xiaozhi-esp32/main/boards/electron-bot/electron_bot.cc

#include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include <esp_lcd_gc9a01.h>
#include <esp_lcd_panel_io.h>
#include <esp_lcd_panel_ops.h>
#include <esp_lcd_panel_vendor.h>
#include <esp_log.h>
#include <esp_idf_version.h>

#include "application.h"
#include "codecs/no_audio_codec.h"
#include "button.h"
#include "config.h"
#include "display/lcd_display.h"
#include "driver/spi_master.h"
#include "electron_emoji_display.h"
#include "movements.h"
#include "power_manager.h"
#include "system_reset.h"
#include "websocket_control_server.h"
#include "wifi_board.h"

#define TAG "ElectronBot"

// 控制器初始化函数声明
void InitializeElectronBotController();

class ElectronBot : public WifiBoard {
private:
    Display* display_;
    PowerManager* power_manager_;
    Button boot_button_;
    WebSocketControlServer* ws_control_server_;

    void InitializePowerManager() {
        power_manager_ =
            new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL);
    }

    void InitializeSpi() {
        ESP_LOGI(TAG, "Initialize SPI bus");
        spi_bus_config_t buscfg =
            GC9A01_PANEL_BUS_SPI_CONFIG(DISPLAY_SPI_SCLK_PIN, DISPLAY_SPI_MOSI_PIN,
                                        DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t));
        ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO));
    }

    // GC9A01初始化
    void InitializeGc9a01Display() {
        ESP_LOGI(TAG, "Init GC9A01 display");

        ESP_LOGI(TAG, "Install panel IO");
        esp_lcd_panel_io_handle_t io_handle = NULL;
        esp_lcd_panel_io_spi_config_t io_config =
            GC9A01_PANEL_IO_SPI_CONFIG(DISPLAY_SPI_CS_PIN, DISPLAY_SPI_DC_PIN, NULL, NULL);
        io_config.pclk_hz = DISPLAY_SPI_SCLK_HZ;
        ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &io_handle));

        ESP_LOGI(TAG, "Install GC9A01 panel driver");
        esp_lcd_panel_handle_t panel_handle = NULL;
        esp_lcd_panel_dev_config_t panel_config = {};
        panel_config.reset_gpio_num = DISPLAY_SPI_RESET_PIN;  // Set to -1 if not use
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
        panel_config.rgb_ele_order = LCD_RGB_ELEMENT_ORDER_BGR;
#else
        panel_config.rgb_ele_order = LCD_RGB_ELEMENT_ORDER_BGR;
#endif
        panel_config.bits_per_pixel = 16;  // Implemented by LCD command `3Ah` (16/18)

        ESP_ERROR_CHECK(esp_lcd_new_panel_gc9a01(io_handle, &panel_config, &panel_handle));
        ESP_ERROR_CHECK(esp_lcd_panel_reset(panel_handle));
        ESP_ERROR_CHECK(esp_lcd_panel_init(panel_handle));
        ESP_ERROR_CHECK(esp_lcd_panel_invert_color(panel_handle, true));
        ESP_ERROR_CHECK(esp_lcd_panel_mirror(panel_handle, true, false));
        ESP_ERROR_CHECK(esp_lcd_panel_disp_on_off(panel_handle, true));

        display_ = new ElectronEmojiDisplay(io_handle, panel_handle, 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) {
                EnterWifiConfigMode();
                return;
            }
            app.ToggleChatState();
        });
    }

    void InitializeController() { InitializeElectronBotController(); }

    void InitializeWebSocketControlServer() {
        ws_control_server_ = new WebSocketControlServer();
        if (!ws_control_server_->Start(8080)) {
            delete ws_control_server_;
            ws_control_server_ = nullptr;
            return;
        }

        Application::GetInstance().RegisterMcpBroadcastCallback([this](const std::string& payload) {
            if (ws_control_server_) {
                ws_control_server_->BroadcastMessage(payload);
            }
        });
    }

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

        InitializeWebSocketControlServer();
    }

public:
    ElectronBot() : boot_button_(BOOT_BUTTON_GPIO), ws_control_server_(nullptr) {
        InitializeSpi();
        InitializeGc9a01Display();
        InitializeButtons();
        InitializePowerManager();
        InitializeController();

        if (DISPLAY_BACKLIGHT_PIN != GPIO_NUM_NC) {
            GetBacklight()->RestoreBrightness();
        }
    }

    virtual AudioCodec* GetAudioCodec() override {
        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);
        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;
    }
};

DECLARE_BOARD(ElectronBot);