Refactor Otto Robot configuration and initialization (#1534)

* otto v1.4.0 MCP

1.使用MCP协议控制机器人
2.gif继承lcdDisplay，避免修改lcdDisplay

* otto v1.4.1 gif as components

gif as components

* electronBot v1.1.0 mcp

1.增加electronBot支持
2.mcp协议
3.gif 作为组件
4.display子类

* 规范代码

1.规范代码
2.修复切换主题死机bug

* fix(ota): 修复 ottoRobot和electronBot OTA 升级崩溃问题 bug

* 1.增加robot舵机初始位置校准
2.fix(mcp_sever) 超出范围异常捕获类型  bug

* refactor: Update Electron and Otto emoji display implementations

- Removed GIF selection from Kconfig for Electron and Otto boards.
- Updated Electron and Otto bot versions to 2.0.4 in their respective config files.
- Refactored emoji display classes to utilize EmojiCollection for managing emojis.
- Enhanced chat label setup and status display functionality in both classes.
- Cleaned up unused code and improved initialization logging for emoji displays.

* Rename OTTO_ICON_FONT.c to otto_icon_font.c

* Rename OTTO_ICON_FONT.c to otto_icon_font.c

* refactor: Update Otto emoji display configurations and functionalities

- Changed chat label text mode to circular scrolling for both Otto and Electron emoji displays.
- Bumped Otto robot version to 2.0.5 in the configuration file.
- Added new actions for Otto robot including Sit, WhirlwindLeg, Fitness, Greeting, Shy, RadioCalisthenics, MagicCircle, and Showcase.
- Enhanced servo sequence handling and added support for executing custom servo sequences.
- Improved logging and error handling for servo sequence execution.

* refactor: Update chat label long mode for Electron and Otto emoji displays

- Changed chat label text mode from wrap to circular scrolling for both Electron and Otto emoji displays.
- Improved consistency in chat label setup across both implementations.

* Update Otto robot README with new actions and parameters

* Update Otto controller parameters for oscillation settings

- Changed default oscillation period from 500ms to 300ms.
- Increased default steps from 5.0 to 8.0.
- Updated default amplitude from 20 degrees to 0 degrees.
- Enhanced documentation with new examples for oscillation modes and sequences.

* Fix default amplitude initialization in Otto controller to use a single zero instead of two digits.

* chore: update txp666/otto-emoji-gif-component version to 1.0.3 in idf_component.yml

* Refactor Otto controller
- Consolidated movement actions into a unified tool for the Otto robot, allowing for a single action command with various parameters.
- Removed individual movement tools (walk, turn, jump, etc.) and replaced them with a more flexible action system.

* Enhance Otto robot functionality by adding WebSocket control server and IP address retrieval feature. Updated config to support WebSocket, and revised README to include new control options and usage examples.

* Add camera support for Otto Robot board

- Introduced configuration option to enable the Otto Robot camera in Kconfig.
- Updated config.h to define camera-related GPIO pins and settings.
- Modified config.json to include camera configuration.
- Enhanced otto_robot.cc to initialize I2C and camera components when the camera is enabled.
- Adjusted power_manager.h to manage battery updates during camera operations.
- Removed unused SetupChatLabel method from OttoEmojiDisplay class.

* Refactor Otto Robot configuration and initialization

- Removed the camera configuration option from Kconfig and related code.
- Introduced a new HardwareConfig struct to encapsulate hardware pin definitions and settings.
- Updated config.h to define camera and non-camera configurations using the new struct.
- Refactored otto_controller.cc and otto_robot.cc to utilize the HardwareConfig struct for initialization.
- Enhanced camera detection and initialization logic based on hardware version.
- Improved audio codec initialization based on configuration settings.

main/boards/otto-robot/otto_controller.cc

@@ -232,25 +232,7 @@ private:
                                                 }
                                             }
                                         }
-                                        
-                                        // 安全检查：防止左右腿脚同时做大幅度动作
-                                        const int LARGE_MOVEMENT_THRESHOLD = 40;  // 大幅度动作阈值：40度
-                                        bool left_leg_large = abs(servo_target[LEFT_LEG] - current_positions[LEFT_LEG]) >= LARGE_MOVEMENT_THRESHOLD;
-                                        bool right_leg_large = abs(servo_target[RIGHT_LEG] - current_positions[RIGHT_LEG]) >= LARGE_MOVEMENT_THRESHOLD;
-                                        bool left_foot_large = abs(servo_target[LEFT_FOOT] - current_positions[LEFT_FOOT]) >= LARGE_MOVEMENT_THRESHOLD;
-                                        bool right_foot_large = abs(servo_target[RIGHT_FOOT] - current_positions[RIGHT_FOOT]) >= LARGE_MOVEMENT_THRESHOLD;
-                                        
-                                        if (left_leg_large && right_leg_large) {
-                                            ESP_LOGW(TAG, "检测到左右腿同时大幅度动作，限制右腿动作");
-                                            // 保持右腿在原位置
-                                            servo_target[RIGHT_LEG] = current_positions[RIGHT_LEG];
-                                        }
-                                        if (left_foot_large && right_foot_large) {
-                                            ESP_LOGW(TAG, "检测到左右脚同时大幅度动作，限制右脚动作");
-                                            // 保持右脚在原位置
-                                            servo_target[RIGHT_FOOT] = current_positions[RIGHT_FOOT];
-                                        }
-                                        
+                                                                                                                    
                                         // 获取移动速度（短键名 "v"，默认1000毫秒）
                                         int speed = 1000;
                                         cJSON* speed_item = cJSON_GetObjectItem(action_item, "v");
@@ -511,12 +493,22 @@ private:
     }
 
 public:
-    OttoController() {
-        otto_.Init(LEFT_LEG_PIN, RIGHT_LEG_PIN, LEFT_FOOT_PIN, RIGHT_FOOT_PIN, LEFT_HAND_PIN,
-                   RIGHT_HAND_PIN);
+    OttoController(const HardwareConfig& hw_config) {
+        otto_.Init(
+            hw_config.left_leg_pin, 
+            hw_config.right_leg_pin, 
+            hw_config.left_foot_pin, 
+            hw_config.right_foot_pin, 
+            hw_config.left_hand_pin,
+            hw_config.right_hand_pin
+        );
 
-        has_hands_ = (LEFT_HAND_PIN != -1 && RIGHT_HAND_PIN != -1);
+        has_hands_ = (hw_config.left_hand_pin != GPIO_NUM_NC && hw_config.right_hand_pin != GPIO_NUM_NC);
         ESP_LOGI(TAG, "Otto机器人初始化%s手部舵机", has_hands_ ? "带" : "不带");
+        ESP_LOGI(TAG, "舵机引脚配置: LL=%d, RL=%d, LF=%d, RF=%d, LH=%d, RH=%d",
+                 hw_config.left_leg_pin, hw_config.right_leg_pin,
+                 hw_config.left_foot_pin, hw_config.right_foot_pin,
+                 hw_config.left_hand_pin, hw_config.right_hand_pin);
 
         LoadTrimsFromNVS();
 
@@ -849,9 +841,9 @@ public:
 
 static OttoController* g_otto_controller = nullptr;
 
-void InitializeOttoController() {
+void InitializeOttoController(const HardwareConfig& hw_config) {
     if (g_otto_controller == nullptr) {
-        g_otto_controller = new OttoController();
+        g_otto_controller = new OttoController(hw_config);
         ESP_LOGI(TAG, "Otto控制器已初始化并注册MCP工具");
     }
 }