Merge pull request #5 from eli-yip/refactor

refactor: Refactor
2025-05-28 00:39:26 +08:00 · 2025-05-28 00:39:26 +08:00 · 44c73aea3e
commit 44c73aea3e
parent a1e9772825 1f572263cb
31 changed files with 2305 additions and 1222 deletions
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: "gomod"
+    directory: "/"
+    schedule:
+      interval: "weekly"
--- a/.github/logo.png
+++ b/.github/logo.png
--- a/.github/workflows/CodeQL.yaml
+++ b/.github/workflows/CodeQL.yaml
@ -0,0 +1,39 @@
+name: "CodeQL"
+
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+  schedule:
+    - cron: "0 0 * * *"
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-latest
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: ["go"]
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Initialize CodeQL
+        uses: github/codeql-action/init@v3
+        with:
+          languages: ${{ matrix.language }}
+      - name: Autobuild
+        uses: github/codeql-action/autobuild@v3
+
+      - name: Perform CodeQL Analysis
+        uses: github/codeql-action/analyze@v3
+        with:
+          category: "/language:${{matrix.language}}"
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -0,0 +1,55 @@
+name: Release Dashboard Server
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - "main"
+    tags:
+      - "*.*.*"
+
+env:
+  GO_VERSION: "1.24"
+  GO111MODULE: on
+
+permissions:
+  contents: write
+  id-token: write
+  packages: write
+
+jobs:
+  goreleaser:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set up Go
+        uses: actions/setup-go@v5
+        with:
+          go-version: ${{ env.GO_VERSION }}
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Run GoReleaser
+        uses: goreleaser/goreleaser-action@v6
+        if: success() && startsWith(github.ref, 'refs/tags/')
+        with:
+          version: "~> v2"
+          args: release --clean
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          GITHUB_USERNAME: ${{ github.repository_owner }}
--- a/.goreleaser.yaml
+++ b/.goreleaser.yaml
@ -0,0 +1,115 @@
+version: 2
+
+project_name: dashboard-server
+
+before:
+  hooks:
+    - go mod tidy
+
+builds:
+  - id: dashboard-server
+    goos:
+      - linux
+    goarch:
+      - amd64
+      - arm64
+      - arm
+    goarm:
+      - "6"
+      - "7"
+    ldflags:
+      - -s -w
+
+archives:
+  - formats: ["tar.gz"]
+    files:
+      - static
+      - README.md
+      - README_CN.md
+      - LICENSE
+
+release:
+  draft: false
+
+dockers:
+  - image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-amd64"
+    dockerfile: Dockerfile.goreleaser
+    use: buildx
+    build_flag_templates:
+      - "--platform=linux/amd64"
+      - "--label=org.opencontainers.image.created={{.Date}}"
+      - "--label=org.opencontainers.image.title={{.ProjectName}}"
+      - "--label=org.opencontainers.image.revision={{.FullCommit}}"
+      - "--label=org.opencontainers.image.version={{.Version}}"
+    goos: linux
+    goarch: amd64
+    extra_files:
+      - static
+
+  - image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-arm64"
+    dockerfile: Dockerfile.goreleaser
+    use: buildx
+    build_flag_templates:
+      - "--platform=linux/arm64"
+      - "--label=org.opencontainers.image.created={{.Date}}"
+      - "--label=org.opencontainers.image.title={{.ProjectName}}"
+      - "--label=org.opencontainers.image.revision={{.FullCommit}}"
+      - "--label=org.opencontainers.image.version={{.Version}}"
+    goos: linux
+    goarch: arm64
+    extra_files:
+      - static
+
+  - image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv6"
+    dockerfile: Dockerfile.goreleaser
+    use: buildx
+    build_flag_templates:
+      - "--platform=linux/arm/v6"
+      - "--label=org.opencontainers.image.created={{.Date}}"
+      - "--label=org.opencontainers.image.title={{.ProjectName}}"
+      - "--label=org.opencontainers.image.revision={{.FullCommit}}"
+      - "--label=org.opencontainers.image.version={{.Version}}"
+    goos: linux
+    goarch: arm
+    goarm: "6"
+    extra_files:
+      - static
+
+  - image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv7"
+    dockerfile: Dockerfile.goreleaser
+    use: buildx
+    build_flag_templates:
+      - "--platform=linux/arm/v7"
+      - "--label=org.opencontainers.image.created={{.Date}}"
+      - "--label=org.opencontainers.image.title={{.ProjectName}}"
+      - "--label=org.opencontainers.image.revision={{.FullCommit}}"
+      - "--label=org.opencontainers.image.version={{.Version}}"
+    goos: linux
+    goarch: arm
+    goarm: "7"
+    extra_files:
+      - static
+
+docker_manifests:
+  - name_template: "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}"
+    image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-amd64"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-arm64"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv6"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv7"
+  - name_template: "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:latest"
+    image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-amd64"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-arm64"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv6"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv7"
+  - name_template: "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:v{{ .Major }}"
+    image_templates:
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-amd64"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-arm64"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv6"
+      - "ghcr.io/{{ .Env.GITHUB_USERNAME }}/dashboard-server:{{ .Tag }}-armv7"
--- a/26
+++ b/26
@ -0,0 +1,26 @@
+# ---- Build Stage ----
+FROM golang:1.24-alpine AS builder
+
+WORKDIR /app
+
+COPY --link go.mod go.sum ./
+RUN go mod download
+
+COPY --link . .
+
+RUN CGO_ENABLED=0 GOOS=linux go build -ldflags="-s -w" -o dashboard-server .
+
+# ---- Runtime Stage ----
+FROM alpine:3.21
+
+WORKDIR /app
+
+COPY --link static/ ./static/
+
+COPY --link --from=builder /app/dashboard-server /usr/local/bin/dashboard-server
+
+EXPOSE 9099
+
+ENV SERVER_PORT="9099"
+
+CMD ["dashboard-server"]
--- a/Dockerfile.goreleaser
+++ b/Dockerfile.goreleaser
@ -0,0 +1,10 @@
+FROM alpine:3.21
+
+COPY --link dashboard-server /usr/local/bin/dashboard-server
+COPY --link static/ ./static/
+
+EXPOSE 9099
+
+ENV SERVER_PORT="9099"
+
+ENTRYPOINT ["dashboard-server"]
--- a/README_CN.md
+++ b/README_CN.md
@ -8,7 +8,7 @@

