AI-on-the-edge-device/code/components/jomjol_flowcontroll/MainFlowControl.cpp

#include "MainFlowControl.h"

#include <string>
#include <vector>
#include "string.h"
#include "esp_log.h"
#include <esp_timer.h>

#include <iomanip>
#include <sstream>

#include "../../include/defines.h"
#include "Helper.h"
#include "statusled.h"

#include "esp_camera.h"
#include "time_sntp.h"
#include "ClassControllCamera.h"

#include "ClassFlowControll.h"

#include "ClassLogFile.h"
#include "server_GPIO.h"

#include "server_file.h"

#include "read_wlanini.h"
#include "connect_wlan.h"
#include "psram.h"

// support IDF 5.x
#ifndef portTICK_RATE_MS
#define portTICK_RATE_MS portTICK_PERIOD_MS
#endif

ClassFlowControll flowctrl;

TaskHandle_t xHandletask_autodoFlow = NULL;

bool bTaskAutoFlowCreated = false;
bool flowisrunning = false;

long auto_interval = 0;
bool autostartIsEnabled = false;

int countRounds = 0;
bool isPlannedReboot = false;

static const char *TAG = "MAINCTRL";


//#define DEBUG_DETAIL_ON


void CheckIsPlannedReboot()
{
 	FILE *pfile;
    if ((pfile = fopen("/sdcard/reboot.txt", "r")) == NULL) {
		//LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "Initial boot or not a planned reboot");
        isPlannedReboot = false;
	}
    else {
		LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "Planned reboot");
        DeleteFile("/sdcard/reboot.txt");   // Prevent Boot Loop!!!
        isPlannedReboot = true;
	}
}


bool getIsPlannedReboot() 
{
    return isPlannedReboot;
}


int getCountFlowRounds() 
{
    return countRounds;
}


esp_err_t GetJPG(std::string _filename, httpd_req_t *req)
{
    return flowctrl.GetJPGStream(_filename, req);
}


esp_err_t GetRawJPG(httpd_req_t *req)
{
    return flowctrl.SendRawJPG(req);
}


bool isSetupModusActive() 
{
    return flowctrl.getStatusSetupModus();
}


void DeleteMainFlowTask()
{
    #ifdef DEBUG_DETAIL_ON      
        ESP_LOGD(TAG, "DeleteMainFlowTask: xHandletask_autodoFlow: %ld", (long) xHandletask_autodoFlow);
    #endif
    if( xHandletask_autodoFlow != NULL )
    {
        vTaskDelete(xHandletask_autodoFlow);
        xHandletask_autodoFlow = NULL;
    }
    #ifdef DEBUG_DETAIL_ON      
    	ESP_LOGD(TAG, "Killed: xHandletask_autodoFlow");
    #endif
}


void doInit(void)
{
    #ifdef DEBUG_DETAIL_ON
        ESP_LOGD(TAG, "Start flowctrl.InitFlow(config);");
    #endif
    flowctrl.InitFlow(CONFIG_FILE);
    #ifdef DEBUG_DETAIL_ON
        ESP_LOGD(TAG, "Finished flowctrl.InitFlow(config);");
    #endif
    
    /* GPIO handler has to be initialized before MQTT init to ensure proper topic subscription */
    gpio_handler_init();

    #ifdef ENABLE_MQTT
        flowctrl.StartMQTTService();
    #endif //ENABLE_MQTT
}


bool doflow(void)
{   
    std::string zw_time = getCurrentTimeString(LOGFILE_TIME_FORMAT);
    ESP_LOGD(TAG, "doflow - start %s", zw_time.c_str());
    flowisrunning = true;
    flowctrl.doFlow(zw_time);
    flowisrunning = false;

    #ifdef DEBUG_DETAIL_ON      
        ESP_LOGD(TAG, "doflow - end %s", zw_time.c_str());
    #endif

    return true;
}


esp_err_t handler_get_heap(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON      
        LogFile.WriteHeapInfo("handler_get_heap - Start");       
        ESP_LOGD(TAG, "handler_get_heap uri: %s", req->uri);
    #endif

    std::string zw = "Heap info:<br>" + getESPHeapInfo();

    #ifdef TASK_ANALYSIS_ON
        char* pcTaskList = (char*) calloc_psram_heap(std::string(TAG) + "->pcTaskList", 1, sizeof(char) * 768, MALLOC_CAP_8BIT | MALLOC_CAP_SPIRAM);
        if (pcTaskList) {
            vTaskList(pcTaskList);
            zw = zw + "<br><br>Task info:<br><pre>Name | State | Prio | Lowest stacksize | Creation order | CPU (-1=NoAffinity)<br>"
                    + std::string(pcTaskList) + "</pre>";
            free_psram_heap(std::string(TAG) + "->pcTaskList", pcTaskList);
        }
        else {
            zw = zw + "<br><br>Task info:<br>ERROR - Allocation of TaskList buffer in PSRAM failed";
        }
    #endif 

