From 2893f3cc56894d47eb4402c32710a1f0397d3e9e Mon Sep 17 00:00:00 2001 From: Eli Yip Date: Wed, 28 May 2025 09:44:39 +0800 Subject: [PATCH] refactor: remove unused hands package --- hands/animation.go | 268 --------------------------------------------- hands/can.go | 95 ---------------- hands/hands.go | 241 ---------------------------------------- hands/sensor.go | 65 ----------- 4 files changed, 669 deletions(-) delete mode 100644 hands/animation.go delete mode 100644 hands/can.go delete mode 100644 hands/hands.go delete mode 100644 hands/sensor.go diff --git a/hands/animation.go b/hands/animation.go deleted file mode 100644 index 27500a4..0000000 --- a/hands/animation.go +++ /dev/null @@ -1,268 +0,0 @@ -package hands - -import ( - "hands/config" - "log" - "sync" - "time" -) - -var ( - AnimationActive map[string]bool // 每个接口的动画状态 - AnimationMutex sync.Mutex - StopAnimationMap map[string]chan struct{} // 每个接口的停止动画通道 -) - -func initAnimation() { - // 初始化动画状态映射 - AnimationActive = make(map[string]bool) - StopAnimationMap = make(map[string]chan struct{}) - for _, ifName := range config.Config.AvailableInterfaces { - AnimationActive[ifName] = false - StopAnimationMap[ifName] = make(chan struct{}, 1) - } -} - -// 执行波浪动画 - 支持手型参数 -func StartWaveAnimation(ifName string, speed int, handType string, handId uint32) { - if speed <= 0 { - speed = 500 // 默认速度 - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("❌ 无法启动波浪动画: 无效的接口 %s", ifName) - return - } - - AnimationMutex.Lock() - - // 如果已经有动画在运行，先停止它 - if AnimationActive[ifName] { - select { - case StopAnimationMap[ifName] <- struct{}{}: - // 发送成功 - default: - // 通道已满，无需发送 - } - - StopAnimationMap[ifName] = make(chan struct{}, 1) - } - - AnimationActive[ifName] = true - AnimationMutex.Unlock() - - currentStopChannel := StopAnimationMap[ifName] - - go func() { - defer func() { - AnimationMutex.Lock() - AnimationActive[ifName] = false - AnimationMutex.Unlock() - log.Printf("👋 %s 波浪动画已完成", ifName) - }() - - fingerOrder := []int{0, 1, 2, 3, 4, 5} - open := byte(64) // 0x40 - close := byte(192) // 0xC0 - - log.Printf("🚀 开始 %s 波浪动画", ifName) - - // 动画循环 - for { - select { - case <-currentStopChannel: - log.Printf("🛑 %s 波浪动画被用户停止", ifName) - return - default: - // 波浪张开 - for _, idx := range fingerOrder { - pose := make([]byte, 6) - for j := 0; j < 6; j++ { - if j == idx { - pose[j] = open - } else { - pose[j] = close - } - } - - if err := SendFingerPose(ifName, pose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - delay := time.Duration(speed) * time.Millisecond - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 波浪动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - } - - // 波浪握拳 - for _, idx := range fingerOrder { - pose := make([]byte, 6) - for j := 0; j < 6; j++ { - if j == idx { - pose[j] = close - } else { - pose[j] = open - } - } - - if err := SendFingerPose(ifName, pose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - delay := time.Duration(speed) * time.Millisecond - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 波浪动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - } - } - } - }() -} - -// 执行横向摆动动画 - 支持手型参数 -func StartSwayAnimation(ifName string, speed int, handType string, handId uint32) { - if speed <= 0 { - speed = 500 // 默认速度 - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("❌ 无法启动摆动动画: 无效的接口 %s", ifName) - return - } - - AnimationMutex.Lock() - - if AnimationActive[ifName] { - select { - case StopAnimationMap[ifName] <- struct{}{}: - // 发送成功 - default: - // 通道已满，无需发送 - } - - StopAnimationMap[ifName] = make(chan struct{}, 1) - } - - AnimationActive[ifName] = true - AnimationMutex.Unlock() - - currentStopChannel := StopAnimationMap[ifName] - - go func() { - defer func() { - AnimationMutex.Lock() - AnimationActive[ifName] = false - AnimationMutex.Unlock() - log.Printf("🔄 %s 横向摆动动画已完成", ifName) - }() - - leftPose := []byte{48, 48, 48, 48} // 0x30 - rightPose := []byte{208, 208, 208, 208} // 0xD0 - - log.Printf("🚀 开始 %s 横向摆动动画", ifName) - - // 动画循环 - for { - select { - case <-currentStopChannel: - log.Printf("🛑 %s 横向摆动动画被用户停止", ifName) - return - default: - // 向左移动 - if err := SendPalmPose(ifName, leftPose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - delay := time.Duration(speed) * time.Millisecond - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 横向摆动动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - - // 向右移动 - if err := SendPalmPose(ifName, rightPose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 横向摆动动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - } - } - }() -} - -// 停止所有动画 -func StopAllAnimations(ifName string) { - // 如果未指定接口，停止所有接口的动画 - if ifName == "" { - for _, validIface := range config.Config.AvailableInterfaces { - StopAllAnimations(validIface) - } - return - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("⚠️ 尝试停止无效接口的动画: %s", ifName) - return - } - - AnimationMutex.Lock() - defer AnimationMutex.Unlock() - - if AnimationActive[ifName] { - select { - case StopAnimationMap[ifName] <- struct{}{}: - log.Printf("✅ 已发送停止 %s 动画信号", ifName) - default: - StopAnimationMap[ifName] = make(chan struct{}, 1) - StopAnimationMap[ifName] <- struct{}{} - log.Printf("⚠️ %s 通道重置后发送了停止信号", ifName) - } - - AnimationActive[ifName] = false - - go func() { - time.Sleep(100 * time.Millisecond) - resetToDefaultPose(ifName) - }() - } else { - log.Printf("ℹ️ %s 当前没有运行中的动画", ifName) - } -} diff --git a/hands/can.go b/hands/can.go deleted file mode 100644 index 15e3baf..0000000 --- a/hands/can.go +++ /dev/null @@ -1,95 +0,0 @@ -package hands - -import ( - "bytes" - "encoding/json" - "fmt" - "hands/config" - "hands/define" - "log" - "net/http" -) - -type CanMessage struct { - Interface string `json:"interface"` - ID uint32 `json:"id"` - Data []byte `json:"data"` -} - -// 检查 CAN 服务状态 -func CheckCanServiceStatus() map[string]bool { - resp, err := http.Get(config.Config.CanServiceURL + "/api/status") - if err != nil { - log.Printf("❌ CAN 服务状态检查失败: %v", err) - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - return result - } - defer resp.Body.Close() - - if resp.StatusCode != http.StatusOK { - log.Printf("❌ CAN 服务返回非正常状态：%d", resp.StatusCode) - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - return result - } - - var statusResp define.ApiResponse - if err := json.NewDecoder(resp.Body).Decode(&statusResp); err != nil { - log.Printf("❌ 解析 CAN 服务状态失败: %v", err) - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - return result - } - - // 检查状态数据 - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - - // 从响应中获取各接口状态 - if statusData, ok := statusResp.Data.(map[string]interface{}); ok { - if interfaces, ok := statusData["interfaces"].(map[string]interface{}); ok { - for ifName, ifStatus := range interfaces { - if status, ok := ifStatus.(map[string]interface{}); ok { - if active, ok := status["active"].