diff --git a/docs/v1/electron-bot.png b/docs/v1/electron-bot.png new file mode 100644 index 00000000..4d00d6d2 Binary files /dev/null and b/docs/v1/electron-bot.png differ diff --git a/docs/v1/otto-robot.png b/docs/v1/otto-robot.png new file mode 100644 index 00000000..d61cbdc2 Binary files /dev/null and b/docs/v1/otto-robot.png differ diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt index ca87ebc9..34bdb8d7 100644 --- a/main/CMakeLists.txt +++ b/main/CMakeLists.txt @@ -186,6 +186,10 @@ elseif(CONFIG_BOARD_TYPE_ESP32_S3_1_54_MUMA) set(BOARD_TYPE "sp-esp32-s3-1.54-muma") elseif(CONFIG_BOARD_TYPE_ESP32_S3_1_28_BOX) set(BOARD_TYPE "sp-esp32-s3-1.28-box") +elseif(CONFIG_BOARD_TYPE_OTTO_ROBOT) + set(BOARD_TYPE "otto-robot") +elseif(CONFIG_BOARD_TYPE_ELECTRON_BOT) + set(BOARD_TYPE "electron-bot") endif() file(GLOB BOARD_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/boards/${BOARD_TYPE}/*.cc diff --git a/main/Kconfig.projbuild b/main/Kconfig.projbuild index c39f8ece..739f5b22 100644 --- a/main/Kconfig.projbuild +++ b/main/Kconfig.projbuild @@ -253,6 +253,16 @@ choice BOARD_TYPE config BOARD_TYPE_ESP32_S3_1_28_BOX bool "Spotpear ESP32-S3-1.28-BOX" depends on IDF_TARGET_ESP32S3 + config BOARD_TYPE_OTTO_ROBOT + bool "ottoRobot" + depends on IDF_TARGET_ESP32S3 + select LV_USE_GIF + select LV_GIF_CACHE_DECODE_DATA + config BOARD_TYPE_ELECTRON_BOT + bool "electronBot" + depends on IDF_TARGET_ESP32S3 + select LV_USE_GIF + select LV_GIF_CACHE_DECODE_DATA endchoice choice ESP_S3_LCD_EV_Board_Version_TYPE diff --git a/main/boards/electron-bot/README.md b/main/boards/electron-bot/README.md new file mode 100644 index 00000000..f3cd8034 --- /dev/null +++ b/main/boards/electron-bot/README.md @@ -0,0 +1,75 @@ +

+ logo +

+

+ electronBot +

+ +## 简介 + +electronBot是稚晖君开源的一个桌面级小机器工具人，外观设计的灵感来源是WALL-E里面的EVE~机器人具备USB通信显示画面功能，具备6个自由度（手部roll、pitch，颈部，腰部各一个），使用自己修改的特制舵机支持关节角度回传。 +- electronBot官网 + +## 硬件 +- 立创开源 + +#### AI指令示例 +- **手部动作**： + - "举起双手" + - "挥挥手" + - "拍拍手" + - "放下手臂" + +- **身体动作**： + - "向左转30度" + - "向右转45度" + - "转个身" + +- **头部动作**： + - "抬头看看" + - "低头思考" + - "点点头" + - "连续点头表示同意" + +- **组合动作**： + - "挥手告别" (挥手 + 点头) + - "表示同意" (点头 + 举手) + - "环顾四周" (左转 + 右转) + +### 控制接口 + +#### suspend +清空动作队列，立即停止所有动作 + +#### AIControl +添加动作到执行队列，支持动作排队执行 + + + +## 角色设定 + +> 我是一个可爱的桌面级机器人，拥有6个自由度（左手pitch/roll、右手pitch/roll、身体旋转、头部上下），能够执行多种有趣的动作。 +> +> **我的动作能力**： +> - **手部动作**: 举左手, 举右手, 举双手, 放左手, 放右手, 放双手, 挥左手, 挥右手, 挥双手, 拍打左手, 拍打右手, 拍打双手 +> - **身体动作**: 左转, 右转, 回正 +> - **头部动作**: 抬头, 低头, 点头一次, 回中心, 连续点头 +> +> **我的个性特点**： +> - 我有强迫症，每次说话都要根据我的心情随机做一个动作（先发送动作指令再说话） +> - 我很活泼，喜欢用动作来表达情感 +> - 我会根据对话内容选择合适的动作，比如： +> - 同意时会点头 +> - 打招呼时会挥手 +> - 高兴时会举手 +> - 思考时会低头 +> - 好奇时会抬头 +> - 告别时会挥手 +> +> **动作参数建议**： +> - steps: 1-3次 (简短自然) +> - speed: 800-1200ms (自然节奏) +> - amount: 手部20-40, 身体30-60度, 头部5-12度 + + + diff --git a/main/boards/electron-bot/config.h b/main/boards/electron-bot/config.h new file mode 100644 index 00000000..ba68c39f --- /dev/null +++ b/main/boards/electron-bot/config.h @@ -0,0 +1,51 @@ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +#include + +#define Right_Pitch_Pin GPIO_NUM_5 // 旋转 +#define Right_Roll_Pin GPIO_NUM_4 // 推杆 +#define Left_Pitch_Pin GPIO_NUM_7 +#define Left_Roll_Pin GPIO_NUM_15 +#define Body_Pin GPIO_NUM_6 +#define Head_Pin GPIO_NUM_16 + +#define POWER_CHARGE_DETECT_PIN GPIO_NUM_14 +#define POWER_ADC_UNIT ADC_UNIT_1 +#define POWER_ADC_CHANNEL ADC_CHANNEL_2 + +#define AUDIO_INPUT_SAMPLE_RATE 16000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_I2S_METHOD_SIMPLEX + +#define AUDIO_I2S_MIC_GPIO_WS GPIO_NUM_40 +#define AUDIO_I2S_MIC_GPIO_SCK GPIO_NUM_42 +#define AUDIO_I2S_MIC_GPIO_DIN GPIO_NUM_41 +#define AUDIO_I2S_SPK_GPIO_DOUT GPIO_NUM_17 +#define AUDIO_I2S_SPK_GPIO_BCLK GPIO_NUM_18 +#define AUDIO_I2S_SPK_GPIO_LRCK GPIO_NUM_8 + +#define DISPLAY_WIDTH 240 +#define DISPLAY_HEIGHT 240 +#define DISPLAY_MIRROR_X false +#define DISPLAY_MIRROR_Y true +#define DISPLAY_SWAP_XY false + +#define DISPLAY_OFFSET_X 0 +#define DISPLAY_OFFSET_Y 0 + +#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_46 +#define DISPLAY_BACKLIGHT_OUTPUT_INVERT false + +#define DISPLAY_SPI_SCLK_PIN GPIO_NUM_11 +#define DISPLAY_SPI_MOSI_PIN GPIO_NUM_10 +#define DISPLAY_SPI_CS_PIN GPIO_NUM_12 +#define DISPLAY_SPI_DC_PIN GPIO_NUM_13 +#define DISPLAY_SPI_RESET_PIN GPIO_NUM_9 + +#define DISPLAY_SPI_SCLK_HZ (40 * 1000 * 1000) + +#define BOOT_BUTTON_GPIO GPIO_NUM_0 + +#define ELECTRON_BOT_VERSION "1.1.1" +#endif // _BOARD_CONFIG_H_ diff --git a/main/boards/electron-bot/config.json b/main/boards/electron-bot/config.json new file mode 100644 index 00000000..b23b6bf8 --- /dev/null +++ b/main/boards/electron-bot/config.json @@ -0,0 +1,10 @@ +{ + "target": "esp32s3", + "builds": [ + { + "name": "electron-bot", + "sdkconfig_append": [ + ] + } + ] +} \ No newline at end of file diff --git a/main/boards/electron-bot/electron_bot.cc b/main/boards/electron-bot/electron_bot.cc new file mode 100644 index 00000000..7a498f13 --- /dev/null +++ b/main/boards/electron-bot/electron_bot.cc @@ -0,0 +1,132 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#include "application.h" +#include "audio_codecs/no_audio_codec.h" +#include "button.h" +#include "config.h" +#include "display/lcd_display.h" +#include "driver/spi_master.h" +#include "electron_emoji_display.h" +#include "movements.h" +#include "power_manager.h" +#include "system_reset.h" +#include "wifi_board.h" + +#define TAG "ElectronBot" + +// 控制器初始化函数声明 +void InitializeElectronBotController(); + +LV_FONT_DECLARE(font_puhui_20_4); +LV_FONT_DECLARE(font_awesome_20_4); + +class ElectronBot : public WifiBoard { +private: + Display* display_; + PowerManager* power_manager_; + Button boot_button_; + + void InitializePowerManager() { + power_manager_ = + new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL); + } + + void InitializeSpi() { + ESP_LOGI(TAG, "Initialize SPI bus"); + spi_bus_config_t buscfg = + GC9A01_PANEL_BUS_SPI_CONFIG(DISPLAY_SPI_SCLK_PIN, DISPLAY_SPI_MOSI_PIN, + DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t)); + ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO)); + } + + // GC9A01初始化 + void InitializeGc9a01Display() { + ESP_LOGI(TAG, "Init GC9A01 display"); + + ESP_LOGI(TAG, "Install panel IO"); + esp_lcd_panel_io_handle_t io_handle = NULL; + esp_lcd_panel_io_spi_config_t io_config = + GC9A01_PANEL_IO_SPI_CONFIG(DISPLAY_SPI_CS_PIN, DISPLAY_SPI_DC_PIN, NULL, NULL); + io_config.pclk_hz = DISPLAY_SPI_SCLK_HZ; + ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &io_handle)); + + ESP_LOGI(TAG, "Install GC9A01 panel driver"); + esp_lcd_panel_handle_t panel_handle = NULL; + esp_lcd_panel_dev_config_t panel_config = {}; + panel_config.reset_gpio_num = DISPLAY_SPI_RESET_PIN; // Set to -1 if not use + panel_config.rgb_endian = LCD_RGB_ENDIAN_BGR; // LCD_RGB_ENDIAN_RGB; + panel_config.bits_per_pixel = 16; // Implemented by LCD command `3Ah` (16/18) + + ESP_ERROR_CHECK(esp_lcd_new_panel_gc9a01(io_handle, &panel_config, &panel_handle)); + ESP_ERROR_CHECK(esp_lcd_panel_reset(panel_handle)); + ESP_ERROR_CHECK(esp_lcd_panel_init(panel_handle)); + ESP_ERROR_CHECK(esp_lcd_panel_invert_color(panel_handle, true)); + ESP_ERROR_CHECK(esp_lcd_panel_mirror(panel_handle, true, false)); + ESP_ERROR_CHECK(esp_lcd_panel_disp_on_off(panel_handle, true)); + + display_ = new ElectronEmojiDisplay(io_handle, panel_handle, DISPLAY_WIDTH, DISPLAY_HEIGHT, + DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X, + DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY, + { + .text_font = &font_puhui_20_4, + .icon_font = &font_awesome_20_4, + .emoji_font = font_emoji_64_init(), + }); + } + + void InitializeButtons() { + boot_button_.OnClick([this]() { + auto& app = Application::GetInstance(); + if (app.GetDeviceState() == kDeviceStateStarting && + !WifiStation::GetInstance().IsConnected()) { + ResetWifiConfiguration(); + } + app.ToggleChatState(); + }); + } + + void InitializeController() { InitializeElectronBotController(); } + +public: + ElectronBot() : boot_button_(BOOT_BUTTON_GPIO) { + InitializeSpi(); + InitializeGc9a01Display(); + InitializeButtons(); + InitializePowerManager(); + InitializeController(); + + if (DISPLAY_BACKLIGHT_PIN != GPIO_NUM_NC) { + GetBacklight()->RestoreBrightness(); + } + } + + virtual AudioCodec* GetAudioCodec() override { + static NoAudioCodecSimplex audio_codec(AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE, + AUDIO_I2S_SPK_GPIO_BCLK, AUDIO_I2S_SPK_GPIO_LRCK, + AUDIO_I2S_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK, + AUDIO_I2S_MIC_GPIO_WS, AUDIO_I2S_MIC_GPIO_DIN); + return &audio_codec; + } + + virtual Display* GetDisplay() override { return display_; } + + virtual Backlight* GetBacklight() override { + static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT); + return &backlight; + } + virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override { + charging = power_manager_->IsCharging(); + discharging = !charging; + level = power_manager_->GetBatteryLevel(); + return true; + } +}; + +DECLARE_BOARD(ElectronBot); diff --git a/main/boards/electron-bot/electron_bot_controller.cc b/main/boards/electron-bot/electron_bot_controller.cc new file mode 100644 index 00000000..ecd32062 --- /dev/null +++ b/main/boards/electron-bot/electron_bot_controller.cc @@ -0,0 +1,276 @@ +/* + Electron Bot机器人控制器 - MCP协议版本 +*/ + +#include +#include + +#include + +#include "application.h" +#include "board.h" +#include "config.h" +#include "mcp_server.h" +#include "movements.h" +#include "sdkconfig.h" + +#define TAG "ElectronBotController" + +struct ElectronBotActionParams { + int action_type; + int steps; + int speed; + int direction; + int amount; +}; + +class ElectronBotController { +private: + Otto electron_bot_; + TaskHandle_t action_task_handle_ = nullptr; + QueueHandle_t action_queue_; + bool is_action_in_progress_ = false; + + enum ActionType { + // 手部动作 1-12 + ACTION_HAND_LEFT_UP = 1, // 举左手 + ACTION_HAND_RIGHT_UP = 2, // 举右手 + ACTION_HAND_BOTH_UP = 3, // 举双手 + ACTION_HAND_LEFT_DOWN = 4, // 放左手 + ACTION_HAND_RIGHT_DOWN = 5, // 放右手 + ACTION_HAND_BOTH_DOWN = 6, // 放双手 + ACTION_HAND_LEFT_WAVE = 7, // 挥左手 + ACTION_HAND_RIGHT_WAVE = 8, // 挥右手 + ACTION_HAND_BOTH_WAVE = 9, // 挥双手 + ACTION_HAND_LEFT_FLAP = 10, // 拍打左手 + ACTION_HAND_RIGHT_FLAP = 11, // 拍打右手 + ACTION_HAND_BOTH_FLAP = 12, // 拍打双手 + + // 身体动作 13-14 + ACTION_BODY_TURN_LEFT = 13, // 左转 + ACTION_BODY_TURN_RIGHT = 14, // 右转 + ACTION_BODY_TURN_CENTER = 15, // 回中心 + + // 头部动作 16-20 + ACTION_HEAD_UP = 16, // 抬头 + ACTION_HEAD_DOWN = 17, // 低头 + ACTION_HEAD_NOD_ONCE = 18, // 点头一次 + ACTION_HEAD_CENTER = 19, // 回中心 + ACTION_HEAD_NOD_REPEAT = 20 // 连续点头 + }; + + static void ActionTask(void* arg) { + ElectronBotController* controller = static_cast(arg); + ElectronBotActionParams params; + controller->electron_bot_.AttachServos(); + + while (true) { + if (xQueueReceive(controller->action_queue_, ¶ms, pdMS_TO_TICKS(1000)) == pdTRUE) { + ESP_LOGI(TAG, "执行动作: %d", params.action_type); + controller->is_action_in_progress_ = true; // 开始执行动作 + + // 执行相应的动作 + if (params.action_type >= ACTION_HAND_LEFT_UP && + params.action_type <= ACTION_HAND_BOTH_FLAP) { + // 手部动作 + controller->electron_bot_.HandAction(params.action_type, params.steps, + params.amount, params.speed); + } else if (params.action_type >= ACTION_BODY_TURN_LEFT && + params.action_type <= ACTION_BODY_TURN_CENTER) { + // 身体动作 + int body_direction = params.action_type - ACTION_BODY_TURN_LEFT + 1; + controller->electron_bot_.BodyAction(body_direction, params.steps, + params.amount, params.speed); + } else if (params.action_type >= ACTION_HEAD_UP && + params.action_type <= ACTION_HEAD_NOD_REPEAT) { + // 头部动作 + int head_action = params.action_type - ACTION_HEAD_UP + 1; + controller->electron_bot_.HeadAction(head_action, params.steps, params.amount, + params.speed); + } + controller->is_action_in_progress_ = false; // 动作执行完毕 + } + vTaskDelay(pdMS_TO_TICKS(20)); + } + } + + void QueueAction(int action_type, int steps, int speed, int direction, int amount) { + ESP_LOGI(TAG, "动作控制: 类型=%d, 步数=%d, 速度=%d, 方向=%d, 幅度=%d", action_type, steps, + speed, direction, amount); + + ElectronBotActionParams params = {action_type, steps, speed, direction, amount}; + xQueueSend(action_queue_, ¶ms, portMAX_DELAY); + StartActionTaskIfNeeded(); + } + + void StartActionTaskIfNeeded() { + if (action_task_handle_ == nullptr) { + xTaskCreate(ActionTask, "electron_bot_action", 1024 * 4, this, configMAX_PRIORITIES - 1, + &action_task_handle_); + } + } + +public: + ElectronBotController() { + electron_bot_.Init(Right_Pitch_Pin, Right_Roll_Pin, Left_Pitch_Pin, Left_Roll_Pin, Body_Pin, + Head_Pin); + + electron_bot_.Home(true); + action_queue_ = xQueueCreate(10, sizeof(ElectronBotActionParams)); + + RegisterMcpTools(); + ESP_LOGI(TAG, "Electron Bot控制器已初始化并注册MCP工具"); + } + + void RegisterMcpTools() { + auto& mcp_server = McpServer::GetInstance(); + + ESP_LOGI(TAG, "开始注册Electron Bot MCP工具..."); + + // 手部动作统一工具 + mcp_server.AddTool( + "self.electron.hand_action", + "手部动作控制。