feat: Add ESP SparkBot tracked chassis Support (#144)

* feat: Add ESP SparkBot tracked chassis Support

* feat: remove chassis.cc file to esp-sparkbot

---------

Co-authored-by: Liu Ruichao <liuruichao@espressif.com>
Co-authored-by: Xiaoxia <terrence@tenclass.com>

main/boards/esp-sparkbot/chassis.cc

@@ -0,0 +1,98 @@
+/*
+    ESP-SparkBot 的底座
+    https://gitee.com/esp-friends/esp_sparkbot/tree/master/example/tank/c2_tracked_chassis
+*/
+
+#include "sdkconfig.h"
+#include "iot/thing.h"
+#include "board.h"
+
+#include <driver/gpio.h>
+#include <driver/uart.h>
+#include <esp_log.h>
+#include <cstring>
+
+#include "boards/esp-sparkbot/config.h"
+
+#define TAG "Chassis"
+
+namespace iot {
+
+class Chassis : public Thing {
+private:
+    light_mode_t light_mode_ = LIGHT_MODE_ALWAYS_ON;
+
+    void SendUartMessage(const char * command_str) {
+        uint8_t len = strlen(command_str);
+        uart_write_bytes(ECHO_UART_PORT_NUM, command_str, len);
+        ESP_LOGI(TAG, "Sent command: %s", command_str);
+    }
+
+    void InitializeEchoUart() {
+        uart_config_t uart_config = {
+            .baud_rate = ECHO_UART_BAUD_RATE,
+            .data_bits = UART_DATA_8_BITS,
+            .parity    = UART_PARITY_DISABLE,
+            .stop_bits = UART_STOP_BITS_1,
+            .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+            .source_clk = UART_SCLK_DEFAULT,
+        };
+        int intr_alloc_flags = 0;
+
+        ESP_ERROR_CHECK(uart_driver_install(ECHO_UART_PORT_NUM, BUF_SIZE * 2, 0, 0, NULL, intr_alloc_flags));
+        ESP_ERROR_CHECK(uart_param_config(ECHO_UART_PORT_NUM, &uart_config));
+        ESP_ERROR_CHECK(uart_set_pin(ECHO_UART_PORT_NUM, UART_ECHO_TXD, UART_ECHO_RXD, UART_ECHO_RTS, UART_ECHO_CTS));
+
+        SendUartMessage("w2");
+    }
+
+public:
+    Chassis() : Thing("Chassis", "小机器人的底座：有履带可以移动；可以调整灯光效果"), light_mode_(LIGHT_MODE_ALWAYS_ON) {
+        InitializeEchoUart();
+
+        // 定义设备的属性
+        properties_.AddNumberProperty("light_mode", "灯光效果编号", [this]() -> int {
+            return (light_mode_ - 2 <= 0) ? 1 : light_mode_ - 2;
+        });
+
+        // 定义设备可以被远程执行的指令
+        methods_.AddMethod("GoForward", "向前走", ParameterList(), [this](const ParameterList& parameters) {
+            SendUartMessage("x0.0 y1.0");
+        });
+
+        methods_.AddMethod("GoBack", "向后退", ParameterList(), [this](const ParameterList& parameters) {
+            SendUartMessage("x0.0 y-1.0");
+        });
+
+        methods_.AddMethod("TurnLeft", "向左转", ParameterList(), [this](const ParameterList& parameters) {
+            SendUartMessage("x-1.0 y0.0");
+        });
+
+        methods_.AddMethod("TurnRight", "向右转", ParameterList(), [this](const ParameterList& parameters) {
+            SendUartMessage("x1.0 y0.0");
+        });
+
+        methods_.AddMethod("Dance", "跳舞", ParameterList(), [this](const ParameterList& parameters) {
+            SendUartMessage("d1");
+            light_mode_ = LIGHT_MODE_MAX;
+        });
+
+        methods_.AddMethod("SwitchLightMode", "打开灯", ParameterList({
+            Parameter("lightmode", "1到6之间的整数", kValueTypeNumber, true)
+        }), [this](const ParameterList& parameters) {
+            char command_str[5] = {'w', 0, 0};
+            char mode = static_cast<char>(parameters["lightmode"].number()) + 2;
+
+            ESP_LOGI(TAG, "Input Light Mode: %c", (mode + '0'));
+
+            if (mode >= 3 && mode <= 8) {
+                command_str[1] = mode + '0';
+                SendUartMessage(command_str);
+            }
+        });
+    }
+};
+
+} // namespace iot
+
+DECLARE_THING(Chassis);

main/boards/esp-sparkbot/config.h

@@ -2,6 +2,7 @@
 #define _BOARD_CONFIG_H_
 
 #include <driver/gpio.h>
+#include <driver/uart.h>
 
 #define AUDIO_INPUT_SAMPLE_RATE  16000
 #define AUDIO_OUTPUT_SAMPLE_RATE 16000
@@ -42,5 +43,31 @@
 #define DISPLAY_BACKLIGHT_PIN GPIO_NUM_46
 #define DISPLAY_BACKLIGHT_OUTPUT_INVERT false
 
+#define UART_ECHO_TXD GPIO_NUM_38
+#define UART_ECHO_RXD GPIO_NUM_48
+#define UART_ECHO_RTS (-1)
+#define UART_ECHO_CTS (-1)
+
+#define MOTOR_SPEED_MAX 100
+#define MOTOR_SPEED_80  80
+#define MOTOR_SPEED_60  60
+#define MOTOR_SPEED_MIN 0
+
+#define ECHO_UART_PORT_NUM      UART_NUM_1
+#define ECHO_UART_BAUD_RATE     (115200)
+#define BUF_SIZE                (1024)
+
+typedef enum {
+    LIGHT_MODE_CHARGING_BREATH = 0,
+    LIGHT_MODE_POWER_LOW,
+    LIGHT_MODE_ALWAYS_ON,
+    LIGHT_MODE_BLINK,
+    LIGHT_MODE_WHITE_BREATH_SLOW,
+    LIGHT_MODE_WHITE_BREATH_FAST,
+    LIGHT_MODE_FLOWING,
+    LIGHT_MODE_SHOW,
+    LIGHT_MODE_SLEEP,
+    LIGHT_MODE_MAX
+} light_mode_t;
 
 #endif // _BOARD_CONFIG_H_

main/boards/esp-sparkbot/esp_sparkbot_board.cc

@@ -127,6 +127,7 @@ private:
         auto& thing_manager = iot::ThingManager::GetInstance();
         thing_manager.AddThing(iot::CreateThing("Speaker"));
         thing_manager.AddThing(iot::CreateThing("Backlight"));
+        thing_manager.AddThing(iot::CreateThing("Chassis"));
     }
 
 public: