/*
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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 <cstdlib>
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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 "power_manager.h"
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#include "sdkconfig.h"
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#include "settings.h"
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#include <wifi_manager.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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char servo_sequence_json[512]; // 用于存储舵机序列的JSON字符串
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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_SIT = 25, // 坐下
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ACTION_RADIO_CALISTHENICS = 26, // 广播体操
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ACTION_MAGIC_CIRCLE = 27, // 爱的魔力转圈圈
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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_WINDMILL = 20, // 大风车
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ACTION_TAKEOFF = 21, // 起飞
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ACTION_FITNESS = 22, // 健身
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ACTION_GREETING = 23, // 打招呼
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ACTION_SHY = 24, // 害羞
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ACTION_SHOWCASE = 28, // 展示动作
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ACTION_HOME = 17,
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ACTION_SERVO_SEQUENCE = 18, // 舵机序列（自编程）
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ACTION_WHIRLWIND_LEG = 19 // 旋风腿
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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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PowerManager::PauseBatteryUpdate(); // 动作开始时暂停电量更新
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controller->is_action_in_progress_ = true;
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if (params.action_type == ACTION_SERVO_SEQUENCE) {
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// 执行舵机序列（自编程）- 仅支持短键名格式
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cJSON* json = cJSON_Parse(params.servo_sequence_json);
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if (json != nullptr) {
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ESP_LOGD(TAG, "JSON解析成功，长度=%d", strlen(params.servo_sequence_json));
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// 使用短键名 "a" 表示动作数组
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cJSON* actions = cJSON_GetObjectItem(json, "a");
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if (cJSON_IsArray(actions)) {
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int array_size = cJSON_GetArraySize(actions);
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ESP_LOGI(TAG, "执行舵机序列，共%d个动作", array_size);
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// 获取序列执行完成后的延迟（短键名 "d"，顶层参数）
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int sequence_delay = 0;
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cJSON* delay_item = cJSON_GetObjectItem(json, "d");
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if (cJSON_IsNumber(delay_item)) {
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sequence_delay = delay_item->valueint;
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if (sequence_delay < 0) sequence_delay = 0;
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}
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// 初始化当前舵机位置（用于保持未指定的舵机位置）
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int current_positions[SERVO_COUNT];
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for (int j = 0; j < SERVO_COUNT; j++) {
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current_positions[j] = 90; // 默认中间位置
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}
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// 手部舵机默认位置
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current_positions[LEFT_HAND] = 45;
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current_positions[RIGHT_HAND] = 180 - 45;
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for (int i = 0; i < array_size; i++) {
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cJSON* action_item = cJSON_GetArrayItem(actions, i);
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if (cJSON_IsObject(action_item)) {
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// 检查是否为振荡器模式（短键名 "osc"）
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cJSON* osc_item = cJSON_GetObjectItem(action_item, "osc");
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if (cJSON_IsObject(osc_item)) {
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// 振荡器模式 - 使用Execute2，以绝对角度为中心振荡
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int amplitude[SERVO_COUNT] = {0};
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int center_angle[SERVO_COUNT] = {0};
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double phase_diff[SERVO_COUNT] = {0};
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int period = 300; // 默认周期300毫秒
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float steps = 8.0; // 默认步数8.0
