新增语音控制机器人各部位舵机功能

1. RP2040 新增一次性动作系统（oneshot）：
   - 支持多次来回摆动，动作完成后自动恢复原位
   - 动作期间临时提升舵机速度（boost 8-15倍），确保全幅度快速响应
   - 动作执行期间暂停常规状态动画和人脸追踪，避免舵机目标冲突
   - 支持12个单动作（左右耳/左右眼球/点头/摇头/歪头/张嘴/眨眼/闭眼/睁眼/转身）
   - 支持6个组合动作（双耳/点头眨眼/摇头/张望/卖萌/跳舞）

2. ESP32 新增语音指令识别（stt关键词匹配）：
   - 从用户语音识别结果中匹配中文关键词，直接发送动作指令给RP2040
   - 不依赖AI回复格式，用户说话后立即触发动作
   - 支持ASR识别变体容错（如"耳朵"/"耳刀"/"耳"均可匹配）

3. ESP32 新增AI回复文本动作解析（备用通道）：
   - 支持从AI回复文本中解析全角括号包裹的动作代码

4. 新增LLM情绪标签日志，便于调试AI返回内容

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

RP2040/animation.py

@@ -307,7 +307,7 @@ def state_limber_up():
 #   - listening
 #   - speaking
         
-state_map={  
+state_map={
     "neutral": state_neutral,
     "idle": state_sleep,
     "listening": state_listen,
@@ -319,6 +319,207 @@ state_map={
     "state_calibrate": state_calibrate
 }
 
