feat: support camera capture to livekit

.gitignore

@@ -10,6 +10,7 @@ sdkconfig
 dependencies.lock
 .env
 releases/
+vision_frames/
 main/assets/lang_config.h
 main/mmap_generate_emoji.h
 .DS_Store

main/Kconfig.projbuild

@@ -15,7 +15,7 @@ config USE_DIRECT_WEBSOCKET
 config WEBSOCKET_URL
     string "Default WebSocket URL"
     depends on USE_DIRECT_WEBSOCKET
-    default "ws://10.6.80.130:8080"
+    default "ws://172.19.0.240:8080"
     help
         The WebSocket server URL used when direct WebSocket mode is enabled.
 

main/application.cc

@@ -673,10 +673,17 @@ void Application::DismissAlert() {
 }
 
 void Application::ToggleChatState() {
+    vision_text_mode_enabled_.store(false);
+    xEventGroupSetBits(event_group_, MAIN_EVENT_TOGGLE_CHAT);
+}
+
+void Application::ToggleChatStateWithVision() {
+    vision_text_mode_enabled_.store(true);
     xEventGroupSetBits(event_group_, MAIN_EVENT_TOGGLE_CHAT);
 }
 
 void Application::StartListening() {
+    vision_text_mode_enabled_.store(false);
     xEventGroupSetBits(event_group_, MAIN_EVENT_START_LISTENING);
 }
 
@@ -686,7 +693,10 @@ void Application::StopListening() {
 
 void Application::HandleToggleChatEvent() {
     auto state = GetDeviceState();
-    
+    if (state != kDeviceStateIdle) {
+        vision_text_mode_enabled_.store(false);
+    }
+
     if (state == kDeviceStateActivating) {
         SetDeviceState(kDeviceStateIdle);
         return;
@@ -905,6 +915,9 @@ void Application::HandleStateChangedEvent() {
                     audio_service_.WaitForPlaybackQueueEmpty();
                 }
                 
+                if (vision_text_mode_enabled_.load()) {
+                    SendCurrentVisionFrame();
+                }
                 // Send the start listening command
                 protocol_->SendStartListening(listening_mode_);
                 audio_service_.EnableVoiceProcessing(true);
@@ -944,6 +957,26 @@ void Application::HandleStateChangedEvent() {
     }
 }
 
+void Application::SendCurrentVisionFrame() {
+    if (!protocol_ || !protocol_->IsAudioChannelOpened()) {
+        return;
+    }
+
+    auto camera = Board::GetInstance().GetCamera();
+    if (camera == nullptr) {
+        return;
+    }
+
+    std::string jpeg_data;
+    if (!camera->CaptureToJpeg(jpeg_data, false)) {
+        ESP_LOGW(TAG, "Failed to capture vision frame");
+        return;
+    }
+
+    protocol_->SendVisionFrame(jpeg_data);
+    ESP_LOGI(TAG, "Sent vision frame, size=%u bytes", static_cast<unsigned>(jpeg_data.size()));
+}
+
 void Application::Schedule(std::function<void()>&& callback) {
     {
         std::lock_guard<std::mutex> lock(mutex_);

main/application.h

@@ -11,6 +11,7 @@
 #include <deque>
 #include <memory>
 #include <functional>
+#include <atomic>
 
 #include "protocol.h"
 #include "ota.h"
@@ -91,6 +92,7 @@ public:
      * Sends MAIN_EVENT_TOGGLE_CHAT to be handled in Run()
      */
     void ToggleChatState();
+    void ToggleChatStateWithVision();
 
     /**
      * Start listening (event-based, thread-safe)
@@ -144,6 +146,7 @@ private:
     bool aborted_ = false;
     bool assets_version_checked_ = false;
     bool play_popup_on_listening_ = false;  // Flag to play popup sound after state changes to listening
+    std::atomic<bool> vision_text_mode_enabled_ = false;
     int clock_ticks_ = 0;
     TaskHandle_t activation_task_handle_ = nullptr;
 
