web/dexterous-hand-dashboard
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chore: use math/rand/v2

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Eli Yip 2025-05-27 09:11:30 +08:00
parent a1e9772825
commit 53988079da
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GPG Key ID: C98B69D4CF7D7EC5
1 changed files with 41 additions and 44 deletions
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51
main.go
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@ -7,7 +7,7 @@ import (
"hands/cli" "hands/cli"
"hands/define" "hands/define"
"log" "log"
"math/rand" "math/rand/v2"
"net/http" "net/http"
"os" "os"
"strings" "strings"
@ -25,26 +25,26 @@ const HAND_TYPE_RIGHT = 0x27
type FingerPoseRequest struct { type FingerPoseRequest struct {
Interface string `json:"interface,omitempty"` Interface string `json:"interface,omitempty"`
Pose []byte `json:"pose" binding:"required,len=6"` Pose []byte `json:"pose" binding:"required,len=6"`
HandType string `json:"handType,omitempty"` // 新增: 手型类型 HandType string `json:"handType,omitempty"` // 新增：手型类型
HandId uint32 `json:"handId,omitempty"` // 新增: CAN ID HandId uint32 `json:"handId,omitempty"` // 新增：CAN ID
} }
type PalmPoseRequest struct { type PalmPoseRequest struct {
Interface string `json:"interface,omitempty"` Interface string `json:"interface,omitempty"`
Pose []byte `json:"pose" binding:"required,len=4"` Pose []byte `json:"pose" binding:"required,len=4"`
HandType string `json:"handType,omitempty"` // 新增: 手型类型 HandType string `json:"handType,omitempty"` // 新增：手型类型
HandId uint32 `json:"handId,omitempty"` // 新增: CAN ID HandId uint32 `json:"handId,omitempty"` // 新增：CAN ID
} }
type AnimationRequest struct { type AnimationRequest struct {
Interface string `json:"interface,omitempty"` Interface string `json:"interface,omitempty"`
Type string `json:"type" binding:"required,oneof=wave sway stop"` Type string `json:"type" binding:"required,oneof=wave sway stop"`
Speed int `json:"speed" binding:"min=0,max=2000"` Speed int `json:"speed" binding:"min=0,max=2000"`
HandType string `json:"handType,omitempty"` // 新增: 手型类型 HandType string `json:"handType,omitempty"` // 新增：手型类型
HandId uint32 `json:"handId,omitempty"` // 新增: CAN ID HandId uint32 `json:"handId,omitempty"` // 新增：CAN ID
} }
// 新增: 手型设置请求 // 新增：手型设置请求
type HandTypeRequest struct { type HandTypeRequest struct {
Interface string `json:"interface" binding:"required"` Interface string `json:"interface" binding:"required"`
HandType string `json:"handType" binding:"required,oneof=left right"` HandType string `json:"handType" binding:"required,oneof=left right"`
@ -162,7 +162,7 @@ func parseHandType(handType string, handId uint32, ifName string) uint32 {
// 初始化服务 // 初始化服务
func initService() { func initService() {
log.Printf("🔧 服务配置:") log.Printf("🔧 服务配置：")
log.Printf(" - CAN 服务 URL: %s", config.CanServiceURL) log.Printf(" - CAN 服务 URL: %s", config.CanServiceURL)
log.Printf(" - Web 端口: %s", config.WebPort) log.Printf(" - Web 端口: %s", config.WebPort)
log.Printf(" - 可用接口: %v", config.AvailableInterfaces) log.Printf(" - 可用接口: %v", config.AvailableInterfaces)
@ -213,7 +213,7 @@ func sendToCanService(msg CanMessage) error {
if resp.StatusCode != http.StatusOK { if resp.StatusCode != http.StatusOK {
var errResp define.ApiResponse var errResp define.ApiResponse
if err := json.NewDecoder(resp.Body).Decode(&errResp); err != nil { 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：HTTP %d", resp.StatusCode)
} }
return fmt.Errorf("CAN 服务返回错误: %s", errResp.Error) return fmt.Errorf("CAN 服务返回错误: %s", errResp.Error)
} }
@ -326,7 +326,7 @@ func sendPalmPose(ifName string, pose []byte, handType string, handId uint32) er
// 在 base 基础上进行 ±delta 的扰动，范围限制在 [0, 255] // 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 { func perturb(base byte, delta int) byte {
offset := rand.Intn(2*delta+1) - delta offset := rand.IntN(2*delta+1) - delta
v := int(base) + offset v := int(base) + offset
if v < 0 { if v < 0 {
v = 0 v = 0
@ -622,11 +622,11 @@ func readSensorData() {
// 为每个接口模拟压力数据 (0-100) // 为每个接口模拟压力数据 (0-100)
for _, ifName := range config.AvailableInterfaces { for _, ifName := range config.AvailableInterfaces {