+#_________________# 一次性动作系统 #_________________#
+
+oneshot_active = False      # 是否正在执行一次性动作
+oneshot_start_time = 0
+oneshot_duration = 0        # 每段（半程）持续时间
+oneshot_phase = 0           # 当前阶段：0,1,2,...,total_phases-1
+oneshot_total_phases = 0    # 总阶段数（来回次数×2 + 1恢复阶段）
+oneshot_pos_a = {}          # A 位置（摆动极限一侧）
+oneshot_pos_b = {}          # B 位置（摆动极限另一侧）
+saved_positions = {}        # 动作前各舵机位置快照
+
+saved_speeds = {}           # 动作前各舵机的速度/加速度备份
+
+def save_servo_positions():
+    """保存当前所有舵机实际位置和运动参数"""
+    global saved_positions, saved_speeds
+    saved_positions = {}
+    saved_speeds = {}
+    for name, servo in servos.items():
+        saved_positions[name] = servo.pos
+        saved_speeds[name] = (servo.max_speed, servo.max_accel)
+
+def restore_servo_positions():
+    """恢复舵机到保存的位置和运动参数（只恢复被动作修改过的舵机）"""
+    for name in oneshot_pos_a:
+        if name in saved_positions and name in servos:
+            servos[name].set_target(saved_positions[name])
+        if name in saved_speeds and name in servos:
+            servos[name].max_speed, servos[name].max_accel = saved_speeds[name]
+            servos[name]._inv_2_accel = 1.0 / (2.0 * servos[name].max_accel)
+
+def boost_servos(names):
+    """临时提升指定舵机的速度和加速度，让动作又快又猛"""
+    for name in names:
+        if name in servos:
+            servos[name].max_speed = 2000.0   # 原来 250，提升 8 倍
+            servos[name].max_accel = 3000.0   # 原来 200，提升 15 倍
+            servos[name]._inv_2_accel = 1.0 / (2.0 * 3000.0)
+
+def start_oneshot(pos_a, pos_b, duration_ms=200, repeats=3):
+    """
+    启动多次来回摆动的一次性动作
+    pos_a: {舵机名: 角度} — 摆动一侧极限
+    pos_b: {舵机名: 角度} — 摆动另一侧极限（None 则用保存的原位）
+    duration_ms: 每半程持续时间（越小越快）
+    repeats: 来回摆动次数
+    """
+    global oneshot_active, oneshot_start_time, oneshot_duration
+    global oneshot_phase, oneshot_total_phases
+    global oneshot_pos_a, oneshot_pos_b
+
+    if oneshot_active:
+        return
+
+    save_servo_positions()
+    oneshot_pos_a = pos_a
+    # pos_b 为 None 时用保存的原位作为 B 位置
+    if pos_b is None:
+        oneshot_pos_b = {}
+        for name in pos_a:
+            if name in saved_positions:
+                oneshot_pos_b[name] = saved_positions[name]
+    else:
+        oneshot_pos_b = pos_b
+    oneshot_duration = duration_ms
+    oneshot_phase = 0
+    oneshot_total_phases = repeats * 2 + 1
+    oneshot_start_time = time.ticks_ms()
+    oneshot_active = True
+
+    # 临时提升涉及的舵机速度，让动作又快又猛
+    boost_servos(pos_a.keys())
+    if pos_b:
+        boost_servos(pos_b.keys())
+
+    # 第一阶段：去 A 位置
+    for name, angle in pos_a.items():
+        if name in servos:
+            servos[name].set_target(angle)
+
+def update_oneshot():
+    """主循环中调用，管理多次来回摆动"""
+    global oneshot_active, oneshot_phase, oneshot_start_time
+
+    if not oneshot_active:
+        return
+
+    elapsed = time.ticks_diff(time.ticks_ms(), oneshot_start_time)
+    if elapsed < oneshot_duration:
+        return
+
+    # 当前阶段完成，进入下一阶段
+    oneshot_phase += 1
+    oneshot_start_time = time.ticks_ms()
+
+    if oneshot_phase >= oneshot_total_phases:
+        # 所有阶段完成，恢复原位
+        restore_servo_positions()
+        oneshot_active = False
+        return
+
+    # 奇数阶段去 B，偶数阶段去 A
+    side = "B" if (oneshot_phase % 2 == 1) else "A"
+    targets = oneshot_pos_b if (oneshot_phase % 2 == 1) else oneshot_pos_a
+    for name, angle in targets.items():
+        if name in servos:
+            servos[name].set_target(angle)
+
+# --- 动作定义 ---
+# duration_ms=每半程时间（越小越快），repeats=来回次数
+
+def act_ear_left():
+    # 左耳：全幅度快速来回 3 次（速度已 boost，250ms 足够跑满 90° 行程）
+    start_oneshot({"EAL": 60}, {"EAL": 150}, 250, 3)
+
+def act_ear_right():
+    start_oneshot({"EAR": 120}, {"EAR": 30}, 250, 3)
+
+def act_eye_left():
+    start_oneshot({"EYL": 30, "EYR": 30}, {"EYL": 150, "EYR": 150}, 250, 3)
+
+def act_eye_right():
+    start_oneshot({"EYL": 150, "EYR": 150}, {"EYL": 30, "EYR": 30}, 250, 3)
+
+def act_tilt_left():
+    start_oneshot({"ROL": 30}, {"ROL": 120}, 300, 2)
+
+def act_tilt_right():
+    start_oneshot({"ROL": 120}, {"ROL": 30}, 300, 2)
+
+def act_nod():
+    # 大幅度快速点头 3 次
+    start_oneshot({"PIT": 1}, {"PIT": 80}, 250, 3)
+
+def act_mouth():
+    start_oneshot({"MOU": 5}, {"MOU": 150}, 200, 3)
+
+def act_blink():
+    # 快速眨眼 3 次
+    start_oneshot({"LID": 30}, {"LID": 110}, 150, 3)
+
+def act_eyes_close():
+    global oneshot_active
+    if oneshot_active:
+        return
+    save_servo_positions()
+    servos["LID"]._write_pwm(30)
+
+def act_eyes_open():
+    global oneshot_active
+    if oneshot_active:
+        return
+    save_servo_positions()
+    servos["LID"]._write_pwm(110)
+
+def act_body_turn():
+    start_oneshot({"YAW": 30}, {"YAW": 150}, 300, 2)
+
+# --- 组合动作 ---
+
+def act_ears_both():
+    start_oneshot({"EAL": 60, "EAR": 120}, {"EAL": 150, "EAR": 30}, 250, 3)
+
+def act_nod_blink():
+    start_oneshot({"PIT": 1, "LID": 30}, {"PIT": 80, "LID": 110}, 250, 3)
+
+def act_shake_head():
+    start_oneshot({"ROL": 30}, {"ROL": 120}, 250, 3)
+
+def act_look_around():
+    start_oneshot({"EYL": 30, "EYR": 30, "YAW": 50}, {"EYL": 150, "EYR": 150, "YAW": 130}, 300, 2)
+
+def act_cute():
+    start_oneshot({"ROL": 50, "LID": 30, "EAL": 60}, {"ROL": 120, "LID": 110, "EAL": 150}, 250, 2)
+
+def act_dance():
+    start_oneshot({"YAW": 40, "ROL": 50, "EAL": 60, "EAR": 120}, {"YAW": 140, "ROL": 120, "EAL": 150, "EAR": 30}, 300, 3)
+
+action_map = {
+    # 单动作
+    "act_ear_left":   act_ear_left,
+    "act_ear_right":  act_ear_right,
+    "act_eye_left":   act_eye_left,
+    "act_eye_right":  act_eye_right,
+    "act_tilt_left":  act_tilt_left,
+    "act_tilt_right": act_tilt_right,
+    "act_nod":        act_nod,
+    "act_mouth":      act_mouth,
+    "act_blink":      act_blink,
+    "act_eyes_close": act_eyes_close,
+    "act_eyes_open":  act_eyes_open,
+    "act_body_turn":  act_body_turn,
+    # 组合动作
+    "act_ears_both":  act_ears_both,
+    "act_nod_blink":  act_nod_blink,
+    "act_shake_head": act_shake_head,
+    "act_look_around": act_look_around,
+    "act_cute":       act_cute,
+    "act_dance":      act_dance,
+}
+
 #_________________#  #_________________#            
 