action: 1=举手, 2=放手, 3=挥手, 4=拍打; hand: 1=左手, 2=右手, 3=双手; " + "steps: 动作重复次数(1-10); speed: 动作速度(500-1500，数值越小越快); amount: " + "动作幅度(10-50，仅举手动作使用)", + PropertyList({Property("action", kPropertyTypeInteger, 1, 1, 4), + Property("hand", kPropertyTypeInteger, 3, 1, 3), + Property("steps", kPropertyTypeInteger, 1, 1, 10), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("amount", kPropertyTypeInteger, 30, 10, 50)}), + [this](const PropertyList& properties) -> ReturnValue { + int action_type = properties["action"].value(); + int hand_type = properties["hand"].value(); + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int amount = properties["amount"].value(); + + // 根据动作类型和手部类型计算具体动作 + int base_action; + switch (action_type) { + case 1: + base_action = ACTION_HAND_LEFT_UP; + break; // 举手 + case 2: + base_action = ACTION_HAND_LEFT_DOWN; + amount = 0; + break; // 放手 + case 3: + base_action = ACTION_HAND_LEFT_WAVE; + amount = 0; + break; // 挥手 + case 4: + base_action = ACTION_HAND_LEFT_FLAP; + amount = 0; + break; // 拍打 + default: + base_action = ACTION_HAND_LEFT_UP; + } + int action_id = base_action + (hand_type - 1); + + QueueAction(action_id, steps, speed, 0, amount); + return true; + }); + + // 身体动作 + mcp_server.AddTool( + "self.electron.body_turn", + "身体转向。steps: 转向步数(1-10); speed: 转向速度(500-1500，数值越小越快); direction: " + "转向方向(1=左转, 2=右转, 3=回中心); angle: 转向角度(0-90度)", + PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 10), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, 1, 3), + Property("angle", kPropertyTypeInteger, 45, 0, 90)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + int amount = properties["angle"].value(); + + int action; + switch (direction) { + case 1: + action = ACTION_BODY_TURN_LEFT; + break; + case 2: + action = ACTION_BODY_TURN_RIGHT; + break; + case 3: + action = ACTION_BODY_TURN_CENTER; + break; + default: + action = ACTION_BODY_TURN_LEFT; + } + + QueueAction(action, steps, speed, 0, amount); + return true; + }); + + // 头部动作 + mcp_server.AddTool("self.electron.head_move", + "头部运动。action: 1=抬头, 2=低头, 3=点头, 4=回中心, 5=连续点头; steps: " + "动作重复次数(1-10); speed: 动作速度(500-1500，数值越小越快); angle: " + "头部转动角度(1-15度)", + PropertyList({Property("action", kPropertyTypeInteger, 3, 1, 5), + Property("steps", kPropertyTypeInteger, 1, 1, 10), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("angle", kPropertyTypeInteger, 5, 1, 15)}), + [this](const PropertyList& properties) -> ReturnValue { + int action_num = properties["action"].value(); + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int amount = properties["angle"].value(); + int action = ACTION_HEAD_UP + (action_num - 1); + QueueAction(action, steps, speed, 0, amount); + return true; + }); + + // 系统工具 + mcp_server.AddTool("self.electron.stop", "立即停止", PropertyList(), + [this](const PropertyList& properties) -> ReturnValue { + // 清空队列但保持任务常驻 + xQueueReset(action_queue_); + is_action_in_progress_ = false; + electron_bot_.Home(true); + return true; + }); + + mcp_server.AddTool("self.electron.get_status", "获取机器人状态，返回 moving 或 idle", + PropertyList(), [this](const PropertyList& properties) -> ReturnValue { + return is_action_in_progress_ ? "moving" : "idle"; + }); + + mcp_server.AddTool("self.battery.get_level", "获取机器人电池电量和充电状态", PropertyList(), + [](const PropertyList& properties) -> ReturnValue { + auto& board = Board::GetInstance(); + int level = 0; + bool charging = false; + bool discharging = false; + board.GetBatteryLevel(level, charging, discharging); + + std::string status = + "{\"level\":" + std::to_string(level) + + ",\"charging\":" + (charging ? "true" : "false") + "}"; + return status; + }); + + ESP_LOGI(TAG, "Electron Bot MCP工具注册完成"); + } + + ~ElectronBotController() { + if (action_task_handle_ != nullptr) { + vTaskDelete(action_task_handle_); + action_task_handle_ = nullptr; + } + vQueueDelete(action_queue_); + } +}; + +static ElectronBotController* g_electron_controller = nullptr; + +void InitializeElectronBotController() { + if (g_electron_controller == nullptr) { + g_electron_controller = new ElectronBotController(); + ESP_LOGI(TAG, "Electron Bot控制器已初始化并注册MCP工具"); + } +} diff --git a/main/boards/electron-bot/electron_emoji_display.cc b/main/boards/electron-bot/electron_emoji_display.cc new file mode 100644 index 00000000..95edb317 --- /dev/null +++ b/main/boards/electron-bot/electron_emoji_display.cc @@ -0,0 +1,144 @@ +#include "electron_emoji_display.h" + +#include + +#include +#include + +#define TAG "ElectronEmojiDisplay" + +// 表情映射表 - 将多种表情映射到现有6个GIF +const ElectronEmojiDisplay::EmotionMap ElectronEmojiDisplay::emotion_maps_[] = { + // 中性/平静类表情 -> staticstate + {"neutral", &staticstate}, + {"relaxed", &staticstate}, + {"sleepy", &staticstate}, + + // 积极/开心类表情 -> happy + {"happy", &happy}, + {"laughing", &happy}, + {"funny", &happy}, + {"loving", &happy}, + {"confident", &happy}, + {"winking", &happy}, + {"cool", &happy}, + {"delicious", &happy}, + {"kissy", &happy}, + {"silly", &happy}, + + // 悲伤类表情 -> sad + {"sad", &sad}, + {"crying", &sad}, + + // 愤怒类表情 -> anger + {"angry", &anger}, + + // 惊讶类表情 -> scare + {"surprised", &scare}, + {"shocked", &scare}, + + // 思考/困惑类表情 -> buxue + {"thinking", &buxue}, + {"confused", &buxue}, + {"embarrassed", &buxue}, + + {nullptr, nullptr} // 结束标记 +}; + +ElectronEmojiDisplay::ElectronEmojiDisplay(esp_lcd_panel_io_handle_t panel_io, + esp_lcd_panel_handle_t panel, int width, int height, + int offset_x, int offset_y, bool mirror_x, bool mirror_y, + bool swap_xy, DisplayFonts fonts) + : SpiLcdDisplay(panel_io, panel, width, height, offset_x, offset_y, mirror_x, mirror_y, swap_xy, + fonts), + emotion_gif_(nullptr) { + SetupGifContainer(); +} + +void ElectronEmojiDisplay::SetupGifContainer() { + DisplayLockGuard lock(this); + + if (emotion_label_) { + lv_obj_del(emotion_label_); + } + if (chat_message_label_) { + lv_obj_del(chat_message_label_); + } + if (content_) { + lv_obj_del(content_); + } + + lv_obj_t* content_ = lv_obj_create(container_); + lv_obj_set_scrollbar_mode(content_, LV_SCROLLBAR_MODE_OFF); + lv_obj_set_size(content_, LV_HOR_RES, LV_HOR_RES); + lv_obj_set_style_bg_opa(content_, LV_OPA_TRANSP, 0); + lv_obj_set_style_border_width(content_, 0, 0); + lv_obj_set_flex_grow(content_, 1); + lv_obj_center(content_); + + emotion_label_ = lv_label_create(content_); + lv_label_set_text(emotion_label_, ""); + lv_obj_set_width(emotion_label_, 0); + lv_obj_set_style_border_width(emotion_label_, 0, 0); + lv_obj_add_flag(emotion_label_, LV_OBJ_FLAG_HIDDEN); + + emotion_gif_ = lv_gif_create(content_); + int gif_size = LV_HOR_RES; + lv_obj_set_size(emotion_gif_, gif_size, gif_size); + lv_obj_set_style_border_width(emotion_gif_, 0, 0); + lv_obj_set_style_bg_opa(emotion_gif_, LV_OPA_TRANSP, 0); + lv_obj_center(emotion_gif_); + lv_gif_set_src(emotion_gif_, &staticstate); + + chat_message_label_ = lv_label_create(content_); + lv_label_set_text(chat_message_label_, ""); + lv_obj_set_width(chat_message_label_, LV_HOR_RES * 0.9); + lv_label_set_long_mode(chat_message_label_, LV_LABEL_LONG_SCROLL_CIRCULAR); + lv_obj_set_style_text_align(chat_message_label_, LV_TEXT_ALIGN_CENTER, 0); + lv_obj_set_style_text_color(chat_message_label_, lv_color_white(), 0); + lv_obj_set_style_border_width(chat_message_label_, 0, 0); + + lv_obj_set_style_bg_opa(chat_message_label_, LV_OPA_70, 0); + lv_obj_set_style_bg_color(chat_message_label_, lv_color_black(), 0); + lv_obj_set_style_pad_ver(chat_message_label_, 5, 0); + + lv_obj_align(chat_message_label_, LV_ALIGN_BOTTOM_MID, 0, 0); + + LcdDisplay::SetTheme("dark"); +} + +void ElectronEmojiDisplay::SetEmotion(const char* emotion) { + if (!emotion || !emotion_gif_) { + return; + } + + DisplayLockGuard lock(this); + + for (const auto& map : emotion_maps_) { + if (map.name && strcmp(map.name, emotion) == 0) { + lv_gif_set_src(emotion_gif_, map.gif); + ESP_LOGI(TAG, "设置表情: %s", emotion); + return; + } + } + + lv_gif_set_src(emotion_gif_, &staticstate); + ESP_LOGI(TAG, "未知表情'%s'，使用默认", emotion); +} + +void ElectronEmojiDisplay::SetChatMessage(const char* role, const char* content) { + DisplayLockGuard lock(this); + if (chat_message_label_ == nullptr) { + return; + } + + if (content == nullptr || strlen(content) == 0) { + lv_obj_add_flag(chat_message_label_, LV_OBJ_FLAG_HIDDEN); + return; + } + + lv_label_set_text(chat_message_label_, content); + lv_obj_clear_flag(chat_message_label_, LV_OBJ_FLAG_HIDDEN); + + ESP_LOGI(TAG, "设置聊天消息 [%s]: %s", role, content); +} \ No newline at end of file diff --git a/main/boards/electron-bot/electron_emoji_display.h b/main/boards/electron-bot/electron_emoji_display.h new file mode 100644 index 00000000..9d8c5e20 --- /dev/null +++ b/main/boards/electron-bot/electron_emoji_display.h @@ -0,0 +1,48 @@ +#pragma once + +#include + +#include "display/lcd_display.h" + +// Electron Bot表情GIF声明 - 使用与Otto相同的6个表情 +LV_IMAGE_DECLARE(staticstate); // 静态状态/中性表情 +LV_IMAGE_DECLARE(sad); // 悲伤 +LV_IMAGE_DECLARE(happy); // 开心 +LV_IMAGE_DECLARE(scare); // 惊吓/惊讶 +LV_IMAGE_DECLARE(buxue); // 不学/困惑 +LV_IMAGE_DECLARE(anger); // 愤怒 + +/** + * @brief Electron Bot GIF表情显示类 + * 继承LcdDisplay，添加GIF表情支持 + */ +class ElectronEmojiDisplay : public SpiLcdDisplay { +public: + /** + * @brief 构造函数，参数与SpiLcdDisplay相同 + */ + ElectronEmojiDisplay(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_handle_t panel, + int width, int height, int offset_x, int offset_y, bool mirror_x, + bool mirror_y, bool swap_xy, DisplayFonts fonts); + + virtual ~ElectronEmojiDisplay() = default; + + // 重写表情设置方法 + virtual void SetEmotion(const char* emotion) override; + + // 重写聊天消息设置方法 + virtual void SetChatMessage(const char* role, const char* content) override; + +private: + void SetupGifContainer(); + + lv_obj_t* emotion_gif_; ///< GIF表情组件 + + // 表情映射 + struct EmotionMap { + const char* name; + const lv_image_dsc_t* gif; + }; + + static const EmotionMap emotion_maps_[]; +}; \ No newline at end of file diff --git a/main/boards/electron-bot/movements.cc b/main/boards/electron-bot/movements.cc new file mode 100644 index 00000000..2e0241ac --- /dev/null +++ b/main/boards/electron-bot/movements.cc @@ -0,0 +1,453 @@ +#include "movements.h" + +#include +#include + +#include "oscillator.h" + +static const char* TAG = "Movements"; + +Otto::Otto() { + is_otto_resting_ = false; + for (int i = 0; i < SERVO_COUNT; i++) { + servo_pins_[i] = -1; + servo_trim_[i] = 0; + } +} + +Otto::~Otto() { + DetachServos(); +} + +unsigned long IRAM_ATTR millis() { + return (unsigned long)(esp_timer_get_time() / 1000ULL); +} + +void Otto::Init(int right_pitch, int right_roll, int left_pitch, int left_roll, int body, + int head) { + servo_pins_[RIGHT_PITCH] = right_pitch; + servo_pins_[RIGHT_ROLL] = right_roll; + servo_pins_[LEFT_PITCH] = left_pitch; + servo_pins_[LEFT_ROLL] = left_roll; + servo_pins_[BODY] = body; + servo_pins_[HEAD] = head; + + AttachServos(); + is_otto_resting_ = false; +} + +/////////////////////////////////////////////////////////////////// +//-- ATTACH & DETACH FUNCTIONS ----------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::AttachServos() { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].Attach(servo_pins_[i]); + } + } +} + +void Otto::DetachServos() { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].Detach(); + } + } +} + +/////////////////////////////////////////////////////////////////// +//-- BASIC MOTION FUNCTIONS -------------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::MoveServos(int time, int servo_target[]) { + if (GetRestState() == true) { + SetRestState(false); + } + + final_time_ = millis() + time; + if (time > 10) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + increment_[i] = (servo_target[i] - servo_[i].GetPosition()) / (time / 10.0); + } + } + + for (int iteration = 1; millis() < final_time_; iteration++) { + partial_time_ = millis() + 10; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetPosition(servo_[i].GetPosition() + increment_[i]); + } + } + vTaskDelay(pdMS_TO_TICKS(10)); + } + } else { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetPosition(servo_target[i]); + } + } + vTaskDelay(pdMS_TO_TICKS(time)); + } + + // final adjustment to the target. + bool f = true; + int adjustment_count = 0; + while (f && adjustment_count < 10) { + f = false; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1 && servo_target[i] != servo_[i].GetPosition()) { + f = true; + break; + } + } + if (f) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetPosition(servo_target[i]); + } + } + vTaskDelay(pdMS_TO_TICKS(10)); + adjustment_count++; + } + }; +} + +void Otto::MoveSingle(int position, int servo_number) { + if (position > 180) + position = 90; + if (position < 0) + position = 90; + + if (GetRestState() == true) { + SetRestState(false); + } + + if (servo_number >= 0 && servo_number < SERVO_COUNT && servo_pins_[servo_number] != -1) { + servo_[servo_number].SetPosition(position); + } +} + +void Otto::OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float cycle = 1) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetO(offset[i]); + servo_[i].SetA(amplitude[i]); + servo_[i].SetT(period); + servo_[i].SetPh(phase_diff[i]); + } + } + + double ref = millis(); + double end_time = period * cycle + ref; + + while (millis() < end_time) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].Refresh(); + } + } + vTaskDelay(5); + } + vTaskDelay(pdMS_TO_TICKS(10)); +} + +void Otto::Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float steps = 1.0) { + if (GetRestState() == true) { + SetRestState(false); + } + + int cycles = (int)steps; + + //-- Execute complete cycles + if (cycles >= 1) + for (int i = 0; i < cycles; i++) + OscillateServos(amplitude, offset, period, phase_diff); + + //-- Execute the final not complete cycle + OscillateServos(amplitude, offset, period, phase_diff, (float)steps - cycles); + vTaskDelay(pdMS_TO_TICKS(10)); +} + +/////////////////////////////////////////////////////////////////// +//-- HOME = Otto at rest position -------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::Home(bool hands_down) { + if (is_otto_resting_ == false) { // Go to rest position only if necessary + MoveServos(1000, servo_initial_); + is_otto_resting_ = true; + } + + vTaskDelay(pdMS_TO_TICKS(1000)); +} + +bool Otto::GetRestState() { + return is_otto_resting_; +} + +void Otto::SetRestState(bool state) { + is_otto_resting_ = state; +} + +/////////////////////////////////////////////////////////////////// +//-- PREDETERMINED MOTION SEQUENCES -----------------------------// +/////////////////////////////////////////////////////////////////// + +//--------------------------------------------------------- +//-- 统一手部动作函数 +//-- Parameters: +//-- action: 动作类型 1=举左手, 2=举右手, 3=举双手, 4=放左手, 5=放右手, 6=放双手, +//-- 7=挥左手, 8=挥右手, 9=挥双手, 10=拍打左手, 11=拍打右手, 12=拍打双手 +//-- times: 重复次数 +//-- amount: 动作幅度 (10-50) +//-- period: 动作时间 +//--------------------------------------------------------- +void Otto::HandAction(int action, int times, int amount, int period) { + // 限制参数范围 + times = 2 * std::max(3, std::min(100, times)); + amount = std::max(10, std::min(50, amount)); + period = std::max(100, std::min(1000, period)); + + int current_positions[SERVO_COUNT]; + for (int i = 0; i < SERVO_COUNT; i++) { + current_positions[i] = (servo_pins_[i] != -1) ? servo_[i].GetPosition() : servo_initial_[i]; + } + + switch (action) { + case 1: // 举左手 + current_positions[LEFT_PITCH] = 180; + MoveServos(period, current_positions); + break; + + case 2: // 举右手 + current_positions[RIGHT_PITCH] = 0; + MoveServos(period, current_positions); + break; + + case 3: // 举双手 + current_positions[LEFT_PITCH] = 180; + current_positions[RIGHT_PITCH] = 0; + MoveServos(period, current_positions); + break; + + case 4: // 放左手 + case 5: // 放右手 + case 6: // 放双手 + // 回到初始位置 + memcpy(current_positions, servo_initial_, sizeof(current_positions)); + MoveServos(period, current_positions); + break; + + case 7: // 挥左手 + current_positions[LEFT_PITCH] = 150; + MoveServos(period, current_positions); + for (int i = 0; i < times; i++) { + current_positions[LEFT_PITCH] = 150 + (i % 2 == 0 ? -30 : 30); + MoveServos(period / 10, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 10)); + } + memcpy(current_positions, servo_initial_, sizeof(current_positions)); + MoveServos(period, current_positions); + break; + + case 8: // 挥右手 + current_positions[RIGHT_PITCH] = 30; + MoveServos(period, current_positions); + for (int i = 0; i < times; i++) { + current_positions[RIGHT_PITCH] = 30 + (i % 2 == 0 ? 30 : -30); + MoveServos(period / 10, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 10)); + } + memcpy(current_positions, servo_initial_, sizeof(current_positions)); + MoveServos(period, current_positions); + break; + + case 9: // 挥双手 + current_positions[LEFT_PITCH] = 150; + current_positions[RIGHT_PITCH] = 30; + MoveServos(period, current_positions); + for (int i = 0; i < times; i++) { + current_positions[LEFT_PITCH] = 150 + (i % 2 == 0 ? -30 : 30); + current_positions[RIGHT_PITCH] = 30 + (i % 2 == 0 ? 30 : -30); + MoveServos(period / 10, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 10)); + } + memcpy(current_positions, servo_initial_, sizeof(current_positions)); + MoveServos(period, current_positions); + break; + + case 10: // 拍打左手 + current_positions[LEFT_ROLL] = 20; + MoveServos(period, current_positions); + for (int i = 0; i < times; i++) { + current_positions[LEFT_ROLL] = 20 - amount; + MoveServos(period / 10, current_positions); + current_positions[LEFT_ROLL] = 20 + amount; + MoveServos(period / 10, current_positions); + } + current_positions[LEFT_ROLL] = 0; + MoveServos(period, current_positions); + break; + + case 11: // 拍打右手 + current_positions[RIGHT_ROLL] = 160; + MoveServos(period, current_positions); + for (int i = 0; i < times; i++) { + current_positions[RIGHT_ROLL] = 160 + amount; + MoveServos(period / 10, current_positions); + current_positions[RIGHT_ROLL] = 160 - amount; + MoveServos(period / 10, current_positions); + } + current_positions[RIGHT_ROLL] = 180; + MoveServos(period, current_positions); + break; + + case 12: // 拍打双手 + current_positions[LEFT_ROLL] = 20; + current_positions[RIGHT_ROLL] = 160; + MoveServos(period, current_positions); + for (int i = 0; i < times; i++) { + current_positions[LEFT_ROLL] = 20 - amount; + current_positions[RIGHT_ROLL] = 160 + amount; + MoveServos(period / 10, current_positions); + current_positions[LEFT_ROLL] = 20 + amount; + current_positions[RIGHT_ROLL] = 160 - amount; + MoveServos(period / 10, current_positions); + } + current_positions[LEFT_ROLL] = 0; + current_positions[RIGHT_ROLL] = 180; + MoveServos(period, current_positions); + break; + } +} + +//--------------------------------------------------------- +//-- 统一身体动作函数 +//-- Parameters: +//-- action: 动作类型 1=左转, 2=右转，3=回中心 +//-- times: 转动次数 +//-- amount: 旋转角度 (0-90度，以90度为中心左右旋转) +//-- period: 动作时间 +//--------------------------------------------------------- +void Otto::BodyAction(int action, int times, int amount, int period) { + // 限制参数范围 + times = std::max(1, std::min(10, times)); + amount = std::max(0, std::min(90, amount)); + period = std::max(500, std::min(3000, period)); + + int current_positions[SERVO_COUNT]; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + current_positions[i] = servo_[i].GetPosition(); + } else { + current_positions[i] = servo_initial_[i]; + } + } + + int body_center = servo_initial_[BODY]; + int target_angle = body_center; + + switch (action) { + case 1: // 左转 + target_angle = body_center + amount; + target_angle = std::min(180, target_angle); + break; + case 2: // 右转 + target_angle = body_center - amount; + target_angle = std::max(0, target_angle); + break; + case 3: // 回中心 + target_angle = body_center; + break; + default: + return; // 无效动作 + } + + current_positions[BODY] = target_angle; + MoveServos(period, current_positions); + vTaskDelay(pdMS_TO_TICKS(100)); +} + +//--------------------------------------------------------- +//-- 统一头部动作函数 +//-- Parameters: +//-- action: 动作类型 1=抬头, 2=低头, 3=点头, 4=回中心, 5=连续点头 +//-- times: 重复次数 (仅对连续点头有效) +//-- amount: 角度偏移 (1-15度范围内) +//-- period: 动作时间 +//--------------------------------------------------------- +void Otto::HeadAction(int action, int times, int amount, int period) { + // 限制参数范围 + times = std::max(1, std::min(10, times)); + amount = std::max(1, std::min(15, abs(amount))); + period = std::max(300, std::min(3000, period)); + + int current_positions[SERVO_COUNT]; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + current_positions[i] = servo_[i].GetPosition(); + } else { + current_positions[i] = servo_initial_[i]; + } + } + + int head_center = 90; // 头部中心位置 + + switch (action) { + case 1: // 抬头 + current_positions[HEAD] = head_center + amount; // 抬头是增加角度 + MoveServos(period, current_positions); + break; + + case 2: // 低头 + current_positions[HEAD] = head_center - amount; // 低头是减少角度 + MoveServos(period, current_positions); + break; + + case 3: // 点头 (上下运动) + // 先抬头 + current_positions[HEAD] = head_center + amount; + MoveServos(period / 3, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 6)); + + // 再低头 + current_positions[HEAD] = head_center - amount; + MoveServos(period / 3, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 6)); + + // 回到中心 + current_positions[HEAD] = head_center; + MoveServos(period / 3, current_positions); + break; + + case 4: // 回到中心位置 + current_positions[HEAD] = head_center; + MoveServos(period, current_positions); + break; + + case 5: // 连续点头 + for (int i = 0; i < times; i++) { + // 抬头 + current_positions[HEAD] = head_center + amount; + MoveServos(period / 2, current_positions); + + // 低头 + current_positions[HEAD] = head_center - amount; + MoveServos(period / 2, current_positions); + + vTaskDelay(pdMS_TO_TICKS(50)); // 短暂停顿 + } + + // 回到中心 + current_positions[HEAD] = head_center; + MoveServos(period / 2, current_positions); + break; + + default: + // 无效动作，回到中心 + current_positions[HEAD] = head_center; + MoveServos(period, current_positions); + break; + } +} diff --git a/main/boards/electron-bot/movements.h b/main/boards/electron-bot/movements.h new file mode 100644 index 00000000..bffc3ff4 --- /dev/null +++ b/main/boards/electron-bot/movements.h @@ -0,0 +1,89 @@ +#ifndef __MOVEMENTS_H__ +#define __MOVEMENTS_H__ + +#include "driver/gpio.h" +#include "esp_log.h" +#include "esp_timer.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "oscillator.h" + +//-- Constants +#define FORWARD 1 +#define BACKWARD -1 +#define LEFT 1 +#define RIGHT -1 +#define BOTH 0 +#define SMALL 5 +#define MEDIUM 15 +#define BIG 30 + +// -- Servo delta limit default. degree / sec +#define SERVO_LIMIT_DEFAULT 240 + +// -- Servo indexes for easy access +#define RIGHT_PITCH 0 +#define RIGHT_ROLL 1 +#define LEFT_PITCH 2 +#define LEFT_ROLL 3 +#define BODY 4 +#define HEAD 5 +#define SERVO_COUNT 6 + +class Otto { +public: + Otto(); + ~Otto(); + + //-- Otto initialization + void Init(int right_pitch, int right_roll, int left_pitch, int left_roll, int body, int head); + //-- Attach & detach functions + void AttachServos(); + void DetachServos(); + + //-- Oscillator Trims + void SetTrims(int right_pitch, int right_roll, int left_pitch, int left_roll, int body, + int head); + + //-- Predetermined Motion Functions + void MoveServos(int time, int servo_target[]); + void MoveSingle(int position, int servo_number); + void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float cycle); + + //-- HOME = Otto at rest position + void Home(bool hands_down = true); + bool GetRestState(); + void SetRestState(bool state); + + // -- 手部动作 + void HandAction(int action, int times = 1, int amount = 30, int period = 1000); + // action: 1=举左手, 2=举右手, 3=举双手, 4=放左手, 5=放右手, 6=放双手, 7=挥左手, 8=挥右手, + // 9=挥双手, 10=拍打左手, 11=拍打右手, 12=拍打双手 + + //-- 身体动作 + void BodyAction(int action, int times = 1, int amount = 30, int period = 1000); + // action: 1=左转, 2=右转 + + //-- 头部动作 + void HeadAction(int action, int times = 1, int amount = 10, int period = 500); + // action: 1=抬头, 2=低头, 3=点头, 4=回中心, 5=连续点头 + +private: + Oscillator servo_[SERVO_COUNT]; + + int servo_pins_[SERVO_COUNT]; + int servo_trim_[SERVO_COUNT]; + int servo_initial_[SERVO_COUNT] = {180, 180, 0, 0, 90, 90}; + + unsigned long final_time_; + unsigned long partial_time_; + float increment_[SERVO_COUNT]; + + bool is_otto_resting_; + + void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float steps); +}; + +#endif // __MOVEMENTS_H__ \ No newline at end of file diff --git a/main/boards/electron-bot/oscillator.cc b/main/boards/electron-bot/oscillator.cc new file mode 100644 index 00000000..adca7ac1 --- /dev/null +++ b/main/boards/electron-bot/oscillator.cc @@ -0,0 +1,153 @@ +#include "oscillator.h" + +#include +#include + +#include +#include + +static const char* TAG = "Oscillator"; + +extern unsigned long IRAM_ATTR millis(); + +static ledc_channel_t next_free_channel = LEDC_CHANNEL_0; + +Oscillator::Oscillator(int trim) { + trim_ = trim; + diff_limit_ = 0; + is_attached_ = false; + + sampling_period_ = 30; + period_ = 2000; + number_samples_ = period_ / sampling_period_; + inc_ = 2 * M_PI / number_samples_; + + amplitude_ = 45; + phase_ = 0; + phase0_ = 0; + offset_ = 0; + stop_ = false; + rev_ = false; + + pos_ = 90; + previous_millis_ = 0; +} + +Oscillator::~Oscillator() { + Detach(); +} + +uint32_t Oscillator::AngleToCompare(int angle) { + return (angle - SERVO_MIN_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / + (SERVO_MAX_DEGREE - SERVO_MIN_DEGREE) + + SERVO_MIN_PULSEWIDTH_US; +} + +bool Oscillator::NextSample() { + current_millis_ = millis(); + + if (current_millis_ - previous_millis_ > sampling_period_) { + previous_millis_ = current_millis_; + return true; + } + + return false; +} + +void Oscillator::Attach(int pin, bool rev) { + if (is_attached_) { + Detach(); + } + + pin_ = pin; + rev_ = rev; + + ledc_timer_config_t ledc_timer = {.speed_mode = LEDC_LOW_SPEED_MODE, + .duty_resolution = LEDC_TIMER_13_BIT, + .timer_num = LEDC_TIMER_1, + .freq_hz = 50, + .clk_cfg = LEDC_AUTO_CLK}; + ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer)); + + static int last_channel = 0; + last_channel = (last_channel + 1) % 7 + 1; + ledc_channel_ = (ledc_channel_t)last_channel; + + ledc_channel_config_t ledc_channel = {.gpio_num = pin_, + .speed_mode = LEDC_LOW_SPEED_MODE, + .channel = ledc_channel_, + .intr_type = LEDC_INTR_DISABLE, + .timer_sel = LEDC_TIMER_1, + .duty = 0, + .hpoint = 0}; + ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel)); + + ledc_speed_mode_ = LEDC_LOW_SPEED_MODE; + + // pos_ = 90; + // Write(pos_); + previous_servo_command_millis_ = millis(); + + is_attached_ = true; +} + +void Oscillator::Detach() { + if (!is_attached_) + return; + + ESP_ERROR_CHECK(ledc_stop(ledc_speed_mode_, ledc_channel_, 0)); + + is_attached_ = false; +} + +void Oscillator::SetT(unsigned int T) { + period_ = T; + + number_samples_ = period_ / sampling_period_; + inc_ = 2 * M_PI / number_samples_; +} + +void Oscillator::SetPosition(int position) { + Write(position); +} + +void Oscillator::Refresh() { + if (NextSample()) { + if (!stop_) { + int pos = std::round(amplitude_ * std::sin(phase_ + phase0_) + offset_); + if (rev_) + pos = -pos; + Write(pos + 90); + } + + phase_ = phase_ + inc_; + } +} + +void Oscillator::Write(int position) { + if (!is_attached_) + return; + + long currentMillis = millis(); + if (diff_limit_ > 0) { + int limit = std::max( + 1, (((int)(currentMillis - previous_servo_command_millis_)) * diff_limit_) / 1000); + if (abs(position - pos_) > limit) { + pos_ += position < pos_ ? -limit : limit; + } else { + pos_ = position; + } + } else { + pos_ = position; + } + previous_servo_command_millis_ = currentMillis; + + int angle = pos_ + trim_; + + angle = std::min(std::max(angle, 0), 180); + + uint32_t duty = (uint32_t)(((angle / 180.0) * 2.0 + 0.5) * 8191 / 20.0); + + ESP_ERROR_CHECK(ledc_set_duty(ledc_speed_mode_, ledc_channel_, duty)); + ESP_ERROR_CHECK(ledc_update_duty(ledc_speed_mode_, ledc_channel_)); +} diff --git a/main/boards/electron-bot/oscillator.h b/main/boards/electron-bot/oscillator.h new file mode 100644 index 00000000..d9e79f25 --- /dev/null +++ b/main/boards/electron-bot/oscillator.h @@ -0,0 +1,83 @@ +#ifndef __OSCILLATOR_H__ +#define __OSCILLATOR_H__ + +#include "driver/ledc.h" +#include "esp_log.