if sensorData, exists := sensorDataMap[ifName]; exists { if sensorData, exists := sensorDataMap[ifName]; exists {
sensorData.Thumb = rand.Intn(101) sensorData.Thumb = rand.IntN(101)
sensorData.Index = rand.Intn(101) sensorData.Index = rand.IntN(101)
sensorData.Middle = rand.Intn(101) sensorData.Middle = rand.IntN(101)
sensorData.Ring = rand.Intn(101) sensorData.Ring = rand.IntN(101)
sensorData.Pinky = rand.Intn(101) sensorData.Pinky = rand.IntN(101)
sensorData.LastUpdate = time.Now() sensorData.LastUpdate = time.Now()
} }
} }
@ -651,7 +651,7 @@ func checkCanServiceStatus() map[string]bool {
defer resp.Body.Close() defer resp.Body.Close()
if resp.StatusCode != http.StatusOK { if resp.StatusCode != http.StatusOK {
log.Printf("❌ CAN 服务返回非正常状态: %d", resp.StatusCode) log.Printf("❌ CAN 服务返回非正常状态：%d", resp.StatusCode)
result := make(map[string]bool) result := make(map[string]bool)
for _, ifName := range config.AvailableInterfaces { for _, ifName := range config.AvailableInterfaces {
result[ifName] = false result[ifName] = false
@ -704,7 +704,7 @@ func setupRoutes(r *gin.Engine) {
if err := c.ShouldBindJSON(&req); err != nil { if err := c.ShouldBindJSON(&req); err != nil {
c.JSON(http.StatusBadRequest, define.ApiResponse{ c.JSON(http.StatusBadRequest, define.ApiResponse{
Status: "error", Status: "error",
Error: "无效的手型设置请求: " + err.Error(), Error: "无效的手型设置请求：" + err.Error(),
}) })
return return
} }
@ -750,7 +750,7 @@ func setupRoutes(r *gin.Engine) {
if err := c.ShouldBindJSON(&req); err != nil { if err := c.ShouldBindJSON(&req); err != nil {
c.JSON(http.StatusBadRequest, define.ApiResponse{ c.JSON(http.StatusBadRequest, define.ApiResponse{
Status: "error", Status: "error",
Error: "无效的手指姿态数据: " + err.Error(), Error: "无效的手指姿态数据：" + err.Error(),
}) })
return return
} }
@ -785,7 +785,7 @@ func setupRoutes(r *gin.Engine) {
if err := sendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil { if err := sendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
c.JSON(http.StatusInternalServerError, define.ApiResponse{ c.JSON(http.StatusInternalServerError, define.ApiResponse{
Status: "error", Status: "error",
Error: "发送手指姿态失败: " + err.Error(), Error: "发送手指姿态失败：" + err.Error(),
}) })
return return
} }
@ -803,7 +803,7 @@ func setupRoutes(r *gin.Engine) {
if err := c.ShouldBindJSON(&req); err != nil { if err := c.ShouldBindJSON(&req); err != nil {
c.JSON(http.StatusBadRequest, define.ApiResponse{ c.JSON(http.StatusBadRequest, define.ApiResponse{
Status: "error", Status: "error",
Error: "无效的掌部姿态数据: " + err.Error(), Error: "无效的掌部姿态数据：" + err.Error(),
}) })
return return
} }
@ -838,7 +838,7 @@ func setupRoutes(r *gin.Engine) {
if err := sendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil { if err := sendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
c.JSON(http.StatusInternalServerError, define.ApiResponse{ c.JSON(http.StatusInternalServerError, define.ApiResponse{
Status: "error", Status: "error",
Error: "发送掌部姿态失败: " + err.Error(), Error: "发送掌部姿态失败：" + err.Error(),
}) })
return return
} }
@ -937,7 +937,7 @@ func setupRoutes(r *gin.Engine) {
if err := sendFingerPose(ifName, fingerPose, handType, handId); err != nil { if err := sendFingerPose(ifName, fingerPose, handType, handId); err != nil {
c.JSON(http.StatusInternalServerError, define.ApiResponse{ c.JSON(http.StatusInternalServerError, define.ApiResponse{
Status: "error", Status: "error",
Error: "设置预设姿势失败: " + err.Error(), Error: "设置预设姿势失败：" + err.Error(),
}) })
return return
} }
@ -955,7 +955,7 @@ func setupRoutes(r *gin.Engine) {
if err := c.ShouldBindJSON(&req); err != nil { if err := c.ShouldBindJSON(&req); err != nil {
c.JSON(http.StatusBadRequest, define.ApiResponse{ c.JSON(http.StatusBadRequest, define.ApiResponse{
Status: "error", Status: "error",
Error: "无效的动画请求: " + err.Error(), Error: "无效的动画请求：" + err.Error(),
}) })
return return
} }
@ -1208,9 +1208,6 @@ func main() {
log.Printf("🚀 启动 CAN 控制服务 (支持左右手配置)") log.Printf("🚀 启动 CAN 控制服务 (支持左右手配置)")
// 初始化随机数种子
rand.Seed(time.Now().UnixNano())
// 初始化服务 // 初始化服务
initService() initService()