智慧生活科技專業社群: [OTTO GO] MQTT再測試-ACK 回覆、I2S 切換保護、統一 Topic + info 上線宣告

OTTO GO 的控制 Topic

送指令（Publish 到這個）
`otto_go/OTTO_GO_A1/4A65B7A0/cmd`

看即時狀態（Subscribe 這個）
`otto_go/OTTO_GO_A1/4A65B7A0/status`

看指令回覆 ACK（Subscribe 這個）
`otto_go/OTTO_GO_A1/4A65B7A0/ack`

看上線資訊（Subscribe 這個，retain）
`otto_go/OTTO_GO_A1/4A65B7A0/info`

MQTTX 快速測試（直接複製貼上 payload）

把下面每一行都「發到 cmd topic」：

喇叭

`spk=beep`

`spk=roar`

虎嘴

`mouth=open`

`mouth=close`

TFT

`tft=hello`

`tft=clear`

伺服

`servo=all,90`

`servo=1,120`

`servo=2,60`

`servo=3,90`

`servo=4,150`

改狀態回報頻率

`status_period=2000` （2 秒一次）

`status_period=1000` （1 秒一次）

arduino:

#include <Arduino.h>
#include <WiFi.h>
#include <PubSubClient.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_ST7789.h>
#include <ESP32Servo.h>
#include "driver/i2s.h"
#include "freertos/semphr.h"

// ===================== 你要改的設定 =====================
const char* WIFI_SSID = "您的SSID";
const char* WIFI_PASS = "您的密碼";

const char* MQTT_HOST = "mqttgo.io";
const uint16_t MQTT_PORT = 1883;

// 建議：現場貼標籤用（同一場域多台最好不一樣）
const char* DEVICE_NAME = "OTTO_GO_A1";

// base topic = otto_go/<DEVICE_NAME>/<chipid>
static String TOPIC_BASE;

// publish / subscribe topic
static String T_INFO, T_STATUS, T_ACK, T_CMD;

// status publish 週期（ms）
static uint32_t STATUS_PERIOD_MS = 2000;

// ===================== Pin map (OTTO GO) =====================
// TFT (SPI)
#define TFT_MOSI 19
#define TFT_SCLK 18
#define TFT_CS    5
#define TFT_DC   16
#define TFT_RST  23

// Ultrasonic
#define US_TRIG 27
#define US_ECHO 39

// Servos
#define SERVO1 21
#define SERVO2 22
#define SERVO3 4
#define SERVO4 14

// Speaker (I2S -> AMP -> SPK white socket)
#define SPK_I2S_LRCK 17
#define SPK_I2S_BCLK 2
#define SPK_I2S_DOUT 32

// Microphone (I2S MEMS)
#define MIC_I2S_SCK 13
#define MIC_I2S_SD  12
#define MIC_I2S_WS  15

// ===================== Objects =====================
WiFiClient wifiClient;
PubSubClient mqtt(wifiClient);

Adafruit_ST7789 tft = Adafruit_ST7789(TFT_CS, TFT_DC, TFT_RST);
Servo s1, s2, s3, s4;

// ===================== Helpers =====================
static inline uint16_t RGB565(uint8_t r, uint8_t g, uint8_t b) {
  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
}

// ===================== Ultrasonic =====================
long readDistanceCM_once() {
  digitalWrite(US_TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(US_TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(US_TRIG, LOW);

  unsigned long duration = pulseIn(US_ECHO, HIGH, 30000UL);
  if (duration == 0) return -1;
  return (long)(duration / 58UL);
}
long median3(long a, long b, long c) {
  if (a > b) { long t=a; a=b; b=t; }
  if (b > c) { long t=b; b=c; c=t; }
  if (a > b) { long t=a; a=b; b=t; }
  return b;
}
long readDistanceCM_median3() {
  long d1 = readDistanceCM_once();
  long d2 = readDistanceCM_once();
  long d3 = readDistanceCM_once();
  long d  = median3(d1, d2, d3);
  return d;
}