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const char* servo_names[] = {"ll", "rl", "lf", "rf", "lh", "rh"};
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// 读取振幅（短键名 "a"），默认0度
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for (int j = 0; j < SERVO_COUNT; j++) {
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amplitude[j] = 0; // 默认振幅0度
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}
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cJSON* amp_item = cJSON_GetObjectItem(osc_item, "a");
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if (cJSON_IsObject(amp_item)) {
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for (int j = 0; j < SERVO_COUNT; j++) {
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cJSON* amp_value = cJSON_GetObjectItem(amp_item, servo_names[j]);
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if (cJSON_IsNumber(amp_value)) {
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int amp = amp_value->valueint;
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if (amp >= 10 && amp <= 90) {
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amplitude[j] = amp;
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}
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}
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}
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}
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// 读取中心角度（短键名 "o"），默认90度（绝对角度0-180度）
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for (int j = 0; j < SERVO_COUNT; j++) {
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center_angle[j] = 90; // 默认中心角度90度（中间位置）
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}
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cJSON* center_item = cJSON_GetObjectItem(osc_item, "o");
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if (cJSON_IsObject(center_item)) {
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for (int j = 0; j < SERVO_COUNT; j++) {
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cJSON* center_value = cJSON_GetObjectItem(center_item, servo_names[j]);
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if (cJSON_IsNumber(center_value)) {
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int center = center_value->valueint;
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if (center >= 0 && center <= 180) {
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center_angle[j] = center;
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}
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}
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}
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}
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// 安全检查：防止左右腿脚同时做大幅度振荡（振幅检查）
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const int LARGE_AMPLITUDE_THRESHOLD = 40; // 大幅度振幅阈值：40度
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bool left_leg_large = amplitude[LEFT_LEG] >= LARGE_AMPLITUDE_THRESHOLD;
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bool right_leg_large = amplitude[RIGHT_LEG] >= LARGE_AMPLITUDE_THRESHOLD;
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bool left_foot_large = amplitude[LEFT_FOOT] >= LARGE_AMPLITUDE_THRESHOLD;
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bool right_foot_large = amplitude[RIGHT_FOOT] >= LARGE_AMPLITUDE_THRESHOLD;
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if (left_leg_large && right_leg_large) {
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ESP_LOGW(TAG, "检测到左右腿同时大幅度振荡，限制右腿振幅");
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amplitude[RIGHT_LEG] = 0; // 禁止右腿振荡
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}
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if (left_foot_large && right_foot_large) {
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ESP_LOGW(TAG, "检测到左右脚同时大幅度振荡，限制右脚振幅");
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amplitude[RIGHT_FOOT] = 0; // 禁止右脚振荡
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}
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// 读取相位差（短键名 "ph"，单位为度，转换为弧度）
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cJSON* phase_item = cJSON_GetObjectItem(osc_item, "ph");
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if (cJSON_IsObject(phase_item)) {
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for (int j = 0; j < SERVO_COUNT; j++) {
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cJSON* phase_value = cJSON_GetObjectItem(phase_item, servo_names[j]);
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if (cJSON_IsNumber(phase_value)) {
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// 将度数转换为弧度
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phase_diff[j] = phase_value->valuedouble * 3.141592653589793 / 180.0;
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}
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}
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}
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// 读取周期（短键名 "p"），范围100-3000毫秒
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cJSON* period_item = cJSON_GetObjectItem(osc_item, "p");
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if (cJSON_IsNumber(period_item)) {