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

    if (zw.length() > 0) 
    {
        httpd_resp_send(req, zw.c_str(), zw.length());
    }
    else 
    {
        httpd_resp_send(req, NULL, 0);
    }

    #ifdef DEBUG_DETAIL_ON      
        LogFile.WriteHeapInfo("handler_get_heap - Done");       
    #endif

    return ESP_OK;
}


esp_err_t handler_init(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON      
        LogFile.WriteHeapInfo("handler_init - Start");       
        ESP_LOGD(TAG, "handler_doinit uri: %s", req->uri);
    #endif

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    const char* resp_str = "Init started<br>";
    httpd_resp_send(req, resp_str, HTTPD_RESP_USE_STRLEN);     

    doInit();

    resp_str = "Init done<br>";
    httpd_resp_send(req, resp_str, HTTPD_RESP_USE_STRLEN);     

    #ifdef DEBUG_DETAIL_ON      
        LogFile.WriteHeapInfo("handler_init - Done");       
    #endif

    return ESP_OK;
}


esp_err_t handler_stream(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON      
        LogFile.WriteHeapInfo("handler_stream - Start");       
        ESP_LOGD(TAG, "handler_stream uri: %s", req->uri);
    #endif

    char _query[50];
    char _value[10];
    bool flashlightOn = false;

    if (httpd_req_get_url_query_str(req, _query, 50) == ESP_OK)
    {
//        ESP_LOGD(TAG, "Query: %s", _query);
        if (httpd_query_key_value(_query, "flashlight", _value, 10) == ESP_OK)
        {
            #ifdef DEBUG_DETAIL_ON       
                ESP_LOGD(TAG, "flashlight is found%s", _value);
            #endif
            if (strlen(_value) > 0)
                flashlightOn = true;
        }
    }

    Camera.CaptureToStream(req, flashlightOn);

    #ifdef DEBUG_DETAIL_ON      
        LogFile.WriteHeapInfo("handler_stream - Done");       
    #endif

    return ESP_OK;
}


esp_err_t handler_flow_start(httpd_req_t *req) {

    #ifdef DEBUG_DETAIL_ON          
    LogFile.WriteHeapInfo("handler_flow_start - Start");       
    #endif

    ESP_LOGD(TAG, "handler_flow_start uri: %s", req->uri);

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

    if (autostartIsEnabled) {
        xTaskAbortDelay(xHandletask_autodoFlow); // Delay will be aborted if task is in blocked (waiting) state. If task is already running, no action
        LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "Flow start triggered by REST API /flow_start");
        const char* resp_str = "The flow is going to be started immediately or is already running";
        httpd_resp_send(req, resp_str, HTTPD_RESP_USE_STRLEN);  
    }
    else {
        LogFile.WriteToFile(ESP_LOG_WARN, TAG, "Flow start triggered by REST API, but flow is not active!");
        const char* resp_str = "WARNING: Flow start triggered by REST API, but flow is not active";
        httpd_resp_send(req, resp_str, HTTPD_RESP_USE_STRLEN);  
    }

    #ifdef DEBUG_DETAIL_ON   
        LogFile.WriteHeapInfo("handler_flow_start - Done");       
    #endif

    return ESP_OK;
}


#ifdef ENABLE_MQTT
esp_err_t MQTTCtrlFlowStart(std::string _topic) {

    #ifdef DEBUG_DETAIL_ON          
        LogFile.WriteHeapInfo("MQTTCtrlFlowStart - Start");       
    #endif

    ESP_LOGD(TAG, "MQTTCtrlFlowStart: topic %s", _topic.c_str());

    if (autostartIsEnabled) 
    {
        xTaskAbortDelay(xHandletask_autodoFlow); // Delay will be aborted if task is in blocked (waiting) state. If task is already running, no action
        LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "Flow start triggered by MQTT topic " + _topic);
    }
    else 
    {
        LogFile.WriteToFile(ESP_LOG_WARN, TAG, "Flow start triggered by MQTT topic " + _topic + ", but flow is not active!");
    }  

    #ifdef DEBUG_DETAIL_ON   
        LogFile.WriteHeapInfo("MQTTCtrlFlowStart - Done");       
    #endif

    return ESP_OK;
}
#endif //ENABLE_MQTT


esp_err_t handler_json(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_json - Start");    
    #endif

    ESP_LOGD(TAG, "handler_JSON uri: %s", req->uri);
    
    if (bTaskAutoFlowCreated) 
    {
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        httpd_resp_set_type(req, "application/json");

        std::string zw = flowctrl.getJSON();
        if (zw.length() > 0) 
        {
            httpd_resp_send(req, zw.c_str(), zw.length());
        }
        else 
        {
            httpd_resp_send(req, NULL, 0);
        }
    }
    else 
    {
        httpd_resp_send_err(req, HTTPD_403_FORBIDDEN, "Flow not (yet) started: REST API /json not yet available!");
        return ESP_ERR_NOT_FOUND;
    }