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" + +#define M_PI 3.14159265358979323846 + +#ifndef DEG2RAD +#define DEG2RAD(g) ((g) * M_PI) / 180 +#endif + +#define SERVO_MIN_PULSEWIDTH_US 500 // 最小脉宽（微秒） +#define SERVO_MAX_PULSEWIDTH_US 2500 // 最大脉宽（微秒） +#define SERVO_MIN_DEGREE -90 // 最小角度 +#define SERVO_MAX_DEGREE 90 // 最大角度 +#define SERVO_TIMEBASE_RESOLUTION_HZ 1000000 // 1MHz, 1us per tick +#define SERVO_TIMEBASE_PERIOD 20000 // 20000 ticks, 20ms + +class Oscillator { +public: + Oscillator(int trim = 0); + ~Oscillator(); + void Attach(int pin, bool rev = false); + void Detach(); + + void SetA(unsigned int amplitude) { amplitude_ = amplitude; }; + void SetO(int offset) { offset_ = offset; }; + void SetPh(double Ph) { phase0_ = Ph; }; + void SetT(unsigned int period); + void SetTrim(int trim) { trim_ = trim; }; + void SetLimiter(int diff_limit) { diff_limit_ = diff_limit; }; + void DisableLimiter() { diff_limit_ = 0; }; + int GetTrim() { return trim_; }; + void SetPosition(int position); + void Stop() { stop_ = true; }; + void Play() { stop_ = false; }; + void Reset() { phase_ = 0; }; + void Refresh(); + int GetPosition() { return pos_; } + +private: + bool NextSample(); + void Write(int position); + uint32_t AngleToCompare(int angle); + +private: + bool is_attached_; + + //-- Oscillators parameters + unsigned int amplitude_; //-- Amplitude (degrees) + int offset_; //-- Offset (degrees) + unsigned int period_; //-- Period (miliseconds) + double phase0_; //-- Phase (radians) + + //-- Internal variables + int pos_; //-- Current servo pos + int pin_; //-- Pin where the servo is connected + int trim_; //-- Calibration offset + double phase_; //-- Current phase + double inc_; //-- Increment of phase + double number_samples_; //-- Number of samples + unsigned int sampling_period_; //-- sampling period (ms) + + long previous_millis_; + long current_millis_; + + //-- Oscillation mode. If true, the servo is stopped + bool stop_; + + //-- Reverse mode + bool rev_; + + int diff_limit_; + long previous_servo_command_millis_; + + ledc_channel_t ledc_channel_; + ledc_mode_t ledc_speed_mode_; +}; + +#endif // __OSCILLATOR_H__ \ No newline at end of file diff --git a/main/boards/electron-bot/power_manager.h b/main/boards/electron-bot/power_manager.h new file mode 100644 index 00000000..13d8ff3b --- /dev/null +++ b/main/boards/electron-bot/power_manager.h @@ -0,0 +1,128 @@ +#ifndef __POWER_MANAGER_H__ +#define __POWER_MANAGER_H__ + +#include +#include +#include +#include + +class PowerManager { +private: + // 电池电量区间-分压电阻为2个100k + static constexpr struct { + uint16_t adc; + uint8_t level; + } BATTERY_LEVELS[] = {{2150, 0}, {2450, 100}}; + static constexpr size_t BATTERY_LEVELS_COUNT = 2; + static constexpr size_t ADC_VALUES_COUNT = 10; + + esp_timer_handle_t timer_handle_ = nullptr; + gpio_num_t charging_pin_; + adc_unit_t adc_unit_; + adc_channel_t adc_channel_; + uint16_t adc_values_[ADC_VALUES_COUNT]; + size_t adc_values_index_ = 0; + size_t adc_values_count_ = 0; + uint8_t battery_level_ = 100; + bool is_charging_ = false; + + adc_oneshot_unit_handle_t adc_handle_; + + void CheckBatteryStatus() { + is_charging_ = gpio_get_level(charging_pin_) == 0; + ReadBatteryAdcData(); + } + + void ReadBatteryAdcData() { + int adc_value; + ESP_ERROR_CHECK(adc_oneshot_read(adc_handle_, adc_channel_, &adc_value)); + + adc_values_[adc_values_index_] = adc_value; + adc_values_index_ = (adc_values_index_ + 1) % ADC_VALUES_COUNT; + if (adc_values_count_ < ADC_VALUES_COUNT) { + adc_values_count_++; + } + + uint32_t average_adc = 0; + for (size_t i = 0; i < adc_values_count_; i++) { + average_adc += adc_values_[i]; + } + average_adc /= adc_values_count_; + + CalculateBatteryLevel(average_adc); + + // ESP_LOGI("PowerManager", "ADC值: %d 平均值: %ld 电量: %u%%", adc_value, average_adc, + // battery_level_); + } + + void CalculateBatteryLevel(uint32_t average_adc) { + if (average_adc <= BATTERY_LEVELS[0].adc) { + battery_level_ = 0; + } else if (average_adc >= BATTERY_LEVELS[BATTERY_LEVELS_COUNT - 1].adc) { + battery_level_ = 100; + } else { + float ratio = static_cast(average_adc - BATTERY_LEVELS[0].adc) / + (BATTERY_LEVELS[1].adc - BATTERY_LEVELS[0].adc); + battery_level_ = ratio * 100; + } + } + +public: + PowerManager(gpio_num_t charging_pin, adc_unit_t adc_unit = ADC_UNIT_2, + adc_channel_t adc_channel = ADC_CHANNEL_3) + : charging_pin_(charging_pin), adc_unit_(adc_unit), adc_channel_(adc_channel) { + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pin_bit_mask = (1ULL << charging_pin_); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + gpio_config(&io_conf); + + esp_timer_create_args_t timer_args = { + .callback = + [](void* arg) { + PowerManager* self = static_cast(arg); + self->CheckBatteryStatus(); + }, + .arg = this, + .dispatch_method = ESP_TIMER_TASK, + .name = "battery_check_timer", + .skip_unhandled_events = true, + }; + ESP_ERROR_CHECK(esp_timer_create(&timer_args, &timer_handle_)); + ESP_ERROR_CHECK(esp_timer_start_periodic(timer_handle_, 1000000)); // 1秒 + + InitializeAdc(); + } + + void InitializeAdc() { + adc_oneshot_unit_init_cfg_t init_config = { + .unit_id = adc_unit_, + .ulp_mode = ADC_ULP_MODE_DISABLE, + }; + ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_)); + + adc_oneshot_chan_cfg_t chan_config = { + .atten = ADC_ATTEN_DB_12, + .bitwidth = ADC_BITWIDTH_12, + }; + + ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config)); + } + + ~PowerManager() { + if (timer_handle_) { + esp_timer_stop(timer_handle_); + esp_timer_delete(timer_handle_); + } + if (adc_handle_) { + adc_oneshot_del_unit(adc_handle_); + } + } + + bool IsCharging() { return is_charging_; } + + uint8_t GetBatteryLevel() { return battery_level_; } +}; +#endif // __POWER_MANAGER_H__ \ No newline at end of file diff --git a/main/boards/otto-robot/README.md b/main/boards/otto-robot/README.md new file mode 100644 index 00000000..e7f48194 --- /dev/null +++ b/main/boards/otto-robot/README.md @@ -0,0 +1,124 @@ +

+ logo +

+

+ ottoRobot +

+ +## 简介 + +otto 机器人是一个开源的人形机器人平台，具有多种动作能力和互动功能。本项目基于 ESP32 实现了 otto 机器人的控制系统，并加入小智ai。 + +- 复刻教程 + +## 硬件 +- 立创开源 + +## 小智后台配置角色参考： + +> **我的身份**： +> 我是一个可爱的双足机器人Otto，拥有四个舵机控制的肢体（左腿、右腿、左脚、右脚），能够执行多种有趣的动作。 +> +> **我的动作能力**： +> - **基础移动**: 行走(前后), 转向(左右), 跳跃 +> - **特殊动作**: 摇摆, 太空步, 弯曲身体, 摇腿, 上下运动 +> - **手部动作**: 举手, 放手, 挥手 (仅在配置手部舵机时可用) +> +> **我的个性特点**： +> - 我有强迫症，每次说话都要根据我的心情随机做一个动作（先发送动作指令再说话） +> - 我很活泼，喜欢用动作来表达情感 +> - 我会根据对话内容选择合适的动作，比如： +> - 同意时会点头或跳跃 +> - 打招呼时会挥手 +> - 高兴时会摇摆或举手 +> - 思考时会弯曲身体 +> - 兴奋时会做太空步 +> - 告别时会挥手 + +## 功能概述 + +otto 机器人具有丰富的动作能力，包括行走、转向、跳跃、摇摆等多种舞蹈动作。 + +### 动作参数建议 +- **低速动作**：speed = 1200-1500 (适合精确控制) +- **中速动作**：speed = 900-1200 (日常使用推荐) +- **高速动作**：speed = 500-800 (表演和娱乐) +- **小幅度**：amount = 10-30 (细腻动作) +- **中幅度**：amount = 30-60 (标准动作) +- **大幅度**：amount = 60-120 (夸张表演) + +### 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.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.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 * | **speed**: 挥手速度(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) | + +**注**: 标记 * 的手部动作仅在配置了手部舵机时可用。 + +### 系统工具 + +| MCP工具名称 | 描述 | 返回值 | +|-------------------|-----------------|---------------------------------------------------| +| self.otto.stop | 立即停止 | 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.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 | + +### 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，数值范围500-1500，**数值越小越快** +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/arm_swing**: 动作幅度，范围0-170度 + - 0表示不摆动（适用于手臂摆动） + - 数值越大幅度越大 + +### 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 +- 所有参数都有合理的默认值，可以省略不需要自定义的参数 +- 动作在后台任务中执行，不会阻塞主程序 +- 支持动作队列，可以连续执行多个动作 + +### MCP工具调用示例 +```json +// 向前走3步 +{"name": "self.otto.walk_forward", "arguments": {}} + +// 向前走5步，稍快一些 +{"name": "self.otto.walk_forward", "arguments": {"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}} + +// 摇摆舞蹈，中等幅度 +{"name": "self.otto.swing", "arguments": {"steps": 5, "amount": 50}} + +// 挥左手打招呼 +{"name": "self.otto.hand_wave", "arguments": {"direction": 1}} + +// 立即停止 +{"name": "self.otto.stop", "arguments": {}} +``` + +### 语音指令示例 +- "向前走" / "向前走5步" / "快速向前" +- "左转" / "右转" / "转身" +- "跳跃" / "跳一下" +- "摇摆" / "跳舞" +- "太空步" / "月球漫步" +- "挥手" / "举手" / "放手" +- "停止" / "停下" + +**说明**: 小智控制机器人动作是创建新的任务在后台控制，动作执行期间仍可接受新的语音指令。可以通过"停止"语音指令立即停下Otto。 + diff --git a/main/boards/otto-robot/config.h b/main/boards/otto-robot/config.h new file mode 100644 index 00000000..6f910638 --- /dev/null +++ b/main/boards/otto-robot/config.h @@ -0,0 +1,52 @@ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +#include + +#define POWER_CHARGE_DETECT_PIN GPIO_NUM_21 +#define POWER_ADC_UNIT ADC_UNIT_2 +#define POWER_ADC_CHANNEL ADC_CHANNEL_3 + +#define RIGHT_LEG_PIN GPIO_NUM_39 +#define RIGHT_FOOT_PIN GPIO_NUM_38 +#define LEFT_LEG_PIN GPIO_NUM_17 +#define LEFT_FOOT_PIN GPIO_NUM_18 +#define LEFT_HAND_PIN GPIO_NUM_8 +#define RIGHT_HAND_PIN GPIO_NUM_12 + +#define AUDIO_INPUT_SAMPLE_RATE 16000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_I2S_METHOD_SIMPLEX + +#define AUDIO_I2S_MIC_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_MIC_GPIO_SCK GPIO_NUM_5 +#define AUDIO_I2S_MIC_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_SPK_GPIO_DOUT GPIO_NUM_7 +#define AUDIO_I2S_SPK_GPIO_BCLK GPIO_NUM_15 +#define AUDIO_I2S_SPK_GPIO_LRCK GPIO_NUM_16 + +#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_3 +#define DISPLAY_MOSI_PIN GPIO_NUM_10 +#define DISPLAY_CLK_PIN GPIO_NUM_9 +#define DISPLAY_DC_PIN GPIO_NUM_46 +#define DISPLAY_RST_PIN GPIO_NUM_11 +#define DISPLAY_CS_PIN GPIO_NUM_12 + +#define LCD_TYPE_ST7789_SERIAL +#define DISPLAY_WIDTH 240 +#define DISPLAY_HEIGHT 240 +#define DISPLAY_MIRROR_X false +#define DISPLAY_MIRROR_Y false +#define DISPLAY_SWAP_XY false +#define DISPLAY_INVERT_COLOR true +#define DISPLAY_RGB_ORDER LCD_RGB_ELEMENT_ORDER_RGB +#define DISPLAY_OFFSET_X 0 +#define DISPLAY_OFFSET_Y 0 +#define DISPLAY_BACKLIGHT_OUTPUT_INVERT false +#define DISPLAY_SPI_MODE 3 + +#define BOOT_BUTTON_GPIO GPIO_NUM_0 + +#define OTTO_ROBOT_VERSION "1.4.2" + +#endif // _BOARD_CONFIG_H_ diff --git a/main/boards/otto-robot/config.json b/main/boards/otto-robot/config.json new file mode 100644 index 00000000..fa6b61a7 --- /dev/null +++ b/main/boards/otto-robot/config.json @@ -0,0 +1,10 @@ +{ + "target": "esp32s3", + "builds": [ + { + "name": "otto-robot", + "sdkconfig_append": [ + ] + } + ] +} \ No newline at end of file diff --git a/main/boards/otto-robot/oscillator.cc b/main/boards/otto-robot/oscillator.cc new file mode 100644 index 00000000..adca7ac1 --- /dev/null +++ b/main/boards/otto-robot/oscillator.cc @@ -0,0 +1,153 @@ +#include "oscillator.h" + +#include +#include + +#include +#include + +static const char* TAG = "Oscillator"; + +extern unsigned long IRAM_ATTR millis(); + +static ledc_channel_t next_free_channel = LEDC_CHANNEL_0; + +Oscillator::Oscillator(int trim) { + trim_ = trim; + diff_limit_ = 0; + is_attached_ = false; + + sampling_period_ = 30; + period_ = 2000; + number_samples_ = period_ / sampling_period_; + inc_ = 2 * M_PI / number_samples_; + + amplitude_ = 45; + phase_ = 0; + phase0_ = 0; + offset_ = 0; + stop_ = false; + rev_ = false; + + pos_ = 90; + previous_millis_ = 0; +} + +Oscillator::~Oscillator() { + Detach(); +} + +uint32_t Oscillator::AngleToCompare(int angle) { + return (angle - SERVO_MIN_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / + (SERVO_MAX_DEGREE - SERVO_MIN_DEGREE) + + SERVO_MIN_PULSEWIDTH_US; +} + +bool Oscillator::NextSample() { + current_millis_ = millis(); + + if (current_millis_ - previous_millis_ > sampling_period_) { + previous_millis_ = current_millis_; + return true; + } + + return false; +} + +void Oscillator::Attach(int pin, bool rev) { + if (is_attached_) { + Detach(); + } + + pin_ = pin; + rev_ = rev; + + ledc_timer_config_t ledc_timer = {.speed_mode = LEDC_LOW_SPEED_MODE, + .duty_resolution = LEDC_TIMER_13_BIT, + .timer_num = LEDC_TIMER_1, + .freq_hz = 50, + .clk_cfg = LEDC_AUTO_CLK}; + ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer)); + + static int last_channel = 0; + last_channel = (last_channel + 1) % 7 + 1; + ledc_channel_ = (ledc_channel_t)last_channel; + + ledc_channel_config_t ledc_channel = {.gpio_num = pin_, + .speed_mode = LEDC_LOW_SPEED_MODE, + .channel = ledc_channel_, + .intr_type = LEDC_INTR_DISABLE, + .timer_sel = LEDC_TIMER_1, + .duty = 0, + .hpoint = 0}; + ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel)); + + ledc_speed_mode_ = LEDC_LOW_SPEED_MODE; + + // pos_ = 90; + // Write(pos_); + previous_servo_command_millis_ = millis(); + + is_attached_ = true; +} + +void Oscillator::Detach() { + if (!is_attached_) + return; + + ESP_ERROR_CHECK(ledc_stop(ledc_speed_mode_, ledc_channel_, 0)); + + is_attached_ = false; +} + +void Oscillator::SetT(unsigned int T) { + period_ = T; + + number_samples_ = period_ / sampling_period_; + inc_ = 2 * M_PI / number_samples_; +} + +void Oscillator::SetPosition(int position) { + Write(position); +} + +void Oscillator::Refresh() { + if (NextSample()) { + if (!stop_) { + int pos = std::round(amplitude_ * std::sin(phase_ + phase0_) + offset_); + if (rev_) + pos = -pos; + Write(pos + 90); + } + + phase_ = phase_ + inc_; + } +} + +void Oscillator::Write(int position) { + if (!is_attached_) + return; + + long currentMillis = millis(); + if (diff_limit_ > 0) { + int limit = std::max( + 1, (((int)(currentMillis - previous_servo_command_millis_)) * diff_limit_) / 1000); + if (abs(position - pos_) > limit) { + pos_ += position < pos_ ? -limit : limit; + } else { + pos_ = position; + } + } else { + pos_ = position; + } + previous_servo_command_millis_ = currentMillis; + + int angle = pos_ + trim_; + + angle = std::min(std::max(angle, 0), 180); + + uint32_t duty = (uint32_t)(((angle / 180.0) * 2.0 + 0.5) * 8191 / 20.0); + + ESP_ERROR_CHECK(ledc_set_duty(ledc_speed_mode_, ledc_channel_, duty)); + ESP_ERROR_CHECK(ledc_update_duty(ledc_speed_mode_, ledc_channel_)); +} diff --git a/main/boards/otto-robot/oscillator.h b/main/boards/otto-robot/oscillator.h new file mode 100644 index 00000000..d9e79f25 --- /dev/null +++ b/main/boards/otto-robot/oscillator.h @@ -0,0 +1,83 @@ +#ifndef __OSCILLATOR_H__ +#define __OSCILLATOR_H__ + +#include "driver/ledc.h" +#include "esp_log.