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period = period_item->valueint;
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if (period < 100) period = 100;
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if (period > 3000) period = 3000; // 与描述一致，限制3000毫秒
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}
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// 读取周期数（短键名 "c"），范围0.1-20.0
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cJSON* steps_item = cJSON_GetObjectItem(osc_item, "c");
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if (cJSON_IsNumber(steps_item)) {
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steps = (float)steps_item->valuedouble;
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if (steps < 0.1) steps = 0.1;
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if (steps > 20.0) steps = 20.0; // 与描述一致，限制20.0
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}
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// 执行振荡 - 使用Execute2，以绝对角度为中心
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ESP_LOGI(TAG, "执行振荡动作%d: period=%d, steps=%.1f", i, period, steps);
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controller->otto_.Execute2(amplitude, center_angle, period, phase_diff, steps);
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// 振荡后更新位置（使用center_angle作为最终位置）
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for (int j = 0; j < SERVO_COUNT; j++) {
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current_positions[j] = center_angle[j];
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}
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} else {
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// 普通移动模式
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// 从当前位置数组复制，保持未指定的舵机位置
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int servo_target[SERVO_COUNT];
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for (int j = 0; j < SERVO_COUNT; j++) {
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servo_target[j] = current_positions[j];
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}
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// 从JSON中读取舵机位置（短键名 "s"）
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cJSON* servos_item = cJSON_GetObjectItem(action_item, "s");
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if (cJSON_IsObject(servos_item)) {
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// 短键名：ll/rl/lf/rf/lh/rh
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const char* servo_names[] = {"ll", "rl", "lf", "rf", "lh", "rh"};
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for (int j = 0; j < SERVO_COUNT; j++) {
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cJSON* servo_value = cJSON_GetObjectItem(servos_item, servo_names[j]);
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if (cJSON_IsNumber(servo_value)) {
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int position = servo_value->valueint;
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// 限制位置范围在0-180度
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if (position >= 0 && position <= 180) {
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servo_target[j] = position;
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}
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}
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}
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}
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// 获取移动速度（短键名 "v"，默认1000毫秒）
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int speed = 1000;
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cJSON* speed_item = cJSON_GetObjectItem(action_item, "v");
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if (cJSON_IsNumber(speed_item)) {
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speed = speed_item->valueint;
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if (speed < 100) speed = 100; // 最小100毫秒
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if (speed > 3000) speed = 3000; // 最大3000毫秒
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}
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// 执行舵机移动
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ESP_LOGI(TAG, "执行动作%d: ll=%d, rl=%d, lf=%d, rf=%d, v=%d",
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i, servo_target[LEFT_LEG], servo_target[RIGHT_LEG],
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servo_target[LEFT_FOOT], servo_target[RIGHT_FOOT], speed);
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controller->otto_.MoveServos(speed, servo_target);
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// 更新当前位置数组，用于下一个动作
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for (int j = 0; j < SERVO_COUNT; j++) {
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current_positions[j] = servo_target[j];
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}
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}
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// 获取动作后的延迟时间（短键名 "d"）
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int delay_after = 0;
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cJSON* delay_item = cJSON_GetObjectItem(action_item, "d");