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_JSON - Done");   
    #endif

    return ESP_OK;
}


esp_err_t handler_wasserzaehler(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler water counter - Start");    
    #endif

    if (bTaskAutoFlowCreated) 
    {
        bool _rawValue = false;
        bool _noerror = false;
        bool _all = false;
        std::string _type = "value";
        string zw;

        ESP_LOGD(TAG, "handler water counter uri: %s", req->uri);														   

        char _query[100];
        char _size[10];

        if (httpd_req_get_url_query_str(req, _query, 100) == ESP_OK)
        {
    //        ESP_LOGD(TAG, "Query: %s", _query);
            if (httpd_query_key_value(_query, "all", _size, 10) == ESP_OK)
            {
                #ifdef DEBUG_DETAIL_ON       
                    ESP_LOGD(TAG, "all is found%s", _size);
                #endif
                _all = true;
            }

            if (httpd_query_key_value(_query, "type", _size, 10) == ESP_OK)
            {
                #ifdef DEBUG_DETAIL_ON       
                    ESP_LOGD(TAG, "all is found: %s", _size);
                #endif
                _type = std::string(_size);
            }

            if (httpd_query_key_value(_query, "rawvalue", _size, 10) == ESP_OK)
            {
                #ifdef DEBUG_DETAIL_ON       
                    ESP_LOGD(TAG, "rawvalue is found: %s", _size);
                #endif
                _rawValue = true;
            }
            if (httpd_query_key_value(_query, "noerror", _size, 10) == ESP_OK)
            {
                #ifdef DEBUG_DETAIL_ON       
                    ESP_LOGD(TAG, "noerror is found: %s", _size);
                #endif
                _noerror = true;
            }        
        }  

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

        if (_all)
        {
            httpd_resp_set_type(req, "text/plain");
            ESP_LOGD(TAG, "TYPE: %s", _type.c_str());
            int _intype = READOUT_TYPE_VALUE;
            if (_type == "prevalue")
                _intype = READOUT_TYPE_PREVALUE;
            if (_type == "raw")
                _intype = READOUT_TYPE_RAWVALUE;
            if (_type == "error")
                _intype = READOUT_TYPE_ERROR;


            zw = flowctrl.getReadoutAll(_intype);
            ESP_LOGD(TAG, "ZW: %s", zw.c_str());
            if (zw.length() > 0)
                httpd_resp_send(req, zw.c_str(), zw.length()); 
            
            return ESP_OK;
        }


        std::string *status = flowctrl.getActStatus();
        string query = std::string(_query);
    //    ESP_LOGD(TAG, "Query: %s, query.c_str());
        if (query.find("full") != std::string::npos)
        {
            string txt;
            txt = "<body style=\"font-family: arial\">";

            if ((countRounds <= 1) && (*status != std::string("Flow finished"))) { // First round not completed yet
                txt += "<h3>Please wait for the first round to complete!</h3><h3>Current state: " + *status + "</h3>\n";
            }
            else {
                txt += "<h3>Value</h3>";
            }

            httpd_resp_sendstr_chunk(req, txt.c_str());
        }

        zw = flowctrl.getReadout(_rawValue, _noerror, 0);
        if (zw.length() > 0)
            httpd_resp_sendstr_chunk(req, zw.c_str()); 


        if (query.find("full") != std::string::npos)
        {
            string txt, zw;

            if ((countRounds <= 1) && (*status != std::string("Flow finished"))) { // First round not completed yet
                // Nothing to do
            }
            else {
                /* Digital ROIs */
                txt = "<body style=\"font-family: arial\">";
                txt += "<hr><h3>Recognized Digit ROIs (previous round)</h3>\n";
                txt += "<table style=\"border-spacing: 5px\"><tr style=\"text-align: center; vertical-align: top;\">\n";

                std::vector<HTMLInfo*> htmlinfodig;
                htmlinfodig = flowctrl.GetAllDigital(); 

                for (int i = 0; i < htmlinfodig.size(); ++i)
                {
                    if (flowctrl.GetTypeDigital() == Digital)
                    {
                        if (htmlinfodig[i]->val == 10)
                            zw = "NaN";
                        else
                            zw = to_string((int) htmlinfodig[i]->val);

                        txt += "<td style=\"width: 100px\"><h4>" + zw + "</h4><p><img src=\"/img_tmp/" +  htmlinfodig[i]->filename + "\"></p></td>\n";
                    }
                    else
                    {
                        std::stringstream stream;
                        stream << std::fixed << std::setprecision(1) << htmlinfodig[i]->val;
                        zw = stream.str();

                        txt += "<td style=\"width: 100px\"><h4>" + zw + "</h4><p><img src=\"/img_tmp/" +  htmlinfodig[i]->filename + "\"></p></td>\n";
                    }
                    delete htmlinfodig[i];
                }

                htmlinfodig.clear();
            
                txt += "</tr></table>\n";
                httpd_resp_sendstr_chunk(req, txt.c_str()); 


