Add camera support for Otto Robot board (#1520)

* 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

* refactor: Update Electron and Otto emoji display implementations

- Removed GIF selection from Kconfig for Electron and Otto boards.
- Updated Electron and Otto bot versions to 2.0.4 in their respective config files.
- Refactored emoji display classes to utilize EmojiCollection for managing emojis.
- Enhanced chat label setup and status display functionality in both classes.
- Cleaned up unused code and improved initialization logging for emoji displays.

* Rename OTTO_ICON_FONT.c to otto_icon_font.c

* Rename OTTO_ICON_FONT.c to otto_icon_font.c

* refactor: Update Otto emoji display configurations and functionalities

- Changed chat label text mode to circular scrolling for both Otto and Electron emoji displays.
- Bumped Otto robot version to 2.0.5 in the configuration file.
- Added new actions for Otto robot including Sit, WhirlwindLeg, Fitness, Greeting, Shy, RadioCalisthenics, MagicCircle, and Showcase.
- Enhanced servo sequence handling and added support for executing custom servo sequences.
- Improved logging and error handling for servo sequence execution.

* refactor: Update chat label long mode for Electron and Otto emoji displays

- Changed chat label text mode from wrap to circular scrolling for both Electron and Otto emoji displays.
- Improved consistency in chat label setup across both implementations.

* Update Otto robot README with new actions and parameters

* Update Otto controller parameters for oscillation settings

- Changed default oscillation period from 500ms to 300ms.
- Increased default steps from 5.0 to 8.0.
- Updated default amplitude from 20 degrees to 0 degrees.
- Enhanced documentation with new examples for oscillation modes and sequences.

* Fix default amplitude initialization in Otto controller to use a single zero instead of two digits.

* chore: update txp666/otto-emoji-gif-component version to 1.0.3 in idf_component.yml

* Refactor Otto controller
- Consolidated movement actions into a unified tool for the Otto robot, allowing for a single action command with various parameters.
- Removed individual movement tools (walk, turn, jump, etc.) and replaced them with a more flexible action system.

* Enhance Otto robot functionality by adding WebSocket control server and IP address retrieval feature. Updated config to support WebSocket, and revised README to include new control options and usage examples.

* Add camera support for Otto Robot board

- Introduced configuration option to enable the Otto Robot camera in Kconfig.
- Updated config.h to define camera-related GPIO pins and settings.
- Modified config.json to include camera configuration.
- Enhanced otto_robot.cc to initialize I2C and camera components when the camera is enabled.
- Adjusted power_manager.h to manage battery updates during camera operations.
- Removed unused SetupChatLabel method from OttoEmojiDisplay class.

main/Kconfig.projbuild

@@ -690,6 +690,13 @@ config RECEIVE_CUSTOM_MESSAGE
     help
         Enable custom message reception, allow the device to receive custom messages from the server (preferably through the MQTT protocol)
 
+config OTTO_ROBOT_USE_CAMERA
+    bool "Enable Otto Robot Camera"
+    default n
+    depends on BOARD_TYPE_OTTO_ROBOT
+    help
+        Enable Otto Robot Camera
+
 menu "Camera Configuration"
     depends on !IDF_TARGET_ESP32
 

