xiaozhi-esp32/main/boards/otto-robot/otto_robot.cc

#include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include <esp_lcd_panel_io.h>
#include <esp_lcd_panel_ops.h>
#include <esp_lcd_panel_vendor.h>
#include <esp_log.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <wifi_station.h>

#include "application.h"
#include "codecs/no_audio_codec.h"
#include "button.h"
#include "config.h"
#include "display/lcd_display.h"
#include "lamp_controller.h"
#include "led/single_led.h"
#include "mcp_server.h"
#include "otto_emoji_display.h"
#include "power_manager.h"
#include "system_reset.h"
#include "wifi_board.h"
#include "esp32_camera.h"
#include "websocket_control_server.h"

#define TAG "OttoRobot"

extern void InitializeOttoController();

class OttoRobot : public WifiBoard {
private:
    LcdDisplay* display_;
    PowerManager* power_manager_;
    Button boot_button_;
    WebSocketControlServer* ws_control_server_;
#if CONFIG_OTTO_ROBOT_USE_CAMERA
    i2c_master_bus_handle_t i2c_bus_;
    Esp32Camera *camera_;
#endif
    void InitializePowerManager() {
        power_manager_ =
            new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL);
    }

    void InitializeSpi() {
        spi_bus_config_t buscfg = {};
        buscfg.mosi_io_num = DISPLAY_MOSI_PIN;
        buscfg.miso_io_num = GPIO_NUM_NC;
        buscfg.sclk_io_num = DISPLAY_CLK_PIN;
        buscfg.quadwp_io_num = GPIO_NUM_NC;
        buscfg.quadhd_io_num = GPIO_NUM_NC;
        buscfg.max_transfer_sz = DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t);
        ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO));
    }

    void InitializeLcdDisplay() {
        esp_lcd_panel_io_handle_t panel_io = nullptr;
        esp_lcd_panel_handle_t panel = nullptr;
        ESP_LOGD(TAG, "Install panel IO");
        esp_lcd_panel_io_spi_config_t io_config = {};
        io_config.cs_gpio_num = DISPLAY_CS_PIN;
        io_config.dc_gpio_num = DISPLAY_DC_PIN;
        io_config.spi_mode = DISPLAY_SPI_MODE;
        io_config.pclk_hz = 40 * 1000 * 1000;
        io_config.trans_queue_depth = 10;
        io_config.lcd_cmd_bits = 8;
        io_config.lcd_param_bits = 8;
        ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &panel_io));

        ESP_LOGD(TAG, "Install LCD driver");
        esp_lcd_panel_dev_config_t panel_config = {};
        panel_config.reset_gpio_num = DISPLAY_RST_PIN;
        panel_config.rgb_ele_order = DISPLAY_RGB_ORDER;
        panel_config.bits_per_pixel = 16;

        ESP_ERROR_CHECK(esp_lcd_new_panel_st7789(panel_io, &panel_config, &panel));

        esp_lcd_panel_reset(panel);

        esp_lcd_panel_init(panel);
        esp_lcd_panel_invert_color(panel, DISPLAY_INVERT_COLOR);
        esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
        esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);

        display_ = new OttoEmojiDisplay(
            panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y,
            DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
    }

    void InitializeButtons() {
        boot_button_.OnClick([this]() {
            auto& app = Application::GetInstance();
            if (app.GetDeviceState() == kDeviceStateStarting &&
                !WifiStation::GetInstance().IsConnected()) {
                ResetWifiConfiguration();
            }
            app.ToggleChatState();
        });
    }

    void InitializeOttoController() {
        ESP_LOGI(TAG, "初始化Otto机器人MCP控制器");
        ::InitializeOttoController();
    }

    void InitializeWebSocketControlServer() {
        ESP_LOGI(TAG, "初始化WebSocket控制服务器");
        ws_control_server_ = new WebSocketControlServer();
        if (!ws_control_server_->Start(8080)) {
            ESP_LOGE(TAG, "Failed to start WebSocket control server");
            delete ws_control_server_;
            ws_control_server_ = nullptr;
        } else {
            ESP_LOGI(TAG, "WebSocket control server started on port 8080");
        }
    }

    void StartNetwork() override {
        WifiBoard::StartNetwork();
        vTaskDelay(pdMS_TO_TICKS(1000));
        