@@ -159,6 +162,7 @@ private:
     void HandleWakeWordDetectedEvent();
     void ContinueOpenAudioChannel(ListeningMode mode);
     void ContinueWakeWordInvoke(const std::string& wake_word);
+    void SendCurrentVisionFrame();
 
     // Activation task (runs in background)
     void ActivationTask();

main/boards/common/camera.h

@@ -7,6 +7,8 @@ class Camera {
 public:
     virtual void SetExplainUrl(const std::string& url, const std::string& token) = 0;
     virtual bool Capture() = 0;
+    virtual bool CaptureBackground() { return Capture(); }
+    virtual bool CaptureToJpeg(std::string& jpeg_data, bool show_preview = false) { return false; }
     virtual bool SetHMirror(bool enabled) = 0;
     virtual bool SetVFlip(bool enabled) = 0;
     virtual bool SetSwapBytes(bool enabled) { return false; }  // Optional, default no-op

main/boards/common/esp_video.cc

@@ -24,6 +24,7 @@
 #include "lvgl_display.h"
 #include "mcp_server.h"
 #include "system_info.h"
+#include "esp_timer.h"
 
 #ifdef CONFIG_XIAOZHI_ENABLE_CAMERA_DEBUG_MODE
 #undef LOG_LOCAL_LEVEL
@@ -55,6 +56,7 @@
 
 
 #define TAG "EspVideo"
+#define FOREGROUND_CAPTURE_PROTECTION_US (10 * 1000 * 1000)
 
 #if defined(CONFIG_CAMERA_SENSOR_SWAP_PIXEL_BYTE_ORDER) || defined(CONFIG_XIAOZHI_ENABLE_CAMERA_ENDIANNESS_SWAP)
 #warning \
@@ -381,11 +383,47 @@ EspVideo::~EspVideo() {
 }
 
 void EspVideo::SetExplainUrl(const std::string& url, const std::string& token) {
+    std::lock_guard<std::mutex> lock(frame_mutex_);
     explain_url_ = url;
     explain_token_ = token;
 }
 
 bool EspVideo::Capture() {
+    return CaptureFrame(true);
+}
+
+bool EspVideo::CaptureBackground() {
+    return CaptureFrame(false);
+}
+
+bool EspVideo::CaptureToJpeg(std::string& jpeg_data, bool show_preview) {
+    jpeg_data.clear();
+    if (!CaptureFrame(show_preview)) {
+        return false;
+    }
+
+    std::lock_guard<std::mutex> lock(frame_mutex_);
+    if (frame_.data == nullptr || frame_.len == 0) {
+        return false;
+    }
+
+    uint16_t w = frame_.width ? frame_.width : 320;
+    uint16_t h = frame_.height ? frame_.height : 240;
+    return image_to_jpeg_cb(
+        frame_.data, frame_.len, w, h, frame_.format, 60,
+        [](void* arg, size_t index, const void* data, size_t len) -> size_t {
+            auto jpeg_data = static_cast<std::string*>(arg);
+            if (data != nullptr && len > 0) {
+                jpeg_data->append(static_cast<const char*>(data), len);
+            }
+            return len;
+        },
+        &jpeg_data);
+}
+
+bool EspVideo::CaptureFrame(bool show_preview) {
+    std::lock_guard<std::mutex> lock(frame_mutex_);
+
     if (encoder_thread_.joinable()) {
         encoder_thread_.join();
     }
@@ -394,6 +432,10 @@ bool EspVideo::Capture() {
         return false;
     }
 
+    if (!show_preview && esp_timer_get_time() < foreground_capture_protected_until_us_) {
+        return true;
+    }
+
     for (int i = 0; i < 3; i++) {
         struct v4l2_buffer buf = {};
         buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
@@ -729,9 +771,14 @@ bool EspVideo::Capture() {
         }
     }
 
