fix(otto): WebSocket direct clients not receiving MCP responses (#1992)

* Enhance Otto Robot camera support by adding configuration for OV3660. Updated config.h to define camera types and GPIO settings, modified config.json to include new camera options, and refactored otto_robot.cc for improved camera detection and initialization logic. * fix: 移除 OttoEmojiDisplay 构造函数中的 SetTheme 调用以修复 LoadProhibited 崩溃 Made-with: Cursor * refactor: improve audio service error handling and codec timeout management - Updated AudioService to prevent input task termination on read timeout, introducing a delay instead. - Enhanced NoAudioCodec to implement a read timeout for I2S channel reads. - Adjusted WebSocketControlServer to set a control port for improved socket management. - Added manufacturer information to the config.json for waveshare ESP32-Touch-LCD-3.5. * fix(otto): WebSocket direct clients not receiving MCP responses When a browser connects directly to the WebSocket control server (port 8080) and sends a JSON-RPC request, the MCP response was routed through Application::SendMcpMessage -> protocol_->SendMcpMessage, which sends it to the cloud protocol channel. As a result, the direct WebSocket client never received the response, while the WeChat mini-program could because it communicates via the cloud. Fix: - Add BroadcastMessage() to WebSocketControlServer, using httpd_queue_work + httpd_ws_send_frame_async to asynchronously send responses back to all connected clients on port 8080 - Add RegisterMcpBroadcastCallback() to Application, allowing an additional MCP send callback to be registered; SendMcpMessage() now invokes it alongside the cloud protocol - Register the broadcast callback in OttoRobot after the WebSocket server starts successfully Also add WebSocket direct-connect API documentation to README.md with complete JSON-RPC 2.0 command examples.
2026-05-14 14:35:49 +08:00
parent ba27c12494
commit 67bf599149
6 changed files with 290 additions and 1 deletions
--- a/main/application.cc
+++ b/main/application.cc
@ -1063,12 +1063,19 @@ bool Application::CanEnterSleepMode() {
    return true;
 }

+void Application::RegisterMcpBroadcastCallback(std::function<void(const std::string&)> callback) {
+    mcp_broadcast_callback_ = std::move(callback);
+}
+
 void Application::SendMcpMessage(const std::string& payload) {
    // Always schedule to run in main task for thread safety
-    Schedule([this, payload = std::move(payload)]() {
+    Schedule([this, payload](){ 
        if (protocol_) {
            protocol_->SendMcpMessage(payload);
        }
+        if (mcp_broadcast_callback_) {
+            mcp_broadcast_callback_(payload);
+        }
    });
 }

--- a/main/application.h
+++ b/main/application.h
@ -10,6 +10,7 @@
 #include <mutex>
 #include <deque>
 #include <memory>
+#include <functional>

 #include "protocol.h"
 #include "ota.h"
@ -108,6 +109,7 @@ public:
    bool UpgradeFirmware(const std::string& url, const std::string& version = "");
    bool CanEnterSleepMode();
    void SendMcpMessage(const std::string& payload);
+    void RegisterMcpBroadcastCallback(std::function<void(const std::string&)> callback);
    void SetAecMode(AecMode mode);
    AecMode GetAecMode() const { return aec_mode_; }
    void PlaySound(const std::string_view& sound);
@ -136,6 +138,8 @@ private:
    AudioService audio_service_;
    std::unique_ptr<Ota> ota_;

+    std::function<void(const std::string&)> mcp_broadcast_callback_;
+
    bool has_server_time_ = false;
    bool aborted_ = false;
    bool assets_version_checked_ = false;
--- a/main/boards/otto-robot/README.md
+++ b/main/boards/otto-robot/README.md
@ -205,3 +205,212 @@ otto 机器人具有丰富的动作能力，包括行走、转向、跳跃、摇