        InitializeWebSocketControlServer();
    }

#if CONFIG_OTTO_ROBOT_USE_CAMERA
    void InitializeI2c() {
        // Initialize I2C peripheral
        i2c_master_bus_config_t i2c_bus_cfg = {
            .i2c_port = I2C_NUM_0,
            .sda_io_num = I2C_SDA_PIN,
            .scl_io_num = I2C_SCL_PIN,
            .clk_source = I2C_CLK_SRC_DEFAULT,
            .glitch_ignore_cnt = 7,
            .intr_priority = 0,
            .trans_queue_depth = 0,
            .flags =
                {
                    .enable_internal_pullup = 1,
                },
        };
        ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
    }
    void InitializeCamera() {
        // DVP pin configuration
        static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
            .data_width = CAM_CTLR_DATA_WIDTH_8,
            .data_io = {
                [0] = CAMERA_D0,
                [1] = CAMERA_D1,
                [2] = CAMERA_D2,
                [3] = CAMERA_D3,
                [4] = CAMERA_D4,
                [5] = CAMERA_D5,
                [6] = CAMERA_D6,
                [7] = CAMERA_D7,
            },
            .vsync_io = CAMERA_VSYNC,
            .de_io = CAMERA_HSYNC,
            .pclk_io = CAMERA_PCLK,
            .xclk_io = CAMERA_XCLK,
        };

        // 复用 I2C 总线
        esp_video_init_sccb_config_t sccb_config = {
            .init_sccb = false,  // 不初始化新的 SCCB，使用现有的 I2C 总线
            .i2c_handle = i2c_bus_,  // 使用现有的 I2C 总线句柄
            .freq = 100000,  // 100kHz
        };

        // DVP configuration
        esp_video_init_dvp_config_t dvp_config = {
            .sccb_config = sccb_config,
            .reset_pin = CAMERA_RESET,
            .pwdn_pin = CAMERA_PWDN,
            .dvp_pin = dvp_pin_config,
            .xclk_freq = CAMERA_XCLK_FREQ,
        };

        // Main video configuration
        esp_video_init_config_t video_config = {
            .dvp = &dvp_config,
        };

        camera_ = new Esp32Camera(video_config);
        // camera_->SetHMirror(true);
        camera_->SetVFlip(true);
  }
#endif

public:
    OttoRobot() : boot_button_(BOOT_BUTTON_GPIO) {
        InitializeSpi();
        InitializeLcdDisplay();
#if CONFIG_OTTO_ROBOT_USE_CAMERA
        InitializeI2c();
        InitializeCamera();
#endif
        InitializeButtons();
        InitializePowerManager();
        InitializeOttoController();
        ws_control_server_ = nullptr;
        GetBacklight()->RestoreBrightness();
    }

    virtual AudioCodec *GetAudioCodec() override {
#ifdef AUDIO_I2S_METHOD_SIMPLEX
        static NoAudioCodecSimplex audio_codec(
            AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE,
            AUDIO_I2S_SPK_GPIO_BCLK, AUDIO_I2S_SPK_GPIO_LRCK,
            AUDIO_I2S_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK, AUDIO_I2S_MIC_GPIO_WS,
            AUDIO_I2S_MIC_GPIO_DIN);
#else
        static NoAudioCodecDuplex audio_codec(
            AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE, AUDIO_I2S_GPIO_BCLK,
            AUDIO_I2S_GPIO_WS, AUDIO_I2S_GPIO_DOUT, AUDIO_I2S_GPIO_DIN);
#endif
        return &audio_codec;
    }

    virtual Display* GetDisplay() override { return display_; }

    virtual Backlight* GetBacklight() override {
        static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
        return &backlight;
    }
    virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override {
        charging = power_manager_->IsCharging();
        discharging = !charging;
        level = power_manager_->GetBatteryLevel();
        return true;
    }
#if CONFIG_OTTO_ROBOT_USE_CAMERA
    virtual Camera *GetCamera() override { return camera_; }
#endif
};

DECLARE_BOARD(OttoRobot);