-    // 显示预览图片
+    if (show_preview) {
-    auto display = dynamic_cast<LvglDisplay*>(Board::GetInstance().GetDisplay());
+        foreground_capture_protected_until_us_ = esp_timer_get_time() + FOREGROUND_CAPTURE_PROTECTION_US;
-    if (display != nullptr) {
+    }
+
+    if (show_preview) {
+        // 显示预览图片
+        auto display = dynamic_cast<LvglDisplay*>(Board::GetInstance().GetDisplay());
+        if (display != nullptr) {
         if (!frame_.data) {
             ESP_LOGE(TAG, "frame.data is null");
             return false;
@@ -836,6 +883,7 @@ bool EspVideo::Capture() {
 
         auto image = std::make_unique<LvglAllocatedImage>(data, lvgl_image_size, w, h, stride, color_format);
         display->SetPreviewImage(std::move(image));
+        }
     }
     return true;
 }
@@ -898,10 +946,16 @@ bool EspVideo::SetVFlip(bool enabled) {
  * @warning 如果摄像头缓冲区为空或网络连接失败，将返回错误信息
  */
 std::string EspVideo::Explain(const std::string& question) {
+    std::lock_guard<std::mutex> lock(frame_mutex_);
+
     if (explain_url_.empty()) {
         throw std::runtime_error("Image explain URL or token is not set");
     }
 
+    if (frame_.data == nullptr || frame_.len == 0) {
+        throw std::runtime_error("No camera frame captured");
+    }
+
     // 创建局部的 JPEG 队列, 40 entries is about to store 512 * 40 = 20480 bytes of JPEG data
     QueueHandle_t jpeg_queue = xQueueCreate(40, sizeof(JpegChunk));
     if (jpeg_queue == nullptr) {

main/boards/common/esp_video.h

@@ -5,6 +5,8 @@
 #include <thread>
 #include <memory>
 #include <vector>
+#include <mutex>
+#include <cstdint>
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/queue.h>
@@ -39,6 +41,10 @@ private:
     std::string explain_url_;
     std::string explain_token_;
     std::thread encoder_thread_;
+    std::mutex frame_mutex_;
+    int64_t foreground_capture_protected_until_us_ = 0;
+
+    bool CaptureFrame(bool show_preview);
 
 public:
     EspVideo(const esp_video_init_config_t& config);
@@ -46,6 +52,8 @@ public:
 
     virtual void SetExplainUrl(const std::string& url, const std::string& token);
     virtual bool Capture();
+    virtual bool CaptureBackground() override;
+    virtual bool CaptureToJpeg(std::string& jpeg_data, bool show_preview = false) override;
     // 翻转控制函数
     virtual bool SetHMirror(bool enabled) override;
     virtual bool SetVFlip(bool enabled) override;

main/boards/m5stack-core-s3/m5stack_core_s3.cc

@@ -1,21 +1,23 @@
-#include "wifi_board.h"
+#include "application.h"
+#include "axp2101.h"
+#include "config.h"
 #include "cores3_audio_codec.h"
 #include "display/lcd_display.h"
-#include "application.h"
-#include "config.h"
-#include "power_save_timer.h"
 #include "i2c_device.h"
-#include "axp2101.h"
+#include "power_save_timer.h"
+#include "wifi_board.h"
 
-#include <esp_log.h>
 #include <driver/i2c_master.h>
+#include <esp_lcd_ili9341.h>
 #include <esp_lcd_panel_io.h>
 #include <esp_lcd_panel_ops.h>
-#include <esp_lcd_ili9341.h>
+#include <esp_log.h>
 #include <esp_timer.h>
 #include "esp_video.h"
 