(bool); ok { - result[ifName] = active - } - } - } - } - } - - return result -} - -// 发送请求到 CAN 服务 -func sendToCanService(msg CanMessage) error { - jsonData, err := json.Marshal(msg) - if err != nil { - return fmt.Errorf("JSON 编码错误: %v", err) - } - - resp, err := http.Post(config.Config.CanServiceURL+"/api/can", "application/json", bytes.NewBuffer(jsonData)) - if err != nil { - return fmt.Errorf("CAN 服务请求失败: %v", err) - } - defer resp.Body.Close() - - if resp.StatusCode != http.StatusOK { - var errResp define.ApiResponse - if err := json.NewDecoder(resp.Body).Decode(&errResp); err != nil { - return fmt.Errorf("CAN 服务返回错误：HTTP %d", resp.StatusCode) - } - return fmt.Errorf("CAN 服务返回错误: %s", errResp.Error) - } - - return nil -} diff --git a/hands/hands.go b/hands/hands.go deleted file mode 100644 index 363f86e..0000000 --- a/hands/hands.go +++ /dev/null @@ -1,241 +0,0 @@ -package hands - -import ( - "fmt" - "hands/config" - "hands/define" - "log" - "math/rand/v2" - "strings" - "sync" - "time" -) - -// 手型配置结构体 -type HandConfig struct { - HandType string `json:"handType"` - HandId uint32 `json:"handId"` -} - -var ( - HandConfigMutex sync.RWMutex - HandConfigs map[string]*HandConfig // 每个接口的手型配置 -) - -func Init() { - initSensorData() - initAnimation() - initHands() -} - -func initHands() { - HandConfigs = make(map[string]*HandConfig) -} - -func SetHandConfig(ifName, handType string, handId uint32) { - HandConfigMutex.Lock() - defer HandConfigMutex.Unlock() - - HandConfigs[ifName] = &HandConfig{ - HandType: handType, - HandId: handId, - } - - log.Printf("🔧 接口 %s 手型配置已更新: %s (0x%X)", ifName, handType, handId) -} - -func GetHandConfig(ifName string) *HandConfig { - HandConfigMutex.RLock() - if handConfig, exists := HandConfigs[ifName]; exists { - HandConfigMutex.RUnlock() - return handConfig - } - HandConfigMutex.RUnlock() - - // 创建默认配置 - HandConfigMutex.Lock() - defer HandConfigMutex.Unlock() - - // 再次检查（双重检查锁定） - if handConfig, exists := HandConfigs[ifName]; exists { - return handConfig - } - - // 创建默认配置（右手） - HandConfigs[ifName] = &HandConfig{ - HandType: "right", - HandId: uint32(define.HAND_TYPE_RIGHT), - } - - log.Printf("🆕 为接口 %s 创建默认手型配置: 右手 (0x%X)", ifName, define.HAND_TYPE_RIGHT) - return HandConfigs[ifName] -} - -// 解析手型参数 -func ParseHandType(handType string, handId uint32, ifName string) uint32 { - // 如果提供了有效的 handId，直接使用 - if handId != 0 { - return handId - } - - // 根据 handType 字符串确定 ID - switch strings.ToLower(handType) { - case "left": - return uint32(define.HAND_TYPE_LEFT) - case "right": - return uint32(define.HAND_TYPE_RIGHT) - default: - // 使用接口的配置 - handConfig := GetHandConfig(ifName) - return handConfig.HandId - } -} - -// 发送手指姿态指令 - 支持手型参数 -func SendFingerPose(ifName string, pose []byte, handType string, handId uint32) error { - if len(pose) != 6 { - return fmt.Errorf("无效的姿态数据长度，需要 6 个字节") - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - return fmt.Errorf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces) - } - - // 解析手型 ID - canId := ParseHandType(handType, handId, ifName) - - // 添加随机扰动 - perturbedPose := make([]byte, len(pose)) - for i, v := range pose { - perturbedPose[i] = perturb(v, 5) - } - - // 构造 CAN 消息 - msg := CanMessage{ - Interface: ifName, - ID: canId, // 使用动态的手型 ID - Data: append([]byte{0x01}, perturbedPose...), - } - - err := sendToCanService(msg) - if err == nil { - handTypeName := "右手" - if canId == uint32(define.HAND_TYPE_LEFT) { - handTypeName = "左手" - } - log.Printf("✅ %s (%s, 0x%X) 手指动作已发送: [%X %X %X %X %X %X]", - ifName, handTypeName, canId, perturbedPose[0], perturbedPose[1], perturbedPose[2], - perturbedPose[3], perturbedPose[4], perturbedPose[5]) - } else { - log.Printf("❌ %s 手指控制发送失败: %v", ifName, err) - } - - return err -} - -// 在 base 基础上进行 ±delta 的扰动，范围限制在 [0, 255] -func perturb(base byte, delta int) byte { - offset := rand.IntN(2*delta+1) - delta - v := int(base) + offset - if v < 0 { - v = 0 - } - if v > 255 { - v = 