main/boards/otto-robot/config.h

@@ -3,6 +3,60 @@
 
 #include <driver/gpio.h>
 
+#if CONFIG_OTTO_ROBOT_USE_CAMERA
+#define POWER_CHARGE_DETECT_PIN GPIO_NUM_NC
+#define POWER_ADC_UNIT ADC_UNIT_1
+#define POWER_ADC_CHANNEL ADC_CHANNEL_1
+
+#define RIGHT_LEG_PIN GPIO_NUM_43
+#define RIGHT_FOOT_PIN GPIO_NUM_44
+#define LEFT_LEG_PIN GPIO_NUM_5
+#define LEFT_FOOT_PIN GPIO_NUM_6
+#define LEFT_HAND_PIN GPIO_NUM_4
+#define RIGHT_HAND_PIN GPIO_NUM_7
+
+#define AUDIO_INPUT_SAMPLE_RATE 16000
+#define AUDIO_OUTPUT_SAMPLE_RATE 16000
+
+#define AUDIO_I2S_GPIO_WS GPIO_NUM_40
+#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_42
+#define AUDIO_I2S_GPIO_DIN GPIO_NUM_41
+#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_39
+
+#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_38
+#define DISPLAY_MOSI_PIN GPIO_NUM_45
+#define DISPLAY_CLK_PIN GPIO_NUM_48
+#define DISPLAY_DC_PIN GPIO_NUM_47
+#define DISPLAY_RST_PIN GPIO_NUM_1
+#define DISPLAY_CS_PIN GPIO_NUM_NC
+/* Camera PINs*/
+#define I2C_SDA_PIN GPIO_NUM_15
+#define I2C_SCL_PIN GPIO_NUM_16
+
+#define CAMERA_XCLK (GPIO_NUM_3)
+#define CAMERA_PCLK (GPIO_NUM_10)
+#define CAMERA_VSYNC (GPIO_NUM_17)
+#define CAMERA_HSYNC (GPIO_NUM_18)
+#define CAMERA_D0 (GPIO_NUM_12)
+#define CAMERA_D1 (GPIO_NUM_14)
+#define CAMERA_D2 (GPIO_NUM_21)
+#define CAMERA_D3 (GPIO_NUM_13)
+#define CAMERA_D4 (GPIO_NUM_11)
+#define CAMERA_D5 (GPIO_NUM_9)
+#define CAMERA_D6 (GPIO_NUM_46)
+#define CAMERA_D7 (GPIO_NUM_8)
+
+#define CAMERA_PWDN (GPIO_NUM_NC)
+#define CAMERA_RESET (GPIO_NUM_NC)
+
+#define CAMERA_XCLK_FREQ (16000000)
+#define LEDC_TIMER (LEDC_TIMER_0)
+#define LEDC_CHANNEL (LEDC_CHANNEL_0)
+
+#define CAMERA_SIOD (GPIO_NUM_NC)
+#define CAMERA_SIOC (GPIO_NUM_NC)
+
+#else
 #define POWER_CHARGE_DETECT_PIN GPIO_NUM_21
 #define POWER_ADC_UNIT ADC_UNIT_2
 #define POWER_ADC_CHANNEL ADC_CHANNEL_3
@@ -32,6 +86,8 @@
 #define DISPLAY_RST_PIN GPIO_NUM_11
 #define DISPLAY_CS_PIN GPIO_NUM_12
 
+#endif
+
 #define LCD_TYPE_ST7789_SERIAL
 #define DISPLAY_WIDTH 240
 #define DISPLAY_HEIGHT 240
@@ -47,6 +103,5 @@
 
 #define BOOT_BUTTON_GPIO GPIO_NUM_0
 
-#define OTTO_ROBOT_VERSION "2.0.5"
 
 #endif // _BOARD_CONFIG_H_

main/boards/otto-robot/config.json

@@ -6,6 +6,16 @@
             "sdkconfig_append": [
                 "CONFIG_HTTPD_WS_SUPPORT=y"
             ]
+        },
+        {
+            "name": "otto-robot-camera",
+            "sdkconfig_append": [
+                "CONFIG_OTTO_ROBOT_USE_CAMERA=y",
+                "CONFIG_CAMERA_OV2640=y",
+                "CONFIG_CAMERA_OV2640_AUTO_DETECT_DVP_INTERFACE_SENSOR=y",
+                "CONFIG_CAMERA_OV2640_DVP_YUV422_240X240_25FPS=y",
+                "CONFIG_HTTPD_WS_SUPPORT=y"
+            ]
         }
     ]
 }

