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增加了语音抽签控制屏幕显示

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增加了校准和财位控制电机旋转
This commit is contained in:
CSBOOK\44744
2026-07-01 15:07:59 +08:00
parent aab45b3ec5
commit 5d7c3f91d4
14 changed files with 467 additions and 17 deletions
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components/control_plane/src/runtime/control_plane_runtime_workers.c
+45 -5
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@@ -47,6 +47,7 @@
/* Liveness safety bound for the fixed two-cycle wealth spin intro (not the
* animation length). On timeout the worker proceeds to reveal + rotate anyway. */
#define CONTROL_PLANE_SPIN_INTRO_TIMEOUT_MS 6000
#define CONTROL_PLANE_COMMAND_ROTATION_DEG 45.0f
#if (configSUPPORT_STATIC_ALLOCATION == 1) && \
((defined(CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM) && CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM) || \
@@ -128,6 +129,8 @@ typedef struct {
control_plane_model_command_type_t command_type;
bool stop_requested;
char value[32];
size_t value_index;
bool value_index_valid;
} control_plane_model_command_t;
typedef enum {
@@ -654,6 +657,8 @@ static void control_plane_task_start_gate(void *arg)
static void control_plane_on_model_command(control_plane_model_command_type_t command_type,
const char *value,
size_t value_index,
bool value_index_valid,
void *user_data)
{
(void)user_data;
@@ -667,6 +672,8 @@ static void control_plane_on_model_command(control_plane_model_command_type_t co
.command_type = command_type,
.stop_requested = false,
.value = {0},
.value_index = value_index,
.value_index_valid = value_index_valid,
};
if (value != NULL) {
strlcpy(cmd.value, value, sizeof(cmd.value));
@@ -707,7 +714,33 @@ static esp_err_t control_plane_apply_wealth_direction(size_t direction_index,
ESP_LOGW(TAG, "Wealth reveal request failed: %s", esp_err_to_name(reveal_err));
}
return control_plane_rotate_to_direction(direction_index);
(void)direction_index;
float current_angle = domain_get_current_angle();
return control_plane_rotate_to_angle(current_angle + CONTROL_PLANE_COMMAND_ROTATION_DEG);
}
static esp_err_t control_plane_run_model_calibration_motion(void)
{
float start_angle = domain_get_current_angle();
esp_err_t err = control_plane_rotate_to_angle(start_angle + CONTROL_PLANE_COMMAND_ROTATION_DEG);
if (err != ESP_OK) {
return err;
}
return control_plane_rotate_to_angle(start_angle);
}
static esp_err_t control_plane_show_chouqian_expression(size_t result_index, bool result_index_valid)
{
const domain_expression_request_t request = {
.id = DOMAIN_EXPRESSION_CHOUQIAN,
.trigger = DOMAIN_EXPRESSION_TRIGGER_MODEL_DIRECTION,
.chouqian_result_index = result_index,
.chouqian_result_index_valid = result_index_valid,
};
return domain_runtime_request_expression(&request);
}
static void control_plane_model_command_task(void *arg)
@@ -750,15 +783,22 @@ static void control_plane_model_command_task(void *arg)
ESP_LOGW(TAG, "Unknown model direction: %s", cmd.value);
}
} else if (cmd.command_type == CONTROL_PLANE_MODEL_COMMAND_CALIBRATE) {
ESP_LOGI(TAG, "Calibration triggered by model command");
esp_err_t err = control_plane_calibrate();
ESP_LOGI(TAG, "Calibration motion triggered by model command");
esp_err_t err = control_plane_run_model_calibration_motion();
if (err != ESP_OK) {
if (err == ESP_ERR_TIMEOUT || err == ESP_ERR_INVALID_STATE) {
ESP_LOGI(TAG, "Calibrate not completed: %s", esp_err_to_name(err));
ESP_LOGI(TAG, "Calibration motion not completed: %s", esp_err_to_name(err));
} else {
ESP_LOGW(TAG, "Calibrate failed: %s", esp_err_to_name(err));
ESP_LOGW(TAG, "Calibration motion failed: %s", esp_err_to_name(err));
}
}
} else if (cmd.command_type == CONTROL_PLANE_MODEL_COMMAND_CHOUQIAN) {
ESP_LOGI(TAG, "Chouqian triggered by model command: %s", cmd.value);
esp_err_t err = control_plane_show_chouqian_expression(cmd.value_index,
cmd.value_index_valid);
if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) {
ESP_LOGW(TAG, "Chouqian expression failed: %s", esp_err_to_name(err));
}
}
}