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if (cJSON_IsNumber(delay_item)) {
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delay_after = delay_item->valueint;
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if (delay_after < 0) delay_after = 0;
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}
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// 动作后的延迟（最后一个动作后不延迟）
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if (delay_after > 0 && i < array_size - 1) {
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ESP_LOGI(TAG, "动作%d执行完成，延迟%d毫秒", i, delay_after);
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vTaskDelay(pdMS_TO_TICKS(delay_after));
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}
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}
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}
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// 序列执行完成后的延迟（用于序列之间的停顿）
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if (sequence_delay > 0) {
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// 检查队列中是否还有待执行的序列
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UBaseType_t queue_count = uxQueueMessagesWaiting(controller->action_queue_);
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if (queue_count > 0) {
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ESP_LOGI(TAG, "序列执行完成，延迟%d毫秒后执行下一个序列（队列中还有%d个序列）",
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sequence_delay, queue_count);
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vTaskDelay(pdMS_TO_TICKS(sequence_delay));
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}
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}
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// 释放JSON内存
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cJSON_Delete(json);
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} else {
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ESP_LOGE(TAG, "舵机序列格式错误: 'a'不是数组");
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cJSON_Delete(json);
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}
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} else {
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// 获取cJSON的错误信息
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const char* error_ptr = cJSON_GetErrorPtr();
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int json_len = strlen(params.servo_sequence_json);
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ESP_LOGE(TAG, "解析舵机序列JSON失败，长度=%d，错误位置: %s", json_len,
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error_ptr ? error_ptr : "未知");
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ESP_LOGE(TAG, "JSON内容: %s", params.servo_sequence_json);
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}
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} else {
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// 执行预定义动作
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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_SIT:
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controller->otto_.Sit();
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break;
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case ACTION_RADIO_CALISTHENICS:
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if (controller->has_hands_) {
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controller->otto_.RadioCalisthenics();
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}
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break;
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case ACTION_MAGIC_CIRCLE:
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if (controller->has_hands_) {
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controller->otto_.MagicCircle();
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}
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break;
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case ACTION_SHOWCASE:
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controller->otto_.Showcase();
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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_WHIRLWIND_LEG:
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controller->otto_.WhirlwindLeg(params.steps, params.speed, params.amount);
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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.direction);
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}
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break;
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case ACTION_WINDMILL:
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if (controller->has_hands_) {
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controller->otto_.Windmill(params.steps, params.speed, params.amount);
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}
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break;
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case ACTION_TAKEOFF:
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if (controller->has_hands_) {
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controller->otto_.Takeoff(params.steps, params.speed, params.amount);
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}