 * **动态手型配置**：支持左手和右手手型的动态切换。
 * **灵活接口配置**：支持多种 CAN 接口（如 `can0`, `can1`），可通过命令行参数或环境变量动态设置。
-* **手指与掌部姿态控制**：提供手指（6字节）和掌部（4字节）姿态数据发送功能。
+* **手指与掌部姿态控制**：提供手指（6 字节）和掌部（4 字节）姿态数据发送功能。
 * **预设动作执行**：内置丰富的手势动作，如握拳、张开、捏取、点赞、数字手势等。
 * **实时动画控制**：支持波浪、横向摆动等动画效果，用户可动态启动和停止。
 * **传感器数据实时监控**：提供接口压力数据的实时模拟和更新。
--- a/api/handler.go
+++ b/api/handler.go
@ -0,0 +1,468 @@
+package api
+
+import (
+	"fmt"
+	"hands/config"
+	"hands/define"
+	"hands/hands"
+	"net/http"
+	"time"
+
+	"github.com/gin-gonic/gin"
+)
+
+// 手型设置处理函数
+func HandleHandType(c *gin.Context) {
+	var req HandTypeRequest
+	if err := c.ShouldBindJSON(&req); err != nil {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  "无效的手型设置请求：" + err.Error(),
+		})
+		return
+	}
+
+	// 验证接口
+	if !config.IsValidInterface(req.Interface) {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
+		})
+		return
+	}
+
+	// 验证手型 ID
+	if req.HandType == "left" && req.HandId != define.HAND_TYPE_LEFT {
+		req.HandId = define.HAND_TYPE_LEFT
+	} else if req.HandType == "right" && req.HandId != define.HAND_TYPE_RIGHT {
+		req.HandId = define.HAND_TYPE_RIGHT
+	}
+
+	// 设置手型配置
+	hands.SetHandConfig(req.Interface, req.HandType, req.HandId)
+
+	handTypeName := "右手"
+	if req.HandType == "left" {
+		handTypeName = "左手"
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status:  "success",
+		Message: fmt.Sprintf("接口 %s 手型已设置为%s (0x%X)", req.Interface, handTypeName, req.HandId),
+		Data: map[string]any{
+			"interface": req.Interface,
+			"handType":  req.HandType,
+			"handId":    req.HandId,
+		},
+	})
+}
+
+// 手指姿态处理函数
+func HandleFingers(c *gin.Context) {
+	var req FingerPoseRequest
+	if err := c.ShouldBindJSON(&req); err != nil {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  "无效的手指姿态数据：" + err.Error(),
+		})
+		return
+	}
+
+	// 验证每个值是否在范围内
+	for _, v := range req.Pose {
+		if v < 0 || v > 255 {
+			c.JSON(http.StatusBadRequest, define.ApiResponse{
+				Status: "error",
+				Error:  "手指姿态值必须在 0-255 范围内",
+			})
+			return
+		}
+	}
+
+	// 如果未指定接口，使用默认接口
+	if req.Interface == "" {
+		req.Interface = config.Config.DefaultInterface
+	}
+
+	// 验证接口
+	if !config.IsValidInterface(req.Interface) {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
+		})
+		return
+	}
+
+	hands.StopAllAnimations(req.Interface)
+
+	if err := hands.SendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
+		c.JSON(http.StatusInternalServerError, define.ApiResponse{
+			Status: "error",
+			Error:  "发送手指姿态失败：" + err.Error(),
+		})
+		return
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status:  "success",
+		Message: "手指姿态指令发送成功",
+		Data:    map[string]any{"interface": req.Interface, "pose": req.Pose},
+	})
+}
+
+// 掌部姿态处理函数
+func HandlePalm(c *gin.Context) {
+	var req PalmPoseRequest
+	if err := c.ShouldBindJSON(&req); err != nil {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  "无效的掌部姿态数据：" + err.Error(),
+		})
+		return
+	}
+
+	// 验证每个值是否在范围内
+	for _, v := range req.Pose {
+		if v < 0 || v > 255 {
+			c.JSON(http.StatusBadRequest, define.ApiResponse{
+				Status: "error",
+				Error:  "掌部姿态值必须在 0-255 范围内",
+			})
+			return
+		}
+	}
+
+	// 如果未指定接口，使用默认接口
+	if req.Interface == "" {
+		req.Interface = config.Config.DefaultInterface
+	}
+
+	// 验证接口
+	if !config.IsValidInterface(req.Interface) {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
+		})
+		return
+	}
+
+	hands.StopAllAnimations(req.Interface)
+
+	if err := hands.SendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
+		c.JSON(http.StatusInternalServerError, define.ApiResponse{
+			Status: "error",
+			Error:  "发送掌部姿态失败：" + err.Error(),
+		})
+		return
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status:  "success",
+		Message: "掌部姿态指令发送成功",
+		Data:    map[string]any{"interface": req.Interface, "pose": req.Pose},
+	})
+}
+
+// 预设姿势处理函数
+func HandlePreset(c *gin.Context) {
+	pose := c.Param("pose")
+
+	// 从查询参数获取接口名称和手型
+	ifName := c.Query("interface")
+	handType := c.Query("handType")
+
+	if ifName == "" {
+		ifName = config.Config.DefaultInterface
+	}
+
+	// 验证接口
+	if !config.IsValidInterface(ifName) {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
+		})
+		return
+	}
+
+	hands.StopAllAnimations(ifName)
+
+	var fingerPose []byte
+	var message string
+
+	switch pose {
+	case "fist":
+		fingerPose = []byte{64, 64, 64, 64, 64, 64}
+		message = "已设置握拳姿势"
+	case "open":
+		fingerPose = []byte{192, 192, 192, 192, 192, 192}
+		message = "已设置完全张开姿势"
+	case "pinch":
+		fingerPose = []byte{120, 120, 64, 64, 64, 64}
+		message = "已设置捏取姿势"
+	case "thumbsup":
+		fingerPose = []byte{64, 192, 192, 192, 192, 64}
+		message = "已设置竖起大拇指姿势"
+	case "point":
+		fingerPose = []byte{192, 64, 192, 192, 192, 64}
+		message = "已设置食指指点姿势"
+	// 数字手势
+	case "1":
+		fingerPose = []byte{192, 64, 192, 192, 192, 64}
+		message = "已设置数字 1 手势"
+	case "2":
+		fingerPose = []byte{192, 64, 64, 192, 192, 64}
+		message = "已设置数字 2 手势"
+	case "3":
+		fingerPose = []byte{192, 64, 64, 64, 192, 64}
+		message = "已设置数字 3 手势"
+	case "4":
+		fingerPose = []byte{192, 64, 64, 64, 64, 64}
+		message = "已设置数字 4 手势"
+	case "5":
+		fingerPose = []byte{192, 192, 192, 192, 192, 192}
+		message = "已设置数字 5 手势"
+	case "6":
+		fingerPose = []byte{64, 192, 192, 192, 192, 64}
+		message = "已设置数字 6 手势"
+	case "7":
+		fingerPose = []byte{64, 64, 192, 192, 192, 64}
+		message = "已设置数字 7 手势"
+	case "8":
+		fingerPose = []byte{64, 64, 64, 192, 192, 64}
+		message = "已设置数字 8 手势"
+	case "9":
+		fingerPose = []byte{64, 64, 64, 64, 192, 64}
+		message = "已设置数字 9 手势"
+	default:
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  "无效的预设姿势",
+		})
+		return
+	}
+
+	// 解析手型 ID（从查询参数或使用接口配置）
+	handId := uint32(0)
+	if handType != "" {
+		handId = hands.ParseHandType(handType, 0, ifName)
+	}
+
+	if err := hands.SendFingerPose(ifName, fingerPose, handType, handId); err != nil {
+		c.JSON(http.StatusInternalServerError, define.ApiResponse{
+			Status: "error",
+			Error:  "设置预设姿势失败：" + err.Error(),
+		})
+		return
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status:  "success",
+		Message: message,
+		Data:    map[string]any{"interface": ifName, "pose": fingerPose},
+	})
+}
+
+// 动画控制处理函数
+func HandleAnimation(c *gin.Context) {
+	var req AnimationRequest
+	if err := c.ShouldBindJSON(&req); err != nil {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  "无效的动画请求：" + err.Error(),
+		})
+		return
+	}
+
+	// 如果未指定接口，使用默认接口
+	if req.Interface == "" {
+		req.Interface = config.Config.DefaultInterface
+	}
+
+	// 验证接口
+	if !config.IsValidInterface(req.Interface) {
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
+		})
+		return
+	}
+
+	// 停止当前动画
+	hands.StopAllAnimations(req.Interface)
+
+	// 如果是停止命令，直接返回
+	if req.Type == "stop" {
+		c.JSON(http.StatusOK, define.ApiResponse{
+			Status:  "success",
+			Message: fmt.Sprintf("%s 动画已停止", req.Interface),
+		})
