feat: add new board esp-hi (#666)

* feat: add new board esp-hi

* feat(esp-hi): update servo_dog_ctrl

---------

Co-authored-by: Li Junru <lijunru@espressif.com>
Co-authored-by: Xiaoxia <terrence@tenclass.com>

main/audio_processing/wake_word_no_afe.cc

@@ -0,0 +1,67 @@
+#include "wake_word_no_afe.h"
+#include "application.h"
+
+#include <esp_log.h>
+#include <model_path.h>
+#include <arpa/inet.h>
+#include <sstream>
+
+#define DETECTION_RUNNING_EVENT 1
+
+static const char* TAG = "WakeWordDetect";
+
+WakeWordDetect::WakeWordDetect() {
+    event_group_ = xEventGroupCreate();
+}
+
+WakeWordDetect::~WakeWordDetect() {
+    if (wakenet_data_ != nullptr) {
+        wakenet_iface_->destroy(wakenet_data_);
+        esp_srmodel_deinit(wakenet_model_);
+    }
+
+    vEventGroupDelete(event_group_);
+}
+
+void WakeWordDetect::Initialize(AudioCodec* codec) {
+    codec_ = codec;
+
+    wakenet_model_ = esp_srmodel_init("model");
+
+    if(wakenet_model_->num > 1) {
+        ESP_LOGW(TAG, "More than one model found, using the first one");
+    }
+    char *model_name = wakenet_model_->model_name[0];
+    wakenet_iface_ = (esp_wn_iface_t*)esp_wn_handle_from_name(model_name);
+    wakenet_data_ = wakenet_iface_->create(model_name, DET_MODE_95);
+
+    int frequency = wakenet_iface_->get_samp_rate(wakenet_data_);
+    int audio_chunksize = wakenet_iface_->get_samp_chunksize(wakenet_data_);
+    ESP_LOGI(TAG, "Wake word(%s),freq: %d, chunksize: %d", model_name, frequency, audio_chunksize);
+}
+
+void WakeWordDetect::StartDetection() {
+    xEventGroupSetBits(event_group_, DETECTION_RUNNING_EVENT);
+}
+
+void WakeWordDetect::StopDetection() {
+    xEventGroupClearBits(event_group_, DETECTION_RUNNING_EVENT);
+}
+
+bool WakeWordDetect::IsDetectionRunning() {
+    return xEventGroupGetBits(event_group_) & DETECTION_RUNNING_EVENT;
+}
+
+void WakeWordDetect::Feed(const std::vector<int16_t>& data) {
+    int res = wakenet_iface_->detect(wakenet_data_, (int16_t *)data.data());
+    if (res > 0) {
+        ESP_LOGI(TAG, "Wake word detected");
+        auto& app = Application::GetInstance();
+        app.ToggleChatState();
+    }
+}
+
+size_t WakeWordDetect::GetFeedSize() {
+
+    return wakenet_iface_->get_samp_chunksize(wakenet_data_) * codec_->input_channels();
+}

main/audio_processing/wake_word_no_afe.h

@@ -0,0 +1,42 @@
+#ifndef WAKE_WORD_DETECT_H
+#define WAKE_WORD_DETECT_H
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <freertos/event_groups.h>
+
+#include "model_path.h"
+#include "esp_wn_iface.h"
+#include "esp_wn_models.h"
+
+#include <list>
+#include <string>
+#include <vector>
+#include <functional>
+#include <mutex>
+#include <condition_variable>
+
+#include "audio_codec.h"
+#include <model_path.h>
+
+class WakeWordDetect {
+public:
+    WakeWordDetect();
+    ~WakeWordDetect();
+
+    void Initialize(AudioCodec* codec);
+    void Feed(const std::vector<int16_t>& data);
+    void StartDetection();
+    void StopDetection();
+    bool IsDetectionRunning();
+    size_t GetFeedSize();
+
+private:
+    esp_wn_iface_t *wakenet_iface_ = nullptr;
+    model_iface_data_t *wakenet_data_ = nullptr;
+    srmodel_list_t *wakenet_model_ = nullptr;
+    EventGroupHandle_t event_group_;
+    AudioCodec* codec_ = nullptr;
+};
+
+#endif