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break;
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case ACTION_FITNESS:
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if (controller->has_hands_) {
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controller->otto_.Fitness(params.steps, params.speed, params.amount);
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}
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break;
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case ACTION_GREETING:
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if (controller->has_hands_) {
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controller->otto_.Greeting(params.direction, params.steps);
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}
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break;
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case ACTION_SHY:
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if (controller->has_hands_) {
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controller->otto_.Shy(params.direction, params.steps);
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}
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break;
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case ACTION_HOME:
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controller->otto_.Home(true);
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break;
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}
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if(params.action_type != ACTION_SIT){
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if (params.action_type != ACTION_HOME && params.action_type != ACTION_SERVO_SEQUENCE) {
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controller->otto_.Home(params.action_type != ACTION_HANDS_UP);
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}
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}
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}
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controller->is_action_in_progress_ = false;
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PowerManager::ResumeBatteryUpdate(); // 动作结束时恢复电量更新
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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) ||
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(action_type == ACTION_WINDMILL) || (action_type == ACTION_TAKEOFF) ||
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(action_type == ACTION_FITNESS) || (action_type == ACTION_GREETING) ||
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(action_type == ACTION_SHY) || (action_type == ACTION_RADIO_CALISTHENICS) ||
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(action_type == ACTION_MAGIC_CIRCLE)) {
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if (!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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}
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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 QueueServoSequence(const char* servo_sequence_json) {
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if (servo_sequence_json == nullptr) {
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ESP_LOGE(TAG, "序列JSON为空");
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return;
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}
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int input_len = strlen(servo_sequence_json);
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const int buffer_size = 512; // servo_sequence_json数组大小
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ESP_LOGI(TAG, "队列舵机序列，输入长度=%d，缓冲区大小=%d", input_len, buffer_size);
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if (input_len >= buffer_size) {
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ESP_LOGE(TAG, "JSON字符串太长！输入长度=%d，最大允许=%d", input_len, buffer_size - 1);
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return;
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}
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if (input_len == 0) {
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ESP_LOGW(TAG, "序列JSON为空字符串");
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return;
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}
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OttoActionParams params = {ACTION_SERVO_SEQUENCE, 0, 0, 0, 0, ""};
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// 复制JSON字符串到结构体中（限制长度）
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strncpy(params.servo_sequence_json, servo_sequence_json, sizeof(params.servo_sequence_json) - 1);
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params.servo_sequence_json[sizeof(params.servo_sequence_json) - 1] = '\0';
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ESP_LOGD(TAG, "序列已加入队列: %s", params.servo_sequence_json);
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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(const HardwareConfig& hw_config) {
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otto_.Init(
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hw_config.left_leg_pin,
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hw_config.right_leg_pin,