 

RP2040/main.py

@@ -123,7 +123,10 @@ while True:
         # Grab all pending commands from the ESP
         incoming_commands = external.esp_read()
         for data in incoming_commands:
-            if data in animation.state_map:
+            if data in animation.action_map:
+                # 一次性动作：不改变 current_state
+                animation.action_map[data]()
+            elif data in animation.state_map:
                 animation.new_state_flag = True
                 animation.current_state = data
                 
@@ -137,14 +140,14 @@ while True:
                     # Snap the mouth closed when speech ends!
                     animation.servos["MOU"].set_target(130)
                     
-        # 3. Speaking timer / animation
-        if speaking_flag:
+        # 3. Speaking timer / animation（一次性动作期间暂停，避免覆盖 MOU 目标）
+        if speaking_flag and not animation.oneshot_active:
             # Set the mouth position based on the current toggle state
             if bool_a == False:
                 animation.servos["MOU"].set_target(130)
             elif bool_a == True:
                 animation.servos["MOU"].set_target(70)
-                
+
             # Flip the boolean every 250ms to flap the mouth
             if time.ticks_diff(now, last_toggle_a) >= 250:
                 bool_a = not bool_a   # flip the boolean
@@ -157,7 +160,10 @@ while True:
             blink_counter = blink_time
              
 
-            # Calibration mode 
+        # 更新一次性动作状态
+        animation.update_oneshot()
+
+            # Calibration mode
         if (mode.value() == 1):
             animation.current_state = "state_calibrate"
             animation.apply_state("state_calibrate") # change this back to calibrate to keep calibration mode/base for testing
@@ -165,7 +171,8 @@ while True:
             if LED_countdown <= 0:
                 LED.toggle()
                 LED_countdown = LED_oscillator
-        else:
+        elif not animation.oneshot_active:
+            # 一次性动作期间跳过常规状态动画，避免舵机目标冲突
             if animation.current_state == "idle":
                 animation.apply_state("idle")
                 animation.servos["LID"]._write_pwm(30)
@@ -173,7 +180,7 @@ while True:
                 if animation.previous_state == "idle":
                     animation.servos["LID"]._write_pwm(110)
                     animation.servos["PIT"].set_target(10)
-                # Blink mode   
+                # Blink mode
                 if blinking and animation.current_state != "idle":
                     if blink_counter > blink_time - 50:
                         # closed
@@ -184,7 +191,7 @@ while True:
                     blink_counter -= 1
                     if blink_counter == 0:
                         blinking = False
-                        
+
                 # Update with whatever state the ESP says
                 animation.apply_state(animation.current_state)                   
                     