+		return
+	}
+
+	// 处理速度参数
+	if req.Speed <= 0 {
+		req.Speed = 500 // 默认速度
+	}
+
+	// 根据类型启动动画
+	switch req.Type {
+	case "wave":
+		hands.StartWaveAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
+		c.JSON(http.StatusOK, define.ApiResponse{
+			Status:  "success",
+			Message: fmt.Sprintf("%s 波浪动画已启动", req.Interface),
+			Data:    map[string]any{"interface": req.Interface, "speed": req.Speed},
+		})
+	case "sway":
+		hands.StartSwayAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
+		c.JSON(http.StatusOK, define.ApiResponse{
+			Status:  "success",
+			Message: fmt.Sprintf("%s 横向摆动动画已启动", req.Interface),
+			Data:    map[string]any{"interface": req.Interface, "speed": req.Speed},
+		})
+	default:
+		c.JSON(http.StatusBadRequest, define.ApiResponse{
+			Status: "error",
+			Error:  "无效的动画类型",
+		})
+	}
+}
+
+// 获取传感器数据处理函数
+func HandleSensors(c *gin.Context) {
+	// 从查询参数获取接口名称
+	ifName := c.Query("interface")
+
+	hands.SensorMutex.RLock()
+	defer hands.SensorMutex.RUnlock()
+
+	if ifName != "" {
+		// 验证接口
+		if !config.IsValidInterface(ifName) {
+			c.JSON(http.StatusBadRequest, define.ApiResponse{
+				Status: "error",
+				Error:  fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
+			})
+			return
+		}
+
+		// 请求特定接口的数据
+		if sensorData, ok := hands.SensorDataMap[ifName]; ok {
+			c.JSON(http.StatusOK, define.ApiResponse{
+				Status: "success",
+				Data:   sensorData,
+			})
+		} else {
+			c.JSON(http.StatusInternalServerError, define.ApiResponse{
+				Status: "error",
+				Error:  "传感器数据不存在",
+			})
+		}
+	} else {
+		// 返回所有接口的数据
+		c.JSON(http.StatusOK, define.ApiResponse{
+			Status: "success",
+			Data:   hands.SensorDataMap,
+		})
+	}
+}
+
+// 系统状态处理函数
+func HandleStatus(c *gin.Context) {
+	hands.AnimationMutex.Lock()
+	animationStatus := make(map[string]bool)
+	for _, ifName := range config.Config.AvailableInterfaces {
+		animationStatus[ifName] = hands.AnimationActive[ifName]
+	}
+	hands.AnimationMutex.Unlock()
+
+	// 检查 CAN 服务状态
+	canStatus := hands.CheckCanServiceStatus()
+
+	// 获取手型配置
+	hands.HandConfigMutex.RLock()
+	handConfigsData := make(map[string]any)
+	for ifName, handConfig := range hands.HandConfigs {
+		handConfigsData[ifName] = map[string]any{
+			"handType": handConfig.HandType,
+			"handId":   handConfig.HandId,
+		}
+	}
+	hands.HandConfigMutex.RUnlock()
+
+	interfaceStatuses := make(map[string]any)
+	for _, ifName := range config.Config.AvailableInterfaces {
+		interfaceStatuses[ifName] = map[string]any{
+			"active":          canStatus[ifName],
+			"animationActive": animationStatus[ifName],
+			"handConfig":      handConfigsData[ifName],
+		}
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status: "success",
+		Data: map[string]any{
+			"interfaces":          interfaceStatuses,
+			"uptime":              time.Since(ServerStartTime).String(),
+			"canServiceURL":       config.Config.CanServiceURL,
+			"defaultInterface":    config.Config.DefaultInterface,
+			"availableInterfaces": config.Config.AvailableInterfaces,
+			"activeInterfaces":    len(canStatus),
+			"handConfigs":         handConfigsData,
+		},
+	})
+}
+
+// 获取可用接口列表处理函数
+func HandleInterfaces(c *gin.Context) {
+	responseData := map[string]any{
+		"availableInterfaces": config.Config.AvailableInterfaces,
+		"defaultInterface":    config.Config.DefaultInterface,
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status: "success",
+		Data:   responseData,
+	})
+}
+
+// 获取手型配置处理函数
+func HandleHandConfigs(c *gin.Context) {
+	hands.HandConfigMutex.RLock()
+	defer hands.HandConfigMutex.RUnlock()
+
+	result := make(map[string]any)
+	for _, ifName := range config.Config.AvailableInterfaces {
+		if handConfig, exists := hands.HandConfigs[ifName]; exists {
+			result[ifName] = map[string]any{
+				"handType": handConfig.HandType,
+				"handId":   handConfig.HandId,
+			}
+		} else {
+			// 返回默认配置
+			result[ifName] = map[string]any{
+				"handType": "right",
+				"handId":   define.HAND_TYPE_RIGHT,
+			}
+		}
+	}
+
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status: "success",
+		Data:   result,
+	})
+}
+
+// 健康检查处理函数
+func HandleHealth(c *gin.Context) {
+	c.JSON(http.StatusOK, define.ApiResponse{
+		Status:  "success",
+		Message: "CAN Control Service is running",
+		Data: map[string]any{
+			"timestamp":           time.Now(),
+			"availableInterfaces": config.Config.AvailableInterfaces,
+			"defaultInterface":    config.Config.DefaultInterface,
+			"serviceVersion":      "1.0.0-hand-type-support",
+		},
+	})
+}
--- a/api/models.go
+++ b/api/models.go
@ -0,0 +1,29 @@
+package api
+
+type FingerPoseRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Pose      []byte `json:"pose" binding:"required,len=6"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+type PalmPoseRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Pose      []byte `json:"pose" binding:"required,len=4"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+type AnimationRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Type      string `json:"type" binding:"required,oneof=wave sway stop"`
+	Speed     int    `json:"speed" binding:"min=0,max=2000"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+type HandTypeRequest struct {
+	Interface string `json:"interface" binding:"required"`
+	HandType  string `json:"handType" binding:"required,oneof=left right"`
+	HandId    uint32 `json:"handId" binding:"required"`
+}
--- a/api/router.go
+++ b/api/router.go
@ -0,0 +1,50 @@
+package api
+
+import (
+	"time"
+
+	"github.com/gin-gonic/gin"
+)
+
+// 全局变量
+var (
+	ServerStartTime time.Time
+)
+
+func SetupRoutes(r *gin.Engine) {
+	r.StaticFile("/", "./static/index.html")
+	r.Static("/static", "./static")
+
+	api := r.Group("/api")
+	{
+		// 手型设置 API
+		api.POST("/hand-type", HandleHandType)
+
+		// 手指姿态 API
+		api.POST("/fingers", HandleFingers)
+
+		// 掌部姿态 API
+		api.POST("/palm", HandlePalm)
+
+		// 预设姿势 API
+		api.POST("/preset/:pose", HandlePreset)
+
+		// 动画控制 API
+		api.POST("/animation", HandleAnimation)
+
+		// 获取传感器数据 API
+		api.GET("/sensors", HandleSensors)
+
+		// 系统状态 API
+		api.GET("/status", HandleStatus)
+
+		// 获取可用接口列表 API
+		api.GET("/interfaces", HandleInterfaces)
+
+		// 获取手型配置 API
+		api.GET("/hand-configs", HandleHandConfigs)
+
+		// 健康检查端点
+		api.GET("/health", HandleHealth)
+	}
+}
--- a/cli/cli.go
+++ b/cli/cli.go
@ -19,7 +19,7 @@ func ParseConfig() *define.Config {
 	flag.StringVar(&cfg.CanServiceURL, "can-url", "http://127.0.0.1:5260", "CAN 服务的 URL")
 	flag.StringVar(&cfg.WebPort, "port", "9099", "Web 服务的端口")
 	flag.StringVar(&cfg.DefaultInterface, "interface", "", "默认 CAN 接口")
-	flag.StringVar(&canInterfacesFlag, "can-interfaces", "", "支持的 CAN 接口列表，用逗号分隔 (例如: can0,can1,vcan0)")
+	flag.StringVar(&canInterfacesFlag, "can-interfaces", "", "支持的 CAN 接口列表，用逗号分隔 (例如：can0,can1,vcan0)")
 	flag.Parse()

