Arduino TTL jpeg Serial Camera and esp8266 wifi Wi-Fi module - arduino

Question

I'm writing a code to take pictures if the distance is more than a certain distance after measuring the distance.
And send the distance data to Thingspeak, Store the photos on the SD card.
However, the program keeps stopping in the middle.
Serial moniter capture
Distance measurement and Thingspeak server data transfer / camera shooting were developed separately.
The two source codes worked normally independently.
But when the two codes are combined, there is an error.
Parts for Use : Arduino Uno, esp8266 wifi module, TTL Serial JPEG Camera with NTSC Video, 2Y0A21 Infrared Distance Sensor, Micro SD card adapter
#include <SoftwareSerial.h>
#include <stdlib.h>
#include <Adafruit_VC0706.h>
#include <SPI.h>
#include <SD.h>
#define DEBUG true
#define chipSelect 10
const int distancePin = 0;
String apiKey = "39R00EYW0BTKK5JJ";
SoftwareSerial esp8266(2, 3); //TX/RX
#if ARDUINO >= 100
SoftwareSerial cameraconnection = SoftwareSerial(4, 5); //TX/RX
#else
NewSoftSerial cameraconnection = NewSoftSerial(4, 5);
#endif
Adafruit_VC0706 cam = Adafruit_VC0706(&cameraconnection);
int defaultDistance = 0;
int temp = 0;
void ThingspeakSendData(String alarmData);
void Snapshots();
void setup() {
#if !defined(SOFTWARE_SPI)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
if (chipSelect != 53) pinMode(53, OUTPUT); // SS on Mega
#else
if (chipSelect != 10) pinMode(10, OUTPUT); // SS on Uno, etc.
#endif
#endif
Serial.begin(9600);
Serial.println("VC0706 Camera snapshot test");//the program keeps stopping in the middle.
if (cam.begin()) {
Serial.println("Camera Found:");
}
else {
Serial.println("No camera found?");
return;
}
char *reply = cam.getVersion();
if (reply == 0) {
Serial.print("Failed to get version");
}
else {
Serial.println("-----------------");
Serial.print(reply);
Serial.println("-----------------");
}
cam.setImageSize(VC0706_640x480);
uint8_t imgsize = cam.getImageSize();
Serial.print("Image size: ");
if (imgsize == VC0706_640x480) Serial.println("640x480");
if (imgsize == VC0706_320x240) Serial.println("320x240");
if (imgsize == VC0706_160x120) Serial.println("160x120");
esp8266.begin(9600);
sendData("AT+RST\r\n", 2000, DEBUG); //reset module
sendData("AT+CWMODE=1\r\n", 1000, DEBUG); //dual mode로 설정
sendData("AT+CWJAP=\"0sangsiljangnim\",\"123456788\"\r\n", 5000, DEBUG);
// 2Y0A21
analogReference(DEFAULT);
pinMode(distancePin, INPUT);
// distancePin 2Y0A21
int raw = analogRead(distancePin);
int volt = map(raw, 0, 1023, 0, 5000);
int distance = (21.61 / (volt - 0.1696)) * 1000;
defaultDistance = distance;
Serial.println("Default : " + defaultDistance);
}
void loop() {
// distancePin 2Y0A21
int raw = analogRead(distancePin);
int volt = map(raw, 0, 1023, 0, 5000);
int distance = (21.61 / (volt - 0.1696)) * 1000;
Serial.println(distance);
if (distance < defaultDistance)
{
String alarmData = "1";
esp8266.listen();
ThingspeakSendData(alarmData);
cameraconnection.listen();
Snapshots();
}
else if (distance == defaultDistance)
{
String alarmData = "0";
esp8266.listen();
ThingspeakSendData(alarmData);
}
delay(3000);
}
void ThingspeakSendData(String alarmData) {
String cmd = "AT+CIPSTART=\"TCP\",\"";
cmd += "184.106.153.149";
cmd += "\",80";
esp8266.println(cmd);
if (esp8266.find("Error")) {
Serial.println("AT+CIPSTART error");
return;
}
String getStr = "GET /update?api_key=";
getStr += apiKey;
getStr += "&field1=";
getStr += String(alarmData);
getStr += "\r\n\r\n";
// Send Data
cmd = "AT+CIPSEND=";
cmd += String(getStr.length());
esp8266.println(cmd);
if (esp8266.find(">")) {
esp8266.print(getStr);
}
else {
esp8266.println("AT+CIPCLOSE");
// alert uesp8266
Serial.println("AT+CIPCLOSE");
}
}
String sendData(String command, const int timeout, boolean debug) {
String response = "";
esp8266.print(command);
long int time = millis();
while ((time + timeout) > millis()) {
while (esp8266.available()) {
char c = esp8266.read();
response += c;
}
}
if (debug) {
Serial.print(response);
}
return response;
}
void Snapshots() {
Serial.println("Snap in 3 secs...");
delay(3000);
if (!cam.takePicture())
Serial.println("Failed to snap!");
else
Serial.println("Picture taken!");
if (!SD.begin(chipSelect)) {
Serial.println("Card failed, or not present");
return;
}
char filename[13];
strcpy(filename, "IMAGE00.JPG");
for (int i = 0; i < 100; i++) {
filename[5] = '0' + i / 10;
filename[6] = '0' + i % 10;
if (!SD.exists(filename)) {
break;
}
}
File imgFile = SD.open(filename, FILE_WRITE);
uint16_t jpglen = cam.frameLength();
Serial.print("Storing ");
Serial.print(jpglen, DEC);
Serial.print(" byte image.");
int32_t time = millis();
pinMode(8, OUTPUT);
byte wCount = 0;
while (jpglen > 0) {
uint8_t *buffer;
uint8_t bytesToRead = min(32, jpglen);
buffer = cam.readPicture(bytesToRead);
imgFile.write(buffer, bytesToRead);
if (++wCount >= 64) {
Serial.print('.');
wCount = 0;
}
jpglen -= bytesToRead;
}
imgFile.close();
time = millis() - time;
Serial.println("done!");
Serial.print(time); Serial.println(" ms elapsed");
}