99 lines
3.3 KiB
C++
99 lines
3.3 KiB
C++
/*
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ESP-SparkBot 的底座
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https://gitee.com/esp-friends/esp_sparkbot/tree/master/example/tank/c2_tracked_chassis
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*/
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#include "sdkconfig.h"
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#include "iot/thing.h"
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#include "board.h"
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#include <driver/gpio.h>
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#include <driver/uart.h>
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#include <esp_log.h>
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#include <cstring>
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#include "boards/esp-sparkbot/config.h"
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#define TAG "Chassis"
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namespace iot {
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class Chassis : public Thing {
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private:
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light_mode_t light_mode_ = LIGHT_MODE_ALWAYS_ON;
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void SendUartMessage(const char * command_str) {
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uint8_t len = strlen(command_str);
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uart_write_bytes(ECHO_UART_PORT_NUM, command_str, len);
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ESP_LOGI(TAG, "Sent command: %s", command_str);
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}
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void InitializeEchoUart() {
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uart_config_t uart_config = {
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.baud_rate = ECHO_UART_BAUD_RATE,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.source_clk = UART_SCLK_DEFAULT,
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};
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int intr_alloc_flags = 0;
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ESP_ERROR_CHECK(uart_driver_install(ECHO_UART_PORT_NUM, BUF_SIZE * 2, 0, 0, NULL, intr_alloc_flags));
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ESP_ERROR_CHECK(uart_param_config(ECHO_UART_PORT_NUM, &uart_config));
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ESP_ERROR_CHECK(uart_set_pin(ECHO_UART_PORT_NUM, UART_ECHO_TXD, UART_ECHO_RXD, UART_ECHO_RTS, UART_ECHO_CTS));
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SendUartMessage("w2");
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}
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public:
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Chassis() : Thing("Chassis", "小机器人的底座：有履带可以移动；可以调整灯光效果"), light_mode_(LIGHT_MODE_ALWAYS_ON) {
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InitializeEchoUart();
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// 定义设备的属性
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properties_.AddNumberProperty("light_mode", "灯光效果编号", [this]() -> int {
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return (light_mode_ - 2 <= 0) ? 1 : light_mode_ - 2;
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});
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// 定义设备可以被远程执行的指令
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methods_.AddMethod("GoForward", "向前走", ParameterList(), [this](const ParameterList& parameters) {
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SendUartMessage("x0.0 y1.0");
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});
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methods_.AddMethod("GoBack", "向后退", ParameterList(), [this](const ParameterList& parameters) {
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SendUartMessage("x0.0 y-1.0");
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});
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methods_.AddMethod("TurnLeft", "向左转", ParameterList(), [this](const ParameterList& parameters) {
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SendUartMessage("x-1.0 y0.0");
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});
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methods_.AddMethod("TurnRight", "向右转", ParameterList(), [this](const ParameterList& parameters) {
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SendUartMessage("x1.0 y0.0");
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});
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methods_.AddMethod("Dance", "跳舞", ParameterList(), [this](const ParameterList& parameters) {
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SendUartMessage("d1");
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light_mode_ = LIGHT_MODE_MAX;
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});
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methods_.AddMethod("SwitchLightMode", "打开灯", ParameterList({
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Parameter("lightmode", "1到6之间的整数", kValueTypeNumber, true)
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}), [this](const ParameterList& parameters) {
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char command_str[5] = {'w', 0, 0};
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char mode = static_cast<char>(parameters["lightmode"].number()) + 2;
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ESP_LOGI(TAG, "Input Light Mode: %c", (mode + '0'));
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if (mode >= 3 && mode <= 8) {
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command_str[1] = mode + '0';
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SendUartMessage(command_str);
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}
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});
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}
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};
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} // namespace iot
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DECLARE_THING(Chassis);
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