main/boards/otto-robot/otto_controller.cc

@@ -13,6 +13,7 @@
 #include "config.h"
 #include "mcp_server.h"
 #include "otto_movements.h"
+#include "power_manager.h"
 #include "sdkconfig.h"
 #include "settings.h"
 #include <wifi_station.h>
@@ -75,6 +76,7 @@ private:
         while (true) {
             if (xQueueReceive(controller->action_queue_, &params, pdMS_TO_TICKS(1000)) == pdTRUE) {
                 ESP_LOGI(TAG, "执行动作: %d", params.action_type);
+                PowerManager::PauseBatteryUpdate();  // 动作开始时暂停电量更新
                 controller->is_action_in_progress_ = true;
                 if (params.action_type == ACTION_SERVO_SEQUENCE) {
                     // 执行舵机序列（自编程）- 仅支持短键名格式
@@ -427,6 +429,7 @@ private:
                     }
                 }
                 controller->is_action_in_progress_ = false;
+                PowerManager::ResumeBatteryUpdate();  // 动作结束时恢复电量更新
                 vTaskDelay(pdMS_TO_TICKS(20));
             }
         }
@@ -712,6 +715,7 @@ public:
                                    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);

main/boards/otto-robot/otto_emoji_display.cc

@@ -14,8 +14,8 @@
 OttoEmojiDisplay::OttoEmojiDisplay(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_handle_t panel, int width, int height, int offset_x, int offset_y, bool mirror_x, bool mirror_y, bool swap_xy)
     : SpiLcdDisplay(panel_io, panel, width, height, offset_x, offset_y, mirror_x, mirror_y, swap_xy) {
     InitializeOttoEmojis();
-    SetupChatLabel();
     SetupPreviewImage();
+    SetTheme(LvglThemeManager::GetInstance().GetTheme("dark"));
 }
 
 void OttoEmojiDisplay::SetupPreviewImage() {
@@ -84,22 +84,6 @@ void OttoEmojiDisplay::InitializeOttoEmojis() {
     ESP_LOGI(TAG, "Otto GIF表情初始化完成");
 }
 
-void OttoEmojiDisplay::SetupChatLabel() {
-    DisplayLockGuard lock(this);
-
-    if (chat_message_label_) {
-        lv_obj_del(chat_message_label_);
-    }
-
-    chat_message_label_ = lv_label_create(container_);
-    lv_label_set_text(chat_message_label_, "");
-    lv_obj_set_width(chat_message_label_, width_ * 0.9);                        // 限制宽度为屏幕宽度的 90%
-    lv_label_set_long_mode(chat_message_label_, LV_LABEL_LONG_SCROLL_CIRCULAR);            
-    lv_obj_set_style_text_align(chat_message_label_, LV_TEXT_ALIGN_CENTER, 0);  // 设置文本居中对齐
-    lv_obj_set_style_text_color(chat_message_label_, lv_color_white(), 0);
-    SetTheme(LvglThemeManager::GetInstance().GetTheme("dark"));
-}
-
 LV_FONT_DECLARE(OTTO_ICON_FONT);
 void OttoEmojiDisplay::SetStatus(const char* status) {
     auto lvgl_theme = static_cast<LvglTheme*>(current_theme_);
@@ -133,14 +117,13 @@ void OttoEmojiDisplay::SetStatus(const char* status) {
         lv_obj_set_style_text_font(status_label_, text_font, 0);
         lv_label_set_text(status_label_, "");
         lv_obj_clear_flag(status_label_, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_clear_flag(network_label_, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_clear_flag(battery_label_, LV_OBJ_FLAG_HIDDEN);
         return;
     }
 
     lv_obj_set_style_text_font(status_label_, text_font, 0);
     lv_label_set_text(status_label_, status);
-    lv_obj_clear_flag(status_label_, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_clear_flag(network_label_, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_clear_flag(battery_label_, LV_OBJ_FLAG_HIDDEN);
 }
 
 void OttoEmojiDisplay::SetPreviewImage(std::unique_ptr<LvglImage> image) {

main/boards/otto-robot/otto_emoji_display.h

@@ -19,6 +19,5 @@ class OttoEmojiDisplay : public SpiLcdDisplay {
 
    private:
     void InitializeOttoEmojis();
-    void SetupChatLabel();
     void SetupPreviewImage();
 };

main/boards/otto-robot/otto_robot.cc

@@ -4,6 +4,8 @@
 #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"
@@ -18,6 +20,7 @@
 #include "power_manager.h"
 #include "system_reset.h"
 #include "wifi_board.h"
+#include "esp32_camera.h"
 #include "websocket_control_server.h"
 
