forked from xiaozhi/xiaozhi-esp32
7435c98609
* 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 * fix(ota): 修复 ottoRobot和electronBot OTA 升级崩溃问题 bug * 1.增加robot舵机初始位置校准 2.fix(mcp_sever) 超出范围异常捕获类型 bug
494 lines
25 KiB
C++
494 lines
25 KiB
C++
/*
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Otto机器人控制器 - MCP协议版本
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*/
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#include <cJSON.h>
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#include <esp_log.h>
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#include <cstring>
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#include "application.h"
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#include "board.h"
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#include "config.h"
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#include "mcp_server.h"
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#include "otto_movements.h"
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#include "sdkconfig.h"
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#include "settings.h"
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#define TAG "OttoController"
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class OttoController {
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private:
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Otto otto_;
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TaskHandle_t action_task_handle_ = nullptr;
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QueueHandle_t action_queue_;
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bool has_hands_ = false;
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bool is_action_in_progress_ = false;
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struct OttoActionParams {
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int action_type;
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int steps;
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int speed;
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int direction;
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int amount;
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};
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enum ActionType {
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ACTION_WALK = 1,
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ACTION_TURN = 2,
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ACTION_JUMP = 3,
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ACTION_SWING = 4,
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ACTION_MOONWALK = 5,
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ACTION_BEND = 6,
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ACTION_SHAKE_LEG = 7,
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ACTION_UPDOWN = 8,
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ACTION_TIPTOE_SWING = 9,
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ACTION_JITTER = 10,
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ACTION_ASCENDING_TURN = 11,
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ACTION_CRUSAITO = 12,
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ACTION_FLAPPING = 13,
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ACTION_HANDS_UP = 14,
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ACTION_HANDS_DOWN = 15,
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ACTION_HAND_WAVE = 16,
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ACTION_HOME = 17
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};
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static void ActionTask(void* arg) {
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OttoController* controller = static_cast<OttoController*>(arg);
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OttoActionParams params;
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controller->otto_.AttachServos();
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while (true) {
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if (xQueueReceive(controller->action_queue_, ¶ms, pdMS_TO_TICKS(1000)) == pdTRUE) {
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ESP_LOGI(TAG, "执行动作: %d", params.action_type);
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controller->is_action_in_progress_ = true;
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switch (params.action_type) {
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case ACTION_WALK:
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controller->otto_.Walk(params.steps, params.speed, params.direction,
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params.amount);
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break;
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case ACTION_TURN:
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controller->otto_.Turn(params.steps, params.speed, params.direction,
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params.amount);
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break;
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case ACTION_JUMP:
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controller->otto_.Jump(params.steps, params.speed);
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break;
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case ACTION_SWING:
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controller->otto_.Swing(params.steps, params.speed, params.amount);
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break;
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case ACTION_MOONWALK:
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controller->otto_.Moonwalker(params.steps, params.speed, params.amount,
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params.direction);
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break;
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case ACTION_BEND:
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controller->otto_.Bend(params.steps, params.speed, params.direction);
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break;
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case ACTION_SHAKE_LEG:
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controller->otto_.ShakeLeg(params.steps, params.speed, params.direction);
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break;
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case ACTION_UPDOWN:
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controller->otto_.UpDown(params.steps, params.speed, params.amount);
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break;
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case ACTION_TIPTOE_SWING:
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controller->otto_.TiptoeSwing(params.steps, params.speed, params.amount);
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break;
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case ACTION_JITTER:
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controller->otto_.Jitter(params.steps, params.speed, params.amount);
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break;
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case ACTION_ASCENDING_TURN:
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controller->otto_.AscendingTurn(params.steps, params.speed, params.amount);
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break;
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case ACTION_CRUSAITO:
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controller->otto_.Crusaito(params.steps, params.speed, params.amount,
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params.direction);
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break;
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case ACTION_FLAPPING:
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controller->otto_.Flapping(params.steps, params.speed, params.amount,
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params.direction);
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break;
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case ACTION_HANDS_UP:
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if (controller->has_hands_) {
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controller->otto_.HandsUp(params.speed, params.direction);
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}
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break;
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case ACTION_HANDS_DOWN:
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if (controller->has_hands_) {
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controller->otto_.HandsDown(params.speed, params.direction);
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}
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break;