 **说明**: 小智控制机器人动作是创建新的任务在后台控制，动作执行期间仍可接受新的语音指令。可以通过"停止"语音指令立即停下Otto。

+---
+
+## WebSocket 直连调试接口
+
+Otto 机器人内置 WebSocket 服务器，可在局域网内直接调试，无需经过云端。
+
+**连接地址：** `ws://<设备IP>:8080/ws`
+
+> 协议格式：JSON-RPC 2.0，`id` 字段自行递增即可。
+
+### 连接方式
+
+1. 确认 Otto 已连上 WiFi，获取 IP 地址（可通过小程序或串口日志查看）
+2. 打开任意 WebSocket 调试工具（如 [websocket.org/echo](https://websocket.org/echo) 或浏览器控制台）
+3. 连接 `ws://192.168.x.x:8080/ws`（注意末尾必须有 `/ws`）
+4. 发送 JSON 命令，响应会直接返回到同一连接
+
+---
+
+### 一、协议初始化（首次连接建议先发）
+
+```json
+{"jsonrpc":"2.0","method":"initialize","params":{"protocolVersion":"2024-11-05","capabilities":{}},"id":1}
+```
+
+---
+
+### 二、获取工具列表
+
+```json
+{"jsonrpc":"2.0","method":"tools/list","params":{},"id":2}
+```
+
+---
+
+### 三、Otto 机器人工具命令
+
+#### 获取舵机微调值
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.get_trims","arguments":{}},"id":3}
+```
+
+#### 设置单个舵机微调（永久保存）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.set_trim","arguments":{"servo_type":"left_leg","trim_value":5}},"id":4}
+```
+
+`servo_type` 可选值：`left_leg` / `right_leg` / `left_foot` / `right_foot` / `left_hand` / `right_hand`，`trim_value` 范围 `-50` ~ `50`
+
+#### 行走（前进3步）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"walk","steps":3,"speed":700,"direction":1}},"id":5}
+```
+
+#### 后退
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"walk","steps":3,"speed":700,"direction":-1}},"id":6}
+```
+
+#### 左转
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"turn","steps":3,"speed":700,"direction":-1}},"id":7}
+```
+
+#### 跳跃
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"jump","steps":1,"speed":500}},"id":8}
+```
+
+#### 摇摆
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"swing","steps":5,"speed":600,"amount":30}},"id":9}
+```
+
+#### 太空步
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"moonwalk","steps":3,"speed":800,"direction":1,"amount":30}},"id":10}
+```
+
+#### 坐下
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"sit"}},"id":11}
+```
+
+#### 复位
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"home"}},"id":12}
+```
+
+#### 展示动作
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"showcase"}},"id":13}
+```
+
+#### 举手（需手部舵机）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"hands_up","speed":500,"direction":1}},"id":14}
+```
+
+#### 挥手（需手部舵机）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"hand_wave","direction":1}},"id":15}
+```
+
+#### 立即停止所有动作
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.stop","arguments":{}},"id":16}
+```
+
+#### 获取运动状态（返回 `"moving"` 或 `"idle"`）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.get_status","arguments":{}},"id":17}
+```
+
+#### 获取 IP 地址
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.get_ip","arguments":{}},"id":18}
+```
+
+#### 获取电池电量
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.battery.get_level","arguments":{}},"id":19}
+```
+
+---
+
+### 四、系统通用工具
+
+#### 获取设备状态（音量/网络/电池等）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.get_device_status","arguments":{}},"id":20}
+```
+
+#### 设置音量（0~100）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.audio_speaker.set_volume","arguments":{"volume":70}},"id":21}
+```
+
+#### 重启设备
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.reboot","arguments":{}},"id":22}
+```
+
+---
+
+### 五、自定义舵机序列
+
+#### 普通移动模式（逐步移动各舵机）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.servo_sequences","arguments":{"sequence":"{\"a\":[{\"s\":{\"ll\":110,\"rl\":70},\"v\":800},{\"s\":{\"ll\":90,\"rl\":90},\"v\":800}],\"d\":0}"}},"id":23}
+```
+
+#### 振荡器模式（双臂摆动）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.servo_sequences","arguments":{"sequence":"{\"a\":[{\"osc\":{\"a\":{\"lh\":30,\"rh\":30},\"o\":{\"lh\":90,\"rh\":90},\"ph\":{\"rh\":180},\"p\":500,\"c\":5.0}}]}"}},"id":24}
+```
+
+#### 振荡器模式（左右摇摆波浪）
+
+```json
+{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.servo_sequences","arguments":{"sequence":"{\"a\":[{\"osc\":{\"a\":{\"ll\":20,\"rl\":20},\"o\":{\"ll\":90,\"rl\":90},\"ph\":{\"rl\":180},\"p\":600,\"c\":5.0}}]}"}},"id":25}
+```
+
+**序列舵机键名说明：**
+
+| 键名 | 舵机 | 说明 |
+|------|------|------|
+| `ll` | 左腿 | 0=完全外展，90=中立，180=完全内收 |
+| `rl` | 右腿 | 0=完全内收，90=中立，180=完全外展 |
+| `lf` | 左脚 | 0=完全向上，90=水平，180=完全向下 |
+| `rf` | 右脚 | 0=完全向下，90=水平，180=完全向上 |
+| `lh` | 左手 | 0=完全向下，90=水平，180=完全向上 |
+| `rh` | 右手 | 0=完全向上，90=水平，180=完全向下 |
+
+---
+
+### 六、动作参数速查
+
+| 参数 | 说明 | 范围 | 默认 |
+|------|------|------|------|
+| `steps` | 动作步数 | 1~100 | 3 |
+| `speed` | 速度（毫秒，越小越快） | 100~3000 | 700 |
+| `direction` | 方向（1=前/左，-1=后/右） | -1~1 | 1 |
+| `amount` | 幅度 | 0~170 | 30 |
+| `arm_swing` | 手臂摆动幅度 | 0~170 | 50 |
+| `trim_value` | 舵机微调 | -50~50 | 0 |
+
--- a/main/boards/otto-robot/otto_robot.cc
+++ b/main/boards/otto-robot/otto_robot.cc
@ -230,7 +230,16 @@ private:
        if (!ws_control_server_->Start(8080)) {
            delete ws_control_server_;
            ws_control_server_ = nullptr;
+            return;
        }
+        // 将 MCP 响应同时广播回连接到 8080 端口的 WebSocket 客户端
+        Application::GetInstance().RegisterMcpBroadcastCallback(
+            [this](const std::string& payload) {
+                if (ws_control_server_) {
+                    ws_control_server_->BroadcastMessage(payload);
+                }
+            }
+        );
    }