 #define TAG "M5StackCoreS3Board"
+#define BACKGROUND_VISION_INITIAL_DELAY_MS 8000
+#define BACKGROUND_VISION_SAMPLE_INTERVAL_MS 100
 
 class Pmic : public Axp2101 {
 public:
@@ -41,7 +43,7 @@ public:
 
 class CustomBacklight : public Backlight {
 public:
-    CustomBacklight(Pmic *pmic) : pmic_(pmic) {}
+    CustomBacklight(Pmic* pmic) : pmic_(pmic) {}
 
     void SetBrightnessImpl(uint8_t brightness) override {
         pmic_->SetBrightness(target_brightness_);
@@ -49,7 +51,7 @@ public:
     }
 
 private:
-    Pmic *pmic_;
+    Pmic* pmic_;
 };
 
 class Aw9523 : public I2cDevice {
@@ -89,16 +91,14 @@ public:
         int x = -1;
         int y = -1;
     };
-    
+
     Ft6336(i2c_master_bus_handle_t i2c_bus, uint8_t addr) : I2cDevice(i2c_bus, addr) {
         uint8_t chip_id = ReadReg(0xA3);
         ESP_LOGI(TAG, "Get chip ID: 0x%02X", chip_id);
         read_buffer_ = new uint8_t[6];
     }
 
-    ~Ft6336() {
+    ~Ft6336() { delete[] read_buffer_; }
-        delete[] read_buffer_;
-    }
 
     void UpdateTouchPoint() {
         ReadRegs(0x02, read_buffer_, 6);
@@ -107,9 +107,7 @@ public:
         tp_.y = ((read_buffer_[3] & 0x0F) << 8) | read_buffer_[4];
     }
 
-    inline const TouchPoint_t& GetTouchPoint() {
+    inline const TouchPoint_t& GetTouchPoint() { return tp_; }
-        return tp_;
-    }
 
 private:
     uint8_t* read_buffer_ = nullptr;
@@ -137,9 +135,7 @@ private:
             GetDisplay()->SetPowerSaveMode(false);
             GetBacklight()->RestoreBrightness();
         });
-        power_save_timer_->OnShutdownRequest([this]() {
+        power_save_timer_->OnShutdownRequest([this]() { pmic_->PowerOff(); });
-            pmic_->PowerOff();
-        });
         power_save_timer_->SetEnabled(true);
     }
 
@@ -153,9 +149,10 @@ private:
             .glitch_ignore_cnt = 7,
             .intr_priority = 0,
             .trans_queue_depth = 0,
-            .flags = {
+            .flags =
-                .enable_internal_pullup = 1,
+                {
-            },
+                    .enable_internal_pullup = 1,
+                },
         };
         ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
     }
@@ -196,28 +193,32 @@ private:
         static bool was_touched = false;
         static int64_t touch_start_time = 0;
         const int64_t TOUCH_THRESHOLD_MS = 500;  // 触摸时长阈值，超过500ms视为长按
-        
+
         ft6336_->UpdateTouchPoint();
         auto& touch_point = ft6336_->GetTouchPoint();
-        
+
         // 检测触摸开始
         if (touch_point.num > 0 && !was_touched) {
             was_touched = true;
-            touch_start_time = esp_timer_get_time() / 1000; // 转换为毫秒
+            touch_start_time = esp_timer_get_time() / 1000;  // 转换为毫秒
-        } 
+        }
         // 检测触摸释放
         else if (touch_point.num == 0 && was_touched) {
             was_touched = false;
             int64_t touch_duration = (esp_timer_get_time() / 1000) - touch_start_time;
-            
+
-            // 只有短触才触发
             if (touch_duration < TOUCH_THRESHOLD_MS) {
                 auto& app = Application::GetInstance();
                 if (app.GetDeviceState() == kDeviceStateStarting) {
                     EnterWifiConfigMode();
                     return;
                 }
+                ESP_LOGI(TAG, "Touch short: text-only mode");
                 app.ToggleChatState();
+            } else {
+                auto& app = Application::GetInstance();
+                ESP_LOGI(TAG, "Touch long: vision+text mode");
+                app.ToggleChatStateWithVision();
             }
         }
     }
@@ -225,19 +226,20 @@ private:
     void InitializeFt6336TouchPad() {
         ESP_LOGI(TAG, "Init FT6336");
         ft6336_ = new Ft6336(i2c_bus_, 0x38);
-        
+
         // 创建定时器，20ms 间隔
         esp_timer_create_args_t timer_args = {
-            .callback = [](void* arg) {
+            .callback =
-                M5StackCoreS3Board* board = (M5StackCoreS3Board*)arg;
+                [](void* arg) {
-                board->PollTouchpad();
+                    M5StackCoreS3Board* board = (M5StackCoreS3Board*)arg;
-            },
+                    board->PollTouchpad();
+                },
             .arg = this,
             .dispatch_method = ESP_TIMER_TASK,
             .name = "touchpad_timer",
             .skip_unhandled_events = true,
         };
-        
+
         ESP_ERROR_CHECK(esp_timer_create(&timer_args, &touchpad_timer_));
         ESP_ERROR_CHECK(esp_timer_start_periodic(touchpad_timer_, 20 * 1000));
     }
@@ -276,7 +278,7 @@ private:
         panel_config.rgb_ele_order = LCD_RGB_ELEMENT_ORDER_BGR;
         panel_config.bits_per_pixel = 16;
         ESP_ERROR_CHECK(esp_lcd_new_panel_ili9341(panel_io, &panel_config, &panel));
-        
+
         esp_lcd_panel_reset(panel);
         aw9523_->ResetIli9342();
 