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case ACTION_HAND_WAVE:
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if (controller->has_hands_) {
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controller->otto_.HandWave(params.speed, params.direction);
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}
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break;
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case ACTION_HOME:
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controller->otto_.Home(params.direction == 1);
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break;
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}
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if (params.action_type != ACTION_HOME) {
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controller->otto_.Home(params.action_type < ACTION_HANDS_UP);
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}
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controller->is_action_in_progress_ = false;
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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}
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}
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void StartActionTaskIfNeeded() {
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if (action_task_handle_ == nullptr) {
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xTaskCreate(ActionTask, "otto_action", 1024 * 3, this, configMAX_PRIORITIES - 1,
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&action_task_handle_);
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}
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}
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void QueueAction(int action_type, int steps, int speed, int direction, int amount) {
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// 检查手部动作
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if ((action_type >= ACTION_HANDS_UP && action_type <= ACTION_HAND_WAVE) && !has_hands_) {
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ESP_LOGW(TAG, "尝试执行手部动作，但机器人没有配置手部舵机");
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return;
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}
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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,
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speed, direction, amount);
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OttoActionParams params = {action_type, steps, speed, direction, amount};
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xQueueSend(action_queue_, ¶ms, portMAX_DELAY);
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StartActionTaskIfNeeded();
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}
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void LoadTrimsFromNVS() {
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Settings settings("otto_trims", false);
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int left_leg = settings.GetInt("left_leg", 0);
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int right_leg = settings.GetInt("right_leg", 0);
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int left_foot = settings.GetInt("left_foot", 0);
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int right_foot = settings.GetInt("right_foot", 0);
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int left_hand = settings.GetInt("left_hand", 0);
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int right_hand = settings.GetInt("right_hand", 0);
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ESP_LOGI(TAG, "从NVS加载微调设置: 左腿=%d, 右腿=%d, 左脚=%d, 右脚=%d, 左手=%d, 右手=%d",
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left_leg, right_leg, left_foot, right_foot, left_hand, right_hand);
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otto_.SetTrims(left_leg, right_leg, left_foot, right_foot, left_hand, right_hand);
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}
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public:
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OttoController() {
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otto_.Init(LEFT_LEG_PIN, RIGHT_LEG_PIN, LEFT_FOOT_PIN, RIGHT_FOOT_PIN, LEFT_HAND_PIN,
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RIGHT_HAND_PIN);
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has_hands_ = (LEFT_HAND_PIN != -1 && RIGHT_HAND_PIN != -1);
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ESP_LOGI(TAG, "Otto机器人初始化%s手部舵机", has_hands_ ? "带" : "不带");
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LoadTrimsFromNVS();
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action_queue_ = xQueueCreate(10, sizeof(OttoActionParams));
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QueueAction(ACTION_HOME, 1, 1000, 1, 0); // direction=1表示复位手部
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RegisterMcpTools();
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}
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void RegisterMcpTools() {
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auto& mcp_server = McpServer::GetInstance();
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ESP_LOGI(TAG, "开始注册MCP工具...");
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// 基础移动动作
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mcp_server.AddTool("self.otto.walk_forward",
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"行走。steps: 行走步数(1-100); speed: 行走速度(500-1500，数值越小越快); "
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"direction: 行走方向(-1=后退, 1=前进); arm_swing: 手臂摆动幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("arm_swing", kPropertyTypeInteger, 50, 0, 170),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int arm_swing = properties["arm_swing"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_WALK, steps, speed, direction, arm_swing);
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return true;
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});
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mcp_server.AddTool("self.otto.turn_left",
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"转身。steps: 转身步数(1-100); speed: 转身速度(500-1500，数值越小越快); "
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"direction: 转身方向(1=左转, -1=右转); arm_swing: 手臂摆动幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("arm_swing", kPropertyTypeInteger, 50, 0, 170),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int arm_swing = properties["arm_swing"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_TURN, steps, speed, direction, arm_swing);
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return true;
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});
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mcp_server.AddTool("self.otto.jump",
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"跳跃。steps: 跳跃次数(1-100); speed: 跳跃速度(500-1500，数值越小越快)",
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PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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QueueAction(ACTION_JUMP, steps, speed, 0, 0);
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return true;
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});
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// 特殊动作
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mcp_server.AddTool("self.otto.swing",
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"左右摇摆。steps: 摇摆次数(1-100); speed: "
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"摇摆速度(500-1500，数值越小越快); amount: 摇摆幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("amount", kPropertyTypeInteger, 30, 0, 170)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amount = properties["amount"].value<int>();
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QueueAction(ACTION_SWING, steps, speed, 0, amount);
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return true;
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});
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mcp_server.AddTool("self.otto.moonwalk",
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"太空步。steps: 太空步步数(1-100); speed: 速度(500-1500，数值越小越快); "
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"direction: 方向(1=左, -1=右); amount: 幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1),
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Property("amount", kPropertyTypeInteger, 25, 0, 170)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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int amount = properties["amount"].value<int>();
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QueueAction(ACTION_MOONWALK, steps, speed, direction, amount);
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return true;
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});