// ===================== TFT =====================
void tftHello() {
  tft.fillScreen(ST77XX_BLACK);
  tft.setTextColor(ST77XX_WHITE);
  tft.setTextSize(3);
  tft.setCursor(20, 40);
  tft.print("Hello");
}

static bool mouthOpen = false;

void drawTigerMouth(bool open) {
  mouthOpen = open;

  int cx = tft.width()/2;
  int cy = tft.height()/2;

  uint16_t furLight = RGB565(235, 228, 210);
  uint16_t shadow   = RGB565(160, 150, 135);
  uint16_t lineDark = RGB565(40, 40, 40);
  uint16_t dotDark  = RGB565(70, 70, 70);

  tft.fillScreen(ST77XX_BLACK);

  tft.fillCircle(cx - 55, cy + 10, 55, furLight);
  tft.fillCircle(cx + 55, cy + 10, 55, furLight);
  tft.fillRoundRect(cx - 90, cy - 25, 180, 110, 28, furLight);

  tft.fillRoundRect(cx - 85, cy + 60, 170, 22, 12, shadow);
  tft.fillRoundRect(cx - 40, cy + 55, 80, 10, 5, RGB565(120,110,100));

  int dotY1 = cy + 6, dotY2 = cy + 26;
  for (int k=0;k<3;k++){
    tft.fillCircle(cx - 55 - k*12, dotY1 + k*2, 2, dotDark);
    tft.fillCircle(cx - 55 - k*12, dotY2 + k*2, 2, dotDark);
    tft.fillCircle(cx + 55 + k*12, dotY1 + k*2, 2, dotDark);
    tft.fillCircle(cx + 55 + k*12, dotY2 + k*2, 2, dotDark);
  }

  tft.drawLine(cx, cy - 5, cx, open ? (cy + 10) : (cy + 20), lineDark);
  tft.drawLine(cx-1, cy - 5, cx-1, open ? (cy + 10) : (cy + 20), RGB565(80,80,80));

  int mouthY = open ? (cy + 16) : (cy + 18);
  int N = open ? 36 : 34;
  int div = open ? 85 : 95;
  for (int i=0;i<N;i++){
    int y = mouthY + (i*i)/div;
    tft.drawPixel(cx-i, y, lineDark);
    tft.drawPixel(cx-i, y+1, lineDark);
    tft.drawPixel(cx+i, y, lineDark);
    tft.drawPixel(cx+i, y+1, lineDark);
  }

  tft.fillCircle(cx - (open?38:36), mouthY + (open?14:12), 3, lineDark);
  tft.fillCircle(cx + (open?38:36), mouthY + (open?14:12), 3, lineDark);

  if (!open) {
    tft.fillRoundRect(cx - 10, mouthY + 20, 20, 4, 2, RGB565(90,80,70));
  } else {
    uint16_t mouthIn = RGB565(15,15,15);
    uint16_t tongue  = RGB565(210,120,120);
    int w=90, h=45;
    int x=cx-w/2, y0=cy+28;
    tft.fillRoundRect(x, y0, w, h, 18, mouthIn);
    tft.fillCircle(cx, y0+h, 22, mouthIn);
    tft.fillRoundRect(cx-22, y0+18, 44, 20, 10, tongue);
    tft.fillCircle(cx, y0+36, 14, tongue);
  }

  tft.setTextSize(2);
  tft.setTextColor(ST77XX_YELLOW, ST77XX_BLACK);
  tft.setCursor(10, 10);
  tft.print(open ? "MOUTH: OPEN" : "MOUTH: CLOSE");
}

// ===================== I2S0 mode switching（穩定版 + 保護） =====================
const i2s_port_t I2S_PORT = I2S_NUM_0;

enum I2SMode { MODE_NONE=0, MODE_SPK=1, MODE_MIC=2 };
static volatile I2SMode curMode = MODE_NONE;

static SemaphoreHandle_t i2sMutex = nullptr;

// 狀態顯示
static bool spk_ok = false;
static bool mic_ok = false;