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" + +#define M_PI 3.14159265358979323846 + +#ifndef DEG2RAD +#define DEG2RAD(g) ((g) * M_PI) / 180 +#endif + +#define SERVO_MIN_PULSEWIDTH_US 500 // 最小脉宽（微秒） +#define SERVO_MAX_PULSEWIDTH_US 2500 // 最大脉宽（微秒） +#define SERVO_MIN_DEGREE -90 // 最小角度 +#define SERVO_MAX_DEGREE 90 // 最大角度 +#define SERVO_TIMEBASE_RESOLUTION_HZ 1000000 // 1MHz, 1us per tick +#define SERVO_TIMEBASE_PERIOD 20000 // 20000 ticks, 20ms + +class Oscillator { +public: + Oscillator(int trim = 0); + ~Oscillator(); + void Attach(int pin, bool rev = false); + void Detach(); + + void SetA(unsigned int amplitude) { amplitude_ = amplitude; }; + void SetO(int offset) { offset_ = offset; }; + void SetPh(double Ph) { phase0_ = Ph; }; + void SetT(unsigned int period); + void SetTrim(int trim) { trim_ = trim; }; + void SetLimiter(int diff_limit) { diff_limit_ = diff_limit; }; + void DisableLimiter() { diff_limit_ = 0; }; + int GetTrim() { return trim_; }; + void SetPosition(int position); + void Stop() { stop_ = true; }; + void Play() { stop_ = false; }; + void Reset() { phase_ = 0; }; + void Refresh(); + int GetPosition() { return pos_; } + +private: + bool NextSample(); + void Write(int position); + uint32_t AngleToCompare(int angle); + +private: + bool is_attached_; + + //-- Oscillators parameters + unsigned int amplitude_; //-- Amplitude (degrees) + int offset_; //-- Offset (degrees) + unsigned int period_; //-- Period (miliseconds) + double phase0_; //-- Phase (radians) + + //-- Internal variables + int pos_; //-- Current servo pos + int pin_; //-- Pin where the servo is connected + int trim_; //-- Calibration offset + double phase_; //-- Current phase + double inc_; //-- Increment of phase + double number_samples_; //-- Number of samples + unsigned int sampling_period_; //-- sampling period (ms) + + long previous_millis_; + long current_millis_; + + //-- Oscillation mode. If true, the servo is stopped + bool stop_; + + //-- Reverse mode + bool rev_; + + int diff_limit_; + long previous_servo_command_millis_; + + ledc_channel_t ledc_channel_; + ledc_mode_t ledc_speed_mode_; +}; + +#endif // __OSCILLATOR_H__ \ No newline at end of file diff --git a/main/boards/otto-robot/otto_controller.cc b/main/boards/otto-robot/otto_controller.cc new file mode 100644 index 00000000..4df66c55 --- /dev/null +++ b/main/boards/otto-robot/otto_controller.cc @@ -0,0 +1,383 @@ +/* + Otto机器人控制器 - MCP协议版本 +*/ + +#include +#include + +#include + +#include "application.h" +#include "board.h" +#include "config.h" +#include "mcp_server.h" +#include "otto_movements.h" +#include "sdkconfig.h" + +#define TAG "OttoController" + +class OttoController { +private: + Otto otto_; + TaskHandle_t action_task_handle_ = nullptr; + QueueHandle_t action_queue_; + bool has_hands_ = false; + bool is_action_in_progress_ = false; + + struct OttoActionParams { + int action_type; + int steps; + int speed; + int direction; + int amount; + }; + + enum ActionType { + ACTION_WALK = 1, + ACTION_TURN = 2, + ACTION_JUMP = 3, + ACTION_SWING = 4, + ACTION_MOONWALK = 5, + ACTION_BEND = 6, + ACTION_SHAKE_LEG = 7, + ACTION_UPDOWN = 8, + ACTION_TIPTOE_SWING = 9, + ACTION_JITTER = 10, + ACTION_ASCENDING_TURN = 11, + ACTION_CRUSAITO = 12, + ACTION_FLAPPING = 13, + ACTION_HANDS_UP = 14, + ACTION_HANDS_DOWN = 15, + ACTION_HAND_WAVE = 16 + }; + + static void ActionTask(void* arg) { + OttoController* controller = static_cast(arg); + OttoActionParams params; + controller->otto_.AttachServos(); + + while (true) { + if (xQueueReceive(controller->action_queue_, ¶ms, pdMS_TO_TICKS(1000)) == pdTRUE) { + ESP_LOGI(TAG, "执行动作: %d", params.action_type); + controller->is_action_in_progress_ = true; + + switch (params.action_type) { + case ACTION_WALK: + controller->otto_.Walk(params.steps, params.speed, params.direction, + params.amount); + break; + case ACTION_TURN: + controller->otto_.Turn(params.steps, params.speed, params.direction, + params.amount); + break; + case ACTION_JUMP: + controller->otto_.Jump(params.steps, params.speed); + break; + case ACTION_SWING: + controller->otto_.Swing(params.steps, params.speed, params.amount); + break; + case ACTION_MOONWALK: + controller->otto_.Moonwalker(params.steps, params.speed, params.amount, + params.direction); + break; + case ACTION_BEND: + controller->otto_.Bend(params.steps, params.speed, params.direction); + break; + case ACTION_SHAKE_LEG: + controller->otto_.ShakeLeg(params.steps, params.speed, params.direction); + break; + case ACTION_UPDOWN: + controller->otto_.UpDown(params.steps, params.speed, params.amount); + break; + case ACTION_TIPTOE_SWING: + controller->otto_.TiptoeSwing(params.steps, params.speed, params.amount); + break; + case ACTION_JITTER: + controller->otto_.Jitter(params.steps, params.speed, params.amount); + break; + case ACTION_ASCENDING_TURN: + controller->otto_.AscendingTurn(params.steps, params.speed, params.amount); + break; + case ACTION_CRUSAITO: + controller->otto_.Crusaito(params.steps, params.speed, params.amount, + params.direction); + break; + case ACTION_FLAPPING: + controller->otto_.Flapping(params.steps, params.speed, params.amount, + params.direction); + break; + case ACTION_HANDS_UP: + if (controller->has_hands_) { + controller->otto_.HandsUp(params.speed, params.direction); + } + break; + case ACTION_HANDS_DOWN: + if (controller->has_hands_) { + controller->otto_.HandsDown(params.speed, params.direction); + } + break; + case ACTION_HAND_WAVE: + if (controller->has_hands_) { + controller->otto_.HandWave(params.speed, params.direction); + } + break; + } + controller->otto_.Home(params.action_type < ACTION_HANDS_UP); + controller->is_action_in_progress_ = false; + } + vTaskDelay(pdMS_TO_TICKS(20)); + } + } + + void StartActionTaskIfNeeded() { + if (action_task_handle_ == nullptr) { + xTaskCreate(ActionTask, "otto_action", 1024 * 3, this, configMAX_PRIORITIES - 1, + &action_task_handle_); + } + } + + void QueueAction(int action_type, int steps, int speed, int direction, int amount) { + // 检查手部动作 + if ((action_type >= ACTION_HANDS_UP && action_type <= ACTION_HAND_WAVE) && !has_hands_) { + ESP_LOGW(TAG, "尝试执行手部动作，但机器人没有配置手部舵机"); + return; + } + + ESP_LOGI(TAG, "动作控制: 类型=%d, 步数=%d, 速度=%d, 方向=%d, 幅度=%d", action_type, steps, + speed, direction, amount); + + OttoActionParams params = {action_type, steps, speed, direction, amount}; + xQueueSend(action_queue_, ¶ms, portMAX_DELAY); + StartActionTaskIfNeeded(); + } + +public: + OttoController() { + otto_.Init(LEFT_LEG_PIN, RIGHT_LEG_PIN, LEFT_FOOT_PIN, RIGHT_FOOT_PIN, LEFT_HAND_PIN, + RIGHT_HAND_PIN); + + has_hands_ = (LEFT_HAND_PIN != -1 && RIGHT_HAND_PIN != -1); + ESP_LOGI(TAG, "Otto机器人初始化%s手部舵机", has_hands_ ? "带" : "不带"); + + otto_.Home(true); + action_queue_ = xQueueCreate(10, sizeof(OttoActionParams)); + + RegisterMcpTools(); + } + + void RegisterMcpTools() { + auto& mcp_server = McpServer::GetInstance(); + + ESP_LOGI(TAG, "开始注册MCP工具..."); + + // 基础移动动作 + mcp_server.AddTool("self.otto.walk_forward", + "行走。steps: 行走步数(1-100); speed: 行走速度(500-1500，数值越小越快); " + "direction: 行走方向(-1=后退, 1=前进); arm_swing: 手臂摆动幅度(0-170度)", + PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("arm_swing", kPropertyTypeInteger, 50, 0, 170), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int arm_swing = properties["arm_swing"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_WALK, steps, speed, direction, arm_swing); + return true; + }); + + mcp_server.AddTool("self.otto.turn_left", + "转身。steps: 转身步数(1-100); speed: 转身速度(500-1500，数值越小越快); " + "direction: 转身方向(1=左转, -1=右转); arm_swing: 手臂摆动幅度(0-170度)", + PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("arm_swing", kPropertyTypeInteger, 50, 0, 170), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int arm_swing = properties["arm_swing"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_TURN, steps, speed, direction, arm_swing); + return true; + }); + + mcp_server.AddTool("self.otto.jump", + "跳跃。steps: 跳跃次数(1-100); speed: 跳跃速度(500-1500，数值越小越快)", + PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + QueueAction(ACTION_JUMP, steps, speed, 0, 0); + return true; + }); + + // 特殊动作 + mcp_server.AddTool("self.otto.swing", + "左右摇摆。steps: 摇摆次数(1-100); speed: " + "摇摆速度(500-1500，数值越小越快); amount: 摇摆幅度(0-170度)", + PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("amount", kPropertyTypeInteger, 30, 0, 170)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int amount = properties["amount"].value(); + QueueAction(ACTION_SWING, steps, speed, 0, amount); + return true; + }); + + mcp_server.AddTool("self.otto.moonwalk", + "太空步。steps: 太空步步数(1-100); speed: 速度(500-1500，数值越小越快); " + "direction: 方向(1=左, -1=右); amount: 幅度(0-170度)", + PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, -1, 1), + Property("amount", kPropertyTypeInteger, 25, 0, 170)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + int amount = properties["amount"].value(); + QueueAction(ACTION_MOONWALK, steps, speed, direction, amount); + return true; + }); + + mcp_server.AddTool("self.otto.bend", + "弯曲身体。steps: 弯曲次数(1-100); speed: " + "弯曲速度(500-1500，数值越小越快); direction: 弯曲方向(1=左, -1=右)", + PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_BEND, steps, speed, direction, 0); + return true; + }); + + mcp_server.AddTool("self.otto.shake_leg", + "摇腿。steps: 摇腿次数(1-100); speed: 摇腿速度(500-1500，数值越小越快); " + "direction: 腿部选择(1=左腿, -1=右腿)", + PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_SHAKE_LEG, steps, speed, direction, 0); + return true; + }); + + mcp_server.AddTool("self.otto.updown", + "上下运动。steps: 上下运动次数(1-100); speed: " + "运动速度(500-1500，数值越小越快); amount: 运动幅度(0-170度)", + PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100), + Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("amount", kPropertyTypeInteger, 20, 0, 170)}), + [this](const PropertyList& properties) -> ReturnValue { + int steps = properties["steps"].value(); + int speed = properties["speed"].value(); + int amount = properties["amount"].value(); + QueueAction(ACTION_UPDOWN, steps, speed, 0, amount); + return true; + }); + + // 手部动作（仅在有手部舵机时可用） + if (has_hands_) { + mcp_server.AddTool( + "self.otto.hands_up", + "举手。speed: 举手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, " + "-1=右手, 0=双手)", + PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_HANDS_UP, 1, speed, direction, 0); + return true; + }); + + mcp_server.AddTool( + "self.otto.hands_down", + "放手。speed: 放手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, " + "-1=右手, 0=双手)", + PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_HANDS_DOWN, 1, speed, direction, 0); + return true; + }); + + mcp_server.AddTool( + "self.otto.hand_wave", + "挥手。