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mcp_server.AddTool("self.otto.bend",
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"弯曲身体。steps: 弯曲次数(1-100); speed: "
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"弯曲速度(500-1500，数值越小越快); direction: 弯曲方向(1=左, -1=右)",
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PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_BEND, steps, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.shake_leg",
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"摇腿。steps: 摇腿次数(1-100); speed: 摇腿速度(500-1500，数值越小越快); "
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"direction: 腿部选择(1=左腿, -1=右腿)",
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PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_SHAKE_LEG, steps, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.updown",
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"上下运动。steps: 上下运动次数(1-100); speed: "
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"运动速度(500-1500，数值越小越快); amount: 运动幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("amount", kPropertyTypeInteger, 20, 0, 170)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amount = properties["amount"].value<int>();
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QueueAction(ACTION_UPDOWN, steps, speed, 0, amount);
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return true;
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});
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// 手部动作（仅在有手部舵机时可用）
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if (has_hands_) {
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mcp_server.AddTool(
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"self.otto.hands_up",
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"举手。speed: 举手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, "
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"-1=右手, 0=双手)",
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PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_HANDS_UP, 1, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.hands_down",
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"放手。speed: 放手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, "
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"-1=右手, 0=双手)",
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PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_HANDS_DOWN, 1, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.hand_wave",
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"挥手。speed: 挥手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, "
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"-1=右手, 0=双手)",
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PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_HAND_WAVE, 1, speed, direction, 0);
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return true;
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});
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}
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// 系统工具
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mcp_server.AddTool("self.otto.stop", "立即停止", PropertyList(),
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[this](const PropertyList& properties) -> ReturnValue {
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if (action_task_handle_ != nullptr) {
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vTaskDelete(action_task_handle_);
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action_task_handle_ = nullptr;
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}
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is_action_in_progress_ = false;
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xQueueReset(action_queue_);
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QueueAction(ACTION_HOME, 1, 1000, 1, 0);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.set_trim",
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"校准单个舵机位置。设置指定舵机的微调参数以调整Otto的初始站立姿态，设置将永久保存。"
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"servo_type: 舵机类型(left_leg/right_leg/left_foot/right_foot/left_hand/right_hand); "
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"trim_value: 微调值(-50到50度)",
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PropertyList({Property("servo_type", kPropertyTypeString, "left_leg"),
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Property("trim_value", kPropertyTypeInteger, 0, -50, 50)}),
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[this](const PropertyList& properties) -> ReturnValue {
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std::string servo_type = properties["servo_type"].value<std::string>();
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int trim_value = properties["trim_value"].value<int>();
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ESP_LOGI(TAG, "设置舵机微调: %s = %d度", servo_type.c_str(), trim_value);
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// 获取当前所有微调值
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Settings settings("otto_trims", true);
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int left_leg = settings.GetInt("left_leg", 0);
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int right_leg = settings.GetInt("right_leg", 0);
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int left_foot = settings.GetInt("left_foot", 0);
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int right_foot = settings.GetInt("right_foot", 0);
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int left_hand = settings.GetInt("left_hand", 0);
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int right_hand = settings.GetInt("right_hand", 0);
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// 更新指定舵机的微调值
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if (servo_type == "left_leg") {
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left_leg = trim_value;
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settings.SetInt("left_leg", left_leg);
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} else if (servo_type == "right_leg") {
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right_leg = trim_value;
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settings.SetInt("right_leg", right_leg);
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} else if (servo_type == "left_foot") {
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left_foot = trim_value;
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settings.SetInt("left_foot", left_foot);
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} else if (servo_type == "right_foot") {
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right_foot = trim_value;
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settings.SetInt("right_foot", right_foot);
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} else if (servo_type == "left_hand") {
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if (!has_hands_) {
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return "错误：机器人没有配置手部舵机";
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}
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left_hand = trim_value;
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settings.SetInt("left_hand", left_hand);
|
||
} else if (servo_type == "right_hand") {
|
||
if (!has_hands_) {
|
||
return "错误：机器人没有配置手部舵机";
|
||
}
|
||
right_hand = trim_value;
|
||
settings.SetInt("right_hand", right_hand);
|
||
} else {
|
||
return "错误：无效的舵机类型，请使用: left_leg, right_leg, left_foot, "
|
||
"right_foot, left_hand, right_hand";
|
||
}
|
||
|
||
otto_.SetTrims(left_leg, right_leg, left_foot, right_foot, left_hand, right_hand);
|
||
|
||
QueueAction(ACTION_JUMP, 1, 500, 0, 0);
|
||
|
||
return "舵机 " + servo_type + " 微调设置为 " + std::to_string(trim_value) +
|
||
" 度，已永久保存";
|
||
});
|
||
|
||
mcp_server.AddTool("self.otto.get_trims", "获取当前的舵机微调设置", PropertyList(),
|
||
[this](const PropertyList& properties) -> ReturnValue {
|
||
Settings settings("otto_trims", false);
|
||
|
||
int left_leg = settings.GetInt("left_leg", 0);
|
||
int right_leg = settings.GetInt("right_leg", 0);
|
||
int left_foot = settings.GetInt("left_foot", 0);
|
||
int right_foot = settings.GetInt("right_foot", 0);
|
||
int left_hand = settings.GetInt("left_hand", 0);
|
||
int right_hand = settings.GetInt("right_hand", 0);
|
||
|
||
std::string result =
|
||
"{\"left_leg\":" + std::to_string(left_leg) +
|
||
",\"right_leg\":" + std::to_string(right_leg) +
|
||
",\"left_foot\":" + std::to_string(left_foot) +
|
||
",\"right_foot\":" + std::to_string(right_foot) +
|
||
",\"left_hand\":" + std::to_string(left_hand) +
|
||
",\"right_hand\":" + std::to_string(right_hand) + "}";
|
||
|
||
ESP_LOGI(TAG, "获取微调设置: %s", result.c_str());
|
||
return result;
|
||
});
|
||
|
||
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");
|
||
}
|
||
}
|