// 切換保護（避免太頻繁卸載/安裝造成崩潰）
static uint32_t lastSwitchMs = 0;
static const uint32_t MIN_SWITCH_GAP_MS = 250;

static void lockI2S()   { if (i2sMutex) xSemaphoreTake(i2sMutex, portMAX_DELAY); }
static void unlockI2S() { if (i2sMutex) xSemaphoreGive(i2sMutex); }

static void i2sStopAndUninstallSafe() {
  if (curMode == MODE_NONE) return;
  i2s_stop(I2S_PORT);
  i2s_driver_uninstall(I2S_PORT);
  curMode = MODE_NONE;
}

static bool i2sInitSpeaker_locked() {
  i2sStopAndUninstallSafe();

  i2s_config_t cfg = {
    .mode = (i2s_mode_t)(I2S_MODE_MASTER | I2S_MODE_TX),
    .sample_rate = 22050,
    .bits_per_sample = I2S_BITS_PER_SAMPLE_16BIT,
    .channel_format = I2S_CHANNEL_FMT_RIGHT_LEFT,
    .communication_format = I2S_COMM_FORMAT_I2S_MSB,
    .intr_alloc_flags = ESP_INTR_FLAG_LEVEL1,
    .dma_buf_count = 4,
    .dma_buf_len   = 128,
    .use_apll = false,
    .tx_desc_auto_clear = true,
    .fixed_mclk = 0
  };

  i2s_pin_config_t pin_cfg = {
    .bck_io_num = SPK_I2S_BCLK,
    .ws_io_num  = SPK_I2S_LRCK,
    .data_out_num = SPK_I2S_DOUT,
    .data_in_num  = I2S_PIN_NO_CHANGE
  };

  esp_err_t e1 = i2s_driver_install(I2S_PORT, &cfg, 0, NULL);
  if (e1 != ESP_OK) return false;

  esp_err_t e2 = i2s_set_pin(I2S_PORT, &pin_cfg);
  if (e2 != ESP_OK) return false;

  i2s_zero_dma_buffer(I2S_PORT);
  i2s_start(I2S_PORT);
  curMode = MODE_SPK;
  lastSwitchMs = millis();
  return true;
}

static bool i2sInitMic_locked() {
  i2sStopAndUninstallSafe();

  i2s_config_t cfg = {
    .mode = (i2s_mode_t)(I2S_MODE_MASTER | I2S_MODE_RX),
    .sample_rate = 16000,
    .bits_per_sample = I2S_BITS_PER_SAMPLE_32BIT,
    .channel_format = I2S_CHANNEL_FMT_ONLY_LEFT,
    .communication_format = I2S_COMM_FORMAT_I2S_MSB,
    .intr_alloc_flags = ESP_INTR_FLAG_LEVEL1,
    .dma_buf_count = 4,
    .dma_buf_len   = 128,
    .use_apll = false,
    .tx_desc_auto_clear = false,
    .fixed_mclk = 0
  };

  i2s_pin_config_t pin_cfg = {
    .bck_io_num = MIC_I2S_SCK,
    .ws_io_num  = MIC_I2S_WS,
    .data_out_num = I2S_PIN_NO_CHANGE,
    .data_in_num  = MIC_I2S_SD
  };

  esp_err_t e1 = i2s_driver_install(I2S_PORT, &cfg, 0, NULL);
  if (e1 != ESP_OK) return false;

  esp_err_t e2 = i2s_set_pin(I2S_PORT, &pin_cfg);
  if (e2 != ESP_OK) return false;

  i2s_zero_dma_buffer(I2S_PORT);
  i2s_start(I2S_PORT);
  curMode = MODE_MIC;
  lastSwitchMs = millis();
  return true;
}

static bool ensureSpeakerMode_locked() {
  if (curMode == MODE_SPK) return true;
  if (millis() - lastSwitchMs < MIN_SWITCH_GAP_MS) delay(MIN_SWITCH_GAP_MS);
  spk_ok = i2sInitSpeaker_locked();
  return spk_ok;
}

static bool ensureMicMode_locked() {
  if (curMode == MODE_MIC) return true;
  if (millis() - lastSwitchMs < MIN_SWITCH_GAP_MS) delay(MIN_SWITCH_GAP_MS);
  mic_ok = i2sInitMic_locked();
  return mic_ok;
}