    void StartNetwork() override {
--- a/main/boards/otto-robot/websocket_control_server.cc
+++ b/main/boards/otto-robot/websocket_control_server.cc
@ -190,3 +190,61 @@ void WebSocketControlServer::RemoveClient(httpd_req_t *req) {
 size_t WebSocketControlServer::GetClientCount() const {
    return clients_.size();
 }
+
+struct WsBroadcastJob {
+    httpd_handle_t server;
+    int fd;
+    char* payload;
+    size_t len;
+};
+
+static void ws_broadcast_send_job(void* arg) {
+    WsBroadcastJob* job = static_cast<WsBroadcastJob*>(arg);
+
+    httpd_ws_frame_t ws_pkt = {};
+    ws_pkt.type = HTTPD_WS_TYPE_TEXT;
+    ws_pkt.payload = reinterpret_cast<uint8_t*>(job->payload);
+    ws_pkt.len = job->len;
+    ws_pkt.final = true;
+
+    esp_err_t ret = httpd_ws_send_frame_async(job->server, job->fd, &ws_pkt);
+    if (ret != ESP_OK) {
+        ESP_LOGE("WSControl", "BroadcastMessage: send failed fd=%d err=%d", job->fd, ret);
+    }
+
+    free(job->payload);
+    free(job);
+}
+
+void WebSocketControlServer::BroadcastMessage(const std::string& message) {
+    if (!server_handle_ || clients_.empty()) {
+        return;
+    }
+
+    for (auto& [fd, req] : clients_) {
+        WsBroadcastJob* job = static_cast<WsBroadcastJob*>(malloc(sizeof(WsBroadcastJob)));
+        if (!job) {
+            ESP_LOGE(TAG, "BroadcastMessage: failed to allocate job");
+            continue;
+        }
+
+        job->server = server_handle_;
+        job->fd = fd;
+        job->len = message.length();
+        job->payload = static_cast<char*>(malloc(message.length() + 1));
+        if (!job->payload) {
+            ESP_LOGE(TAG, "BroadcastMessage: failed to allocate payload");
+            free(job);
+            continue;
+        }
+        memcpy(job->payload, message.c_str(), message.length());
+        job->payload[message.length()] = '\0';
+
+        esp_err_t ret = httpd_queue_work(server_handle_, ws_broadcast_send_job, job);
+        if (ret != ESP_OK) {
+            ESP_LOGE(TAG, "BroadcastMessage: httpd_queue_work failed fd=%d err=%d", fd, ret);
+            free(job->payload);
+            free(job);
+        }
+    }
+}
--- a/main/boards/otto-robot/websocket_control_server.h
+++ b/main/boards/otto-robot/websocket_control_server.h
@ -17,6 +17,8 @@ public:

    size_t GetClientCount() const;

+    void BroadcastMessage(const std::string& message);
+
 private:
    httpd_handle_t server_handle_;
    std::map<int, httpd_req_t*> clients_;