@@ -285,23 +287,25 @@ private:
         esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
         esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);
 
-        display_ = new SpiLcdDisplay(panel_io, panel,
+        display_ = new SpiLcdDisplay(panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT,
-                                    DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
+                                     DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X,
+                                     DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
     }
 
-     void InitializeCamera() {
+    void InitializeCamera() {
         static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
             .data_width = CAM_CTLR_DATA_WIDTH_8,
-            .data_io = {
+            .data_io =
-                [0] = CAMERA_PIN_D0,
+                {
-                [1] = CAMERA_PIN_D1,
+                    [0] = CAMERA_PIN_D0,
-                [2] = CAMERA_PIN_D2,
+                    [1] = CAMERA_PIN_D1,
-                [3] = CAMERA_PIN_D3,
+                    [2] = CAMERA_PIN_D2,
-                [4] = CAMERA_PIN_D4,
+                    [3] = CAMERA_PIN_D3,
-                [5] = CAMERA_PIN_D5,
+                    [4] = CAMERA_PIN_D4,
-                [6] = CAMERA_PIN_D6,
+                    [5] = CAMERA_PIN_D5,
-                [7] = CAMERA_PIN_D7,
+                    [6] = CAMERA_PIN_D6,
-            },
+                    [7] = CAMERA_PIN_D7,
+                },
             .vsync_io = CAMERA_PIN_VSYNC,
             .de_io = CAMERA_PIN_HREF,
             .pclk_io = CAMERA_PIN_PCLK,
@@ -330,6 +334,37 @@ private:
         camera_->SetHMirror(false);
     }
 
+    void InitializeBackgroundVisionSampler() {
+        xTaskCreate(
+            [](void* arg) {
+                auto board = static_cast<M5StackCoreS3Board*>(arg);
+                bool has_logged_success = false;
+                bool has_logged_failure = false;
+
+                vTaskDelay(pdMS_TO_TICKS(BACKGROUND_VISION_INITIAL_DELAY_MS));
+
+                while (true) {
+                    if (board->camera_ == nullptr) {
+                        vTaskDelay(pdMS_TO_TICKS(BACKGROUND_VISION_SAMPLE_INTERVAL_MS));
+                        continue;
+                    }
+
+                    if (board->camera_->CaptureBackground()) {
+                        if (!has_logged_success) {
+                            ESP_LOGI(TAG, "Background vision sampler started");
+                            has_logged_success = true;
+                        }
+                    } else if (!has_logged_failure) {
+                        ESP_LOGW(TAG, "Background vision sampler is waiting for camera");
+                        has_logged_failure = true;
+                    }
+
+                    vTaskDelay(pdMS_TO_TICKS(BACKGROUND_VISION_SAMPLE_INTERVAL_MS));
+                }
+            },
+            "BgVisionSampler", 4096, this, 1, nullptr);
+    }
+
 public:
     M5StackCoreS3Board() {
         InitializePowerSaveTimer();
@@ -340,34 +375,24 @@ public:
         InitializeSpi();
         InitializeIli9342Display();
         InitializeCamera();
+        InitializeBackgroundVisionSampler();
         InitializeFt6336TouchPad();
         GetBacklight()->RestoreBrightness();
     }
 
