From 764f6e3349bd2462ecffabe8e86d7c307e6c877b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=B0=8F=E9=B9=8F?= <52451470+txp666@users.noreply.github.com> Date: Mon, 17 Nov 2025 22:26:58 +0800 Subject: [PATCH] Add wechat-mini-program support for otto-robot (#1444) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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. --- main/boards/otto-robot/README.md | 132 +++++++----- main/boards/otto-robot/config.json | 4 +- main/boards/otto-robot/otto_controller.cc | 12 ++ main/boards/otto-robot/otto_robot.cc | 22 ++ .../otto-robot/websocket_control_server.cc | 191 ++++++++++++++++++ .../otto-robot/websocket_control_server.h | 33 +++ 6 files changed, 347 insertions(+), 47 deletions(-) create mode 100644 main/boards/otto-robot/websocket_control_server.cc create mode 100644 main/boards/otto-robot/websocket_control_server.h diff --git a/main/boards/otto-robot/README.md b/main/boards/otto-robot/README.md index bc311f3a..9aac1135 100644 --- a/main/boards/otto-robot/README.md +++ b/main/boards/otto-robot/README.md @@ -11,6 +11,14 @@ otto 机器人是一个开源的人形机器人平台，具有多种动作能力 - 复刻教程 +### 微信小程序控制 + +

+ 微信小程序二维码 +

+ +扫描上方二维码，使用微信小程序控制 Otto 机器人。 + ## 硬件 - 立创开源 @@ -49,29 +57,43 @@ otto 机器人具有丰富的动作能力，包括行走、转向、跳跃、摇 ### 动作 -| MCP工具名称 | 描述 | 参数说明 | -|-------------------|-----------------|---------------------------------------------------| -| self.otto.walk_forward | 行走 | **steps**: 行走步数(1-100，默认3)
**speed**: 行走速度(500-1500，数值越小越快，默认1000)
**direction**: 行走方向(-1=后退, 1=前进，默认1)
**arm_swing**: 手臂摆动幅度(0-170度，默认50) | -| self.otto.turn_left | 转身 | **steps**: 转身步数(1-100，默认3)
**speed**: 转身速度(500-1500，数值越小越快，默认1000)
**direction**: 转身方向(1=左转, -1=右转，默认1)
**arm_swing**: 手臂摆动幅度(0-170度，默认50) | -| self.otto.jump | 跳跃 | **steps**: 跳跃次数(1-100，默认1)
**speed**: 跳跃速度(500-1500，数值越小越快，默认1000) | -| self.otto.swing | 左右摇摆 | **steps**: 摇摆次数(1-100，默认3)
**speed**: 摇摆速度(500-1500，数值越小越快，默认1000)
**amount**: 摇摆幅度(0-170度，默认30) | -| self.otto.moonwalk | 太空步 | **steps**: 太空步步数(1-100，默认3)
**speed**: 速度(500-1500，数值越小越快，默认1000)
**direction**: 方向(1=左, -1=右，默认1)
**amount**: 幅度(0-170度，默认25) | -| self.otto.bend | 弯曲身体 | **steps**: 弯曲次数(1-100，默认1)
**speed**: 弯曲速度(500-1500，数值越小越快，默认1000)
**direction**: 弯曲方向(1=左, -1=右，默认1) | -| self.otto.shake_leg | 摇腿 | **steps**: 摇腿次数(1-100，默认1)
**speed**: 摇腿速度(500-1500，数值越小越快，默认1000)
**direction**: 腿部选择(1=左腿, -1=右腿，默认1) | -| self.otto.sit | 坐下 | 不需要参数 | -| self.otto.showcase | 展示动作 | 不需要参数。串联执行多个动作：往前走3步、挥挥手、跳舞（广播体操）、太空步、摇摆、起飞、健身、往后走3步 | -| self.otto.updown | 上下运动 | **steps**: 上下运动次数(1-100，默认3)
**speed**: 运动速度(500-1500，数值越小越快，默认1000)
**amount**: 运动幅度(0-170度，默认20) | -| self.otto.whirlwind_leg | 旋风腿 | **steps**: 动作次数(3-100，默认3)
**speed**: 动作速度(100-1000，数值越小越快，建议300)
**amplitude**: 踢腿幅度(20-40度，默认30) | -| self.otto.hands_up | 举手 * | **speed**: 举手速度(500-1500，数值越小越快，默认1000)
**direction**: 手部选择(1=左手, -1=右手, 0=双手，默认1) | -| self.otto.hands_down | 放手 * | **speed**: 放手速度(500-1500，数值越小越快，默认1000)
**direction**: 手部选择(1=左手, -1=右手, 0=双手，默认1) | -| self.otto.hand_wave | 挥手 * | **direction**: 手部选择(1=左手, -1=右手, 0=双手，默认1) | -| self.otto.windmill | 大风车 * | **steps**: 动作次数(3-100，默认6)
**speed**: 动作周期(300-2000毫秒，数值越小越快，默认500)
**amplitude**: 振荡幅度(50-90度，默认70) | -| self.otto.takeoff | 起飞 * | **steps**: 动作次数(5-100，默认5)
**speed**: 动作周期(200-600毫秒，数值越小越快，建议300)
**amplitude**: 振荡幅度(20-60度，默认40) | -| self.otto.fitness | 健身 * | **steps**: 动作次数(3-100，默认5)
**speed**: 动作速度(500-2000毫秒，数值越小越快，默认1000)
**amplitude**: 振荡幅度(10-50度，默认25) | -| self.otto.greeting | 打招呼 * | **direction**: 手部选择(1=左手, -1=右手，默认1)
**steps**: 动作次数(3-100，默认5) | -| self.otto.shy | 害羞 * | **direction**: 方向(1=左, -1=右，默认1)
**steps**: 动作次数(3-100，默认5) | -| self.otto.radio_calisthenics | 广播体操 * | 不需要参数 | -| self.otto.magic_circle | 爱的魔力转圈圈 * | 不需要参数 | +所有动作通过统一的 `self.otto.action` 工具调用，通过 `action` 参数指定动作名称。 + +| MCP工具名称 | 描述 | 参数说明 | +|-----------|------|---------| +| self.otto.action | 执行机器人动作 | **action**: 动作名称（必填）
**steps**: 动作步数(1-100，默认3)
**speed**: 动作速度(100-3000，数值越小越快，默认700)
**direction**: 方向参数(1/-1/0，默认1，根据动作类型不同含义不同)
**amount**: 动作幅度(0-170，默认30)
**arm_swing**: 手臂摆动幅度(0-170，默认50) | + +#### 支持的动作列表 + +**基础移动动作**： +- `walk` - 行走（需 steps/speed/direction/arm_swing） +- `turn` - 转身（需 steps/speed/direction/arm_swing） +- `jump` - 跳跃（需 steps/speed） + +**特殊动作**： +- `swing` - 左右摇摆（需 steps/speed/amount） +- `moonwalk` - 太空步（需 steps/speed/direction/amount） +- `bend` - 弯曲身体（需 steps/speed/direction） +- `shake_leg` - 摇腿（需 steps/speed/direction） +- `updown` - 上下运动（需 steps/speed/amount） +- `whirlwind_leg` - 旋风腿（需 steps/speed/amount） + +**固定动作**： +- `sit` - 坐下（无需参数） +- `showcase` - 展示动作（无需参数，串联执行多个动作） +- `home` - 复位到初始位置（无需参数） + +**手部动作**（需手部舵机支持，标记 *）： +- `hands_up` - 举手（需 speed/direction）* +- `hands_down` - 放手（需 speed/direction）* +- `hand_wave` - 挥手（需 direction）* +- `windmill` - 大风车（需 steps/speed/amount）* +- `takeoff` - 起飞（需 steps/speed/amount）* +- `fitness` - 健身（需 steps/speed/amount）* +- `greeting` - 打招呼（需 direction/steps）* +- `shy` - 害羞（需 direction/steps）* +- `radio_calisthenics` - 广播体操（无需参数）* +- `magic_circle` - 爱的魔力转圈圈（无需参数）* **注**: 标记 * 的手部动作仅在配置了手部舵机时可用。 @@ -79,28 +101,31 @@ otto 机器人具有丰富的动作能力，包括行走、转向、跳跃、摇 | MCP工具名称 | 描述 | 返回值/说明 | |-------------------|-----------------|---------------------------------------------------| -| self.otto.home | 复位机器人到初始位置 | 不需要参数 | | self.otto.stop | 立即停止所有动作并复位 | 停止当前动作并回到初始位置 | | self.otto.get_status | 获取机器人状态 | 返回 "moving" 或 "idle" | | self.otto.set_trim | 校准单个舵机位置 | **servo_type**: 舵机类型(left_leg/right_leg/left_foot/right_foot/left_hand/right_hand)
**trim_value**: 微调值(-50到50度) | | self.otto.get_trims | 获取当前的舵机微调设置 | 返回所有舵机微调值的JSON格式 | +| self.otto.get_ip | 获取机器人WiFi IP地址 | 返回IP地址和连接状态的JSON格式：`{"ip":"192.168.x.x","connected":true}` 或 `{"ip":"","connected":false}` | | self.battery.get_level | 获取电池状态 | 返回电量百分比和充电状态的JSON格式 | | self.otto.servo_sequences | 舵机序列自编程 | 支持分段发送序列，支持普通移动和振荡器两种模式。详见代码注释中的详细说明 | +**注**: `home`（复位）动作通过 `self.otto.action` 工具调用，参数为 `{"action": "home"}`。 + ### 参数说明 -1. **steps**: 动作执行的步数/次数，数值越大动作持续时间越长 -2. **speed**: 动作执行速度/周期，**数值越小越快** +`self.otto.action` 工具的参数说明： + +1. **action** (必填): 动作名称，支持的动作见上方"支持的动作列表" +2. **steps**: 动作执行的步数/次数(1-100，默认3)，数值越大动作持续时间越长 +3. **speed**: 动作执行速度/周期(100-3000，默认700)，**数值越小越快** - 大多数动作: 500-1500毫秒 - 特殊动作可能有所不同（如旋风腿: 100-1000，起飞: 200-600等） - - 具体范围请参考各动作的说明 -3. **direction**: 方向参数 - - 移动动作: 1=左/前进, -1=右/后退 - - 手部动作: 1=左手, -1=右手, 0=双手 -4. **amount/amplitude/arm_swing**: 动作幅度，范围根据动作而定（通常0-170度） - - 0表示不摆动（适用于手臂摆动） - - 数值越大幅度越大 - - 不同动作可能有不同的幅度范围限制 +4. **direction**: 方向参数(-1/0/1，默认1)，根据动作类型不同含义不同： + - **移动动作** (walk/turn): 1=前进/左转, -1=后退/右转 + - **方向动作** (bend/shake_leg/moonwalk): 1=左, -1=右 + - **手部动作** (hands_up/hands_down/hand_wave/greeting/shy): 1=左手, -1=右手, 0=双手（仅hands_up/hands_down支持0） +5. **amount**: 动作幅度(0-170，默认30)，数值越大幅度越大 +6. **arm_swing**: 手臂摆动幅度(0-170，默认50)，仅用于 walk/turn 动作，0表示不摆动 ### 动作控制 - 每个动作执行完成后，机器人会自动回到初始位置(home)，以便于执行下一个动作 @@ -112,35 +137,50 @@ otto 机器人具有丰富的动作能力，包括行走、转向、跳跃、摇 ### MCP工具调用示例 ```json -// 向前走3步 -{"name": "self.otto.walk_forward", "arguments": {}} +// 向前走3步（使用默认参数） +{"name": "self.otto.action", "arguments": {"action": "walk"}} // 向前走5步，稍快一些 -{"name": "self.otto.walk_forward", "arguments": {"steps": 5, "speed": 800}} +{"name": "self.otto.action", "arguments": {"action": "walk", "steps": 5, "speed": 800}} -// 左转2步，大幅度摆动手臂 -{"name": "self.otto.turn_left", "arguments": {"steps": 2, "arm_swing": 100}} +// 左转2步，大幅度摆动手臂 +{"name": "self.otto.action", "arguments": {"action": "turn", "steps": 2, "arm_swing": 100}} // 摇摆舞蹈，中等幅度 -{"name": "self.otto.swing", "arguments": {"steps": 5, "amount": 50}} +{"name": "self.otto.action", "arguments": {"action": "swing", "steps": 5, "amount": 50}} + +// 跳跃 +{"name": "self.otto.action", "arguments": {"action": "jump", "steps": 1, "speed": 1000}} + +// 太空步 +{"name": "self.otto.action", "arguments": {"action": "moonwalk", "steps": 3, "speed": 800, "direction": 1, "amount": 30}} // 挥左手打招呼 -{"name": "self.otto.hand_wave", "arguments": {"direction": 1}} +{"name": "self.otto.action", "arguments": {"action": "hand_wave", "direction": 1}} // 展示动作（串联多个动作） -{"name": "self.otto.showcase", "arguments": {}} +{"name": "self.otto.action", "arguments": {"action": "showcase"}} + +// 坐下 +{"name": "self.otto.action", "arguments": {"action": "sit"}} // 大风车动作 -{"name": "self.otto.windmill", "arguments": {"steps": 10, "amplitude": 80}} +{"name": "self.otto.action", "arguments": {"action": "windmill", "steps": 10, "speed": 500, "amount": 80}} // 起飞动作 -{"name": "self.otto.takeoff", "arguments": {"steps": 5, "speed": 300}} +{"name": "self.otto.action", "arguments": {"action": "takeoff", "steps": 5, "speed": 300, "amount": 40}} // 广播体操 -{"name": "self.otto.radio_calisthenics", "arguments": {}} +{"name": "self.otto.action", "arguments": {"action": "radio_calisthenics"}} -// 立即停止 +// 复位到初始位置 +{"name": "self.otto.action", "arguments": {"action": "home"}} + +// 立即停止所有动作并复位 {"name": "self.otto.stop", "arguments": {}} + +// 获取机器人IP地址 +{"name": "self.otto.get_ip", "arguments": {}} ``` ### 语音指令示例 diff --git a/main/boards/otto-robot/config.json b/main/boards/otto-robot/config.json index 1e0eabce..3eb14b91 100644 --- a/main/boards/otto-robot/config.json +++ b/main/boards/otto-robot/config.json @@ -3,7 +3,9 @@ "builds": [ { "name": "otto-robot", - "sdkconfig_append": [] + "sdkconfig_append": [ + "CONFIG_HTTPD_WS_SUPPORT=y" + ] } ] } \ No newline at end of file diff --git a/main/boards/otto-robot/otto_controller.cc b/main/boards/otto-robot/otto_controller.cc index 6149a4b4..16d867e2 100644 --- a/main/boards/otto-robot/otto_controller.cc +++ b/main/boards/otto-robot/otto_controller.cc @@ -15,6 +15,7 @@ #include "otto_movements.h" #include "sdkconfig.h" #include "settings.h" +#include #define TAG "OttoController" @@ -818,6 +819,17 @@ public: ",\"charging\":" + (charging ? "true" : "false") + "}"; return status; }); + + mcp_server.AddTool("self.otto.get_ip", "获取机器人WiFi IP地址", PropertyList(), + [](const PropertyList& properties) -> ReturnValue { + auto& wifi_station = WifiStation::GetInstance(); + std::string ip = wifi_station.GetIpAddress(); + if (ip.empty()) { + return "{\"ip\":\"\",\"connected\":false}"; + } + std::string status = "{\"ip\":\"" + ip + "\",\"connected\":true}"; + return status; + }); ESP_LOGI(TAG, "MCP工具注册完成"); } diff --git a/main/boards/otto-robot/otto_robot.cc b/main/boards/otto-robot/otto_robot.cc index d0087875..13f36cec 100644 --- a/main/boards/otto-robot/otto_robot.cc +++ b/main/boards/otto-robot/otto_robot.cc @@ -18,6 +18,7 @@ #include "power_manager.h" #include "system_reset.h" #include "wifi_board.h" +#include "websocket_control_server.h" #define TAG "OttoRobot" @@ -28,6 +29,7 @@ private: LcdDisplay* display_; PowerManager* power_manager_; Button boot_button_; + WebSocketControlServer* ws_control_server_; void InitializePowerManager() { power_manager_ = new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL); @@ -94,6 +96,25 @@ private: ::InitializeOttoController(); } + void InitializeWebSocketControlServer() { + ESP_LOGI(TAG, "初始化WebSocket控制服务器"); + ws_control_server_ = new WebSocketControlServer(); + if (!ws_control_server_->Start(8080)) { + ESP_LOGE(TAG, "Failed to start WebSocket control server"); + delete ws_control_server_; + ws_control_server_ = nullptr; + } else { + ESP_LOGI(TAG, "WebSocket control server started on port 8080"); + } + } + + void StartNetwork() override { + WifiBoard::StartNetwork(); + vTaskDelay(pdMS_TO_TICKS(1000)); + + InitializeWebSocketControlServer(); + } + public: OttoRobot() : boot_button_(BOOT_BUTTON_GPIO) { InitializeSpi(); @@ -101,6 +122,7 @@ public: InitializeButtons(); InitializePowerManager(); InitializeOttoController(); + ws_control_server_ = nullptr; GetBacklight()->RestoreBrightness(); } diff --git a/main/boards/otto-robot/websocket_control_server.cc b/main/boards/otto-robot/websocket_control_server.cc new file mode 100644 