                /* Analog ROIs */
                txt = "<hr><h3>Recognized Analog ROIs (previous round)</h3>\n";
                txt += "<table style=\"border-spacing: 5px\"><tr style=\"text-align: center; vertical-align: top;\">\n";
                
                std::vector<HTMLInfo*> htmlinfoana;
                htmlinfoana = flowctrl.GetAllAnalog();
                for (int i = 0; i < htmlinfoana.size(); ++i)
                {
                    std::stringstream stream;
                    stream << std::fixed << std::setprecision(1) << htmlinfoana[i]->val;
                    zw = stream.str();

                    txt += "<td style=\"width: 150px;\"><h4>" + zw + "</h4><p><img src=\"/img_tmp/" +  htmlinfoana[i]->filename + "\"></p></td>\n";
                delete htmlinfoana[i];
                }
                htmlinfoana.clear();   

                txt += "</tr>\n</table>\n";
                httpd_resp_sendstr_chunk(req, txt.c_str()); 


                /* Full Image 
                 * Only show it after the image got taken and aligned */
                txt = "<hr><h3>Aligned Image (current round)</h3>\n";
                if ((*status == std::string("Initialization")) || 
                    (*status == std::string("Initialization (delayed)")) || 
                    (*status == std::string("Take Image"))) {
                    txt += "<p>Current state: " + *status + "</p>\n";
                }
                else {
                    txt += "<img src=\"/img_tmp/alg_roi.jpg\">\n";
                }
                httpd_resp_sendstr_chunk(req, txt.c_str()); 
            }
        }   

        /* Respond with an empty chunk to signal HTTP response completion */
        httpd_resp_sendstr_chunk(req, NULL);   
    }
    else 
    {
        httpd_resp_send_err(req, HTTPD_403_FORBIDDEN, "Flow not (yet) started: REST API /value not available!");
        return ESP_ERR_NOT_FOUND;
    }

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_wasserzaehler - Done");   
    #endif

    return ESP_OK;
}


esp_err_t handler_editflow(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_editflow - Start");       
    #endif

    ESP_LOGD(TAG, "handler_editflow uri: %s", req->uri);

    char _query[200];
    char _valuechar[30];
    string _task;

    if (httpd_req_get_url_query_str(req, _query, 200) == ESP_OK)
    {
        if (httpd_query_key_value(_query, "task", _valuechar, 30) == ESP_OK)
        {
            #ifdef DEBUG_DETAIL_ON       
                ESP_LOGD(TAG, "task is found: %s", _valuechar);
            #endif
            _task = string(_valuechar);
        }
    }  

    if (_task.compare("namenumbers") == 0)
    {
        ESP_LOGD(TAG, "Get NUMBER list");
        return get_numbers_file_handler(req);
    }

    if (_task.compare("data") == 0)
    {
        ESP_LOGD(TAG, "Get data list");
        return get_data_file_handler(req);
    }

    if (_task.compare("tflite") == 0)
    {
        ESP_LOGD(TAG, "Get tflite list");
        return get_tflite_file_handler(req);
    }


    if (_task.compare("copy") == 0)
    {
        string in, out, zw;

        httpd_query_key_value(_query, "in", _valuechar, 30);
        in = string(_valuechar);
        httpd_query_key_value(_query, "out", _valuechar, 30);         
        out = string(_valuechar);  

        #ifdef DEBUG_DETAIL_ON       
            ESP_LOGD(TAG, "in: %s", in.c_str());
            ESP_LOGD(TAG, "out: %s", out.c_str());
        #endif

        in = "/sdcard" + in;
        out = "/sdcard" + out;

        CopyFile(in, out);
        zw = "Copy Done";
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        httpd_resp_send(req, zw.c_str(), zw.length()); 
    }


    if (_task.compare("cutref") == 0)
    {
        string in, out, zw;
        int x, y, dx, dy;
        bool enhance = false;

        httpd_query_key_value(_query, "in", _valuechar, 30);
        in = string(_valuechar);

        httpd_query_key_value(_query, "out", _valuechar, 30);         
        out = string(_valuechar);  

        httpd_query_key_value(_query, "x", _valuechar, 30);
        zw = string(_valuechar);  
        x = stoi(zw);              

        httpd_query_key_value(_query, "y", _valuechar, 30);
        zw = string(_valuechar);  
        y = stoi(zw);              

        httpd_query_key_value(_query, "dx", _valuechar, 30);
        zw = string(_valuechar);  
        dx = stoi(zw);  

        httpd_query_key_value(_query, "dy", _valuechar, 30);
        zw = string(_valuechar);  
        dy = stoi(zw);          

