devttl/xiaozhi-esp32
1
0
Fork 0
forked from xiaozhi/xiaozhi-esp32
Code Pull Requests Activity

增加ottoRobot和electronBot的支持 (#757)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

383
main/boards/otto-robot/otto_controller.cc Normal file
View File

@@ -0,0 +1,383 @@
/*
Otto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 "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<OttoController*>(arg);
OttoActionParams params;
controller->otto_.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;
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_, &params, 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>();
int speed = properties["speed"].value<int>();
int arm_swing = properties["arm_swing"].value<int>();
int direction = properties["direction"].value<int>();
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>();
int speed = properties["speed"].value<int>();
int arm_swing = properties["arm_swing"].value<int>();
int direction = properties["direction"].value<int>();
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>();
int speed = properties["speed"].value<int>();
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>();
int speed = properties["speed"].value<int>();
int amount = properties["amount"].value<int>();
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>();
int speed = properties["speed"].value<int>();
int direction = properties["direction"].value<int>();
int amount = properties["amount"].value<int>();
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>();
int speed = properties["speed"].value<int>();
int direction = properties["direction"].value<int>();
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>();
int speed = properties["speed"].value<int>();
int direction = properties["direction"].value<int>();
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>();
int speed = properties["speed"].value<int>();
int amount = properties["amount"].value<int>();
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>();
int direction = properties["direction"].value<int>();
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>();
int direction = properties["direction"].value<int>();
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>();
int direction = properties["direction"].value<int>();
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");
}
}