 #define TAG "OttoRobot"
@@ -30,6 +33,10 @@ private:
     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);
@@ -115,10 +122,79 @@ private:
         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();
@@ -127,10 +203,17 @@ public:
     }
 
     virtual AudioCodec *GetAudioCodec() override {
-        static NoAudioCodecSimplex audio_codec(AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE,
+#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_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK, AUDIO_I2S_MIC_GPIO_WS,
-                                               AUDIO_I2S_MIC_GPIO_WS, AUDIO_I2S_MIC_GPIO_DIN);
+            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;
     }
 
@@ -146,6 +229,9 @@ public:
         level = power_manager_->GetBatteryLevel();
         return true;
     }
+#if CONFIG_OTTO_ROBOT_USE_CAMERA
+    virtual Camera *GetCamera() override { return camera_; }
+#endif
 };
 
 DECLARE_BOARD(OttoRobot);

main/boards/otto-robot/power_manager.h

@@ -12,7 +12,7 @@ private:
     static constexpr struct {
         uint16_t adc;
         uint8_t level;
-    } BATTERY_LEVELS[] = {{2150, 0}, {2450, 100}};
+    } BATTERY_LEVELS[] = {{2050, 0}, {2450, 100}};
     static constexpr size_t BATTERY_LEVELS_COUNT = 2;
     static constexpr size_t ADC_VALUES_COUNT = 10;
 
@@ -25,12 +25,23 @@ private:
     size_t adc_values_count_ = 0;
     uint8_t battery_level_ = 100;
     bool is_charging_ = false;
+    inline static bool battery_update_paused_ = false;  // 静态标志：是否暂停电量更新
 
     adc_oneshot_unit_handle_t adc_handle_;
 
     void CheckBatteryStatus() {
-        is_charging_ = gpio_get_level(charging_pin_) == 0;
+      // 如果电量更新被暂停（动作进行中），则跳过更新
+      if (battery_update_paused_) {
+        return;
+      }
+      
       ReadBatteryAdcData();
+
+      if (charging_pin_ == GPIO_NUM_NC) {
+        is_charging_ = false;
+      } else {
+        is_charging_ = gpio_get_level(charging_pin_) == 0;
+      }
     }
 
     void ReadBatteryAdcData() {
@@ -71,6 +82,8 @@ public:
     PowerManager(gpio_num_t charging_pin, adc_unit_t adc_unit = ADC_UNIT_2,
                  adc_channel_t adc_channel = ADC_CHANNEL_3)
         : charging_pin_(charging_pin), adc_unit_(adc_unit), adc_channel_(adc_channel) {
+
+      if (charging_pin_ != GPIO_NUM_NC) {
         gpio_config_t io_conf = {};
         io_conf.intr_type = GPIO_INTR_DISABLE;
         io_conf.mode = GPIO_MODE_INPUT;
@@ -78,6 +91,10 @@ public:
         io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
         io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
         gpio_config(&io_conf);
+        ESP_LOGI("PowerManager", "充电检测引脚配置完成: GPIO%d", charging_pin_);
+      } else {
+        ESP_LOGI("PowerManager", "充电检测引脚未配置，不进行充电状态检测");
+      }
 
         esp_timer_create_args_t timer_args = {
             .callback =
@@ -99,6 +116,7 @@ public:
     void InitializeAdc() {
       adc_oneshot_unit_init_cfg_t init_config = {
           .unit_id = adc_unit_,
+          .clk_src = ADC_RTC_CLK_SRC_DEFAULT,
           .ulp_mode = ADC_ULP_MODE_DISABLE,
       };
       ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_));
@@ -108,7 +126,8 @@ public:
           .bitwidth = ADC_BITWIDTH_12,
       };
 
-        ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config));
+      ESP_ERROR_CHECK(
+          adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config));
     }
 
     ~PowerManager() {
@@ -124,5 +143,9 @@ public:
     bool IsCharging() { return is_charging_; }
 
     uint8_t GetBatteryLevel() { return battery_level_; }
+
+    // 暂停/恢复电量更新（用于动作执行时屏蔽更新）
+    static void PauseBatteryUpdate() { battery_update_paused_ = true; }
+    static void ResumeBatteryUpdate() { battery_update_paused_ = false; }
 };
 #endif  // __POWER_MANAGER_H__