@@ -193,7 +200,12 @@ while True:
         animation.servos["LID"]._write_pwm(110)
         animation.current_state = "neutral"
     
-    facetrack() 
+    # 一次性动作期间暂停人脸追踪，避免覆盖 EYL/EYR/PIT/YAW 目标
+    # 但仍需读取 Grove 数据防止串口缓冲区溢出
+    if animation.oneshot_active:
+        external.grove_read()  # 消费数据，不驱动舵机
+    else:
+        facetrack()
 
     # Update all servos except eyelids
     for name, s in servos.items():

main/application.cc

@@ -475,6 +475,57 @@ void Application::Start() {
                 auto text = cJSON_GetObjectItem(root, "text");
                 if (cJSON_IsString(text)) {
                     ESP_LOGI(TAG, "<< %s", text->valuestring);
+                    // 从 AI 回复文本中解析动作代码，发送给 RP2040
+                    // 格式：（EAL）好啦好啦～  TTS 的 IgnoreBracketText 会自动跳过（）内容
+                    // （= UTF-8: 0xEF 0xBC 0x88   ）= UTF-8: 0xEF 0xBC 0x89
+                    const char* t = text->valuestring;
+                    if ((unsigned char)t[0] == 0xEF && (unsigned char)t[1] == 0xBC && (unsigned char)t[2] == 0x88) {
+                        // 找到全角左括号（，搜索对应的）
+                        const char* content = t + 3;
+                        const char* end = content;
+                        while (*end) {
+                            if ((unsigned char)end[0] == 0xEF && (unsigned char)end[1] == 0xBC && (unsigned char)end[2] == 0x89) {
+                                break;
+                            }
+                            end++;
+                        }
+                        if (*end) {
+                            int code_len = end - content;
+                            if (code_len > 0 && code_len <= 8) {
+                                char action_code[9] = {};
+                                memcpy(action_code, content, code_len);
+                                static const struct { const char* code; const char* cmd; } action_table[] = {
+                                    // 单动作
+                                    {"EAL", "act_ear_left"},
+                                    {"EAR", "act_ear_right"},
+                                    {"EYL", "act_eye_left"},
+                                    {"EYR", "act_eye_right"},
+                                    {"TLL", "act_tilt_left"},
+                                    {"TLR", "act_tilt_right"},
+                                    {"NOD", "act_nod"},
+                                    {"MOU", "act_mouth"},
+                                    {"BLK", "act_blink"},
+                                    {"ECL", "act_eyes_close"},
+                                    {"EOP", "act_eyes_open"},
+                                    {"BTN", "act_body_turn"},
+                                    // 组合动作
+                                    {"EARB", "act_ears_both"},
+                                    {"NDBK", "act_nod_blink"},
+                                    {"SHAK", "act_shake_head"},
+                                    {"LOOK", "act_look_around"},
+                                    {"CUTE", "act_cute"},
+                                    {"DANC", "act_dance"},
+                                };
+                                for (const auto& entry : action_table) {
+                                    if (strcmp(action_code, entry.code) == 0) {
+                                        ESP_LOGI(TAG, "Action: %s -> %s", action_code, entry.cmd);
+                                        uart_send_string(entry.cmd);
+                                        break;
+                                    }
+                                }
+                            }
+                        }
+                    }
                     Schedule([this, display, message = std::string(text->valuestring)]() {
                         display->SetChatMessage("assistant", message.c_str());
                     });
@@ -484,6 +535,58 @@ void Application::Start() {
             auto text = cJSON_GetObjectItem(root, "text");
             if (cJSON_IsString(text)) {
                 ESP_LOGI(TAG, ">> %s", text->valuestring);
+                // 从用户语音指令中匹配身体动作关键词，直接发送给 RP2040
+                const char* s = text->valuestring;
+                const char* action_cmd = nullptr;
+                // 判断是否包含"耳"相关（"耳朵"或"耳"，ASR 可能识别为"耳刀"等）
+                bool has_ear = strstr(s, "耳") != nullptr;
+                bool has_left = strstr(s, "左") != nullptr;
+                bool has_right = strstr(s, "右") != nullptr;
+                // 优先匹配带方向的耳朵
+                if (has_ear && has_left) {
+                    action_cmd = "act_ear_left";
+                } else if (has_ear && has_right) {
+                    action_cmd = "act_ear_right";
+                } else if (has_ear) {
+                    action_cmd = "act_ears_both";
+                // 头部动作
+                } else if (strstr(s, "点头") || strstr(s, "点一下头") || strstr(s, "点点头")) {
+                    action_cmd = "act_nod";
+                } else if (strstr(s, "摇头") || strstr(s, "摇摇头") || strstr(s, "摇一下头")) {
+                    action_cmd = "act_shake_head";
+                } else if (strstr(s, "歪") && has_left) {
+                    action_cmd = "act_tilt_left";
+                } else if (strstr(s, "歪") && has_right) {
+                    action_cmd = "act_tilt_right";
+                } else if (strstr(s, "歪头") || strstr(s, "歪一下")) {
+                    action_cmd = "act_tilt_left";
+                // 眼睛动作
+                } else if ((strstr(s, "眼") || strstr(s, "看")) && has_left) {
+                    action_cmd = "act_eye_left";
+                } else if ((strstr(s, "眼") || strstr(s, "看")) && has_right) {
+                    action_cmd = "act_eye_right";
+                } else if (strstr(s, "眨眼") || strstr(s, "眨一下")) {
+                    action_cmd = "act_blink";
+                } else if (strstr(s, "闭眼") || strstr(s, "闭上眼")) {
+                    action_cmd = "act_eyes_close";
+                } else if (strstr(s, "睁眼") || strstr(s, "睁开眼")) {
+                    action_cmd = "act_eyes_open";
+                // 嘴巴
+                } else if (strstr(s, "张嘴") || strstr(s, "嘴巴") || strstr(s, "张开嘴")) {
+                    action_cmd = "act_mouth";
+                // 身体
+                } else if (strstr(s, "转身") || strstr(s, "转动") || strstr(s, "转个") || strstr(s, "转一下")) {
+                    action_cmd = "act_body_turn";
+                // 组合/特殊
+                } else if (strstr(s, "卖萌")) {
+                    action_cmd = "act_cute";
+                } else if (strstr(s, "跳舞") || strstr(s, "跳个舞")) {
+                    action_cmd = "act_dance";
+                }
+                if (action_cmd) {
+                    ESP_LOGI(TAG, "Voice action: [%s] -> %s", s, action_cmd);
+                    uart_send_string(action_cmd);
+                }
                 Schedule([this, display, message = std::string(text->valuestring)]() {
                     display->SetChatMessage("user", message.c_str());
                 });
@@ -492,6 +595,7 @@ void Application::Start() {
             // LLM 回复中携带的情绪标签（如 "happy"、"thinking"）
             auto emotion = cJSON_GetObjectItem(root, "emotion");
             if (cJSON_IsString(emotion)) {
+                ESP_LOGI(TAG, "LLM emotion: [%s]", emotion->valuestring);
                 Schedule([this, display, emotion_str = std::string(emotion->valuestring)]() {
                     display->SetEmotion(emotion_str.c_str());
                     // 将 AI 返回的情绪标签发送给 RP2040，实时切换舵机动画表情