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hw_config.left_foot_pin,
|
hw_config.right_foot_pin,
|
hw_config.left_hand_pin,
|
hw_config.right_hand_pin
|
);
|
|
has_hands_ = (hw_config.left_hand_pin != GPIO_NUM_NC && hw_config.right_hand_pin != GPIO_NUM_NC);
|
ESP_LOGI(TAG, "Otto机器人初始化%s手部舵机", has_hands_ ? "带" : "不带");
|
ESP_LOGI(TAG, "舵机引脚配置: LL=%d, RL=%d, LF=%d, RF=%d, LH=%d, RH=%d",
|
hw_config.left_leg_pin, hw_config.right_leg_pin,
|
hw_config.left_foot_pin, hw_config.right_foot_pin,
|
hw_config.left_hand_pin, hw_config.right_hand_pin);
|
|
LoadTrimsFromNVS();
|
|
action_queue_ = xQueueCreate(10, sizeof(OttoActionParams));
|
|
QueueAction(ACTION_HOME, 1, 1000, 1, 0); // direction=1表示复位手部
|
|
RegisterMcpTools();
|
}
|
|
void RegisterMcpTools() {
|
auto& mcp_server = McpServer::GetInstance();
|
|
ESP_LOGI(TAG, "开始注册MCP工具...");
|
|
// 统一动作工具（除了舵机序列外的所有动作）
|
mcp_server.AddTool("self.otto.action",
|
"执行机器人动作。action: 动作名称；根据动作类型提供相应参数：direction: 方向，1=前进/左转，-1=后退/右转；0=左右同时"
|
"steps: 动作步数，1-100；speed: 动作速度，100-3000，数值越小越快；amount: 动作幅度，0-170；arm_swing: 手臂摆动幅度，0-170；"
|
"基础动作：walk(行走，需steps/speed/direction/arm_swing)、turn(转身，需steps/speed/direction/arm_swing)、jump(跳跃，需steps/speed)、"
|
"swing(摇摆，需steps/speed/amount)、moonwalk(太空步，需steps/speed/direction/amount)、bend(弯曲，需steps/speed/direction)、"
|
"shake_leg(摇腿，需steps/speed/direction)、updown(上下运动，需steps/speed/amount)、whirlwind_leg(旋风腿，需steps/speed/amount)；"
|
"固定动作：sit(坐下)、showcase(展示动作)、home(复位)；"
|
"手部动作(需手部舵机)：hands_up(举手，需speed/direction)、hands_down(放手，需speed/direction)、hand_wave(挥手，需direction)、"
|
"windmill(大风车，需steps/speed/amount)、takeoff(起飞，需steps/speed/amount)、fitness(健身，需steps/speed/amount)、"
|
"greeting(打招呼，需direction/steps)、shy(害羞，需direction/steps)、radio_calisthenics(广播体操)、magic_circle(爱的魔力转圈圈)",
|
PropertyList({
|
Property("action", kPropertyTypeString, "sit"),
|
Property("steps", kPropertyTypeInteger, 3, 1, 100),
|
Property("speed", kPropertyTypeInteger, 700, 100, 3000),
|
Property("direction", kPropertyTypeInteger, 1, -1, 1),
|
Property("amount", kPropertyTypeInteger, 30, 0, 170),
|
Property("arm_swing", kPropertyTypeInteger, 50, 0, 170)
|
}),
|
[this](const PropertyList& properties) -> ReturnValue {
|
std::string action = properties["action"].value<std::string>();
|
// 所有参数都有默认值，直接访问即可
|
int steps = properties["steps"].value<int>();
|
int speed = properties["speed"].value<int>();
|
int direction = properties["direction"].value<int>();
|
int amount = properties["amount"].value<int>();
|
int arm_swing = properties["arm_swing"].value<int>();
|
|
// 基础移动动作
|
if (action == "walk") {
|
QueueAction(ACTION_WALK, steps, speed, direction, arm_swing);
|
return true;
|
} else if (action == "turn") {
|
QueueAction(ACTION_TURN, steps, speed, direction, arm_swing);
|
return true;
|
} else if (action == "jump") {
|
QueueAction(ACTION_JUMP, steps, speed, 0, 0);
|
return true;
|
} else if (action == "swing") {
|
QueueAction(ACTION_SWING, steps, speed, 0, amount);
|
return true;
|
} else if (action == "moonwalk") {
|
QueueAction(ACTION_MOONWALK, steps, speed, direction, amount);
|
return true;
|
} else if (action == "bend") {
|
QueueAction(ACTION_BEND, steps, speed, direction, 0);
|
return true;
|
} else if (action == "shake_leg") {
|
QueueAction(ACTION_SHAKE_LEG, steps, speed, direction, 0);
|
return true;
|
} else if (action == "updown") {
|
QueueAction(ACTION_UPDOWN, steps, speed, 0, amount);
|
return true;
|
} else if (action == "whirlwind_leg") {
|
QueueAction(ACTION_WHIRLWIND_LEG, steps, speed, 0, amount);
|
return true;
|
}
|
// 固定动作
|
else if (action == "sit") {
|
QueueAction(ACTION_SIT, 1, 0, 0, 0);
|
return true;
|
} else if (action == "showcase") {
|
QueueAction(ACTION_SHOWCASE, 1, 0, 0, 0);
|
return true;
|
} else if (action == "home") {
|
QueueAction(ACTION_HOME, 1, 1000, 1, 0);
|
return true;
|
}
|
// 手部动作
|
else if (action == "hands_up") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_HANDS_UP, 1, speed, direction, 0);
|
return true;
|
} else if (action == "hands_down") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_HANDS_DOWN, 1, speed, direction, 0);
|
return true;
|
} else if (action == "hand_wave") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_HAND_WAVE, 1, 0, 0, direction);
|
return true;
|
} else if (action == "windmill") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_WINDMILL, steps, speed, 0, amount);
|
return true;
|
} else if (action == "takeoff") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_TAKEOFF, steps, speed, 0, amount);
|
return true;
|
} else if (action == "fitness") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_FITNESS, steps, speed, 0, amount);
|
return true;
|
} else if (action == "greeting") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_GREETING, steps, 0, direction, 0);
|
return true;
|
} else if (action == "shy") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_SHY, steps, 0, direction, 0);
|
return true;
|
} else if (action == "radio_calisthenics") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_RADIO_CALISTHENICS, 1, 0, 0, 0);
|
return true;
|
} else if (action == "magic_circle") {
|
if (!has_hands_) {
|
return "错误：此动作需要手部舵机支持";
|
}
|
QueueAction(ACTION_MAGIC_CIRCLE, 1, 0, 0, 0);
|
return true;
|
} else {
|