255 - } - return byte(v) -} - -// 发送掌部姿态指令 - 支持手型参数 -func SendPalmPose(ifName string, pose []byte, handType string, handId uint32) error { - if len(pose) != 4 { - return fmt.Errorf("无效的姿态数据长度，需要 4 个字节") - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - return fmt.Errorf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces) - } - - // 解析手型 ID - canId := ParseHandType(handType, handId, ifName) - - // 添加随机扰动 - perturbedPose := make([]byte, len(pose)) - for i, v := range pose { - perturbedPose[i] = perturb(v, 8) - } - - // 构造 CAN 消息 - msg := CanMessage{ - Interface: ifName, - ID: canId, // 使用动态的手型 ID - Data: append([]byte{0x04}, perturbedPose...), - } - - err := sendToCanService(msg) - if err == nil { - handTypeName := "右手" - if canId == uint32(define.HAND_TYPE_LEFT) { - handTypeName = "左手" - } - log.Printf("✅ %s (%s, 0x%X) 掌部姿态已发送: [%X %X %X %X]", - ifName, handTypeName, canId, perturbedPose[0], perturbedPose[1], perturbedPose[2], perturbedPose[3]) - - // 更新传感器数据中的掌部位置 - SensorMutex.Lock() - if sensorData, exists := SensorDataMap[ifName]; exists { - copy(sensorData.PalmPosition, perturbedPose) - sensorData.LastUpdate = time.Now() - } - SensorMutex.Unlock() - } else { - log.Printf("❌ %s 掌部控制发送失败: %v", ifName, err) - } - - return err -} - -// 重置到默认姿势 -func resetToDefaultPose(ifName string) { - // 如果未指定接口，重置所有接口 - if ifName == "" { - for _, validIface := range config.Config.AvailableInterfaces { - resetToDefaultPose(validIface) - } - return - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("⚠️ 尝试重置无效接口: %s", ifName) - return - } - - defaultFingerPose := []byte{64, 64, 64, 64, 64, 64} - defaultPalmPose := []byte{128, 128, 128, 128} - - // 获取当前接口的手型配置 - handConfig := GetHandConfig(ifName) - - if err := SendFingerPose(ifName, defaultFingerPose, handConfig.HandType, handConfig.HandId); err != nil { - log.Printf("%s 重置手指姿势失败: %v", ifName, err) - } - - if err := SendPalmPose(ifName, defaultPalmPose, handConfig.HandType, handConfig.HandId); err != nil { - log.Printf("%s 重置掌部姿势失败: %v", ifName, err) - } - - log.Printf("✅ 已重置 %s 到默认姿势", ifName) -} diff --git a/hands/sensor.go b/hands/sensor.go deleted file mode 100644 index a8185d7..0000000 --- a/hands/sensor.go +++ /dev/null @@ -1,65 +0,0 @@ -package hands - -import ( - "hands/config" - "math/rand/v2" - "sync" - "time" -) - -// 传感器数据结构体 -type SensorData struct { - Interface string `json:"interface"` - Thumb int `json:"thumb"` - Index int `json:"index"` - Middle int `json:"middle"` - Ring int `json:"ring"` - Pinky int `json:"pinky"` - PalmPosition []byte `json:"palmPosition"` - LastUpdate time.Time `json:"lastUpdate"` -} - -var ( - SensorDataMap map[string]*SensorData // 每个接口的传感器数据 - SensorMutex sync.RWMutex -) - -func initSensorData() { - // 初始化传感器数据映射 - SensorDataMap = make(map[string]*SensorData) - for _, ifName := range config.Config.AvailableInterfaces { - SensorDataMap[ifName] = &SensorData{ - Interface: ifName, - Thumb: 0, - Index: 0, - Middle: 0, - Ring: 0, - Pinky: 0, - PalmPosition: []byte{128, 128, 128, 128}, - LastUpdate: time.Now(), - } - } -} - -// 读取传感器数据 (模拟) -func ReadSensorData() { - go func() { - for { - SensorMutex.Lock() - // 为每个接口模拟压力数据 (0-100) - for _, ifName := range config.Config.AvailableInterfaces { - if sensorData, exists := SensorDataMap[ifName]; exists { - sensorData.Thumb = rand.IntN(101) - sensorData.Index = rand.IntN(101) - sensorData.Middle = rand.IntN(101) - sensorData.Ring = rand.IntN(101) - sensorData.Pinky = rand.IntN(101) - sensorData.LastUpdate = time.Now() - } - } - SensorMutex.Unlock() - - time.Sleep(500 * time.Millisecond) - } - }() -}