        #ifdef DEBUG_DETAIL_ON       
            ESP_LOGD(TAG, "in: %s", in.c_str());
            ESP_LOGD(TAG, "out: %s", out.c_str());
            ESP_LOGD(TAG, "x: %s", zw.c_str());
            ESP_LOGD(TAG, "y: %s", zw.c_str());
            ESP_LOGD(TAG, "dx: %s", zw.c_str());
            ESP_LOGD(TAG, "dy: %s", zw.c_str());
        #endif

        if (httpd_query_key_value(_query, "enhance", _valuechar, 10) == ESP_OK)
        {
            zw = string(_valuechar);
            if (zw.compare("true") == 0)
            {
                enhance = true;
            }
        }

        in = "/sdcard" + in;
        out = "/sdcard" + out;

        string out2 = out.substr(0, out.length() - 4) + "_org.jpg";

        if ((flowctrl.SetupModeActive || (*flowctrl.getActStatus() == "Flow finished")) && psram_init_shared_memory_for_take_image_step()) {
            LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Taking image for Alignment Mark Update...");

            CAlignAndCutImage *caic = new CAlignAndCutImage("cutref", in);
            caic->CutAndSave(out2, x, y, dx, dy);
            delete caic;   

            CImageBasis *cim = new CImageBasis("cutref", out2);
            if (enhance)
            {
                cim->Contrast(90);
            }

            cim->SaveToFile(out);
            delete cim;        

            psram_deinit_shared_memory_for_take_image_step();


            zw = "CutImage Done";
        }
        else {
            LogFile.WriteToFile(ESP_LOG_WARN, TAG, std::string("Taking image for Alignment Mark not possible while device") +
            " is busy with a round (Current State: '" + *flowctrl.getActStatus() + "')!");
            zw = "Device Busy";
        }

        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        httpd_resp_send(req, zw.c_str(), zw.length()); 
        
    }

    if (_task.compare("test_take") == 0)
    {
        std::string _host = "";
        int bri = -100;
        int sat = -100;
        int con = -100;
        int intens = -100;
        int aelevel = 0;
        int zoommode = 0;
        int zoomoffsetx = 0;
        int zoomoffsety = 0;
        bool zoom = false;
    #ifdef GRAYSCALE_AS_DEFAULT
        bool grayscale = true;
    #else
        bool grayscale = false;
    #endif

        if (httpd_query_key_value(_query, "host", _valuechar, 30) == ESP_OK) {
            _host = std::string(_valuechar);
        }
        if (httpd_query_key_value(_query, "int", _valuechar, 30) == ESP_OK) {
            std::string _int = std::string(_valuechar);
            intens = stoi(_int);
        }
        if (httpd_query_key_value(_query, "bri", _valuechar, 30) == ESP_OK) {
            std::string _bri = std::string(_valuechar);
            bri = stoi(_bri);
        }
        if (httpd_query_key_value(_query, "con", _valuechar, 30) == ESP_OK) {
            std::string _con = std::string(_valuechar);
            con = stoi(_con);
        }
        if (httpd_query_key_value(_query, "sat", _valuechar, 30) == ESP_OK) {
            std::string _sat = std::string(_valuechar);
            sat = stoi(_sat);
        }
        if (httpd_query_key_value(_query, "ae", _valuechar, 30) == ESP_OK) {
            std::string _ae = std::string(_valuechar);
            aelevel = stoi(_ae);
        }
        if (httpd_query_key_value(_query, "gs", _valuechar, 30) == ESP_OK) {
            std::string _gr = std::string(_valuechar);
            if (stoi(_gr) != 0)
                grayscale = true;
            else
                grayscale = false;
        }
        if (httpd_query_key_value(_query, "z", _valuechar, 30) == ESP_OK) {
            std::string _zoom = std::string(_valuechar);
            if (stoi(_zoom) != 0)
                zoom = true;
            else
                zoom = false;
        }
        if (httpd_query_key_value(_query, "zm", _valuechar, 30) == ESP_OK) {
            std::string _zm = std::string(_valuechar);
            zoommode = stoi(_zm);
        }
        if (httpd_query_key_value(_query, "x", _valuechar, 30) == ESP_OK) {
            std::string _x = std::string(_valuechar);
            zoomoffsetx = stoi(_x);
        }
        if (httpd_query_key_value(_query, "y", _valuechar, 30) == ESP_OK) {
            std::string _y = std::string(_valuechar);
            zoomoffsety = stoi(_y);
        }

//        ESP_LOGD(TAG, "Parameter host: %s", _host.c_str());
//        string zwzw = "Do " + _task + " start\n"; ESP_LOGD(TAG, zwzw.c_str());
        Camera.SetZoom(zoom, zoommode, zoomoffsetx, zoomoffsety);
        Camera.SetBrightnessContrastSaturation(bri, con, sat, aelevel, grayscale);
        Camera.SetLEDIntensity(intens);
        ESP_LOGD(TAG, "test_take - vor TakeImage");
        std::string zw = flowctrl.doSingleStep("[TakeImage]", _host);
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        httpd_resp_send(req, zw.c_str(), zw.length()); 
    } 


    if (_task.compare("test_align") == 0)
    {
        std::string _host = "";
        if (httpd_query_key_value(_query, "host", _valuechar, 30) == ESP_OK) {
            _host = std::string(_valuechar);
        }
//        ESP_LOGD(TAG, "Parameter host: %s", _host.c_str());