index 00000000..a38944b8 --- /dev/null +++ b/main/boards/otto-robot/websocket_control_server.cc @@ -0,0 +1,191 @@ +#include "websocket_control_server.h" +#include "mcp_server.h" +#include +#include +#include +#include +#include +#include + +static const char* TAG = "WSControl"; + +WebSocketControlServer* WebSocketControlServer::instance_ = nullptr; + +WebSocketControlServer::WebSocketControlServer() : server_handle_(nullptr) { + instance_ = this; +} + +WebSocketControlServer::~WebSocketControlServer() { + Stop(); + instance_ = nullptr; +} + +esp_err_t WebSocketControlServer::ws_handler(httpd_req_t *req) { + if (instance_ == nullptr) { + return ESP_FAIL; + } + + if (req->method == HTTP_GET) { + ESP_LOGI(TAG, "Handshake done, the new connection was opened"); + instance_->AddClient(req); + return ESP_OK; + } + + httpd_ws_frame_t ws_pkt; + uint8_t *buf = NULL; + memset(&ws_pkt, 0, sizeof(httpd_ws_frame_t)); + ws_pkt.type = HTTPD_WS_TYPE_TEXT; + + /* Set max_len = 0 to get the frame len */ + esp_err_t ret = httpd_ws_recv_frame(req, &ws_pkt, 0); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "httpd_ws_recv_frame failed to get frame len with %d", ret); + return ret; + } + ESP_LOGI(TAG, "frame len is %d", ws_pkt.len); + + if (ws_pkt.len) { + /* ws_pkt.len + 1 is for NULL termination as we are expecting a string */ + buf = (uint8_t*)calloc(1, ws_pkt.len + 1); + if (buf == NULL) { + ESP_LOGE(TAG, "Failed to calloc memory for buf"); + return ESP_ERR_NO_MEM; + } + ws_pkt.payload = buf; + /* Set max_len = ws_pkt.len to get the frame payload */ + ret = httpd_ws_recv_frame(req, &ws_pkt, ws_pkt.len); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "httpd_ws_recv_frame failed with %d", ret); + free(buf); + return ret; + } + ESP_LOGI(TAG, "Got packet with message: %s", ws_pkt.payload); + } + + ESP_LOGI(TAG, "Packet type: %d", ws_pkt.type); + + if (ws_pkt.type == HTTPD_WS_TYPE_CLOSE) { + ESP_LOGI(TAG, "WebSocket close frame received"); + instance_->RemoveClient(req); + free(buf); + return ESP_OK; + } + + if (ws_pkt.type == HTTPD_WS_TYPE_TEXT) { + if (ws_pkt.len > 0 && buf != nullptr) { + buf[ws_pkt.len] = '\0'; + instance_->HandleMessage(req, (const char*)buf, ws_pkt.len); + } + } else { + ESP_LOGW(TAG, "Unsupported frame type: %d", ws_pkt.type); + } + + free(buf); + return ESP_OK; +} + +bool WebSocketControlServer::Start(int port) { + httpd_config_t config = HTTPD_DEFAULT_CONFIG(); + config.server_port = port; + config.max_open_sockets = 7; + + httpd_uri_t ws_uri = { + .uri = "/ws", + .method = HTTP_GET, + .handler = ws_handler, + .user_ctx = nullptr, + .is_websocket = true + }; + + if (httpd_start(&server_handle_, &config) == ESP_OK) { + httpd_register_uri_handler(server_handle_, &ws_uri); + ESP_LOGI(TAG, "WebSocket server started on port %d", port); + return true; + } + + ESP_LOGE(TAG, "Failed to start WebSocket server"); + return false; +} + +void WebSocketControlServer::Stop() { + if (server_handle_) { + httpd_stop(server_handle_); + server_handle_ = nullptr; + clients_.clear(); + ESP_LOGI(TAG, "WebSocket server stopped"); + } +} + +void WebSocketControlServer::HandleMessage(httpd_req_t *req, const char* data, size_t len) { + if (data == nullptr || len == 0) { + ESP_LOGE(TAG, "Invalid message: data is null or len is 0"); + return; + } + + if (len > 4096) { + ESP_LOGE(TAG, "Message too long: %zu bytes", len); + return; + } + + char* temp_buf = (char*)malloc(len + 1); + if (temp_buf == nullptr) { + ESP_LOGE(TAG, "Failed to allocate memory"); + return; + } + memcpy(temp_buf, data, len); + temp_buf[len] = '\0'; + + cJSON* root = cJSON_Parse(temp_buf); + free(temp_buf); + + if (root == nullptr) { + ESP_LOGE(TAG, "Failed to parse JSON"); + return; + } + + // 支持两种格式： + // 1. 完整格式：{"type":"mcp","payload":{...}} + // 2. 简化格式：直接是MCP payload对象 + + cJSON* payload = nullptr; + cJSON* type = cJSON_GetObjectItem(root, "type"); + + if (type && cJSON_IsString(type) && strcmp(type->valuestring, "mcp") == 0) { + payload = cJSON_GetObjectItem(root, "payload"); + if (payload != nullptr) { + cJSON_DetachItemViaPointer(root, payload); + McpServer::GetInstance().ParseMessage(payload); + cJSON_Delete(payload); + } + } else { + payload = cJSON_Duplicate(root, 1); + if (payload != nullptr) { + McpServer::GetInstance().ParseMessage(payload); + cJSON_Delete(payload); + } + } + + if (payload == nullptr) { + ESP_LOGE(TAG, "Invalid message format or failed to parse"); + } + + cJSON_Delete(root); +} + +void WebSocketControlServer::AddClient(httpd_req_t *req) { + int sock_fd = httpd_req_to_sockfd(req); + if (clients_.find(sock_fd) == clients_.end()) { + clients_[sock_fd] = req; + ESP_LOGI(TAG, "Client connected: %d (total: %zu)", sock_fd, clients_.size()); + } +} + +void WebSocketControlServer::RemoveClient(httpd_req_t *req) { + int sock_fd = httpd_req_to_sockfd(req); + clients_.erase(sock_fd); + ESP_LOGI(TAG, "Client disconnected: %d (total: %zu)", sock_fd, clients_.size()); +} + +size_t WebSocketControlServer::GetClientCount() const { + return clients_.size(); +} diff --git a/main/boards/otto-robot/websocket_control_server.h b/main/boards/otto-robot/websocket_control_server.h new file mode 100644 index 00000000..f8e5e418 --- /dev/null +++ b/main/boards/otto-robot/websocket_control_server.h @@ -0,0 +1,33 @@ +#ifndef WEBSOCKET_CONTROL_SERVER_H +#define WEBSOCKET_CONTROL_SERVER_H + +#include +#include +#include +#include + +class WebSocketControlServer { +public: + WebSocketControlServer(); + ~WebSocketControlServer(); + + bool Start(int port = 8080); + + void Stop(); + + size_t GetClientCount() const; + +private: + httpd_handle_t server_handle_; + std::map clients_; + + static esp_err_t ws_handler(httpd_req_t *req); + + void HandleMessage(httpd_req_t *req, const char* data, size_t len); + void AddClient(httpd_req_t *req); + void RemoveClient(httpd_req_t *req); + static WebSocketControlServer* instance_; +}; + +#endif // WEBSOCKET_CONTROL_SERVER_H +