 	// 环境变量覆盖命令行参数
@ -45,7 +45,7 @@ func ParseConfig() *define.Config {
 		}
 	}

-	// 如果没有指定可用接口，从CAN服务获取
+	// 如果没有指定可用接口，从 CAN 服务获取
 	if len(cfg.AvailableInterfaces) == 0 {
 		log.Println("🔍 未指定可用接口，将从 CAN 服务获取...")
 		cfg.AvailableInterfaces = getAvailableInterfacesFromCanService(cfg.CanServiceURL)
@ -59,7 +59,7 @@ func ParseConfig() *define.Config {
 	return cfg
 }

-// 从CAN服务获取可用接口
+// 从 CAN 服务获取可用接口
 func getAvailableInterfacesFromCanService(canServiceURL string) []string {
 	resp, err := http.Get(canServiceURL + "/api/interfaces")
 	if err != nil {
--- a/config/config.go
+++ b/config/config.go
@ -0,0 +1,12 @@
+package config
+
+import (
+	"hands/define"
+	"slices"
+)
+
+var Config *define.Config
+
+func IsValidInterface(ifName string) bool {
+	return slices.Contains(Config.AvailableInterfaces, ifName)
+}
--- a/define/define.go
+++ b/define/define.go
@ -13,5 +13,5 @@ type ApiResponse struct {
 	Status  string `json:"status"`
 	Message string `json:"message,omitempty"`
 	Error   string `json:"error,omitempty"`
-	Data    interface{} `json:"data,omitempty"`
+	Data    any    `json:"data,omitempty"`
 }
--- a/define/hands.go
+++ b/define/hands.go
@ -0,0 +1,8 @@
+package define
+
+type HandType int
+
+const (
+	HAND_TYPE_LEFT  HandType = 0x28
+	HAND_TYPE_RIGHT HandType = 0x27
+)
--- a/hands/animation.go
+++ b/hands/animation.go
@ -0,0 +1,268 @@
+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)
+	}
+}
--- a/hands/can.go
+++ b/hands/can.go
@ -0,0 +1,95 @@
+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
+}
--- a/hands/hands.go
+++ b/hands/hands.go
@ -0,0 +1,241 @@
+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:   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 define.HAND_TYPE_LEFT
+	case "right":
+		return 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 == 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 == 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)
+}
--- a/hands/sensor.go
+++ b/hands/sensor.go
@ -0,0 +1,65 @@
+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)
+		}
+	}()
+}
--- a/main.go
+++ b/main.go
--- a/pkg/communication/communicator.go
+++ b/pkg/communication/communicator.go
@ -0,0 +1,122 @@
+package communication
+
+import (
+	"bytes"
+	"encoding/json"
+	"fmt"
+	"io"
+	"net/http"
+	"time"
+)
+
+// TODO: ID 的作用是什么
+// RawMessage 代表发送给 can-bridge 服务或从其接收的原始消息结构
+type RawMessage struct {
+	Interface string `json:"interface"` // 目标 CAN 接口名，例如 "can0", "vcan1"
+	ID        uint32 `json:"id"`        // CAN 帧的 ID
+	Data      []byte `json:"data"`      // CAN 帧的数据负载
+}
+
+// Communicator 定义了与 can-bridge Web 服务进行通信的接口
+type Communicator interface {
+	// SendMessage 将 RawMessage 通过 HTTP POST 请求发送到 can-bridge 服务
+	SendMessage(msg RawMessage) error
+
+	// GetInterfaceStatus 获取指定 CAN 接口的状态
+	GetInterfaceStatus(ifName string) (isActive bool, err error)
+
+	// GetAllInterfaceStatuses 获取所有已知 CAN 接口的状态
+	GetAllInterfaceStatuses() (statuses map[string]bool, err error)
+
+	// SetServiceURL 设置 can-bridge 服务的 URL
+	SetServiceURL(url string)
+
+	// IsConnected 检查与 can-bridge 服务的连接状态
+	IsConnected() bool
+}
+
+// CanBridgeClient 实现与 can-bridge 服务的 HTTP 通信
+type CanBridgeClient struct {
+	serviceURL string
+	client     *http.Client
+}
+
+func NewCanBridgeClient(serviceURL string) Communicator {
+	return &CanBridgeClient{
+		serviceURL: serviceURL,
+		client: &http.Client{
+			Timeout: 5 * time.Second,
+		},
+	}
+}
+
+func (c *CanBridgeClient) SendMessage(msg RawMessage) error {
+	jsonData, err := json.Marshal(msg)
+	if err != nil {
+		return fmt.Errorf("序列化消息失败：%w", err)
+	}
+
+	url := fmt.Sprintf("%s/api/can", c.serviceURL)
+	resp, err := c.client.Post(url, "application/json", bytes.NewBuffer(jsonData))
+	if err != nil {
+		return fmt.Errorf("发送 HTTP 请求失败：%w", err)
+	}
+	defer resp.Body.Close()
+
+	if resp.StatusCode != http.StatusOK {
+		body, _ := io.ReadAll(resp.Body)
+		return fmt.Errorf("can-bridge服务返回错误: %d, %s", resp.StatusCode, string(body))
+	}
+
+	return nil
+}
+
+func (c *CanBridgeClient) GetInterfaceStatus(ifName string) (bool, error) {
+	url := fmt.Sprintf("%s/api/status/%s", c.serviceURL, ifName)
+	resp, err := c.client.Get(url)
+	if err != nil {
+		return false, fmt.Errorf("获取接口状态失败：%w", err)
+	}
+	defer resp.Body.Close()
+
+	if resp.StatusCode != http.StatusOK {
+		return false, fmt.Errorf("can-bridge 服务返回错误：%d", resp.StatusCode)
+	}
+
+	var status struct {
+		Active bool `json:"active"`
+	}
+
+	if err := json.NewDecoder(resp.Body).Decode(&status); err != nil {
+		return false, fmt.Errorf("解析状态响应失败：%w", err)
+	}
+
+	return status.Active, nil
+}
+
+func (c *CanBridgeClient) GetAllInterfaceStatuses() (map[string]bool, error) {
+	url := fmt.Sprintf("%s/api/status", c.serviceURL)
+	resp, err := c.client.Get(url)
+	if err != nil {
+		return nil, fmt.Errorf("获取所有接口状态失败：%w", err)
+	}
+	defer resp.Body.Close()
+
+	if resp.StatusCode != http.StatusOK {
+		return nil, fmt.Errorf("can-bridge 服务返回错误：%d", resp.StatusCode)
+	}
+
+	var statuses map[string]bool
+	if err := json.NewDecoder(resp.Body).Decode(&statuses); err != nil {
+		return nil, fmt.Errorf("解析状态响应失败：%w", err)
+	}
+
+	return statuses, nil
+}
+
+func (c *CanBridgeClient) SetServiceURL(url string) { c.serviceURL = url }
+
+func (c *CanBridgeClient) IsConnected() bool {
+	_, err := c.GetAllInterfaceStatuses()
+	return err == nil
+}
--- a/pkg/component/pressure_sensor.go
+++ b/pkg/component/pressure_sensor.go
@ -0,0 +1,78 @@
+package component
+
+import (
+	"fmt"
+	"hands/pkg/device"
+	"math/rand/v2"
+	"time"
+)
+
+// PressureSensor 压力传感器实现
+type PressureSensor struct {
+	id           string
+	config       map[string]any
+	isActive     bool
+	samplingRate int
+	lastReading  time.Time
+}
+
+func NewPressureSensor(id string, config map[string]any) *PressureSensor {
+	return &PressureSensor{
+		id:           id,
+		config:       config,
+		isActive:     true,
+		samplingRate: 100,
+		lastReading:  time.Now(),
+	}
+}
+
+func (p *PressureSensor) GetID() string {
+	return p.id
+}
+
+func (p *PressureSensor) GetType() device.ComponentType {
+	return device.SensorComponent
+}
+
+func (p *PressureSensor) GetConfiguration() map[string]any {
+	return p.config
+}
+
+func (p *PressureSensor) IsActive() bool {
+	return p.isActive
+}
+
+func (p *PressureSensor) ReadData() (device.SensorData, error) {
+	if !p.isActive {
+		return nil, fmt.Errorf("传感器 %s 未激活", p.id)
+	}
+
+	// 模拟压力数据读取
+	// 在实际实现中，这里应该从 can-bridge 或其他数据源读取真实数据
+	pressure := rand.Float64() * 100 // 0-100 的随机压力值
+
+	values := map[string]any{
+		"pressure": pressure,
+		"unit":     "kPa",
+		"location": p.config["location"],
+	}
+
+	p.lastReading = time.Now()
+	return NewSensorData(p.id, values), nil
+}
+
+func (p *PressureSensor) GetDataType() string {
+	return "pressure"
+}
+
+func (p *PressureSensor) GetSamplingRate() int {
+	return p.samplingRate
+}
+
+func (p *PressureSensor) SetSamplingRate(rate int) error {
+	if rate <= 0 || rate > 1000 {
+		return fmt.Errorf("采样率必须在 1-1000Hz 之间")
+	}
+	p.samplingRate = rate
+	return nil
+}
--- a/pkg/component/sensor.go
+++ b/pkg/component/sensor.go
@ -0,0 +1,42 @@
+package component
+
+import (
+	"hands/pkg/device"
+	"time"
+)
+
+// Sensor 传感器组件接口
+type Sensor interface {
+	device.Component
+	ReadData() (device.SensorData, error)
+	GetDataType() string
+	GetSamplingRate() int
+	SetSamplingRate(rate int) error
+}
+
+// SensorDataImpl 传感器数据的具体实现
+type SensorDataImpl struct {
+	timestamp time.Time
+	values    map[string]any
+	sensorID  string
+}
+
+func NewSensorData(sensorID string, values map[string]any) *SensorDataImpl {
+	return &SensorDataImpl{
+		timestamp: time.Now(),
+		values:    values,
+		sensorID:  sensorID,
+	}
+}
+
+func (s *SensorDataImpl) Timestamp() time.Time {
+	return s.timestamp
+}
+
+func (s *SensorDataImpl) Values() map[string]any {
+	return s.values
+}
+
+func (s *SensorDataImpl) SensorID() string {
+	return s.sensorID
+}
--- a/pkg/device/commands.go
+++ b/pkg/device/commands.go
@ -0,0 +1,80 @@
+package device
+
+// FingerPoseCommand 手指姿态指令
+type FingerPoseCommand struct {
+	fingerID   string
+	poseData   []byte
+	targetComp string
+}
+
+func NewFingerPoseCommand(fingerID string, poseData []byte) *FingerPoseCommand {
+	return &FingerPoseCommand{
+		fingerID:   fingerID,
+		poseData:   poseData,
+		targetComp: "finger_" + fingerID,
+	}
+}
+
+func (c *FingerPoseCommand) Type() string {
+	return "SetFingerPose"
+}
+
+func (c *FingerPoseCommand) Payload() []byte {
+	return c.poseData
+}
+
+func (c *FingerPoseCommand) TargetComponent() string {
+	return c.targetComp
+}
+
+// PalmPoseCommand 手掌姿态指令
+type PalmPoseCommand struct {
+	poseData   []byte
+	targetComp string
+}
+
+func NewPalmPoseCommand(poseData []byte) *PalmPoseCommand {
+	return &PalmPoseCommand{
+		poseData:   poseData,
+		targetComp: "palm",
+	}
+}
+
+func (c *PalmPoseCommand) Type() string {
+	return "SetPalmPose"
+}
+
+func (c *PalmPoseCommand) Payload() []byte {
+	return c.poseData
+}
+
+func (c *PalmPoseCommand) TargetComponent() string {
+	return c.targetComp
+}
+
+// GenericCommand 通用指令
+type GenericCommand struct {
+	cmdType    string
+	payload    []byte
+	targetComp string
+}
+
+func NewGenericCommand(cmdType string, payload []byte, targetComp string) *GenericCommand {
+	return &GenericCommand{
+		cmdType:    cmdType,
+		payload:    payload,
+		targetComp: targetComp,
+	}
+}
+
+func (c *GenericCommand) Type() string {
+	return c.cmdType
+}
+
+func (c *GenericCommand) Payload() []byte {
+	return c.payload
+}
+
+func (c *GenericCommand) TargetComponent() string {
+	return c.targetComp
+}
--- a/pkg/device/device.go
+++ b/pkg/device/device.go
@ -0,0 +1,60 @@
+package device
+
+import (
+	"hands/define"
+	"time"
+)
+
+// Device 代表一个可控制的设备单元
+type Device interface {
+	GetID() string                                         // 获取设备唯一标识
