增加ottoRobot和electronBot的支持 (#757)

* 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

main/boards/electron-bot/power_manager.h

@@ -0,0 +1,128 @@
+#ifndef __POWER_MANAGER_H__
+#define __POWER_MANAGER_H__
+
+#include <driver/gpio.h>
+#include <esp_adc/adc_oneshot.h>
+#include <esp_log.h>
+#include <esp_timer.h>
+
+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<float>(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<PowerManager*>(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__