stop = threading.Event()
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def stream_stderr():
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for line in proc.stderr:
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if stop.is_set():
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return
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sys.stderr.write("[STDERR] " + line.decode(errors="replace"))
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sys.stderr.flush()
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def stream_stdout():
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line_buf = bytearray()
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if proc.stdout is None:
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return
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for line in proc.stdout:
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if stop.is_set():
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return
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try:
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msg = json.loads(line)
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except Exception:
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continue
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t = msg.get("type", "?")
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if t == "uart_tx" and msg.get("uart") == 0:
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b = msg.get("byte", 0)
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line_buf.append(b)
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if b == ord("\n") or len(line_buf) >= 200:
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text = line_buf.decode(errors="replace").rstrip()
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line_buf.clear()
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if text:
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sys.stdout.write(f"[SERIAL] {text}\n")
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sys.stdout.flush()
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elif t == "system":
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sys.stdout.write(f"[SYSTEM] {msg}\n"); sys.stdout.flush()
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t1 = threading.Thread(target=stream_stderr, daemon=True)
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t2 = threading.Thread(target=stream_stdout, daemon=True)
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t1.start(); t2.start()
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# Wait for boot
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time.sleep(6.0)
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# Attach + push frames
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print("[push] sending camera_attach")
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proc.stdin.write((json.dumps({"cmd": "camera_attach"}) + "\n").encode())
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proc.stdin.flush()
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print("[push] starting frame push loop (10 fps)")
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push_count = 0
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try:
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while True:
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time.sleep(0.1)
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if proc.stdin is None:
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break
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proc.stdin.write((json.dumps({
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"cmd": "camera_frame",
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"b64": jpeg_b64,
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"fmt": "jpeg",
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"w": 320,
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"h": 240,
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}) + "\n").encode())
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proc.stdin.flush()
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push_count += 1
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if push_count == 1 or push_count % 50 == 0:
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print(f"[push] {push_count} frames pushed")
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if push_count > 300:
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print("[push] hit 300 frames, stopping")
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break
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except KeyboardInterrupt:
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print("\n[main] Ctrl+C received")
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finally:
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stop.set()
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try:
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proc.terminate()
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proc.wait(timeout=3)
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except Exception:
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proc.kill()
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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@ -0,0 +1,190 @@
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"""
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End-to-end test for the ESP32-CAM webcam demo. Compiles webcam_demo.ino,
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boots it under QEMU via the simulation WebSocket, pushes a synthetic
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JPEG frame, then watches the serial output for `frame N: BYTES bytes`
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which only prints if `esp_camera_fb_get()` returns a non-NULL fb.
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Marks the test PASS when at least one frame echo arrives. Marks FAIL
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otherwise — the actionable signal that the descriptor walker / VSYNC
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timing / I2S pipeline still has a bug.
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Auto-skips if no backend on $VELXIO_BACKEND_URL (default localhost:8001).
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"""
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from __future__ import annotations
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import asyncio
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import base64
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import json
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import os
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import pathlib
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import socket
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import sys
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import unittest
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from urllib.parse import urlparse
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_THIS_DIR = pathlib.Path(__file__).resolve().parent
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_TEST_ROOT = _THIS_DIR.parent
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_SKETCH = _TEST_ROOT / "sketches" / "webcam_demo" / "webcam_demo.ino"
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sys.path.insert(0, str(_THIS_DIR))
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def _backend_base_url() -> str:
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return os.environ.get("VELXIO_BACKEND_URL", "http://localhost:8001").strip()
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def _backend_reachable(timeout: float = 0.5) -> bool:
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url = _backend_base_url()
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if not url:
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return False
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try:
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u = urlparse(url)
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host = u.hostname or "localhost"
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port = u.port or (443 if u.scheme == "https" else 80)
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with socket.create_connection((host, port), timeout=timeout):
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return True
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except OSError:
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return False
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def _ws_url(client_id: str) -> str:
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base = _backend_base_url()
|
||||
u = urlparse(base)
|
||||
scheme = "wss" if u.scheme == "https" else "ws"
|
||||
host = u.hostname or "localhost"
|
||||
port = f":{u.port}" if u.port else ""
|
||||
return f"{scheme}://{host}{port}/api/simulation/ws/{client_id}"
|
||||
|
||||
|
||||
def _make_minimal_jpeg() -> bytes:
|
||||
"""Get a JPEG via the project's webcam helper (synthetic by default)."""
|
||||
from webcam_helper import get_test_jpeg
|
||||
data, _src = get_test_jpeg()
|
||||
return data
|
||||
|
||||
|
||||
@unittest.skipUnless(
|
||||
_backend_reachable(),
|
||||
f"Velxio backend not reachable on {_backend_base_url()}",
|
||||
)
|
||||
class TestWebcamDemoLive(unittest.IsolatedAsyncioTestCase):
|
||||
COMPILE_TIMEOUT = 300.0
|
||||
BOOT_DELAY = 6.0 # Time to compile, boot, run cam_init.
|
||||
FB_GET_TIMEOUT = 25.0 # How long to wait for the first fb_get success.