+	GetModel() string                                      // 获取设备型号 (例如 "L10", "L20")
+	GetHandType() define.HandType                          // 获取设备手型
+	SetHandType(handType define.HandType) error            // 设置设备手型
+	ExecuteCommand(cmd Command) error                      // 执行一个通用指令
+	ReadSensorData(sensorID string) (SensorData, error)    // 读取特定传感器数据
+	GetComponents(componentType ComponentType) []Component // 获取指定类型的组件
+	GetStatus() (DeviceStatus, error)                      // 获取设备状态
+	Connect() error                                        // 连接设备
+	Disconnect() error                                     // 断开设备连接
+}
+
+// Command 代表一个发送给设备的指令
+type Command interface {
+	Type() string            // 指令类型，例如 "SetFingerPose", "SetPalmAngle"
+	Payload() []byte         // 指令的实际数据
+	TargetComponent() string // 目标组件 ID
+}
+
+// SensorData 代表从传感器读取的数据
+type SensorData interface {
+	Timestamp() time.Time
+	Values() map[string]any // 例如 {"pressure": 100, "angle": 30.5}
+	SensorID() string
+}
+
+// ComponentType 定义组件类型
+type ComponentType string
+
+const (
+	SensorComponent   ComponentType = "sensor"
+	SkinComponent     ComponentType = "skin"
+	ActuatorComponent ComponentType = "actuator"
+)
+
+// Component 代表设备的一个可插拔组件
+type Component interface {
+	GetID() string
+	GetType() ComponentType
+	GetConfiguration() map[string]interface{} // 组件的特定配置
+	IsActive() bool
+}
+
+// DeviceStatus 代表设备状态
+type DeviceStatus struct {
+	IsConnected bool
+	IsActive    bool
+	LastUpdate  time.Time
+	ErrorCount  int
+	LastError   string
+}
--- a/pkg/device/factory.go
+++ b/pkg/device/factory.go
@ -0,0 +1,35 @@
+package device
+
+import "fmt"
+
+// DeviceFactory 设备工厂
+type DeviceFactory struct {
+	constructors map[string]func(config map[string]any) (Device, error)
+}
+
+var defaultFactory = &DeviceFactory{
+	constructors: make(map[string]func(config map[string]any) (Device, error)),
+}
+
+// RegisterDeviceType 注册设备类型
+func RegisterDeviceType(modelName string, constructor func(config map[string]any) (Device, error)) {
+	defaultFactory.constructors[modelName] = constructor
+}
+
+// CreateDevice 创建设备实例
+func CreateDevice(modelName string, config map[string]any) (Device, error) {
+	constructor, ok := defaultFactory.constructors[modelName]
+	if !ok {
+		return nil, fmt.Errorf("未知的设备型号: %s", modelName)
+	}
+	return constructor(config)
+}
+
+// GetSupportedModels 获取支持的设备型号列表
+func GetSupportedModels() []string {
+	models := make([]string, 0, len(defaultFactory.constructors))
+	for model := range defaultFactory.constructors {
+		models = append(models, model)
+	}
+	return models
+}
--- a/pkg/device/manager.go
+++ b/pkg/device/manager.go
@ -0,0 +1,63 @@
+package device
+
+import (
+	"fmt"
+	"sync"
+)
+
+// DeviceManager 管理设备实例
+type DeviceManager struct {
+	devices map[string]Device
+	mutex   sync.RWMutex
+}
+
+func NewDeviceManager() *DeviceManager { return &DeviceManager{devices: make(map[string]Device)} }
+
+func (m *DeviceManager) RegisterDevice(dev Device) error {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
+	id := dev.GetID()
+	if _, exists := m.devices[id]; exists {
+		return fmt.Errorf("设备 %s 已存在", id)
+	}
+
+	m.devices[id] = dev
+	return nil
+}
+
+func (m *DeviceManager) GetDevice(id string) (Device, error) {
+	m.mutex.RLock()
+	defer m.mutex.RUnlock()
+
+	dev, exists := m.devices[id]
+	if !exists {
+		return nil, fmt.Errorf("设备 %s 不存在", id)
+	}
+
+	return dev, nil
+}
+
+func (m *DeviceManager) GetAllDevices() []Device {
+	m.mutex.RLock()
+	defer m.mutex.RUnlock()
+
+	devices := make([]Device, 0, len(m.devices))
+	for _, dev := range m.devices {
+		devices = append(devices, dev)
+	}
+
+	return devices
+}
+
+func (m *DeviceManager) RemoveDevice(id string) error {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
+	if _, exists := m.devices[id]; !exists {
+		return fmt.Errorf("设备 %s 不存在", id)
+	}
+
+	delete(m.devices, id)
+	return nil
+}
--- a/pkg/device/models/init.go
+++ b/pkg/device/models/init.go
@ -0,0 +1,8 @@
+package models
+
+import "hands/pkg/device"
+
+func init() {
+	// 注册 L10 设备类型
+	device.RegisterDeviceType("L10", NewL10Hand)
+}
--- a/pkg/device/models/l10.go
+++ b/pkg/device/models/l10.go
@ -0,0 +1,240 @@
+package models
+
+import (
+	"fmt"
+	"sync"
+	"time"
+
+	"hands/define"
+	"hands/pkg/communication"
+	"hands/pkg/component"
+	"hands/pkg/device"
+)
+
+// L10Hand L10 型号手部设备实现
+type L10Hand struct {
+	id           string
+	model        string
+	handType     define.HandType
+	communicator communication.Communicator
+	components   map[device.ComponentType][]device.Component
+	status       device.DeviceStatus
+	mutex        sync.RWMutex
+	canInterface string // CAN 接口名称，如 "can0"
+}
+
+// NewL10Hand 创建 L10 手部设备实例
+func NewL10Hand(config map[string]any) (device.Device, error) {
+	id, ok := config["id"].(string)
+	if !ok {
+		return nil, fmt.Errorf("缺少设备 ID 配置")
+	}
+
+	serviceURL, ok := config["can_service_url"].(string)
+	if !ok {
+		return nil, fmt.Errorf("缺少 can 服务 URL 配置")
+	}
+
+	canInterface, ok := config["can_interface"].(string)
+	if !ok {
+		canInterface = "can0" // 默认接口
+	}
+
+	handType, ok := config["hand_type"].(define.HandType)
+	if !ok {
+		handType = define.HAND_TYPE_LEFT
+	}
+
+	// 创建通信客户端
+	comm := communication.NewCanBridgeClient(serviceURL)
+
+	hand := &L10Hand{
+		id:           id,
+		model:        "L10",
+		handType:     handType,
+		communicator: comm,
+		components:   make(map[device.ComponentType][]device.Component),
+		canInterface: canInterface,
+		status: device.DeviceStatus{
+			IsConnected: false,
+			IsActive:    false,
+			LastUpdate:  time.Now(),
+		},
+	}
+
+	// 初始化组件
+	if err := hand.initializeComponents(config); err != nil {
+		return nil, fmt.Errorf("初始化组件失败：%w", err)
+	}
+
+	return hand, nil
+}
+
+func (h *L10Hand) GetHandType() define.HandType {
+	return h.handType
+}
+
+func (h *L10Hand) SetHandType(handType define.HandType) error {
+	h.handType = handType
+	return nil
+}
+
+func (h *L10Hand) initializeComponents(_ map[string]any) error {
+	// 初始化传感器组件
+	sensors := []device.Component{
+		component.NewPressureSensor("pressure_thumb", map[string]any{"location": "thumb"}),
+		component.NewPressureSensor("pressure_index", map[string]any{"location": "index"}),
+		component.NewPressureSensor("pressure_middle", map[string]any{"location": "middle"}),
+		component.NewPressureSensor("pressure_ring", map[string]any{"location": "ring"}),
+		component.NewPressureSensor("pressure_pinky", map[string]any{"location": "pinky"}),
+	}
+	h.components[device.SensorComponent] = sensors
+
+	return nil
+}
+
+func (h *L10Hand) GetID() string {
+	return h.id
+}
+
+func (h *L10Hand) GetModel() string {
+	return h.model
+}
+
+func (h *L10Hand) ExecuteCommand(cmd device.Command) error {
+	h.mutex.Lock()
+	defer h.mutex.Unlock()
+
+	// 将通用指令转换为 L10 特定的 CAN 消息
+	rawMsg, err := h.commandToRawMessage(cmd)
+	if err != nil {
+		return fmt.Errorf("转换指令失败：%w", err)
+	}
+
+	// 发送到 can-bridge 服务
+	if err := h.communicator.SendMessage(rawMsg); err != nil {
+		h.status.ErrorCount++
+		h.status.LastError = err.Error()
+		return fmt.Errorf("发送指令失败：%w", err)
+	}
+
+	h.status.LastUpdate = time.Now()
+	return nil
+}
+
+func (h *L10Hand) commandToRawMessage(cmd device.Command) (communication.RawMessage, error) {
+	var canID uint32
+	var data []byte
+
+	switch cmd.Type() {
+	case "SetFingerPose":
+		// 根据目标组件确定 CAN ID
+		canID = h.getFingerCanID(cmd.TargetComponent())
+		data = cmd.Payload()
+	case "SetPalmPose":
+		canID = h.getPalmCanID()
+		data = cmd.Payload()
+	default:
+		return communication.RawMessage{}, fmt.Errorf("不支持的指令类型: %s", cmd.Type())
+	}
+
+	return communication.RawMessage{
+		Interface: h.canInterface,
+		ID:        canID,
+		Data:      data,
+	}, nil
+}
+
+func (h *L10Hand) getFingerCanID(targetComponent string) uint32 {
+	// L10 设备的手指 CAN ID 映射
+	fingerIDs := map[string]uint32{
+		"finger_thumb":  0x100,
+		"finger_index":  0x101,
+		"finger_middle": 0x102,
+		"finger_ring":   0x103,
+		"finger_pinky":  0x104,
+	}
+
+	if id, exists := fingerIDs[targetComponent]; exists {
+		return id
+	}
+	return 0x100 // 默认拇指
+}
+
+func (h *L10Hand) getPalmCanID() uint32 {
+	return 0x200 // L10 设备的手掌 CAN ID
+}
+
+func (h *L10Hand) ReadSensorData(sensorID string) (device.SensorData, error) {
+	h.mutex.RLock()
+	defer h.mutex.RUnlock()
+
+	// 查找传感器组件
+	sensors := h.components[device.SensorComponent]
+	for _, comp := range sensors {
+		if comp.GetID() == sensorID {
+			if sensor, ok := comp.(component.Sensor); ok {
+				return sensor.ReadData()
+			}
+		}
+	}
+
+	return nil, fmt.Errorf("传感器 %s 不存在", sensorID)
+}
+
+func (h *L10Hand) GetComponents(componentType device.ComponentType) []device.Component {
+	h.mutex.RLock()
+	defer h.mutex.RUnlock()
+
+	if components, exists := h.components[componentType]; exists {
+		result := make([]device.Component, len(components))
+		copy(result, components)
+		return result
+	}
+
+	return []device.Component{}
+}
+
+func (h *L10Hand) GetStatus() (device.DeviceStatus, error) {
+	h.mutex.RLock()
+	defer h.mutex.RUnlock()
+
+	return h.status, nil
+}
+
+func (h *L10Hand) Connect() error {
+	h.mutex.Lock()
+	defer h.mutex.Unlock()
+
+	// 检查与 can-bridge 服务的连接
+	if !h.communicator.IsConnected() {
+		return fmt.Errorf("无法连接到 can-bridge 服务")
+	}
+
+	// 检查 CAN 接口状态
+	isActive, err := h.communicator.GetInterfaceStatus(h.canInterface)
+	if err != nil {
+		return fmt.Errorf("检查 CAN 接口状态失败：%w", err)
+	}
+
+	if !isActive {
+		return fmt.Errorf("CAN接口 %s 未激活", h.canInterface)
+	}
+
+	h.status.IsConnected = true
+	h.status.IsActive = true
+	h.status.LastUpdate = time.Now()
+
+	return nil
+}
+
+func (h *L10Hand) Disconnect() error {
+	h.mutex.Lock()
+	defer h.mutex.Unlock()
+
+	h.status.IsConnected = false
+	h.status.IsActive = false
+	h.status.LastUpdate = time.Now()
+
+	return nil
+}
--- a/static/index.html
+++ b/static/index.html
@ -39,7 +39,7 @@
    
