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/boards/esp-hi/dog_action_basic.cc

@@ -0,0 +1,75 @@
+#include "iot/thing.h"
+#include "board.h"
+#include "audio_codec.h"
+
+#include <driver/gpio.h>
+#include <esp_log.h>
+#include "servo_dog_ctrl.h"
+
+#define TAG "Message"
+
+namespace iot {
+
+class DogAction_basic : public Thing {
+private:
+    bool is_moving_ = false;
+
+    void InitializePlayer()
+    {
+        ESP_LOGI(TAG, "Dog action initialized");
+    }
+
+public:
+    DogAction_basic() : Thing("DogAction_basic", "机器人基础动作控制")
+    {
+        InitializePlayer();
+
+        // 定义设备的属性
+        properties_.AddBooleanProperty("is_moving", "机器人是否正在移动", [this]() -> bool {
+            return is_moving_;
+        });
+
+        // 定义设备可以被远程执行的指令
+        methods_.AddMethod("forward", "机器人向前移动", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            servo_dog_ctrl_send(DOG_STATE_FORWARD, NULL);
+        });
+
+        methods_.AddMethod("backward", "机器人向后移动", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            servo_dog_ctrl_send(DOG_STATE_BACKWARD, NULL);
+        });
+
+        methods_.AddMethod("sway_back_forth", "机器人做前后摇摆动作", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            servo_dog_ctrl_send(DOG_STATE_SWAY_BACK_FORTH, NULL);
+        });
+
+        methods_.AddMethod("turn_left", "机器人向左转", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            servo_dog_ctrl_send(DOG_STATE_TURN_LEFT, NULL);
+        });
+
+        methods_.AddMethod("turn_right", "机器人向右转", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            servo_dog_ctrl_send(DOG_STATE_TURN_RIGHT, NULL);
+        });
+
+        methods_.AddMethod("lay_down", "机器人趴下", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            servo_dog_ctrl_send(DOG_STATE_LAY_DOWN, NULL);
+        });
+
+        methods_.AddMethod("sway", "机器人做左右摇摆动作", ParameterList(), [this](const ParameterList & parameters) {
+            is_moving_ = true;
+            dog_action_args_t args = {
+                .repeat_count = 4,
+            };
+            servo_dog_ctrl_send(DOG_STATE_SWAY, &args);
+        });
+    }
+};
+
+} // namespace iot
+
+DECLARE_THING(DogAction_basic);