//        string zwzw = "Do " + _task + " start\n"; ESP_LOGD(TAG, zwzw.c_str());
        std::string zw = flowctrl.doSingleStep("[Alignment]", _host);
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        httpd_resp_send(req, zw.c_str(), zw.length()); 
    }

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_editflow - Done");       
    #endif

    return ESP_OK;
}


esp_err_t handler_statusflow(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_statusflow - Start");       
    #endif

    const char* resp_str;
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

    if (bTaskAutoFlowCreated) 
    {
        #ifdef DEBUG_DETAIL_ON       
            ESP_LOGD(TAG, "handler_statusflow: %s", req->uri);
        #endif

        string* zw = flowctrl.getActStatusWithTime();
        resp_str = zw->c_str();

        httpd_resp_send(req, resp_str, HTTPD_RESP_USE_STRLEN);   
    }
    else 
    {
        resp_str = "Flow task not yet created";
        httpd_resp_send(req, resp_str, HTTPD_RESP_USE_STRLEN);  
    }

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_statusflow - Done");       
    #endif

    return ESP_OK;
}


esp_err_t handler_cputemp(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_cputemp - Start");       
    #endif

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    httpd_resp_send(req, std::to_string((int)temperatureRead()).c_str(), HTTPD_RESP_USE_STRLEN);

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_cputemp - End");       
    #endif

    return ESP_OK;
}


esp_err_t handler_rssi(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_rssi - Start");       
    #endif

    if (getWIFIisConnected()) 
    {
        httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
        httpd_resp_send(req, std::to_string(get_WIFI_RSSI()).c_str(), HTTPD_RESP_USE_STRLEN);
    }
    else 
    {
        httpd_resp_send_err(req, HTTPD_403_FORBIDDEN, "WIFI not (yet) connected: REST API /rssi not available!");
        return ESP_ERR_NOT_FOUND;
    }      

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_rssi - End");       
    #endif

    return ESP_OK;
}


esp_err_t handler_uptime(httpd_req_t *req)
{

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_uptime - Start");       
    #endif
    
    std::string formatedUptime = getFormatedUptime(false);

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    httpd_resp_send(req, formatedUptime.c_str(), formatedUptime.length());  

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_uptime - End");       
    #endif

    return ESP_OK;
}


esp_err_t handler_prevalue(httpd_req_t *req)
{
    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_prevalue - Start");          
        ESP_LOGD(TAG, "handler_prevalue: %s", req->uri);
    #endif

    // Default usage message when handler gets called without any parameter
    const std::string RESTUsageInfo = 
        "00: Handler usage:<br>"
        "- To retrieve actual PreValue, please provide only a numbersname, e.g. /setPreValue?numbers=main<br>"
        "- To set PreValue to a new value, please provide a numbersname and a value, e.g. /setPreValue?numbers=main&value=1234.5678<br>"
        "NOTE:<br>"
        "value >= 0.0: Set PreValue to provided value<br>"
        "value <  0.0: Set PreValue to actual RAW value (as long RAW value is a valid number, without N)";

    // Default return error message when no return is programmed
    std::string sReturnMessage = "E90: Uninitialized";

    char _query[100];
    char _numbersname[50] = "default";
    char _value[20] = "";

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

    if (httpd_req_get_url_query_str(req, _query, 100) == ESP_OK) {
        #ifdef DEBUG_DETAIL_ON       
            ESP_LOGD(TAG, "Query: %s", _query);
        #endif

        if (httpd_query_key_value(_query, "numbers", _numbersname, 50) != ESP_OK) { // If request is incomplete
            sReturnMessage = "E91: Query parameter incomplete or not valid!<br> "
                             "Call /setPreValue to show REST API usage info and/or check documentation";
            httpd_resp_send(req, sReturnMessage.c_str(), sReturnMessage.length());
            return ESP_FAIL; 
        }

        if (httpd_query_key_value(_query, "value", _value, 20) == ESP_OK) {
            #ifdef DEBUG_DETAIL_ON       
                ESP_LOGD(TAG, "Value: %s", _value);
            #endif
        }
    }
    else {  // if no parameter is provided, print handler usage
        httpd_resp_send(req, RESTUsageInfo.c_str(), RESTUsageInfo.length());
        return ESP_OK; 
    }   

    if (strlen(_value) == 0) { // If no value is povided --> return actual PreValue
        sReturnMessage = flowctrl.GetPrevalue(std::string(_numbersname));