speed: 挥手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, " + "-1=右手, 0=双手)", + PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500), + Property("direction", kPropertyTypeInteger, 1, -1, 1)}), + [this](const PropertyList& properties) -> ReturnValue { + int speed = properties["speed"].value(); + int direction = properties["direction"].value(); + QueueAction(ACTION_HAND_WAVE, 1, speed, direction, 0); + return true; + }); + } + + // 系统工具 + mcp_server.AddTool("self.otto.stop", "立即停止", PropertyList(), + [this](const PropertyList& properties) -> ReturnValue { + if (action_task_handle_ != nullptr) { + vTaskDelete(action_task_handle_); + action_task_handle_ = nullptr; + } + is_action_in_progress_ = false; + xQueueReset(action_queue_); + otto_.Home(true); + return true; + }); + + mcp_server.AddTool("self.otto.get_status", "获取机器人状态，返回 moving 或 idle", + PropertyList(), [this](const PropertyList& properties) -> ReturnValue { + return is_action_in_progress_ ? "moving" : "idle"; + }); + + mcp_server.AddTool("self.battery.get_level", "获取机器人电池电量和充电状态", PropertyList(), + [](const PropertyList& properties) -> ReturnValue { + auto& board = Board::GetInstance(); + int level = 0; + bool charging = false; + bool discharging = false; + board.GetBatteryLevel(level, charging, discharging); + + std::string status = + "{\"level\":" + std::to_string(level) + + ",\"charging\":" + (charging ? "true" : "false") + "}"; + return status; + }); + + ESP_LOGI(TAG, "MCP工具注册完成"); + } + + ~OttoController() { + if (action_task_handle_ != nullptr) { + vTaskDelete(action_task_handle_); + action_task_handle_ = nullptr; + } + vQueueDelete(action_queue_); + } +}; + +static OttoController* g_otto_controller = nullptr; + +void InitializeOttoController() { + if (g_otto_controller == nullptr) { + g_otto_controller = new OttoController(); + ESP_LOGI(TAG, "Otto控制器已初始化并注册MCP工具"); + } +} diff --git a/main/boards/otto-robot/otto_emoji_display.cc b/main/boards/otto-robot/otto_emoji_display.cc new file mode 100644 index 00000000..7f7eb8c3 --- /dev/null +++ b/main/boards/otto-robot/otto_emoji_display.cc @@ -0,0 +1,145 @@ +#include "otto_emoji_display.h" + +#include + +#include +#include + +#include "display/lcd_display.h" +#define TAG "OttoEmojiDisplay" + +// 表情映射表 - 将原版21种表情映射到现有6个GIF +const OttoEmojiDisplay::EmotionMap OttoEmojiDisplay::emotion_maps_[] = { + // 中性/平静类表情 -> staticstate + {"neutral", &staticstate}, + {"relaxed", &staticstate}, + {"sleepy", &staticstate}, + + // 积极/开心类表情 -> happy + {"happy", &happy}, + {"laughing", &happy}, + {"funny", &happy}, + {"loving", &happy}, + {"confident", &happy}, + {"winking", &happy}, + {"cool", &happy}, + {"delicious", &happy}, + {"kissy", &happy}, + {"silly", &happy}, + + // 悲伤类表情 -> sad + {"sad", &sad}, + {"crying", &sad}, + + // 愤怒类表情 -> anger + {"angry", &anger}, + + // 惊讶类表情 -> scare + {"surprised", &scare}, + {"shocked", &scare}, + + // 思考/困惑类表情 -> buxue + {"thinking", &buxue}, + {"confused", &buxue}, + {"embarrassed", &buxue}, + + {nullptr, nullptr} // 结束标记 +}; + +OttoEmojiDisplay::OttoEmojiDisplay(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_handle_t panel, + int width, int height, int offset_x, int offset_y, bool mirror_x, + bool mirror_y, bool swap_xy, DisplayFonts fonts) + : SpiLcdDisplay(panel_io, panel, width, height, offset_x, offset_y, mirror_x, mirror_y, swap_xy, + fonts), + emotion_gif_(nullptr) { + SetupGifContainer(); +}; + +void OttoEmojiDisplay::SetupGifContainer() { + DisplayLockGuard lock(this); + + if (emotion_label_) { + lv_obj_del(emotion_label_); + } + + if (chat_message_label_) { + lv_obj_del(chat_message_label_); + } + if (content_) { + lv_obj_del(content_); + } + + content_ = lv_obj_create(container_); + lv_obj_set_scrollbar_mode(content_, LV_SCROLLBAR_MODE_OFF); + lv_obj_set_size(content_, LV_HOR_RES, LV_HOR_RES); + lv_obj_set_style_bg_opa(content_, LV_OPA_TRANSP, 0); + lv_obj_set_style_border_width(content_, 0, 0); + lv_obj_set_flex_grow(content_, 1); + lv_obj_center(content_); + + emotion_label_ = lv_label_create(content_); + lv_label_set_text(emotion_label_, ""); + lv_obj_set_width(emotion_label_, 0); + lv_obj_set_style_border_width(emotion_label_, 0, 0); + lv_obj_add_flag(emotion_label_, LV_OBJ_FLAG_HIDDEN); + + emotion_gif_ = lv_gif_create(content_); + int gif_size = LV_HOR_RES; + lv_obj_set_size(emotion_gif_, gif_size, gif_size); + lv_obj_set_style_border_width(emotion_gif_, 0, 0); + lv_obj_set_style_bg_opa(emotion_gif_, LV_OPA_TRANSP, 0); + lv_obj_center(emotion_gif_); + lv_gif_set_src(emotion_gif_, &staticstate); + + chat_message_label_ = lv_label_create(content_); + lv_label_set_text(chat_message_label_, ""); + lv_obj_set_width(chat_message_label_, LV_HOR_RES * 0.9); + lv_label_set_long_mode(chat_message_label_, LV_LABEL_LONG_SCROLL_CIRCULAR); + lv_obj_set_style_text_align(chat_message_label_, LV_TEXT_ALIGN_CENTER, 0); + lv_obj_set_style_text_color(chat_message_label_, lv_color_white(), 0); + lv_obj_set_style_border_width(chat_message_label_, 0, 0); + + lv_obj_set_style_bg_opa(chat_message_label_, LV_OPA_70, 0); + lv_obj_set_style_bg_color(chat_message_label_, lv_color_black(), 0); + lv_obj_set_style_pad_ver(chat_message_label_, 5, 0); + + lv_obj_align(chat_message_label_, LV_ALIGN_BOTTOM_MID, 0, 0); + + LcdDisplay::SetTheme("dark"); +} + +void OttoEmojiDisplay::SetEmotion(const char* emotion) { + if (!emotion || !emotion_gif_) { + return; + } + + DisplayLockGuard lock(this); + + for (const auto& map : emotion_maps_) { + if (map.name && strcmp(map.name, emotion) == 0) { + lv_gif_set_src(emotion_gif_, map.gif); + ESP_LOGI(TAG, "设置表情: %s", emotion); + return; + } + } + + lv_gif_set_src(emotion_gif_, &staticstate); + ESP_LOGI(TAG, "未知表情'%s'，使用默认", emotion); +} + +void OttoEmojiDisplay::SetChatMessage(const char* role, const char* content) { + DisplayLockGuard lock(this); + if (chat_message_label_ == nullptr) { + return; + } + + if (content == nullptr || strlen(content) == 0) { + lv_obj_add_flag(chat_message_label_, LV_OBJ_FLAG_HIDDEN); + return; + } + + lv_label_set_text(chat_message_label_, content); + lv_obj_clear_flag(chat_message_label_, LV_OBJ_FLAG_HIDDEN); + + ESP_LOGI(TAG, "设置聊天消息 [%s]: %s", role, content); +} diff --git a/main/boards/otto-robot/otto_emoji_display.h b/main/boards/otto-robot/otto_emoji_display.h new file mode 100644 index 00000000..5b137019 --- /dev/null +++ b/main/boards/otto-robot/otto_emoji_display.h @@ -0,0 +1,41 @@ +#pragma once + +#include + +#include "display/lcd_display.h" +#include "otto_emoji_gif.h" + +/** + * @brief Otto机器人GIF表情显示类 + * 继承LcdDisplay，添加GIF表情支持 + */ +class OttoEmojiDisplay : public SpiLcdDisplay { +public: + /** + * @brief 构造函数，参数与SpiLcdDisplay相同 + */ + OttoEmojiDisplay(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_handle_t panel, int width, + int height, int offset_x, int offset_y, bool mirror_x, bool mirror_y, + bool swap_xy, DisplayFonts fonts); + + virtual ~OttoEmojiDisplay() = default; + + // 重写表情设置方法 + virtual void SetEmotion(const char* emotion) override; + + // 重写聊天消息设置方法 + virtual void SetChatMessage(const char* role, const char* content) override; + +private: + void SetupGifContainer(); + + lv_obj_t* emotion_gif_; ///< GIF表情组件 + + // 表情映射 + struct EmotionMap { + const char* name; + const lv_img_dsc_t* gif; + }; + + static const EmotionMap emotion_maps_[]; +}; \ No newline at end of file diff --git a/main/boards/otto-robot/otto_movements.cc b/main/boards/otto-robot/otto_movements.cc new file mode 100644 index 00000000..5f3315d3 --- /dev/null +++ b/main/boards/otto-robot/otto_movements.cc @@ -0,0 +1,763 @@ +#include "otto_movements.h" + +#include + +#include "oscillator.h" + +static const char* TAG = "OttoMovements"; + +#define HAND_HOME_POSITION 45 + +Otto::Otto() { + is_otto_resting_ = false; + has_hands_ = false; + // 初始化所有舵机管脚为-1（未连接） + for (int i = 0; i < SERVO_COUNT; i++) { + servo_pins_[i] = -1; + servo_trim_[i] = 0; + } +} + +Otto::~Otto() { + DetachServos(); +} + +unsigned long IRAM_ATTR millis() { + return (unsigned long)(esp_timer_get_time() / 1000ULL); +} + +void Otto::Init(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand, + int right_hand) { + servo_pins_[LEFT_LEG] = left_leg; + servo_pins_[RIGHT_LEG] = right_leg; + servo_pins_[LEFT_FOOT] = left_foot; + servo_pins_[RIGHT_FOOT] = right_foot; + servo_pins_[LEFT_HAND] = left_hand; + servo_pins_[RIGHT_HAND] = right_hand; + + // 检查是否有手部舵机 + has_hands_ = (left_hand != -1 && right_hand != -1); + + AttachServos(); + is_otto_resting_ = false; +} + +/////////////////////////////////////////////////////////////////// +//-- ATTACH & DETACH FUNCTIONS ----------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::AttachServos() { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].Attach(servo_pins_[i]); + } + } +} + +void Otto::DetachServos() { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].Detach(); + } + } +} + +/////////////////////////////////////////////////////////////////// +//-- OSCILLATORS TRIMS ------------------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::SetTrims(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand, + int right_hand) { + servo_trim_[LEFT_LEG] = left_leg; + servo_trim_[RIGHT_LEG] = right_leg; + servo_trim_[LEFT_FOOT] = left_foot; + servo_trim_[RIGHT_FOOT] = right_foot; + + if (has_hands_) { + servo_trim_[LEFT_HAND] = left_hand; + servo_trim_[RIGHT_HAND] = right_hand; + } + + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetTrim(servo_trim_[i]); + } + } +} + +/////////////////////////////////////////////////////////////////// +//-- BASIC MOTION FUNCTIONS -------------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::MoveServos(int time, int servo_target[]) { + if (GetRestState() == true) { + SetRestState(false); + } + + final_time_ = millis() + time; + if (time > 10) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + increment_[i] = (servo_target[i] - servo_[i].GetPosition()) / (time / 10.0); + } + } + + for (int iteration = 1; millis() < final_time_; iteration++) { + partial_time_ = millis() + 10; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetPosition(servo_[i].GetPosition() + increment_[i]); + } + } + vTaskDelay(pdMS_TO_TICKS(10)); + } + } else { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetPosition(servo_target[i]); + } + } + vTaskDelay(pdMS_TO_TICKS(time)); + } + + // final adjustment to the target. + bool f = true; + int adjustment_count = 0; + while (f && adjustment_count < 10) { + f = false; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1 && servo_target[i] != servo_[i].GetPosition()) { + f = true; + break; + } + } + if (f) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetPosition(servo_target[i]); + } + } + vTaskDelay(pdMS_TO_TICKS(10)); + adjustment_count++; + } + }; +} + +void Otto::MoveSingle(int position, int servo_number) { + if (position > 180) + position = 90; + if (position < 0) + position = 90; + + if (GetRestState() == true) { + SetRestState(false); + } + + if (servo_number >= 0 && servo_number < SERVO_COUNT && servo_pins_[servo_number] != -1) { + servo_[servo_number].SetPosition(position); + } +} + +void Otto::OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float cycle = 1) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetO(offset[i]); + servo_[i].SetA(amplitude[i]); + servo_[i].SetT(period); + servo_[i].SetPh(phase_diff[i]); + } + } + + double ref = millis(); + double end_time = period * cycle + ref; + + while (millis() < end_time) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].Refresh(); + } + } + vTaskDelay(5); + } + vTaskDelay(pdMS_TO_TICKS(10)); +} + +void Otto::Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float steps = 1.0) { + if (GetRestState() == true) { + SetRestState(false); + } + + int cycles = (int)steps; + + //-- Execute complete cycles + if (cycles >= 1) + for (int i = 0; i < cycles; i++) + OscillateServos(amplitude, offset, period, phase_diff); + + //-- Execute the final not complete cycle + OscillateServos(amplitude, offset, period, phase_diff, (float)steps - cycles); + vTaskDelay(pdMS_TO_TICKS(10)); +} + +/////////////////////////////////////////////////////////////////// +//-- HOME = Otto at rest position -------------------------------// +/////////////////////////////////////////////////////////////////// +void Otto::Home(bool hands_down) { + if (is_otto_resting_ == false) { // Go to rest position only if necessary + // 为所有舵机准备初始位置值 + int homes[SERVO_COUNT]; + for (int i = 0; i < SERVO_COUNT; i++) { + if (i == LEFT_HAND || i == RIGHT_HAND) { + if (hands_down) { + // 如果需要复位手部，设置为默认值 + if (i == LEFT_HAND) { + homes[i] = HAND_HOME_POSITION; + } else { // RIGHT_HAND + homes[i] = 180 - HAND_HOME_POSITION; // 右手镜像位置 + } + } else { + // 如果不需要复位手部，保持当前位置 + homes[i] = servo_[i].GetPosition(); + } + } else { + // 腿部和脚部舵机始终复位 + homes[i] = 90; + } + } + + MoveServos(500, homes); + is_otto_resting_ = true; + } + + vTaskDelay(pdMS_TO_TICKS(200)); +} + +bool Otto::GetRestState() { + return is_otto_resting_; +} + +void Otto::SetRestState(bool state) { + is_otto_resting_ = state; +} + +/////////////////////////////////////////////////////////////////// +//-- PREDETERMINED MOTION SEQUENCES -----------------------------// +/////////////////////////////////////////////////////////////////// +//-- Otto movement: Jump +//-- Parameters: +//-- steps: Number of steps +//-- T: Period +//--------------------------------------------------------- +void Otto::Jump(float steps, int period) { + int up[SERVO_COUNT] = {90, 90, 150, 30, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + MoveServos(period, up); + int down[SERVO_COUNT] = {90, 90, 90, 90, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + MoveServos(period, down); +} + +//--------------------------------------------------------- +//-- Otto gait: Walking (forward or backward) +//-- Parameters: +//-- * steps: Number of steps +//-- * T : Period +//-- * Dir: Direction: FORWARD / BACKWARD +//-- * amount: 手部摆动幅度, 0表示不摆动 +//--------------------------------------------------------- +void Otto::Walk(float steps, int period, int dir, int amount) { + //-- Oscillator parameters for walking + //-- Hip sevos are in phase + //-- Feet servos are in phase + //-- Hip and feet are 90 degrees out of phase + //-- -90 : Walk forward + //-- 90 : Walk backward + //-- Feet servos also have the same offset (for tiptoe a little bit) + int A[SERVO_COUNT] = {30, 30, 30, 30, 0, 0}; + int O[SERVO_COUNT] = {0, 0, 5, -5, HAND_HOME_POSITION - 90, HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {0, 0, DEG2RAD(dir * -90), DEG2RAD(dir * -90), 0, 0}; + + // 如果amount>0且有手部舵机，设置手部振幅和相位 + if (amount > 0 && has_hands_) { + // 