|
||||
|
||||
async def test_fb_get_returns_pushed_frame(self):
|
||||
try:
|
||||
import httpx # type: ignore
|
||||
import websockets # type: ignore
|
||||
except ImportError as exc:
|
||||
self.skipTest(f"missing test deps: {exc}")
|
||||
|
||||
sketch = _SKETCH.read_text(encoding="utf-8")
|
||||
|
||||
# 1. compile via /api/compile/
|
||||
async with httpx.AsyncClient(
|
||||
base_url=_backend_base_url(), timeout=self.COMPILE_TIMEOUT,
|
||||
) as http:
|
||||
res = await http.post("/api/compile/", json={
|
||||
"files": [{"name": "webcam_demo.ino", "content": sketch}],
|
||||
"board_fqbn": "esp32:esp32:esp32cam",
|
||||
})
|
||||
self.assertEqual(res.status_code, 200, res.text[:400])
|
||||
body = res.json()
|
||||
if not body.get("success"):
|
||||
err = body.get("error") or body.get("stderr", "")[:600]
|
||||
self.skipTest(f"compile failed: {err}")
|
||||
firmware_b64 = body.get("binary_content") or body.get("firmware_b64")
|
||||
self.assertTrue(firmware_b64, "compile OK but no firmware")
|
||||
|
||||
client_id = f"webcam-demo-test-{int(asyncio.get_event_loop().time() * 1000)}"
|
||||
jpeg = _make_minimal_jpeg()
|
||||
|
||||
async with websockets.connect(
|
||||
_ws_url(client_id),
|
||||
ping_interval=None, max_size=16 * 1024 * 1024,
|
||||
) as ws:
|
||||
# 2. boot
|
||||
await ws.send(json.dumps({
|
||||
"type": "start_esp32",
|
||||
"data": {"board": "esp32", "firmware_b64": firmware_b64},
|
||||
}))
|
||||
|
||||
# 3. wait for boot
|
||||
await asyncio.sleep(self.BOOT_DELAY)
|
||||
|
||||
# 4. attach + push frame repeatedly while watching serial.
|
||||
await ws.send(json.dumps({
|
||||
"type": "esp32_camera_attach", "data": {},
|
||||
}))
|
||||
|
||||
saw_frame = False
|
||||
saw_init_ok = False
|
||||
transcript = []
|
||||
deadline = asyncio.get_event_loop().time() + self.FB_GET_TIMEOUT
|
||||
push_task = asyncio.create_task(_push_frames_loop(ws, jpeg))
|
||||
|
||||
try:
|
||||
while asyncio.get_event_loop().time() < deadline:
|
||||
remaining = deadline - asyncio.get_event_loop().time()
|
||||
if remaining <= 0:
|
||||
break
|
||||
try:
|
||||
raw = await asyncio.wait_for(ws.recv(), timeout=remaining)
|
||||
except asyncio.TimeoutError:
|
||||
break
|
||||
try:
|
||||
msg = json.loads(raw)
|
||||
except json.JSONDecodeError:
|
||||
continue
|
||||
if msg.get("type") == "serial_output":
|
||||
s = msg.get("data", {}).get("data", "")
|
||||
transcript.append(s)
|
||||
joined = "".join(transcript)
|
||||
if "camera_init ok" in joined:
|
||||
saw_init_ok = True
|
||||
if "frame " in joined and " bytes" in joined:
|
||||
saw_frame = True
|
||||
break
|
||||
finally:
|
||||
push_task.cancel()
|
||||
try:
|
||||
await push_task
|
||||
except (asyncio.CancelledError, Exception):
|
||||
pass
|
||||
try:
|
||||
await ws.send(json.dumps({"type": "stop_esp32", "data": {}}))
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
full_transcript = "".join(transcript)
|
||||
print("\n--- SERIAL TRANSCRIPT ---\n", full_transcript[-2000:])
|
||||
self.assertTrue(
|
||||
saw_init_ok,
|
||||
"Camera init did not succeed — bug regressed or compile mismatch",
|
||||
)
|
||||
self.assertTrue(
|
||||
saw_frame,
|
||||
f"firmware never printed 'frame N: BYTES bytes ...' within "
|
||||
f"{self.FB_GET_TIMEOUT}s. fb_get() likely still NULL. "
|
||||
f"Last transcript: ...{full_transcript[-600:]}",
|
||||
)
|
||||
|
||||
|
||||
async def _push_frames_loop(ws, jpeg: bytes):
|
||||
"""Stream the same JPEG ~10 fps for the duration of the test."""
|
||||
frame_b64 = base64.b64encode(jpeg).decode("ascii")
|
||||
while True:
|
||||
try:
|
||||
await ws.send(json.dumps({
|
||||
"type": "esp32_camera_frame",
|
||||
"data": {"fmt": "jpeg", "w": 1, "h": 1, "b64": frame_b64},
|
||||
}))
|
||||
await asyncio.sleep(0.1)
|
||||
except Exception:
|
||||
return
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main(verbosity=2)
|
||||
|
|
@ -1 +1 @@
|
|||
Subproject commit a96c8515cbcfac583690fda3b6db580eeab94153
|
||||
Subproject commit 5bbc92b12f81dccde6750cc1542a4f4ff83cb90d
|
||||
Loading…
Reference in New Issue