    <div class="container">
        <div class="control-panel">
-            <h2>手指控制 <span class="info-badge">指令0x01</span></h2>
+            <h2>手指控制 <span class="info-badge">指令 0x01</span></h2>
            
            <div class="slider-group">
                <h3>手指关节控制</h3>
@ -94,7 +94,7 @@
            </div>
            
            <div class="slider-group">
-                <h3>掌部控制 <span class="info-badge">指令0x04</span></h3>
+                <h3>掌部控制 <span class="info-badge">指令 0x04</span></h3>
                <div class="slider-container">
                    <div class="slider-label">
                        <span>关节 7</span>
--- a/static/script.js
+++ b/static/script.js
@ -53,7 +53,7 @@ const LinkerHandController = {
        PALM_BIG_OPEN: [128, 128, 128, 128],      // 大张开掌部

        YEAH: [0, 103, 255, 255, 0, 0],          // Yeah!
-        PALM_YEAH: [255, 235, 128, 128],         // Yeah!掌部
+        PALM_YEAH: [255, 235, 128, 128],         // Yeah! 掌部

        // 数字手势预设
        ONE: [0, 57, 255, 0, 0, 0],
@ -199,7 +199,7 @@ const LinkerHandController = {
            return;
        }

-        logMessage('info', `发送掌部姿态到 ${enabledHands.length} 个启用的手部: [${pose.join(', ')}]`);
+        logMessage('info', `发送掌部姿态到 ${enabledHands.length} 个启用的手部：[${pose.join(', ')}]`);

        enabledHands.forEach(async (config) => {
            await sendPalmPoseToHand(config, pose);
@ -214,7 +214,7 @@ const LinkerHandController = {
        // 设置定时获取
        setInterval(() => {
            this.fetchSensorData();
-        }, 2000); // 每2秒更新一次
+        }, 2000); // 每 2 秒更新一次
    },

    // 获取传感器数据
@ -227,7 +227,7 @@ const LinkerHandController = {
                }
            })
            .catch(error => {
-                console.error('获取传感器数据失败:', error);
+                console.error('获取传感器数据失败：', error);
            });
    },

@ -250,7 +250,7 @@ const LinkerHandController = {

        // 更新最后更新时间
        const lastUpdate = new Date(data.lastUpdate).toLocaleTimeString();
-        html += `<div style="text-align:right;font-size:0.8em;margin-top:5px;">最后更新: ${lastUpdate}</div>`;
+        html += `<div style="text-align:right;font-size:0.8em;margin-top:5px;">最后更新：${lastUpdate}</div>`;

        sensorDisplay.innerHTML = html;
    },
@ -281,7 +281,7 @@ async function initializeSystem() {
    try {
        logMessage('info', '开始初始化系统...');
        
