🤖 情感互动机器人 / Emotional Robot

// ==================== 情绪更新核心逻辑 ====================
void updateMood() {
  // 限制传感器物理采样频率为 20Hz (每 50ms 一次)
  static unsigned long lastSensorReadTime = 0;
  static int cachedDist = 100;
  static int cachedSound = 0;
  
  if (millis() - lastSensorReadTime >= 50 || lastSensorReadTime == 0) {
    lastSensorReadTime = millis();
    cachedDist = getDistance();
    currentDistance = cachedDist; // 更新全局变量，供 MQTT 传输
    cachedSound = getSoundIntensity();
    smoothSound = smoothSound * 0.6 + cachedSound * 0.4;
  }
  
  int dist = cachedDist;
  
  // 1. 稳态与活动检测（用于重置打盹计时器）
  bool motionDetected = (abs(dist - prevDist) > 15 && dist < 200);
  bool soundDetected = (smoothSound > 120);
  if (motionDetected || soundDetected) {
    lastStateChangeTime = millis(); 
    prevDist = dist;
    prevSound = smoothSound;
  }
  
  // 2. 深度打盹“惊醒”检测（休眠时，大刺激唤醒）
  if (currentMood == MOOD_SLEEP && !inTransition) {
    bool wakeMotion = (abs(dist - prevDist) > 30 && dist < 120);
    bool wakeSound = (smoothSound > 250);
    if (wakeMotion || wakeSound) {
      inTransition = true;
      transitionStartTime = millis();
      nextMood = MOOD_CALM;
      currentFrame = 4; // 闭眼开始过渡
      lastActiveTime = millis();
      lastStateChangeTime = millis();
      prevDist = dist;
      prevSound = smoothSound;
      return;
    }
  }
  
  // 3. 持续 15 秒静止无活动，自动进入打盹（SLEEP）状态
  if (millis() - lastStateChangeTime >= 15000 && !inTransition && currentMood != MOOD_SLEEP) {
    inTransition = true;
    transitionStartTime = millis();
    nextMood = MOOD_SLEEP;
    currentFrame = 4; // 闭眼过渡
    return;
  }
  
  // 处于睡眠状态且未被惊醒，不处理常规情绪转化
  if (currentMood == MOOD_SLEEP) return;

  const int LOUD = 250, QUIET = 30; // 调优后的音量噪声阈值

  // 4. 双阈值迟滞比较器 (Hysteresis) 消除距离边界处的表情抖动
  if (dist < 40) {
    isNear = true;
    isFar = false;
  } else if (dist > 50) {
    isNear = false;
  }

  if (dist > 85) {
    isFar = true;
    isNear = false;
  } else if (dist < 75) {
    isFar = false;
  }
  
  bool interacting = false;
  Mood targetMood = currentMood;
  
  if (isNear) {
    interacting = true;
    if (smoothSound > LOUD) targetMood = MOOD_EXCITED;
    else targetMood = MOOD_HAPPY;
  }
  else if (isFar) {
    if (smoothSound > QUIET) {
      interacting = true;
      targetMood = MOOD_CALM;
    } else {
      targetMood = MOOD_SAD; // 远距且无声，稳定触发孤独/伤心
    }
  }
  else {
    if (smoothSound > QUIET) {
      interacting = true;
      targetMood = MOOD_SMILE;
    } else {
      targetMood = MOOD_CALM;
    }
  }
  
  if (interacting) lastActiveTime = millis();
  
  // 10秒无交互超时触发伤心/孤独
  if ((millis() - lastActiveTime > LONELY_TIMEOUT) && (smoothSound < QUIET)) {
    targetMood = MOOD_SAD;
  }
  
  // 5. 情绪转换过渡限制：满足最小显示时间（630ms）时才允许切换
  if (targetMood != currentMood && !inTransition) {
    unsigned long now = millis();
    if (now - moodChangeTime >= MIN_DISPLAY_TIME) {
      inTransition = true;
      transitionStartTime = now;
      nextMood = targetMood;
      currentFrame = 4; // 开始闭眼动画，切入过渡帧
    }
  }
}