// ===================== Speaker sound =====================
static uint32_t rng = 1;
static inline int16_t noise16() {
  rng = rng * 1664525UL + 1013904223UL;
  return (int16_t)(rng >> 16);
}

static void playBeep1kHz_200ms_locked() {
  if (!ensureSpeakerMode_locked()) return;

  const int sampleRate = 22050;
  const float freq = 1000.0f;
  const float durSec = 0.2f;
  const int total = (int)(sampleRate * durSec);

  const int N = 256;
  int16_t stereo[N * 2];
  float phase = 0.0f;

  for (int i=0;i<total;){
    int n = (total-i > N) ? N : (total-i);
    for (int k=0;k<n;k++){
      phase += 2.0f * 3.1415926f * freq / (float)sampleRate;
      if (phase > 2.0f*3.1415926f) phase -= 2.0f*3.1415926f;

      int16_t v = (int16_t)(sinf(phase) * 12000);
      stereo[2*k+0] = v;
      stereo[2*k+1] = v;
    }
    size_t written=0;
    i2s_write(I2S_PORT, (const char*)stereo, n*2*sizeof(int16_t), &written, portMAX_DELAY);
    i += n;
  }
}

static void playRoarOnce_locked() {
  if (!ensureSpeakerMode_locked()) return;

  const int sampleRate = 22050;
  const float durSec = 0.6f;
  const int total = (int)(sampleRate * durSec);

  const int N = 256;
  int16_t stereo[N * 2];
  float phase = 0.0f;

  for (int i=0;i<total;){
    int n = (total-i > N) ? N : (total-i);

    for (int k=0;k<n;k++){
      float t = (float)(i+k)/(float)total;
      float f = 120.0f - 50.0f*t;
      phase += 2.0f * 3.1415926f * f / (float)sampleRate;
      if (phase > 2.0f*3.1415926f) phase -= 2.0f*3.1415926f;

      float env = (t < 0.08f) ? (t/0.08f) : (1.0f - (t-0.08f)/0.92f);
      if (env < 0) env = 0;

      float s  = sinf(phase)*0.65f + sinf(phase*0.5f)*0.35f;
      float nz = (noise16()/32768.0f)*0.35f;
      float out = (s + nz) * env;

      float gain = 0.85f;
      int32_t v = (int32_t)(out * gain * 30000.0f);
      if (v > 32767) v = 32767;
      if (v < -32768) v = -32768;

      int16_t vv = (int16_t)v;
      stereo[2*k+0] = vv;
      stereo[2*k+1] = vv;
    }

    size_t written=0;
    i2s_write(I2S_PORT, (const char*)stereo, n*2*sizeof(int16_t), &written, portMAX_DELAY);
    i += n;
  }
}

// ===================== Microphone energy =====================
static const int MIC_FRAME = 128;
static int32_t micBuf[MIC_FRAME];

static float readMicEnergyOnce_locked() {
  if (!ensureMicMode_locked()) return 0;

  size_t bytesRead = 0;
  i2s_read(I2S_PORT, (void*)micBuf, sizeof(micBuf), &bytesRead, 20 / portTICK_PERIOD_MS);
  int n = bytesRead / 4;
  if (n <= 0) return 0;

  uint64_t sumAbs = 0;
  for (int i=0;i<n;i++){
    int16_t s16 = (int16_t)(micBuf[i] >> 16);
    sumAbs += (uint16_t)abs(s16);
  }
  return (float)sumAbs / (float)n;
}

// ===================== ACK / status =====================
static String lastAck = "BOOT";
static uint32_t lastAckMs = 0;

static void publishAck(const String& cmd, bool ok, const String& extra="") {
  lastAckMs = millis();
  lastAck = String(ok ? "OK " : "FAIL ") + cmd;
  if (extra.length()) lastAck += " " + extra;

  // ack topic（即時回覆）
  if (mqtt.connected()) {
    String payload = "{\"ts\":" + String(lastAckMs) +
                     ",\"ok\":" + String(ok ? 1 : 0) +
                     ",\"ack\":\"" + lastAck + "\"}";
    mqtt.publish(T_ACK.c_str(), payload.c_str(), false);
  }
}