-        // 步骤1: 加载可用接口
+        // 步骤 1: 加载可用接口
        logMessage('info', '步骤 1/3: 加载可用接口');
        await loadAvailableInterfaces();
        
@ -290,7 +290,7 @@ async function initializeSystem() {
            throw new Error('未能获取到任何可用接口');
        }
        
-        // 步骤2: 生成手部配置
+        // 步骤 2: 生成手部配置
        logMessage('info', '步骤 2/3: 生成手部配置');
        generateHandConfigs();
        
@ -299,14 +299,14 @@ async function initializeSystem() {
            throw new Error('未能生成手部配置');
        }
        
-        // 步骤3: 检查接口状态
+        // 步骤 3: 检查接口状态
        logMessage('info', '步骤 3/3: 检查接口状态');
        await checkAllInterfaceStatus();
        
        logMessage('success', '系统初始化完成');
        
    } catch (error) {
-        logMessage('error', `系统初始化失败: ${error.message}`);
+        logMessage('error', `系统初始化失败：${error.message}`);
        console.error('InitializeSystem Error:', error);
        
        // 尝试使用默认配置恢复
@ -332,13 +332,13 @@ async function loadAvailableInterfaces() {
        if (data.status === 'success') {
            availableInterfaces = data.data.availableInterfaces || [];
            
-            logMessage('success', `获取到 ${availableInterfaces.length} 个可用接口: ${availableInterfaces.join(', ')}`);
+            logMessage('success', `获取到 ${availableInterfaces.length} 个可用接口：${availableInterfaces.join(', ')}`);
            hideConnectionWarning();
        } else {
            throw new Error(data.error || '获取接口失败');
        }
    } catch (error) {
-        logMessage('error', `获取接口失败: ${error.message}`);
+        logMessage('error', `获取接口失败：${error.message}`);
        showConnectionWarning();
        // 设置默认值
        availableInterfaces = ['can0', 'can1', 'vcan0', 'vcan1'];
@ -358,7 +358,7 @@ function generateHandConfigs() {
    handsGrid.innerHTML = '';

    if (!availableInterfaces || availableInterfaces.length === 0) {
-        handsGrid.innerHTML = '<div style="text-align: center; color: #666; padding: 20px;">没有可用的CAN接口</div>';
+        handsGrid.innerHTML = '<div style="text-align: center; color: #666; padding: 20px;">没有可用的 CAN 接口</div>';
        logMessage('warning', '没有可用接口，无法生成手部配置');
        return;
    }
@ -402,7 +402,7 @@ function generateHandConfigs() {
    }, 100);
 }

-// 添加一个安全的DOM检查函数
+// 添加一个安全的 DOM 检查函数
 function validateHandElement(handId) {
    const element = document.getElementById(handId);
    if (!element) {
@ -444,7 +444,7 @@ function safeUpdateHandElement(handId) {
        }
    } catch (error) {
        console.error(`Error updating hand element ${handId}:`, error);
-        logMessage('error', `更新手部元素 ${handId} 时出错: ${error.message}`);
+        logMessage('error', `更新手部元素 ${handId} 时出错：${error.message}`);
    }
 }

@ -458,7 +458,7 @@ function createHandElement(config) {
    const handLabel = config.handType === 'left' ? '左手' : '右手';
    const handId = handTypeIds[config.handType];

-    // 确保HTML结构完整且正确
+    // 确保 HTML 结构完整且正确
    div.innerHTML = `
        <div class="hand-header">
            <input type="checkbox" class="hand-checkbox" id="${config.id}_checkbox" ${config.enabled ? 'checked' : ''}>
@ -487,7 +487,7 @@ function createHandElement(config) {
        </div>
    `;

-    // 使用 requestAnimationFrame 确保DOM完全渲染后再设置事件监听器
+    // 使用 requestAnimationFrame 确保 DOM 完全渲染后再设置事件监听器
    requestAnimationFrame(() => {
        setTimeout(() => {
            setupHandEventListeners(config.id);
@ -506,17 +506,17 @@ function setupHandEventListeners(handId) {

    // 检查所有必需的元素是否存在
    if (!checkbox) {
-        console.error(`setupHandEventListeners: 找不到checkbox - ${handId}_checkbox`);
+        console.error(`setupHandEventListeners: 找不到 checkbox - ${handId}_checkbox`);
        return;
    }
    
    if (!interfaceSelect) {
-        console.error(`setupHandEventListeners: 找不到interfaceSelect - ${handId}_interface`);
+        console.error(`setupHandEventListeners: 找不到 interfaceSelect - ${handId}_interface`);
        return;
    }
    
    if (!handTypeSelect) {
-        console.error(`setupHandEventListeners: 找不到handTypeSelect - ${handId}_handtype`);
+        console.error(`setupHandEventListeners: 找不到 handTypeSelect - ${handId}_handtype`);
        return;
    }

@ -588,7 +588,7 @@ function updateHandElement(handId) {
    // 安全地更新手型标签
    const handTypeLabels = element.querySelectorAll('.control-label');
    if (handTypeLabels.length >= 2) {
-        const handTypeLabel = handTypeLabels[1]; // 第二个label是手型的
+        const handTypeLabel = handTypeLabels[1]; // 第二个 label 是手型的
        if (handTypeLabel) {
            handTypeLabel.textContent = `手型 (CAN ID: 0x${handIdHex.toString(16).toUpperCase()})`;
        }
@ -654,7 +654,7 @@ async function checkAllInterfaceStatus() {
        hideConnectionWarning();
        
    } catch (error) {
-        logMessage('error', `状态检查失败: ${error.message}`);
+        logMessage('error', `状态检查失败：${error.message}`);
        console.error('CheckAllInterfaceStatus Error:', error);
        showConnectionWarning();
        setAllHandStatusOffline();
@ -739,7 +739,7 @@ function setupEventListeners() {
    document.getElementById('start-sway').addEventListener('click', () => startAnimationForAll('sway'));
    document.getElementById('stop-animation').addEventListener('click', stopAllAnimations);

-    // 预设姿势按钮 - 使用LinkerHandController的预设
+    // 预设姿势按钮 - 使用 LinkerHandController 的预设
    setupPresetButtons();

    // 数字手势按钮事件
@ -797,7 +797,7 @@ function setupPresetButtons() {
 function setupNumericPresets() {
    const delayDefault = 30;

-    // 数字1-9的预设
+    // 数字 1-9 的预设
    for (let i = 1; i <= 9; i++) {
        const button = document.getElementById(`pose-${i}`);
        if (button) {
@ -829,7 +829,7 @@ function getNumberName(num) {
    return names[num] || '';
 }

-// 设置Refill Core功能
+// 设置 Refill Core 功能
 function setupRefillCore() {
    document.getElementById("refill-core").addEventListener("click", () => {
        event.preventDefault();
@ -844,32 +844,32 @@ function setupRefillCore() {
            [[246, 155, 154, 25], [140, 62, 0, 15, 29, 143]], // 小指
        ];

-        const delayTime = 350; // 设定延迟时间为350ms
+        const delayTime = 350; // 设定延迟时间为 350ms
        
        // 创建完整的序列：从第一个到最后一个，再从最后一个回到第二个
        const forwardIndices = [...Array(rukaPoseList.length).keys()]; // [0,1,2,3]
        const backwardIndices = [...forwardIndices].reverse().slice(1); // [3,2,1]
        const sequenceIndices = [...forwardIndices, ...backwardIndices];
        
-        // 遍历序列索引，为每个索引创建两个操作（palm和finger）
+        // 遍历序列索引，为每个索引创建两个操作（palm 和 finger）
        sequenceIndices.forEach((index, step) => {
            const targetPose = rukaPoseList[index];
            
-            // 应用palm预设
+            // 应用 palm 预设
            setTimeout(() => {
                console.log(`Step ${step+1}a: Applying palm preset for pose ${index+1}`);
                LinkerHandController.applyPalmPreset(targetPose[0]);
                const palmPose = LinkerHandController.getPalmPoseValues();
                LinkerHandController.sendPalmPoseToAll(palmPose);
-            }, delayTime * (step * 2)); // 每个完整步骤有两个操作，所以是step*2
+            }, delayTime * (step * 2)); // 每个完整步骤有两个操作，所以是 step*2
            