     virtual AudioCodec* GetAudioCodec() override {
-        static CoreS3AudioCodec audio_codec(i2c_bus_,
+        static CoreS3AudioCodec audio_codec(
-            AUDIO_INPUT_SAMPLE_RATE,
+            i2c_bus_, AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE, AUDIO_I2S_GPIO_MCLK,
-            AUDIO_OUTPUT_SAMPLE_RATE,
+            AUDIO_I2S_GPIO_BCLK, AUDIO_I2S_GPIO_WS, AUDIO_I2S_GPIO_DOUT, AUDIO_I2S_GPIO_DIN,
-            AUDIO_I2S_GPIO_MCLK,
+            AUDIO_CODEC_AW88298_ADDR, AUDIO_CODEC_ES7210_ADDR, AUDIO_INPUT_REFERENCE);
-            AUDIO_I2S_GPIO_BCLK,
-            AUDIO_I2S_GPIO_WS,
-            AUDIO_I2S_GPIO_DOUT,
-            AUDIO_I2S_GPIO_DIN,
-            AUDIO_CODEC_AW88298_ADDR,
-            AUDIO_CODEC_ES7210_ADDR,
-            AUDIO_INPUT_REFERENCE);
         return &audio_codec;
     }
 
-    virtual Display* GetDisplay() override {
+    virtual Display* GetDisplay() override { return display_; }
-        return display_;
-    }
 
-    virtual Camera* GetCamera() override {
+    virtual Camera* GetCamera() override { return camera_; }
-        return camera_;
-    }
 
-    virtual bool GetBatteryLevel(int &level, bool& charging, bool& discharging) override {
+    virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override {
         static bool last_discharging = false;
         charging = pmic_->IsCharging();
         discharging = pmic_->IsDischarging();
@@ -387,7 +412,7 @@ public:
         WifiBoard::SetPowerSaveLevel(level);
     }
 
-    virtual Backlight *GetBacklight() override {
+    virtual Backlight* GetBacklight() override {
         static CustomBacklight backlight(pmic_);
         return &backlight;
     }

main/boards/waveshare/esp32-s3-touch-lcd-4.3c/sdkconfig.4_3c

@@ -599,7 +599,7 @@ CONFIG_PARTITION_TABLE_MD5=y
 #
 CONFIG_OTA_URL="https://api.tenclass.net/xiaozhi/ota/"
 CONFIG_USE_DIRECT_WEBSOCKET=y
-CONFIG_WEBSOCKET_URL="ws://10.6.80.130:8080"
+CONFIG_WEBSOCKET_URL="ws://172.19.0.240:8080"
 CONFIG_WEBSOCKET_TOKEN=""
 CONFIG_WEBSOCKET_PROTOCOL_VERSION=1
 # CONFIG_FLASH_NONE_ASSETS is not set

main/bridge_server.py

@@ -1,4 +1,5 @@
 import asyncio
+import base64
 import json
 import os
 import shutil
@@ -8,6 +9,7 @@ import time
 import traceback
 import uuid
 from dataclasses import dataclass, field
+from pathlib import Path
 from typing import Any, Optional
 
 import httpx
@@ -31,6 +33,8 @@ CONNECT_TIMEOUT_SECONDS = float(os.getenv("LIVEKIT_CONNECT_TIMEOUT_SECONDS", "20
 AGENT_READY_TIMEOUT_SECONDS = float(os.getenv("LIVEKIT_AGENT_READY_TIMEOUT_SECONDS", "10.0"))
 WS_PORT = 8080
 AGENT_DISPATCH_MODE = os.getenv("AGENT_DISPATCH_MODE", "token").lower()
+PROJECT_ROOT = Path(__file__).resolve().parent.parent
+VISION_FRAME_SAVE_DIR = Path(os.getenv("VISION_FRAME_SAVE_DIR", str(PROJECT_ROOT / "vision_frames")))
 