        if (sReturnMessage.empty()) {
            sReturnMessage = "E92: Numbers name not found";
            httpd_resp_send(req, sReturnMessage.c_str(), sReturnMessage.length());
            return ESP_FAIL;
        }
    }
    else {
        // New value is positive: Set PreValue to provided value and return value
        // New value is negative and actual RAW value is a valid number: Set PreValue to RAW value and return value
        LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "REST API handler_prevalue called: numbersname: " + std::string(_numbersname) + 
                                                ", value: " + std::string(_value));
        if (!flowctrl.UpdatePrevalue(_value, _numbersname, true)) {
            sReturnMessage = "E93: Update request rejected. Please check device logs for more details";
            httpd_resp_send(req, sReturnMessage.c_str(), sReturnMessage.length());  
            return ESP_FAIL;
        }

        sReturnMessage = flowctrl.GetPrevalue(std::string(_numbersname));

        if (sReturnMessage.empty()) {
            sReturnMessage = "E94: Numbers name not found";
            httpd_resp_send(req, sReturnMessage.c_str(), sReturnMessage.length());
            return ESP_FAIL;
        }
    }

    httpd_resp_send(req, sReturnMessage.c_str(), sReturnMessage.length());  

    #ifdef DEBUG_DETAIL_ON       
        LogFile.WriteHeapInfo("handler_prevalue - End");       
    #endif

    return ESP_OK;
}


void task_autodoFlow(void *pvParameter)
{
    int64_t fr_start, fr_delta_ms;

    bTaskAutoFlowCreated = true;

    if (!isPlannedReboot && (esp_reset_reason() == ESP_RST_PANIC))
    {
        flowctrl.setActStatus("Initialization (delayed)");
        //#ifdef ENABLE_MQTT
            //MQTTPublish(mqttServer_getMainTopic() + "/" + "status", "Initialization (delayed)", false); // Right now, not possible -> MQTT Service is going to be started later
        //#endif //ENABLE_MQTT
        vTaskDelay(60*5000 / portTICK_PERIOD_MS); // Wait 5 minutes to give time to do an OTA update or fetch the log
    }

    ESP_LOGD(TAG, "task_autodoFlow: start");
    doInit();

    flowctrl.setAutoStartInterval(auto_interval);
    autostartIsEnabled = flowctrl.getIsAutoStart();

    if (isSetupModusActive()) 
    {
        LogFile.WriteToFile(ESP_LOG_INFO, TAG, "We are in Setup Mode -> Not starting Auto Flow!");
        autostartIsEnabled = false;
        std::string zw_time = getCurrentTimeString(LOGFILE_TIME_FORMAT);
        flowctrl.doFlowTakeImageOnly(zw_time);
    }

    if (autostartIsEnabled) {
        LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Starting Flow...");
    }
    else {
        LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Autostart is not enabled -> Not starting Flow");
    }
    
    while (autostartIsEnabled)
    {
        LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "----------------------------------------------------------------"); // Clear separation between runs
        std::string _zw = "Round #" + std::to_string(++countRounds) + " started";
        time_t roundStartTime = getUpTime();
        LogFile.WriteToFile(ESP_LOG_INFO, TAG, _zw); 
        fr_start = esp_timer_get_time();

        if (flowisrunning)
        {
            #ifdef DEBUG_DETAIL_ON       
                ESP_LOGD(TAG, "Autoflow: doFlow is already running!");
            #endif
        }
        else
        {
            #ifdef DEBUG_DETAIL_ON       
                ESP_LOGD(TAG, "Autoflow: doFlow is started");
            #endif
            flowisrunning = true;
            doflow();
            #ifdef DEBUG_DETAIL_ON       
                ESP_LOGD(TAG, "Remove older log files");
            #endif
            LogFile.RemoveOldLogFile();
            LogFile.RemoveOldDataLog();
        }

        // Round finished -> Logfile
        LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Round #" + std::to_string(countRounds) + 
                " completed (" + std::to_string(getUpTime() - roundStartTime) + " seconds)");
        
        // CPU Temp -> Logfile
        LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "CPU Temperature: " + std::to_string((int)temperatureRead()) + "°C");
        
        // WIFI Signal Strength (RSSI) -> Logfile
        LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, "WIFI Signal (RSSI): " + std::to_string(get_WIFI_RSSI()) + "dBm");

        // Check if time is synchronized (if NTP is configured)
        if (getUseNtp() && !getTimeIsSet()) {
            LogFile.WriteToFile(ESP_LOG_WARN, TAG, "Time server is configured, but time is not yet set!");
            StatusLED(TIME_CHECK, 1, false);
        }

        #if (defined WLAN_USE_MESH_ROAMING && defined WLAN_USE_MESH_ROAMING_ACTIVATE_CLIENT_TRIGGERED_QUERIES)
            wifiRoamingQuery();
        #endif
        