-            // 应用finger预设
+            // 应用 finger 预设
            setTimeout(() => {
                console.log(`Step ${step+1}b: Applying finger preset for pose ${index+1}`);
                LinkerHandController.applyFingerPreset(targetPose[1]);
                const fingerPose = LinkerHandController.getFingerPoseValues();
                LinkerHandController.sendFingerPoseToAll(fingerPose);
-            }, delayTime * (step * 2 + 1)); // 偏移一个delayTime
+            }, delayTime * (step * 2 + 1)); // 偏移一个 delayTime
        });
    });
 }
@ -1196,7 +1196,7 @@ function logMessage(type, message) {
    statusLog.appendChild(logEntry);
    statusLog.scrollTop = statusLog.scrollHeight;

-    // 保持最多50条日志
+    // 保持最多 50 条日志
    const entries = statusLog.querySelectorAll('.log-entry');
    if (entries.length > 50) {
        statusLog.removeChild(entries[0]);
@ -1205,12 +1205,12 @@ function logMessage(type, message) {

 // 启动状态更新器
 function startStatusUpdater() {
-    // 每5秒检查一次接口状态
+    // 每 5 秒检查一次接口状态
    setInterval(async () => {
        await checkAllInterfaceStatus();
    }, 5000);

-    // 每30秒刷新一次接口列表
+    // 每 30 秒刷新一次接口列表
    setInterval(async () => {
        const oldInterfaces = [...availableInterfaces];
        await loadAvailableInterfaces();
@ -1226,7 +1226,7 @@ function startStatusUpdater() {
 async function debugSystemStatus() {
    logMessage('info', '🔍 开始系统调试...');
    
-    // 检查HTML元素
+    // 检查 HTML 元素
    const elements = {
        'hands-grid': document.getElementById('hands-grid'),
        'status-log': document.getElementById('status-log'),
@ -1243,11 +1243,11 @@ async function debugSystemStatus() {
    });
    
    // 检查全局变量
-    logMessage('info', `可用接口: [${availableInterfaces.join(', ')}]`);
-    logMessage('info', `手部配置数量: ${Object.keys(handConfigs).length}`);
-    logMessage('info', `启用手部数量: ${getEnabledHands().length}`);
+    logMessage('info', `可用接口：[${availableInterfaces.join(', ')}]`);
+    logMessage('info', `手部配置数量：${Object.keys(handConfigs).length}`);
+    logMessage('info', `启用手部数量：${getEnabledHands().length}`);
    
-    // 测试API连通性
+    // 测试 API 连通性
    try {
        logMessage('info', '测试 /api/health 连接...');
        const response = await fetch('/api/health');
@ -1256,40 +1256,40 @@ async function debugSystemStatus() {
            logMessage('success', '✅ 健康检查通过');
            console.log('Health Check Data:', data);
        } else {
-            logMessage('error', `❌ 健康检查失败: HTTP ${response.status}`);
+            logMessage('error', `❌ 健康检查失败：HTTP ${response.status}`);
        }
    } catch (error) {
-        logMessage('error', `❌ 健康检查异常: ${error.message}`);
+        logMessage('error', `❌ 健康检查异常：${error.message}`);
    }
    
-    // 测试接口API
+    // 测试接口 API
    try {
        logMessage('info', '测试 /api/interfaces 连接...');
        const response = await fetch('/api/interfaces');
        if (response.ok) {
            const data = await response.json();
-            logMessage('success', '✅ 接口API通过');
+            logMessage('success', '✅ 接口 API 通过');
            console.log('Interfaces API Data:', data);
        } else {
-            logMessage('error', `❌ 接口API失败: HTTP ${response.status}`);
+            logMessage('error', `❌ 接口 API 失败：HTTP ${response.status}`);
        }
    } catch (error) {
-        logMessage('error', `❌ 接口API异常: ${error.message}`);
+        logMessage('error', `❌ 接口 API 异常：${error.message}`);
    }
 }

-// 导出全局函数供HTML按钮使用
+// 导出全局函数供 HTML 按钮使用
 window.triggerButtonsSequentially = triggerButtonsSequentially;
 window.debugSystemStatus = debugSystemStatus;

 // 添加全局错误处理
 window.addEventListener('error', function(event) {
-    logMessage('error', `全局错误: ${event.error?.message || event.message}`);
+    logMessage('error', `全局错误：${event.error?.message || event.message}`);
    console.error('Global Error:', event.error);
 });

 window.addEventListener('unhandledrejection', function(event) {
-    logMessage('error', `未处理的Promise拒绝: ${event.reason?.message || event.reason}`);
+    logMessage('error', `未处理的 Promise 拒绝：${event.reason?.message || event.reason}`);
    console.error('Unhandled Promise Rejection:', event.reason);
 });

@ -1333,7 +1333,7 @@ document.addEventListener('keydown', function(e) {
        toggleAllHands();
    }
    
-    // 数字键1-9快速设置预设姿势
+    // 数字键 1-9 快速设置预设姿势
    if (e.key >= '1' && e.key <= '9' && !e.ctrlKey && !e.altKey) {
        const activeElement = document.activeElement;
        // 确保不在输入框中
@ -1373,7 +1373,7 @@ function addTooltips() {
        'start-wave': '启动所有启用手部的手指波浪动画',
        'start-sway': '启动所有启用手部的掌部摆动动画',
        'stop-animation': '停止所有启用手部的动画',
-        'refill-core': '执行Refill Core动作序列'
+        'refill-core': '执行 Refill Core 动作序列'
    };

    Object.entries(tooltips).forEach(([id, text]) => {
@ -1411,8 +1411,8 @@ async function startSequentialHandAnimation(animationType = 'wave', interval = 5
        return getInterfaceNumber(a.interface) - getInterfaceNumber(b.interface);
    });
    
-    logMessage('info', `开始六手依次动画 - 类型: ${animationType}, 间隔: ${interval}ms, 循环: ${cycles}次`);
-    logMessage('info', `动画顺序: ${sortedHands.map(h => h.interface).join(' → ')}`);
+    logMessage('info', `开始六手依次动画 - 类型：${animationType}, 间隔：${interval}ms, 循环：${cycles}次`);
+    logMessage('info', `动画顺序：${sortedHands.map(h => h.interface).join(' → ')}`);
    
    // 定义动画预设
    const animationPresets = {
@ -1466,12 +1466,12 @@ async function startSequentialHandAnimation(animationType = 'wave', interval = 5
                [64, 64, 64, 64, 64, 64],       // 握拳 (0)
            ],
            palmPoses: [
-                [255, 109, 255, 118], // 5对应的掌部
-                [255, 109, 255, 118], // 4对应的掌部
-                [255, 109, 255, 118], // 3对应的掌部
-                [255, 109, 255, 118], // 2对应的掌部
-                [255, 109, 255, 118], // 1对应的掌部
-                [128, 128, 128, 128], // 0对应的掌部
+                [255, 109, 255, 118], // 5 对应的掌部
+                [255, 109, 255, 118], // 4 对应的掌部
+                [255, 109, 255, 118], // 3 对应的掌部
+                [255, 109, 255, 118], // 2 对应的掌部
+                [255, 109, 255, 118], // 1 对应的掌部
+                [128, 128, 128, 128], // 0 对应的掌部
            ]
        },
        
@ -1480,7 +1480,7 @@ async function startSequentialHandAnimation(animationType = 'wave', interval = 5
            fingerPoses: [
                [64, 64, 64, 64, 64, 64],       // 起始握拳
                [128, 64, 64, 64, 64, 64],      // 拇指起
-                [255, 128, 64, 64, 64, 64],     // 拇指+食指起
+                [255, 128, 64, 64, 64, 64],     // 拇指 + 食指起
                [255, 255, 128, 64, 64, 64],    // 前三指起
                [255, 255, 255, 128, 64, 64],   // 前四指起
                [255, 255, 255, 255, 128, 64],  // 前五指起
@ -1582,10 +1582,10 @@ async function startCustomSequentialAnimation(config) {
        sortedHands = sortedHands.reverse();
    }
    
-    logMessage('info', `开始自定义六手动画 - 方向: ${direction}, 同时手数: ${simultaneousHands}`);
+    logMessage('info', `开始自定义六手动画 - 方向：${direction}, 同时手数：${simultaneousHands}`);
    
    // 执行动画逻辑...
-    // 这里可以根据simultaneousHands参数同时控制多只手
+    // 这里可以根据 simultaneousHands 参数同时控制多只手
    // 实现类似的动画逻辑，但支持更多自定义选项
 }