// ===================== Servo state =====================
static int sAng[4] = {90,90,90,90};

static void servoWriteAll(int a) {
  a = constrain(a, 0, 180);
  sAng[0]=sAng[1]=sAng[2]=sAng[3]=a;
  s1.write(a); s2.write(a); s3.write(a); s4.write(a);
}

static void servoWriteCh(int ch, int a) {
  a = constrain(a, 0, 180);
  if (ch<1 || ch>4) return;
  sAng[ch-1]=a;
  switch(ch){
    case 1: s1.write(a); break;
    case 2: s2.write(a); break;
    case 3: s3.write(a); break;
    case 4: s4.write(a); break;
  }
}

// ===================== MQTT 指令格式（不依賴 ArduinoJson） =====================
//
// 你用 MQTTX / Node-RED 都好發：
//
// 1) 喇叭： "spk=beep" 或 "spk=roar"
// 2) TFT：  "tft=hello" / "tft=clear"
// 3) 虎嘴： "mouth=open" / "mouth=close"
// 4) 伺服： "servo=all,90" 或 "servo=1,120"
// 5) 超音波： "ultra=read"  (會立即 publish 一次 status)
// 6) 設定： "status_period=2000"
//
// topic： otto_go/<DEVICE_NAME>/<chipid>/cmd
//
static bool startsWith(const String& s, const char* p) {
  return s.startsWith(p);
}

static void handleCommandLine(String msg) {
  msg.trim();
  if (!msg.length()) return;

  bool ok = true;
  String extra = "";

  if (startsWith(msg, "spk=")) {
    String v = msg.substring(4); v.trim();
    lockI2S();
    if (v == "beep") playBeep1kHz_200ms_locked();
    else if (v == "roar") playRoarOnce_locked();
    else ok = false;
    unlockI2S();
  }
  else if (startsWith(msg, "tft=")) {
    String v = msg.substring(4); v.trim();
    if (v == "hello") tftHello();
    else if (v == "clear") tft.fillScreen(ST77XX_BLACK);
    else ok = false;
  }
  else if (startsWith(msg, "mouth=")) {
    String v = msg.substring(6); v.trim();
    if (v == "open") drawTigerMouth(true);
    else if (v == "close") drawTigerMouth(false);
    else ok = false;
  }
  else if (startsWith(msg, "servo=")) {
    // servo=all,90 or servo=2,120
    String v = msg.substring(6); v.trim();
    int comma = v.indexOf(',');
    if (comma < 0) ok = false;
    else {
      String a = v.substring(0, comma); a.trim();
      String b = v.substring(comma+1); b.trim();
      int ang = b.toInt();
      if (a == "all") servoWriteAll(ang);
      else {
        int ch = a.toInt();
        if (ch < 1 || ch > 4) ok = false;
        else servoWriteCh(ch, ang);
      }
    }
  }
  else if (startsWith(msg, "status_period=")) {
    String v = msg.substring(strlen("status_period=")); v.trim();
    uint32_t p = (uint32_t)v.toInt();
    if (p < 500) p = 500;
    if (p > 10000) p = 10000;
    STATUS_PERIOD_MS = p;
    extra = "period=" + String(STATUS_PERIOD_MS);
  }
  else if (startsWith(msg, "ultra=read")) {
    // 立即 publish 一次 status（loop 會自然發，這裡只做 ack）
  }
  else {
    ok = false;
  }

  publishAck(msg, ok, extra);
}

// ===================== MQTT callback =====================
static void mqttCallback(char* topic, byte* payload, unsigned int length) {
  String t = String(topic);
  String msg;
  msg.reserve(length+1);
  for (unsigned int i=0;i<length;i++) msg += (char)payload[i];

  // 只處理 cmd topic（避免誤觸）
  if (t == T_CMD) {
    handleCommandLine(msg);
  }
}

// ===================== WiFi / MQTT connect =====================
static void wifiConnect() {
  WiFi.mode(WIFI_STA);
  WiFi.begin(WIFI_SSID, WIFI_PASS);
  Serial.printf("WiFi connecting to %s ...\n", WIFI_SSID);

  uint32_t t0 = millis();
  while (WiFi.status() != WL_CONNECTED) {
    delay(300);
    Serial.print(".");
    if (millis() - t0 > 20000) break;
  }
  Serial.println();

  if (WiFi.status() == WL_CONNECTED) {
    Serial.print("WiFi OK IP=");
    Serial.println(WiFi.localIP());
  } else {
    Serial.println("WiFi FAIL (check SSID/PASS)");
  }
}

static String makeClientId() {
  uint64_t mac = ESP.getEfuseMac();
  char buf[32];
  snprintf(buf, sizeof(buf), "%s_%08X", DEVICE_NAME, (uint32_t)(mac & 0xFFFFFFFF));
  return String(buf);
}

static void publishInfoOnce(const String& clientId) {
  if (!mqtt.connected()) return;