return "错误：无效的动作名称。可用动作：walk, turn, jump, swing, moonwalk, bend, shake_leg, updown, whirlwind_leg, sit, showcase, home, hands_up, hands_down, hand_wave, windmill, takeoff, fitness, greeting, shy, radio_calisthenics, magic_circle";
|
}
|
});
|
|
|
// 舵机序列工具（支持分段发送，每次发送一个序列，自动排队执行）
|
mcp_server.AddTool(
|
"self.otto.servo_sequences",
|
"AI自定义动作编程（即兴动作）。支持分段发送序列：超过5个序列建议AI可以连续多次调用此工具，每次发送一个短序列，系统会自动排队按顺序执行。支持普通移动和振荡器两种模式。"
|
"机器人结构：双手可上下摆动，双腿可内收外展，双脚可上下翻转。"
|
"舵机说明："
|
"ll(左腿)：内收外展，0度=完全外展，90度=中立，180度=完全内收；"
|
"rl(右腿)：内收外展，0度=完全内收，90度=中立，180度=完全外展；"
|
"lf(左脚)：上下翻转，0度=完全向上，90度=水平，180度=完全向下；"
|
"rf(右脚)：上下翻转，0度=完全向下，90度=水平，180度=完全向上；"
|
"lh(左手)：上下摆动，0度=完全向下，90度=水平，180度=完全向上；"
|
"rh(右手)：上下摆动，0度=完全向上，90度=水平，180度=完全向下；"
|
"sequence: 单个序列对象，包含'a'动作数组，顶层可选参数："
|
"'d'(序列执行完成后延迟毫秒数，用于序列之间的停顿)。"
|
"每个动作对象包含："
|
"普通模式：'s'舵机位置对象(键名：ll/rl/lf/rf/lh/rh，值：0-180度)，'v'移动速度100-3000毫秒(默认1000)，'d'动作后延迟毫秒数(默认0)；"
|
"振荡模式：'osc'振荡器对象，包含'a'振幅对象(各舵机振幅10-90度，默认20度)，'o'中心角度对象(各舵机振荡中心绝对角度0-180度，默认90度)，'ph'相位差对象(各舵机相位差，度，0-360度，默认0度)，'p'周期100-3000毫秒(默认500)，'c'周期数0.1-20.0(默认5.0)；"
|
"使用方式：AI可以连续多次调用此工具，每次发送一个序列，系统会自动排队按顺序执行。"
|
"重要说明：左右腿脚震荡的时候，有一只脚必须在90度，否则会损坏机器人，如果发送多个序列（序列数>1），完成所有序列后需要复位时，AI应该最后单独调用self.otto.home工具进行复位，不要在序列中设置复位参数。"
|
"普通模式示例：发送3个序列，最后调用复位："
|
"第1次调用{\"sequence\":\"{\\\"a\\\":[{\\\"s\\\":{\\\"ll\\\":100},\\\"v\\\":1000}],\\\"d\\\":500}\"}，"
|
"第2次调用{\"sequence\":\"{\\\"a\\\":[{\\\"s\\\":{\\\"ll\\\":90},\\\"v\\\":800}],\\\"d\\\":500}\"}，"
|
"第3次调用{\"sequence\":\"{\\\"a\\\":[{\\\"s\\\":{\\\"ll\\\":80},\\\"v\\\":800}]}\"}，"
|
"最后调用self.otto.home工具进行复位。"
|
"振荡器模式示例："
|
"示例1-双臂同步摆动：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"lh\\\":30,\\\"rh\\\":30},\\\"o\\\":{\\\"lh\\\":90,\\\"rh\\\":-90},\\\"p\\\":500,\\\"c\\\":5.0}}],\\\"d\\\":0}\"}；"
|
"示例2-双腿交替振荡（波浪效果）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":20,\\\"rl\\\":20},\\\"o\\\":{\\\"ll\\\":90,\\\"rl\\\":-90},\\\"ph\\\":{\\\"rl\\\":180},\\\"p\\\":600,\\\"c\\\":3.0}}],\\\"d\\\":0}\"}；"
|
"示例3-单腿振荡配合固定脚（安全）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":45},\\\"o\\\":{\\\"ll\\\":90,\\\"lf\\\":90},\\\"p\\\":400,\\\"c\\\":4.0}}],\\\"d\\\":0}\"}；"
|
"示例4-复杂多舵机振荡（手和腿）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"lh\\\":25,\\\"rh\\\":25,\\\"ll\\\":15},\\\"o\\\":{\\\"lh\\\":90,\\\"rh\\\":90,\\\"ll\\\":90,\\\"lf\\\":90},\\\"ph\\\":{\\\"rh\\\":180},\\\"p\\\":800,\\\"c\\\":6.0}}],\\\"d\\\":500}\"}；"
|
"示例5-快速摇摆：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":30,\\\"rl\\\":30},\\\"o\\\":{\\\"ll\\\":90,\\\"rl\\\":90},\\\"ph\\\":{\\\"rl\\\":180},\\\"p\\\":300,\\\"c\\\":10.0}}],\\\"d\\\":0}\"}。",
|
PropertyList({Property("sequence", kPropertyTypeString,
|
"{\"a\":[{\"s\":{\"ll\":90,\"rl\":90},\"v\":1000}]}")}),
|
[this](const PropertyList& properties) -> ReturnValue {
|
std::string sequence = properties["sequence"].value<std::string>();
|
// 检查是否是JSON对象（可能是字符串格式或已解析的对象）
|
// 如果sequence是JSON字符串，直接使用；如果是对象字符串，也需要使用
|
QueueServoSequence(sequence.c_str());
|
return true;
|
});
|
|
|
mcp_server.AddTool("self.otto.stop", "立即停止所有动作并复位", PropertyList(),
|
[this](const PropertyList& properties) -> ReturnValue {
|
if (action_task_handle_ != nullptr) {
|
vTaskDelete(action_task_handle_);
|
action_task_handle_ = nullptr;
|
}
|
is_action_in_progress_ = false;
|
PowerManager::ResumeBatteryUpdate(); // 停止动作时恢复电量更新
|
xQueueReset(action_queue_);
|
|
QueueAction(ACTION_HOME, 1, 1000, 1, 0);
|
return true;
|
});
|
|
mcp_server.AddTool(
|
"self.otto.set_trim",
|
"校准单个舵机位置。设置指定舵机的微调参数以调整机器人的初始站立姿态，设置将永久保存。"
|
"servo_type: 舵机类型(left_leg/right_leg/left_foot/right_foot/left_hand/right_hand); "
|
"trim_value: 微调值(-50到50度)",
|
PropertyList({Property("servo_type", kPropertyTypeString, "left_leg"),
|
Property("trim_value", kPropertyTypeInteger, 0, -50, 50)}),
|
[this](const PropertyList& properties) -> ReturnValue {
|
std::string servo_type = properties["servo_type"].value<std::string>();
|
int trim_value = properties["trim_value"].value<int>();
|
|
ESP_LOGI(TAG, "设置舵机微调: %s = %d度", servo_type.c_str(), trim_value);
|
|
// 获取当前所有微调值
|
Settings settings("otto_trims", true);
|
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);
|
|
// 更新指定舵机的微调值
|
if (servo_type == "left_leg") {
|
left_leg = trim_value;
|
settings.SetInt("left_leg", left_leg);
|
} else if (servo_type == "right_leg") {
|
right_leg = trim_value;
|
settings.SetInt("right_leg", right_leg);
|
} else if (servo_type == "left_foot") {
|
left_foot = trim_value;
|
settings.SetInt("left_foot", left_foot);
|
} else if (servo_type == "right_foot") {
|
right_foot = trim_value;
|
settings.SetInt("right_foot", right_foot);
|
} else if (servo_type == "left_hand") {
|
if (!has_hands_) {
|
return "错误：机器人没有配置手部舵机";
|
}
|
left_hand = trim_value;
|
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;
|
});
|
|
mcp_server.AddTool("self.otto.get_ip", "获取机器人WiFi IP地址", PropertyList(),
|
[](const PropertyList& properties) -> ReturnValue {
|
auto& wifi = WifiManager::GetInstance();
|
std::string ip = wifi.GetIpAddress();
|
if (ip.empty()) {
|
return "{\"ip\":\"\",\"connected\":false}";
|
}
|
std::string status = "{\"ip\":\"" + ip + "\",\"connected\":true}";
|
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(const HardwareConfig& hw_config) {
|
if (g_otto_controller == nullptr) {
|
g_otto_controller = new OttoController(hw_config);
|
ESP_LOGI(TAG, "Otto控制器已初始化并注册MCP工具");
|
}
|
}
|
