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Forairaaaaa
63 lines
2.8 KiB
C++
63 lines
2.8 KiB
C++
/*
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* SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
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*
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* SPDX-License-Identifier: MIT
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*/
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#include "hal.h"
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#include <mooncake_log.h>
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#include <mcp_server.h>
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#include <stackchan/stackchan.h>
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using namespace stackchan;
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static const std::string _tag = "HAL-MCP";
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void Hal::xiaozhi_mcp_init()
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{
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mclog::tagInfo(_tag, "init");
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// https://github.com/78/xiaozhi-esp32/blob/main/docs/mcp-usage.md
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auto& mcp_server = McpServer::GetInstance();
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mclog::tagInfo(_tag, "add motion.set_angles tool");
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mcp_server.AddTool(
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"self.motion.set_angles",
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"Set the angles of the robot's servos (head movement). Yaw controls left/right (-1280 to "
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"1280), Pitch controls up/down (0 to 900). Note: 10 units equals 1 degree. For natural movement, prefer angles "
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"within +/- 300 (30 degrees) unless instructed otherwise. Speed controls the movement speed (100-1000).",
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PropertyList({Property("yaw", kPropertyTypeInteger, 0, -1280, 1280),
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Property("pitch", kPropertyTypeInteger, 0, 0, 900),
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Property("speed", kPropertyTypeInteger, 150, 100, 1000)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int pitch = properties["pitch"].value<int>();
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int yaw = properties["yaw"].value<int>();
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int speed = properties["speed"].value<int>();
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mclog::tagInfo(_tag, "motion set angles: pitch: {}, yaw: {}, speed: {}", pitch, yaw, speed);
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auto& motion = GetStackChan().motion();
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motion.pitchServo().moveWithSpeed(pitch, speed);
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motion.yawServo().moveWithSpeed(yaw, speed);
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return true;
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});
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mclog::tagInfo(_tag, "add led.set_color tool");
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mcp_server.AddTool("self.led.set_color",
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"Set the color of the RGB LED strip. Each channel (red, green, blue) ranges from 0 to 255. "
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"Note: For power saving and eye protection, it is recommended to keep each channel value below "
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"126.",
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PropertyList({Property("red", kPropertyTypeInteger, 0, 0, 168),
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Property("green", kPropertyTypeInteger, 0, 0, 168),
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Property("blue", kPropertyTypeInteger, 0, 0, 168)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int r = properties["red"].value<int>();
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int g = properties["green"].value<int>();
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int b = properties["blue"].value<int>();
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mclog::tagInfo(_tag, "led set color: r: {}, g: {}, b: {}", r, g, b);
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GetHAL().showRgbColor(r, g, b);
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return true;
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});
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}
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