  String payload;
  payload.reserve(256);
  payload += "{";
  payload += "\"device\":\""; payload += DEVICE_NAME; payload += "\",";
  payload += "\"clientId\":\""; payload += clientId; payload += "\",";
  payload += "\"ip\":\""; payload += WiFi.localIP().toString(); payload += "\",";
  payload += "\"base\":\""; payload += TOPIC_BASE; payload += "\",";
  payload += "\"cmd\":\""; payload += T_CMD; payload += "\"";
  payload += "}";
  mqtt.publish(T_INFO.c_str(), payload.c_str(), true);
}

static bool mqttEnsureConnected() {
  if (mqtt.connected()) return true;
  if (WiFi.status() != WL_CONNECTED) return false;

  String clientId = makeClientId();
  Serial.print("MQTT connecting... ");

  // LWT（可選）：離線狀態
  String lwt = "{\"online\":0}";
  bool ok = mqtt.connect(clientId.c_str(), nullptr, nullptr, T_STATUS.c_str(), 0, true, lwt.c_str());
  if (!ok) {
    Serial.printf("FAIL rc=%d\n", mqtt.state());
    return false;
  }
  Serial.println("OK");

  mqtt.subscribe(T_CMD.c_str());

  // online status + info
  mqtt.publish(T_STATUS.c_str(), "{\"online\":1,\"boot\":1}", true);
  publishInfoOnce(clientId);

  publishAck("CONNECTED", true);

  return true;
}

// ===================== status publish =====================
static uint32_t lastStatusMs = 0;

static void publishStatus() {
  if (!mqtt.connected()) return;

  // distance
  long d = readDistanceCM_median3();
  if (d < 0) d = -1;

  // mic energy（讀一次就切回喇叭，維持可播放）
  float e = 0;
  lockI2S();
  e = readMicEnergyOnce_locked();
  spk_ok = ensureSpeakerMode_locked();
  unlockI2S();

  String payload;
  payload.reserve(320);
  payload += "{";
  payload += "\"online\":1,";
  payload += "\"ts\":"; payload += String(millis()); payload += ",";
  payload += "\"dist_cm\":"; payload += String(d); payload += ",";
  payload += "\"mic_energy\":"; payload += String(e, 1); payload += ",";
  payload += "\"mic_ok\":"; payload += String(mic_ok ? 1 : 0); payload += ",";
  payload += "\"spk_ok\":"; payload += String(spk_ok ? 1 : 0); payload += ",";
  payload += "\"mouth\":\""; payload += (mouthOpen ? "OPEN" : "CLOSE"); payload += "\",";
  payload += "\"servo\":[";
  payload += String(sAng[0]); payload += ",";
  payload += String(sAng[1]); payload += ",";
  payload += String(sAng[2]); payload += ",";
  payload += String(sAng[3]); payload += "],";
  payload += "\"ack_ts\":"; payload += String(lastAckMs); payload += ",";
  payload += "\"ack\":\""; payload += lastAck; payload += "\"";
  payload += "}";

  mqtt.publish(T_STATUS.c_str(), payload.c_str(), false);
}

// ===================== Setup/Loop =====================
void setup() {
  Serial.begin(115200);

  i2sMutex = xSemaphoreCreateMutex();

  pinMode(US_TRIG, OUTPUT);
  pinMode(US_ECHO, INPUT);

  // TFT init
  SPI.begin(TFT_SCLK, -1, TFT_MOSI, TFT_CS);
  tft.init(240, 320);
  tft.setRotation(1);
  tftHello();