 INPUT_SAMPLE_RATE = 16000
 OUTPUT_SAMPLE_RATE = 24000
@@ -45,6 +49,7 @@ TTS_PRE_ROLL_MS = 80
 TTS_START_CONSECUTIVE_AUDIBLE_FRAMES = 1
 TTS_INTERRUPT_SILENCE_FRAMES = 3
 INTERRUPT_TOPIC = "lk.interrupt"
+VISION_FRAME_TOPIC = "vision.frame"
 TTS_DISPLAY_SENTENCE_BREAKS = "。！？!?；;"
 TTS_DISPLAY_SCROLL_WIDTH = int(os.getenv("TTS_DISPLAY_SCROLL_WIDTH", "18"))
 TTS_DISPLAY_SCROLL_INTERVAL_SECONDS = float(os.getenv("TTS_DISPLAY_SCROLL_INTERVAL_SECONDS", "0.18"))
@@ -336,6 +341,73 @@ class ESP32LiveKitBridge:
         if not ok:
             print("警告: bridge 已停止 TTS，但 agent 侧 interrupt 未确认送出")
 
+    def _save_vision_frame(self, session: DeviceSession, image: str) -> Optional[Path]:
+        try:
+            image_bytes = base64.b64decode(image, validate=True)
+        except Exception as exc:
+            print(f"vision frame base64 解码失败: {exc}")
+            return None
+
+        safe_device_id = "".join(
+            char if char.isalnum() or char in ("-", "_") else "_"
+            for char in session.device_id
+        )
+        timestamp_ms = int(time.time() * 1000)
+        VISION_FRAME_SAVE_DIR.mkdir(parents=True, exist_ok=True)
+        path = VISION_FRAME_SAVE_DIR / f"{timestamp_ms}_{safe_device_id}.jpg"
+        path.write_bytes(image_bytes)
+        return path
+
+    async def _publish_vision_frame(self, session: DeviceSession, message: dict[str, Any]) -> None:
+        image = message.get("image")
+        if not isinstance(image, str) or not image:
+            print("收到 vision frame，但 image 字段为空")
+            return
+
+        saved_path = self._save_vision_frame(session, image)
+        if saved_path is None:
+            return
+        print(f"已保存 vision frame: {saved_path}")
+
+        participant = getattr(session.room, "local_participant", None)
+        if participant is None:
+            print("跳过发送 vision frame，local participant 尚未就绪")
+            return
+
+        payload = {
+            "type": "vision_frame",
+            "topic": VISION_FRAME_TOPIC,
+            "room": session.room_name,
+            "identity": session.identity,
+            "device_id": session.device_id,
+            "mime_type": message.get("mime_type", "image/jpeg"),
+            "image": image,
+            "saved_path": str(saved_path),
+        }
+        data = json.dumps(payload).encode("utf-8")
+        agent_identities = self._get_agent_identities(session)
+        kwargs: dict[str, Any] = {}
+        if agent_identities:
+            kwargs["destination_identities"] = agent_identities
+
+        last_error: Optional[Exception] = None
+        for attempt in ({"topic": VISION_FRAME_TOPIC, **kwargs}, kwargs):
+            try:
+                await participant.publish_data(data, **attempt)
+                print(
+                    f"已发送 vision frame: bytes={len(data)} "
+                    f"targets={agent_identities or 'broadcast'}"
+                )
+                return
+            except TypeError as exc:
+                last_error = exc
+            except Exception as exc:
+                print(f"发送 vision frame 失败: {exc}")
+                return
+
+        if last_error is not None:
+            print(f"发送 vision frame 失败，publish_data 签名不兼容: {last_error}")
+
     async def _send_tts_state(self, session: DeviceSession, state: str) -> None:
         if session.websocket is None:
             print(f"跳过 tts {state}，ESP32 尚未连接")
@@ -939,14 +1011,12 @@ class ESP32LiveKitBridge:
         )
         self.device_sessions[device_id] = session
 