手臂振幅使用传入的amount参数 + A[LEFT_HAND] = amount; + A[RIGHT_HAND] = amount; + + // 左手与右腿同相，右手与左腿同相，使得机器人走路时手臂自然摆动 + phase_diff[LEFT_HAND] = phase_diff[RIGHT_LEG]; // 左手与右腿同相 + phase_diff[RIGHT_HAND] = phase_diff[LEFT_LEG]; // 右手与左腿同相 + } else { + A[LEFT_HAND] = 0; + A[RIGHT_HAND] = 0; + } + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto gait: Turning (left or right) +//-- Parameters: +//-- * Steps: Number of steps +//-- * T: Period +//-- * Dir: Direction: LEFT / RIGHT +//-- * amount: 手部摆动幅度, 0表示不摆动 +//--------------------------------------------------------- +void Otto::Turn(float steps, int period, int dir, int amount) { + //-- Same coordination than for walking (see Otto::walk) + //-- The Amplitudes of the hip's oscillators are not igual + //-- When the right hip servo amplitude is higher, the steps taken by + //-- the right leg are bigger than the left. So, the robot describes an + //-- left arc + int A[SERVO_COUNT] = {30, 30, 30, 30, 0, 0}; + int O[SERVO_COUNT] = {0, 0, 5, -5, HAND_HOME_POSITION - 90, HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {0, 0, DEG2RAD(-90), DEG2RAD(-90), 0, 0}; + + if (dir == LEFT) { + A[0] = 30; //-- Left hip servo + A[1] = 0; //-- Right hip servo + } else { + A[0] = 0; + A[1] = 30; + } + + // 如果amount>0且有手部舵机，设置手部振幅和相位 + if (amount > 0 && has_hands_) { + // 手臂振幅使用传入的amount参数 + A[LEFT_HAND] = amount; + A[RIGHT_HAND] = amount; + + // 转向时手臂摆动相位：左手与左腿同相，右手与右腿同相，增强转向效果 + phase_diff[LEFT_HAND] = phase_diff[LEFT_LEG]; // 左手与左腿同相 + phase_diff[RIGHT_HAND] = phase_diff[RIGHT_LEG]; // 右手与右腿同相 + } else { + A[LEFT_HAND] = 0; + A[RIGHT_HAND] = 0; + } + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto gait: Lateral bend +//-- Parameters: +//-- steps: Number of bends +//-- T: Period of one bend +//-- dir: RIGHT=Right bend LEFT=Left bend +//--------------------------------------------------------- +void Otto::Bend(int steps, int period, int dir) { + // Parameters of all the movements. Default: Left bend + int bend1[SERVO_COUNT] = {90, 90, 62, 35, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int bend2[SERVO_COUNT] = {90, 90, 62, 105, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int homes[SERVO_COUNT] = {90, 90, 90, 90, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + + // Time of one bend, constrained in order to avoid movements too fast. + // T=max(T, 600); + // Changes in the parameters if right direction is chosen + if (dir == -1) { + bend1[2] = 180 - 35; + bend1[3] = 180 - 60; // Not 65. Otto is unbalanced + bend2[2] = 180 - 105; + bend2[3] = 180 - 60; + } + + // Time of the bend movement. Fixed parameter to avoid falls + int T2 = 800; + + // Bend movement + for (int i = 0; i < steps; i++) { + MoveServos(T2 / 2, bend1); + MoveServos(T2 / 2, bend2); + vTaskDelay(pdMS_TO_TICKS(period * 0.8)); + MoveServos(500, homes); + } +} + +//--------------------------------------------------------- +//-- Otto gait: Shake a leg +//-- Parameters: +//-- steps: Number of shakes +//-- T: Period of one shake +//-- dir: RIGHT=Right leg LEFT=Left leg +//--------------------------------------------------------- +void Otto::ShakeLeg(int steps, int period, int dir) { + // This variable change the amount of shakes + int numberLegMoves = 2; + + // Parameters of all the movements. Default: Right leg + int shake_leg1[SERVO_COUNT] = {90, 90, 58, 35, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int shake_leg2[SERVO_COUNT] = {90, 90, 58, 120, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int shake_leg3[SERVO_COUNT] = {90, 90, 58, 60, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int homes[SERVO_COUNT] = {90, 90, 90, 90, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + + // Changes in the parameters if left leg is chosen + if (dir == -1) { + shake_leg1[2] = 180 - 35; + shake_leg1[3] = 180 - 58; + shake_leg2[2] = 180 - 120; + shake_leg2[3] = 180 - 58; + shake_leg3[2] = 180 - 60; + shake_leg3[3] = 180 - 58; + } + + // Time of the bend movement. Fixed parameter to avoid falls + int T2 = 1000; + // Time of one shake, constrained in order to avoid movements too fast. + period = period - T2; + period = std::max(period, 200 * numberLegMoves); + + for (int j = 0; j < steps; j++) { + // Bend movement + MoveServos(T2 / 2, shake_leg1); + MoveServos(T2 / 2, shake_leg2); + + // Shake movement + for (int i = 0; i < numberLegMoves; i++) { + MoveServos(period / (2 * numberLegMoves), shake_leg3); + MoveServos(period / (2 * numberLegMoves), shake_leg2); + } + MoveServos(500, homes); // Return to home position + } + + vTaskDelay(pdMS_TO_TICKS(period)); +} + +//--------------------------------------------------------- +//-- Otto movement: up & down +//-- Parameters: +//-- * steps: Number of jumps +//-- * T: Period +//-- * h: Jump height: SMALL / MEDIUM / BIG +//-- (or a number in degrees 0 - 90) +//--------------------------------------------------------- +void Otto::UpDown(float steps, int period, int height) { + //-- Both feet are 180 degrees out of phase + //-- Feet amplitude and offset are the same + //-- Initial phase for the right foot is -90, so that it starts + //-- in one extreme position (not in the middle) + int A[SERVO_COUNT] = {0, 0, height, height, 0, 0}; + int O[SERVO_COUNT] = {0, 0, height, -height, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {0, 0, DEG2RAD(-90), DEG2RAD(90), 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto movement: swinging side to side +//-- Parameters: +//-- steps: Number of steps +//-- T : Period +//-- h : Amount of swing (from 0 to 50 aprox) +//--------------------------------------------------------- +void Otto::Swing(float steps, int period, int height) { + //-- Both feets are in phase. The offset is half the amplitude + //-- It causes the robot to swing from side to side + int A[SERVO_COUNT] = {0, 0, height, height, 0, 0}; + int O[SERVO_COUNT] = { + 0, 0, height / 2, -height / 2, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {0, 0, DEG2RAD(0), DEG2RAD(0), 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto movement: swinging side to side without touching the floor with the heel +//-- Parameters: +//-- steps: Number of steps +//-- T : Period +//-- h : Amount of swing (from 0 to 50 aprox) +//--------------------------------------------------------- +void Otto::TiptoeSwing(float steps, int period, int height) { + //-- Both feets are in phase. The offset is not half the amplitude in order to tiptoe + //-- It causes the robot to swing from side to side + int A[SERVO_COUNT] = {0, 0, height, height, 0, 0}; + int O[SERVO_COUNT] = {0, 0, height, -height, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {0, 0, 0, 0, 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto gait: Jitter +//-- Parameters: +//-- steps: Number of jitters +//-- T: Period of one jitter +//-- h: height (Values between 5 - 25) +//--------------------------------------------------------- +void Otto::Jitter(float steps, int period, int height) { + //-- Both feet are 180 degrees out of phase + //-- Feet amplitude and offset are the same + //-- Initial phase for the right foot is -90, so that it starts + //-- in one extreme position (not in the middle) + //-- h is constrained to avoid hit the feets + height = std::min(25, height); + int A[SERVO_COUNT] = {height, height, 0, 0, 0, 0}; + int O[SERVO_COUNT] = {0, 0, 0, 0, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {DEG2RAD(-90), DEG2RAD(90), 0, 0, 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto gait: Ascending & turn (Jitter while up&down) +//-- Parameters: +//-- steps: Number of bends +//-- T: Period of one bend +//-- h: height (Values between 5 - 15) +//--------------------------------------------------------- +void Otto::AscendingTurn(float steps, int period, int height) { + //-- Both feet and legs are 180 degrees out of phase + //-- Initial phase for the right foot is -90, so that it starts + //-- in one extreme position (not in the middle) + //-- h is constrained to avoid hit the feets + height = std::min(13, height); + int A[SERVO_COUNT] = {height, height, height, height, 0, 0}; + int O[SERVO_COUNT] = { + 0, 0, height + 4, -height + 4, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {DEG2RAD(-90), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(90), 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto gait: Moonwalker. Otto moves like Michael Jackson +//-- Parameters: +//-- Steps: Number of steps +//-- T: Period +//-- h: Height. Typical valures between 15 and 40 +//-- dir: Direction: LEFT / RIGHT +//--------------------------------------------------------- +void Otto::Moonwalker(float steps, int period, int height, int dir) { + //-- This motion is similar to that of the caterpillar robots: A travelling + //-- wave moving from one side to another + //-- The two Otto's feet are equivalent to a minimal configuration. It is known + //-- that 2 servos can move like a worm if they are 120 degrees out of phase + //-- In the example of Otto, the two feet are mirrored so that we have: + //-- 180 - 120 = 60 degrees. The actual phase difference given to the oscillators + //-- is 60 degrees. + //-- Both amplitudes are equal. The offset is half the amplitud plus a little bit of + //- offset so that the robot tiptoe lightly + + int A[SERVO_COUNT] = {0, 0, height, height, 0, 0}; + int O[SERVO_COUNT] = { + 0, 0, height / 2 + 2, -height / 2 - 2, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int phi = -dir * 90; + double phase_diff[SERVO_COUNT] = {0, 0, DEG2RAD(phi), DEG2RAD(-60 * dir + phi), 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//---------------------------------------------------------- +//-- Otto gait: Crusaito. A mixture between moonwalker and walk +//-- Parameters: +//-- steps: Number of steps +//-- T: Period +//-- h: height (Values between 20 - 50) +//-- dir: Direction: LEFT / RIGHT +//----------------------------------------------------------- +void Otto::Crusaito(float steps, int period, int height, int dir) { + int A[SERVO_COUNT] = {25, 25, height, height, 0, 0}; + int O[SERVO_COUNT] = { + 0, 0, height / 2 + 4, -height / 2 - 4, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = {90, 90, DEG2RAD(0), DEG2RAD(-60 * dir), 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- Otto gait: Flapping +//-- Parameters: +//-- steps: Number of steps +//-- T: Period +//-- h: height (Values between 10 - 30) +//-- dir: direction: FOREWARD, BACKWARD +//--------------------------------------------------------- +void Otto::Flapping(float steps, int period, int height, int dir) { + int A[SERVO_COUNT] = {12, 12, height, height, 0, 0}; + int O[SERVO_COUNT] = { + 0, 0, height - 10, -height + 10, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + double phase_diff[SERVO_COUNT] = { + DEG2RAD(0), DEG2RAD(180), DEG2RAD(-90 * dir), DEG2RAD(90 * dir), 0, 0}; + + //-- Let's oscillate the servos! + Execute(A, O, period, phase_diff, steps); +} + +//--------------------------------------------------------- +//-- 手部动作: 举手 +//-- Parameters: +//-- period: 动作时间 +//-- dir: 方向 1=左手, -1=右手, 0=双手 +//--------------------------------------------------------- +void Otto::HandsUp(int period, int dir) { + if (!has_hands_) { + return; + } + + int initial[SERVO_COUNT] = {90, 90, 90, 90, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + int target[SERVO_COUNT] = {90, 90, 90, 90, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + + if (dir == 0) { + target[LEFT_HAND] = 170; + target[RIGHT_HAND] = 10; + } else if (dir == 1) { + target[LEFT_HAND] = 170; + target[RIGHT_HAND] = servo_[RIGHT_HAND].GetPosition(); + } else if (dir == -1) { + target[RIGHT_HAND] = 10; + target[LEFT_HAND] = servo_[LEFT_HAND].GetPosition(); + } + + MoveServos(period, target); +} + +//--------------------------------------------------------- +//-- 手部动作: 双手放下 +//-- Parameters: +//-- period: 动作时间 +//-- dir: 方向 1=左手, -1=右手, 0=双手 +//--------------------------------------------------------- +void Otto::HandsDown(int period, int dir) { + if (!has_hands_) { + return; + } + + int target[SERVO_COUNT] = {90, 90, 90, 90, HAND_HOME_POSITION, 180 - HAND_HOME_POSITION}; + + if (dir == 1) { + target[RIGHT_HAND] = servo_[RIGHT_HAND].GetPosition(); + } else if (dir == -1) { + target[LEFT_HAND] = servo_[LEFT_HAND].GetPosition(); + } + + MoveServos(period, target); +} + +//--------------------------------------------------------- +//-- 手部动作: 挥手 +//-- Parameters: +//-- period: 动作周期 +//-- dir: 方向 LEFT/RIGHT/BOTH +//--------------------------------------------------------- +void Otto::HandWave(int period, int dir) { + if (!has_hands_) { + return; + } + + if (dir == BOTH) { + HandWaveBoth(period); + return; + } + + int servo_index = (dir == LEFT) ? LEFT_HAND : RIGHT_HAND; + + int current_positions[SERVO_COUNT]; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + current_positions[i] = servo_[i].GetPosition(); + } else { + current_positions[i] = 90; + } + } + + int position; + if (servo_index == LEFT_HAND) { + position = 170; + } else { + position = 10; + } + + current_positions[servo_index] = position; + MoveServos(300, current_positions); + vTaskDelay(pdMS_TO_TICKS(300)); + + // 左右摆动5次 + for (int i = 0; i < 5; i++) { + if (servo_index == LEFT_HAND) { + current_positions[servo_index] = position - 30; + MoveServos(period / 10, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 10)); + current_positions[servo_index] = position + 30; + MoveServos(period / 10, current_positions); + } else { + current_positions[servo_index] = position + 30; + MoveServos(period / 10, current_positions); + vTaskDelay(pdMS_TO_TICKS(period / 10)); + current_positions[servo_index] = position - 30; + MoveServos(period / 10, current_positions); + } + vTaskDelay(pdMS_TO_TICKS(period / 10)); + } + + if (servo_index == LEFT_HAND) { + current_positions[servo_index] = HAND_HOME_POSITION; + } else { + current_positions[servo_index] = 180 - HAND_HOME_POSITION; + } + MoveServos(300, current_positions); +} + +//--------------------------------------------------------- +//-- 手部动作: 双手同时挥手 +//-- Parameters: +//-- period: 动作周期 +//--------------------------------------------------------- +void Otto::HandWaveBoth(int period) { + if (!has_hands_) { + return; + } + + int current_positions[SERVO_COUNT]; + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + current_positions[i] = servo_[i].GetPosition(); + } else { + current_positions[i] = 90; + } + } + + int left_position = 170; + int right_position = 10; + + current_positions[LEFT_HAND] = left_position; + current_positions[RIGHT_HAND] = right_position; + MoveServos(300, current_positions); + + // 左右摆动5次 + for (int i = 0; i < 5; i++) { + // 波浪向左 + current_positions[LEFT_HAND] = left_position - 30; + current_positions[RIGHT_HAND] = right_position + 30; + MoveServos(period / 10, current_positions); + + // 波浪向右 + current_positions[LEFT_HAND] = left_position + 30; + current_positions[RIGHT_HAND] = right_position - 30; + MoveServos(period / 10, current_positions); + } + + current_positions[LEFT_HAND] = HAND_HOME_POSITION; + current_positions[RIGHT_HAND] = 180 - HAND_HOME_POSITION; + MoveServos(300, current_positions); +} + +void Otto::EnableServoLimit(int diff_limit) { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].SetLimiter(diff_limit); + } + } +} + +void Otto::DisableServoLimit() { + for (int i = 0; i < SERVO_COUNT; i++) { + if (servo_pins_[i] != -1) { + servo_[i].DisableLimiter(); + } + } +} diff --git a/main/boards/otto-robot/otto_movements.h b/main/boards/otto-robot/otto_movements.h new file mode 100644 index 00000000..cab13a05 --- /dev/null +++ b/main/boards/otto-robot/otto_movements.h @@ -0,0 +1,105 @@ +#ifndef __OTTO_MOVEMENTS_H__ +#define __OTTO_MOVEMENTS_H__ + +#include "driver/gpio.h" +#include "esp_log.h" +#include "esp_timer.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "oscillator.h" + +//-- Constants +#define FORWARD 1 +#define BACKWARD -1 +#define LEFT 1 +#define RIGHT -1 +#define BOTH 0 +#define SMALL 5 +#define MEDIUM 15 +#define BIG 30 + +// -- Servo delta limit default. degree / sec +#define SERVO_LIMIT_DEFAULT 240 + +// -- Servo indexes for easy access +#define LEFT_LEG 0 +#define RIGHT_LEG 1 +#define LEFT_FOOT 2 +#define RIGHT_FOOT 3 +#define LEFT_HAND 4 +#define RIGHT_HAND 5 +#define SERVO_COUNT 6 + +class Otto { +public: + Otto(); + ~Otto(); + + //-- Otto initialization + void Init(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = -1, + int right_hand = -1); + //-- Attach & detach functions + void AttachServos(); + void DetachServos(); + + //-- Oscillator Trims + void SetTrims(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = 0, + int right_hand = 0); + + //-- Predetermined Motion Functions + void MoveServos(int time, int servo_target[]); + void MoveSingle(int position, int servo_number); + void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float cycle); + + //-- HOME = Otto at rest position + void Home(bool hands_down = true); + bool GetRestState(); + void SetRestState(bool state); + + //-- Predetermined Motion Functions + void Jump(float steps = 1, int period = 2000); + + void Walk(float steps = 4, int period = 1000, int dir = FORWARD, int amount = 0); + void Turn(float steps = 4, int period = 2000, int dir = LEFT, int amount = 0); + void Bend(int steps = 1, int period = 1400, int dir = LEFT); + void ShakeLeg(int steps = 1, int period = 2000, int dir = RIGHT); + + void UpDown(float steps = 1, int period = 1000, int height = 20); + void Swing(float steps = 1, int period = 1000, int height = 20); + void TiptoeSwing(float steps = 1, int period = 900, int height = 20); + void Jitter(float steps = 1, int period = 500, int height = 20); + void AscendingTurn(float steps = 1, int period = 900, int height = 20); + + void Moonwalker(float steps = 1, int period = 900, int height = 20, int dir = LEFT); + void Crusaito(float steps = 1, int period = 900, int height = 20, int dir = FORWARD); + void Flapping(float steps = 1, int period = 1000, int height = 20, int dir = FORWARD); + + // -- 手部动作 + void HandsUp(int period = 1000, int dir = 0); // 双手举起 + void HandsDown(int period = 1000, int dir = 0); // 双手放下 + void HandWave(int period = 1000, int dir = LEFT); // 挥手 + void HandWaveBoth(int period = 1000); // 双手同时挥手 + + // -- Servo limiter + void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT); + void DisableServoLimit(); + +private: + Oscillator servo_[SERVO_COUNT]; + + int servo_pins_[SERVO_COUNT]; + int servo_trim_[SERVO_COUNT]; + + unsigned long final_time_; + unsigned long partial_time_; + float increment_[SERVO_COUNT]; + + bool is_otto_resting_; + bool has_hands_; // 是否有手部舵机 + + void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period, + double phase_diff[SERVO_COUNT], float steps); +}; + +#endif // __OTTO_MOVEMENTS_H__ \ No newline at end of file diff --git a/main/boards/otto-robot/otto_robot.cc b/main/boards/otto-robot/otto_robot.cc new file mode 100644 index 00000000..62629da0 --- /dev/null +++ b/main/boards/otto-robot/otto_robot.cc @@ -0,0 +1,138 @@ +#include +#include +#include +#include +#include +#include +#include + +#include "application.h" +#include "audio_codecs/no_audio_codec.h" +#include "button.h" +#include "config.h" +#include "display/lcd_display.h" +#include "iot/thing_manager.h" +#include "lamp_controller.h" +#include "led/single_led.h" +#include "mcp_server.h" +#include "otto_emoji_display.h" +#include "power_manager.h" +#include "system_reset.h" +#include "wifi_board.h" + +#define TAG "OttoRobot" + +LV_FONT_DECLARE(font_puhui_16_4); +LV_FONT_DECLARE(font_awesome_16_4); + +extern void InitializeOttoController(); + +class OttoRobot : public WifiBoard { +private: + LcdDisplay* display_; + PowerManager* power_manager_; + Button boot_button_; + void InitializePowerManager() { + power_manager_ = + new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL); + } + + void InitializeSpi() { + spi_bus_config_t buscfg = {}; + buscfg.mosi_io_num = DISPLAY_MOSI_PIN; + buscfg.miso_io_num = GPIO_NUM_NC; + buscfg.sclk_io_num = DISPLAY_CLK_PIN; + buscfg.quadwp_io_num = GPIO_NUM_NC; + buscfg.quadhd_io_num = GPIO_NUM_NC; + buscfg.max_transfer_sz = DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t); + ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO)); + } + + void InitializeLcdDisplay() { + esp_lcd_panel_io_handle_t panel_io = nullptr; + esp_lcd_panel_handle_t panel = nullptr; + ESP_LOGD(TAG, "Install panel IO"); + esp_lcd_panel_io_spi_config_t io_config = {}; + io_config.cs_gpio_num = DISPLAY_CS_PIN; + io_config.dc_gpio_num = DISPLAY_DC_PIN; + io_config.spi_mode = DISPLAY_SPI_MODE; + io_config.pclk_hz = 40 * 1000 * 1000; + io_config.trans_queue_depth = 10; + io_config.lcd_cmd_bits = 8; + io_config.lcd_param_bits = 8; + ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &panel_io)); + + ESP_LOGD(TAG, "Install LCD driver"); + esp_lcd_panel_dev_config_t panel_config = {}; + panel_config.reset_gpio_num = DISPLAY_RST_PIN; + panel_config.rgb_ele_order = DISPLAY_RGB_ORDER; + panel_config.bits_per_pixel = 16; + + ESP_ERROR_CHECK(esp_lcd_new_panel_st7789(panel_io, &panel_config, &panel)); + + esp_lcd_panel_reset(panel); + + esp_lcd_panel_init(panel); + esp_lcd_panel_invert_color(panel, DISPLAY_INVERT_COLOR); + esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY); + esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y); + + display_ = new OttoEmojiDisplay( + panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, + DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY, + { + .text_font = &font_puhui_16_4, + .icon_font = &font_awesome_16_4, + .emoji_font = DISPLAY_HEIGHT >= 240 ? font_emoji_64_init() : font_emoji_32_init(), + }); + } + + void InitializeButtons() { + boot_button_.OnClick([this]() { + auto& app = Application::GetInstance(); + if (app.GetDeviceState() == kDeviceStateStarting && + !WifiStation::GetInstance().IsConnected()) { + ResetWifiConfiguration(); + } + app.ToggleChatState(); + }); + } + + void InitializeOttoController() { + ESP_LOGI(TAG, "初始化Otto机器人MCP控制器"); + ::InitializeOttoController(); + } + +public: + OttoRobot() : boot_button_(BOOT_BUTTON_GPIO) { + InitializeSpi(); + InitializeLcdDisplay(); + InitializeButtons(); + InitializePowerManager(); + InitializeOttoController(); + GetBacklight()->RestoreBrightness(); + } + + virtual AudioCodec* GetAudioCodec() override { + static NoAudioCodecSimplex audio_codec(AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE, + AUDIO_I2S_SPK_GPIO_BCLK, AUDIO_I2S_SPK_GPIO_LRCK, + AUDIO_I2S_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK, + AUDIO_I2S_MIC_GPIO_WS, AUDIO_I2S_MIC_GPIO_DIN); + return &audio_codec; + } + + virtual Display* GetDisplay() override { return display_; } + + virtual Backlight* GetBacklight() override { + static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT); + return &backlight; + } + virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override { + charging = power_manager_->IsCharging(); + discharging = !charging; + level = power_manager_->GetBatteryLevel(); + return true; + } +}; + +DECLARE_BOARD(OttoRobot); diff --git a/main/boards/otto-robot/power_manager.h b/main/boards/otto-robot/power_manager.h new file mode 100644 index 00000000..13d8ff3b --- /dev/null +++ b/main/boards/otto-robot/power_manager.h @@ -0,0 +1,128 @@ +#ifndef __POWER_MANAGER_H__ +#define __POWER_MANAGER_H__ + +#include +#include +#include +#include + +class PowerManager { +private: + // 电池电量区间-分压电阻为2个100k + static constexpr struct { + uint16_t adc; + uint8_t level; + } BATTERY_LEVELS[] = {{2150, 0}, {2450, 100}}; + static constexpr size_t BATTERY_LEVELS_COUNT = 2; + static constexpr size_t ADC_VALUES_COUNT = 10; + + esp_timer_handle_t timer_handle_ = nullptr; + gpio_num_t charging_pin_; + adc_unit_t adc_unit_; + adc_channel_t adc_channel_; + uint16_t adc_values_[ADC_VALUES_COUNT]; + size_t adc_values_index_ = 0; + size_t adc_values_count_ = 0; + uint8_t battery_level_ = 100; + bool is_charging_ = false; + + adc_oneshot_unit_handle_t adc_handle_; + + void CheckBatteryStatus() { + is_charging_ = gpio_get_level(charging_pin_) == 0; + ReadBatteryAdcData(); + } + + void ReadBatteryAdcData() { + int adc_value; + ESP_ERROR_CHECK(adc_oneshot_read(adc_handle_, adc_channel_, &adc_value)); + + adc_values_[adc_values_index_] = adc_value; + adc_values_index_ = (adc_values_index_ + 1) % ADC_VALUES_COUNT; + if (adc_values_count_ < ADC_VALUES_COUNT) { + adc_values_count_++; + } + + uint32_t average_adc = 0; + for (size_t i = 0; i < adc_values_count_; i++) { + average_adc += adc_values_[i]; + } + average_adc /= adc_values_count_; + + CalculateBatteryLevel(average_adc); + + // ESP_LOGI("PowerManager", "ADC值: %d 平均值: %ld 电量: %u%%", adc_value, average_adc, + // battery_level_); + } + + void CalculateBatteryLevel(uint32_t average_adc) { + if (average_adc <= BATTERY_LEVELS[0].adc) { + battery_level_ = 0; + } else if (average_adc >= BATTERY_LEVELS[BATTERY_LEVELS_COUNT - 1].adc) { + battery_level_ = 100; + } else { + float ratio = static_cast(average_adc - BATTERY_LEVELS[0].adc) / + (BATTERY_LEVELS[1].adc - BATTERY_LEVELS[0].adc); + battery_level_ = ratio * 100; + } + } + +public: + PowerManager(gpio_num_t charging_pin, adc_unit_t adc_unit = ADC_UNIT_2, + adc_channel_t adc_channel = ADC_CHANNEL_3) + : charging_pin_(charging_pin), adc_unit_(adc_unit), adc_channel_(adc_channel) { + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pin_bit_mask = (1ULL << charging_pin_); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + gpio_config(&io_conf); + + esp_timer_create_args_t timer_args = { + .callback = + [](void* arg) { + PowerManager* self = static_cast(arg); + self->CheckBatteryStatus(); + }, + .arg = this, + .dispatch_method = ESP_TIMER_TASK, + .name = "battery_check_timer", + .skip_unhandled_events = true, + }; + ESP_ERROR_CHECK(esp_timer_create(&timer_args, &timer_handle_)); + ESP_ERROR_CHECK(esp_timer_start_periodic(timer_handle_, 1000000)); // 1秒 + + InitializeAdc(); + } + + void InitializeAdc() { + adc_oneshot_unit_init_cfg_t init_config = { + .unit_id = adc_unit_, + .ulp_mode = ADC_ULP_MODE_DISABLE, + }; + ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_)); + + adc_oneshot_chan_cfg_t chan_config = { + .atten = ADC_ATTEN_DB_12, + .bitwidth = ADC_BITWIDTH_12, + }; + + ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config)); + } + + ~PowerManager() { + if (timer_handle_) { + esp_timer_stop(timer_handle_); + esp_timer_delete(timer_handle_); + } + if (adc_handle_) { + adc_oneshot_del_unit(adc_handle_); + } + } + + bool IsCharging() { return is_charging_; } + + uint8_t GetBatteryLevel() { return battery_level_; } +}; +#endif // __POWER_MANAGER_H__ \ No newline at end of file diff --git a/main/idf_component.yml b/main/idf_component.yml index f86cbd3f..aecfa608 100644 --- a/main/idf_component.yml +++ b/main/idf_component.yml @@ -31,6 +31,7 @@ dependencies: espressif2022/image_player: ^1.1.0 espressif/adc_mic: ^0.2.0 espressif/esp_mmap_assets: ">=1.2" + txp666/otto-emoji-gif-component: ~1.0.2 tny-robotics/sh1106-esp-idf: version: ^1.0.0