  // Servo init
  s1.attach(SERVO1, 600, 2400);
  s2.attach(SERVO2, 600, 2400);
  s3.attach(SERVO3, 600, 2400);
  s4.attach(SERVO4, 600, 2400);
  servoWriteAll(90);

  // 開機先進 Speaker 模式並 beep（確認喇叭）
  lockI2S();
  spk_ok = i2sInitSpeaker_locked();
  if (spk_ok) playBeep1kHz_200ms_locked();
  unlockI2S();

  // topics
  uint64_t mac = ESP.getEfuseMac();
  char chip[16];
  snprintf(chip, sizeof(chip), "%08X", (uint32_t)(mac & 0xFFFFFFFF));

  TOPIC_BASE = String("otto_go/") + DEVICE_NAME + "/" + chip;
  T_INFO   = TOPIC_BASE + "/info";
  T_STATUS = TOPIC_BASE + "/status";
  T_ACK    = TOPIC_BASE + "/ack";
  T_CMD    = TOPIC_BASE + "/cmd";

  // WiFi
  wifiConnect();

  // MQTT
  mqtt.setServer(MQTT_HOST, MQTT_PORT);
  mqtt.setCallback(mqttCallback);

  Serial.println("----- MQTT Topics -----");
  Serial.println("INFO   : " + T_INFO);
  Serial.println("STATUS : " + T_STATUS);
  Serial.println("ACK    : " + T_ACK);
  Serial.println("CMD    : " + T_CMD);
  Serial.println("-----------------------");
}

void loop() {
  // WiFi 保活
  if (WiFi.status() != WL_CONNECTED) {
    static uint32_t lastRetry = 0;
    if (millis() - lastRetry > 5000) {
      lastRetry = millis();
      wifiConnect();
    }
    delay(10);
    return;
  }

  // MQTT 連線
  mqttEnsureConnected();
  mqtt.loop();

  // 週期 publish status
  uint32_t now = millis();
  if (now - lastStatusMs >= STATUS_PERIOD_MS) {
    lastStatusMs = now;
    publishStatus();
  }
}

智慧生活科技專業社群

2026年2月14日星期六

[OTTO GO] MQTT再測試-ACK 回覆、I2S 切換保護、統一 Topic + info 上線宣告

OTTO GO 的控制 Topic

MQTTX 快速測試（直接複製貼上 payload）

把下面每一行都「發到 cmd topic」：

喇叭

`spk=beep`

`spk=roar`

虎嘴

`mouth=open`

`mouth=close`

TFT

`tft=hello`

`tft=clear`

伺服

`servo=all,90`

`servo=1,120`

`servo=2,60`

`servo=3,90`

`servo=4,150`

改狀態回報頻率

`status_period=2000` （2 秒一次）

`status_period=1000` （1 秒一次）

沒有留言:

張貼留言

2026年2月14日 星期六

[OTTO GO] MQTT再測試-ACK 回覆、I2S 切換保護、統一 Topic + info 上線宣告

OTTO GO 的控制 Topic

送指令（Publish 到這個） otto_go/OTTO_GO_A1/4A65B7A0/cmd 看即時狀態（Subscribe 這個） otto_go/OTTO_GO_A1/4A65B7A0/status 看指令回覆 ACK（Subscribe 這個） otto_go/OTTO_GO_A1/4A65B7A0/ack 看上線資訊（Subscribe 這個，retain） otto_go/OTTO_GO_A1/4A65B7A0/info

MQTTX 快速測試（直接複製貼上 payload）

把下面每一行都「發到 cmd topic」：

喇叭

spk=beep spk=roar

虎嘴

mouth=open mouth=close

TFT

tft=hello tft=clear

伺服

servo=all,90 servo=1,120 servo=2,60 servo=3,90 servo=4,150

改狀態回報頻率

status_period=2000 （2 秒一次） status_period=1000 （1 秒一次）

沒有留言:

張貼留言

2026年2月14日星期六

`spk=beep`

`spk=roar`

`mouth=open`

`mouth=close`

`tft=hello`

`tft=clear`

`servo=all,90`

`servo=1,120`

`servo=2,60`

`servo=3,90`

`servo=4,150`

`status_period=2000` （2 秒一次）

`status_period=1000` （1 秒一次）