-        # print(f"ESP32 已连接: device={device_id}")
+        print(f"ESP32 已连接: device={device_id}")
-        # print(f"ESP32 协议版本: {session.protocol_version}")
+        print(f"ESP32 协议版本: {session.protocol_version}")
         session.tts_stream_id += 1
         opus_decoder = None
 
         try:
-            await self._connect_session_room(session)
-
             hello_msg = {
                 "type": "hello",
                 "transport": "websocket",
@@ -962,6 +1032,9 @@ class ESP32LiveKitBridge:
                 },
             }
             await websocket.send(json.dumps(hello_msg))
+            print(f"已发送 server hello: device={device_id} room={session.room_name}")
+
+            await self._connect_session_room(session)
 
             async for message in websocket:
                 if isinstance(message, bytes):
@@ -1017,6 +1090,8 @@ class ESP32LiveKitBridge:
                             abort_reason = reason if isinstance(reason, str) and reason else "button_abort"
                             print(f"处理 ESP32 打断请求: reason={abort_reason}")
                             await self._abort_tts(session, abort_reason)
+                        elif msg_type == "vision" and data.get("state") == "frame":
+                            await self._publish_vision_frame(session, data)
                     except json.JSONDecodeError:
                         print(f"收到未知的字符消息: {message}")
         except ConnectionClosedError as exc:

main/protocols/protocol.cc

@@ -1,9 +1,22 @@
 #include "protocol.h"
 
 #include <esp_log.h>
+#include <mbedtls/base64.h>
 
 #define TAG "Protocol"
 
+static std::string Base64Encode(const std::string& data) {
+    size_t encoded_length = 0;
+    size_t output_length = 0;
+    mbedtls_base64_encode(nullptr, 0, &encoded_length,
+                          reinterpret_cast<const unsigned char*>(data.data()), data.size());
+    std::string result(encoded_length, 0);
+    mbedtls_base64_encode(reinterpret_cast<unsigned char*>(result.data()), result.size(), &output_length,
+                          reinterpret_cast<const unsigned char*>(data.data()), data.size());
+    result.resize(output_length);
+    return result;
+}
+
 void Protocol::OnIncomingJson(std::function<void(const cJSON* root)> callback) {
     on_incoming_json_ = callback;
 }
@@ -78,6 +91,27 @@ void Protocol::SendMcpMessage(const std::string& payload) {
     SendText(message);
 }
 
+void Protocol::SendVisionFrame(const std::string& jpeg_data) {
+    if (jpeg_data.empty()) {
+        return;
+    }
+
+    cJSON* root = cJSON_CreateObject();
+    cJSON_AddStringToObject(root, "session_id", session_id_.c_str());
+    cJSON_AddStringToObject(root, "type", "vision");
+    cJSON_AddStringToObject(root, "state", "frame");
+    cJSON_AddStringToObject(root, "mime_type", "image/jpeg");
+    auto encoded = Base64Encode(jpeg_data);
+    cJSON_AddStringToObject(root, "image", encoded.c_str());
+
+    char* json_str = cJSON_PrintUnformatted(root);
+    if (json_str != nullptr) {
+        SendText(json_str);
+        cJSON_free(json_str);
+    }
+    cJSON_Delete(root);
+}
+
 bool Protocol::IsTimeout() const {
     const int kTimeoutSeconds = 120;
     auto now = std::chrono::steady_clock::now();

main/protocols/protocol.h

@@ -73,6 +73,7 @@ public:
     virtual void SendStopListening();
     virtual void SendAbortSpeaking(AbortReason reason);
     virtual void SendMcpMessage(const std::string& message);
+    virtual void SendVisionFrame(const std::string& jpeg_data);
 
 protected:
     std::function<void(const cJSON* root)> on_incoming_json_;
@@ -95,4 +96,3 @@ protected:
 };
 
 #endif // PROTOCOL_H
-