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增加ottoRobot和electronBot的支持 (#757)

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* otto v1.4.0 MCP

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

* otto v1.4.1 gif as components

gif as components

* electronBot v1.1.0 mcp

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

* 规范代码

1.规范代码
2.修复切换主题死机bug
This commit is contained in:
小鹏
2025-06-05 23:51:49 +08:00
committed by GitHub
parent 6d02b7724a
commit 7bb12f31f0
29 changed files with 3782 additions and 0 deletions
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main/boards/electron-bot/electron_bot_controller.cc Normal file
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/*
Electron Bot机器人控制器 - MCP协议版本
*/
#include <cJSON.h>
#include <esp_log.h>
#include <cstring>
#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<ElectronBotController*>(arg);
ElectronBotActionParams params;
controller->electron_bot_.AttachServos();
while (true) {
if (xQueueReceive(controller->action_queue_, &params, 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_, &params, 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>();
int hand_type = properties["hand"].value<int>();
int steps = properties["steps"].value<int>();
int speed = properties["speed"].value<int>();
int amount = properties["amount"].value<int>();
// 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>();
int speed = properties["speed"].value<int>();
int direction = properties["direction"].value<int>();
int amount = properties["angle"].value<int>();
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>();
int steps = properties["steps"].value<int>();
int speed = properties["speed"].value<int>();
int amount = properties["angle"].value<int>();
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");
}
}