        // Scan channels and check if an AP with better RSSI is available, then disconnect and try to reconnect to AP with better RSSI
        // NOTE: Keep this direct before the following task delay, because scan is done in blocking mode and this takes ca. 1,5 - 2s.
        #ifdef WLAN_USE_ROAMING_BY_SCANNING
            wifiRoamByScanning();
        #endif
        
        fr_delta_ms = (esp_timer_get_time() - fr_start) / 1000;
        if (auto_interval > fr_delta_ms)
        {
            const TickType_t xDelay = (auto_interval - fr_delta_ms)  / portTICK_PERIOD_MS;
            ESP_LOGD(TAG, "Autoflow: sleep for: %ldms", (long) xDelay);
            vTaskDelay( xDelay );        
        }
    }

    while(1) // Keep flow task running to handle necessary sub tasks like reboot handler, etc..
    {
        vTaskDelay(2000 / portTICK_PERIOD_MS); 
    }

    vTaskDelete(NULL); //Delete this task if it exits from the loop above
    xHandletask_autodoFlow = NULL;
    ESP_LOGD(TAG, "task_autodoFlow: end");
}


void InitializeFlowTask()
{
    BaseType_t xReturned;

    ESP_LOGD(TAG, "getESPHeapInfo: %s", getESPHeapInfo().c_str());

    uint32_t stackSize = 16 * 1024;
    xReturned = xTaskCreatePinnedToCore(&task_autodoFlow, "task_autodoFlow", stackSize, NULL, tskIDLE_PRIORITY+2, &xHandletask_autodoFlow, 0);
    if( xReturned != pdPASS )
    {
        LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Creation task_autodoFlow failed. Requested stack size:" + std::to_string(stackSize));
        LogFile.WriteHeapInfo("Creation task_autodoFlow failed");
    }
    ESP_LOGD(TAG, "getESPHeapInfo: %s", getESPHeapInfo().c_str());
}


void register_server_main_flow_task_uri(httpd_handle_t server)
{
    ESP_LOGI(TAG, "server_main_flow_task - Registering URI handlers");
    
    httpd_uri_t camuri = { };
    camuri.method    = HTTP_GET;

    camuri.uri       = "/doinit";
    camuri.handler   = handler_init;
    camuri.user_ctx  = (void*) "Light On";    
    httpd_register_uri_handler(server, &camuri);

    // Legacy API => New: "/setPreValue"
    camuri.uri       = "/setPreValue.html";
    camuri.handler   = handler_prevalue;
    camuri.user_ctx  = (void*) "Prevalue";    
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/setPreValue";
    camuri.handler   = handler_prevalue;
    camuri.user_ctx  = (void*) "Prevalue";    
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/flow_start";
    camuri.handler   = handler_flow_start;
    camuri.user_ctx  = (void*) "Flow Start"; 
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/statusflow.html";
    camuri.handler   = handler_statusflow;
    camuri.user_ctx  = (void*) "Light Off"; 
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/statusflow";
    camuri.handler   = handler_statusflow;
    camuri.user_ctx  = (void*) "Light Off";
    httpd_register_uri_handler(server, &camuri);

    // Legacy API => New: "/cpu_temperature"
    camuri.uri       = "/cputemp.html";
    camuri.handler   = handler_cputemp;
    camuri.user_ctx  = (void*) "Light Off";
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/cpu_temperature";
    camuri.handler   = handler_cputemp;
    camuri.user_ctx  = (void*) "Light Off"; 
    httpd_register_uri_handler(server, &camuri);

    // Legacy API => New: "/rssi"
    camuri.uri       = "/rssi.html";
    camuri.handler   = handler_rssi;
    camuri.user_ctx  = (void*) "Light Off"; 
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/rssi";
    camuri.handler   = handler_rssi;
    camuri.user_ctx  = (void*) "Light Off";
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/uptime";
    camuri.handler   = handler_uptime;
    camuri.user_ctx  = (void*) "Light Off";
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/editflow";
    camuri.handler   = handler_editflow;
    camuri.user_ctx  = (void*) "EditFlow"; 
    httpd_register_uri_handler(server, &camuri);   

    // Legacy API => New: "/value"
    camuri.uri       = "/value.html";
    camuri.handler   = handler_wasserzaehler;
    camuri.user_ctx  = (void*) "Value";
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/value";
    camuri.handler   = handler_wasserzaehler;
    camuri.user_ctx  = (void*) "Value"; 
    httpd_register_uri_handler(server, &camuri);

    // Legacy API => New: "/value"
    camuri.uri       = "/wasserzaehler.html";
    camuri.handler   = handler_wasserzaehler;
    camuri.user_ctx  = (void*) "Wasserzaehler"; 
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/json";
    camuri.handler   = handler_json;
    camuri.user_ctx  = (void*) "JSON"; 
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/heap";
    camuri.handler   = handler_get_heap;
    camuri.user_ctx  = (void*) "Heap"; 
    httpd_register_uri_handler(server, &camuri);

    camuri.uri       = "/stream";
    camuri.handler   = handler_stream;
    camuri.user_ctx  = (void*) "stream"; 
    httpd_register_uri_handler(server, &camuri);

}