chore: use math/rand/v2
This commit is contained in:
Eli Yip
parent
a1e9772825
commit
53988079da
85
main.go
85
main.go
@ -7,7 +7,7 @@ import (
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"hands/cli"
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"hands/define"
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"log"
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"math/rand"
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"math/rand/v2"
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"net/http"
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"os"
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"strings"
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@ -25,26 +25,26 @@ const HAND_TYPE_RIGHT = 0x27
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type FingerPoseRequest struct {
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Interface string `json:"interface,omitempty"`
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Pose []byte `json:"pose" binding:"required,len=6"`
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HandType string `json:"handType,omitempty"` // 新增: 手型类型
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HandId uint32 `json:"handId,omitempty"` // 新增: CAN ID
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HandType string `json:"handType,omitempty"` // 新增：手型类型
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HandId uint32 `json:"handId,omitempty"` // 新增：CAN ID
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}
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type PalmPoseRequest struct {
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Interface string `json:"interface,omitempty"`
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Pose []byte `json:"pose" binding:"required,len=4"`
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HandType string `json:"handType,omitempty"` // 新增: 手型类型
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HandId uint32 `json:"handId,omitempty"` // 新增: CAN ID
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HandType string `json:"handType,omitempty"` // 新增：手型类型
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HandId uint32 `json:"handId,omitempty"` // 新增：CAN ID
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}
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type AnimationRequest struct {
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Interface string `json:"interface,omitempty"`
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Type string `json:"type" binding:"required,oneof=wave sway stop"`
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Speed int `json:"speed" binding:"min=0,max=2000"`
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HandType string `json:"handType,omitempty"` // 新增: 手型类型
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HandId uint32 `json:"handId,omitempty"` // 新增: CAN ID
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HandType string `json:"handType,omitempty"` // 新增：手型类型
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HandId uint32 `json:"handId,omitempty"` // 新增：CAN ID
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}
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// 新增: 手型设置请求
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// 新增：手型设置请求
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type HandTypeRequest struct {
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Interface string `json:"interface" binding:"required"`
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HandType string `json:"handType" binding:"required,oneof=left right"`
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@ -142,12 +142,12 @@ func setHandConfig(ifName, handType string, handId uint32) {
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// 解析手型参数
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func parseHandType(handType string, handId uint32, ifName string) uint32 {
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// 如果提供了有效的handId，直接使用
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// 如果提供了有效的 handId，直接使用
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if handId != 0 {
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return handId
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}
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// 根据handType字符串确定ID
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// 根据 handType 字符串确定 ID
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switch strings.ToLower(handType) {
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case "left":
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return HAND_TYPE_LEFT
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@ -162,7 +162,7 @@ func parseHandType(handType string, handId uint32, ifName string) uint32 {
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// 初始化服务
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func initService() {
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log.Printf("🔧 服务配置:")
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log.Printf("🔧 服务配置：")
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log.Printf(" - CAN 服务 URL: %s", config.CanServiceURL)
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log.Printf(" - Web 端口: %s", config.WebPort)
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log.Printf(" - 可用接口: %v", config.AvailableInterfaces)
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@ -213,7 +213,7 @@ func sendToCanService(msg CanMessage) error {
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if resp.StatusCode != http.StatusOK {
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var errResp define.ApiResponse
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if err := json.NewDecoder(resp.Body).Decode(&errResp); err != nil {
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return fmt.Errorf("CAN 服务返回错误: HTTP %d", resp.StatusCode)
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return fmt.Errorf("CAN 服务返回错误：HTTP %d", resp.StatusCode)
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}
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return fmt.Errorf("CAN 服务返回错误: %s", errResp.Error)
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}
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@ -237,7 +237,7 @@ func sendFingerPose(ifName string, pose []byte, handType string, handId uint32)
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return fmt.Errorf("无效的接口 %s，可用接口: %v", ifName, config.AvailableInterfaces)
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}
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// 解析手型ID
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// 解析手型 ID
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canId := parseHandType(handType, handId, ifName)
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// 添加随机扰动
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@ -249,7 +249,7 @@ func sendFingerPose(ifName string, pose []byte, handType string, handId uint32)
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// 构造 CAN 消息
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msg := CanMessage{
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Interface: ifName,
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ID: canId, // 使用动态的手型ID
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ID: canId, // 使用动态的手型 ID
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Data: append([]byte{0x01}, perturbedPose...),
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}
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@ -285,7 +285,7 @@ func sendPalmPose(ifName string, pose []byte, handType string, handId uint32) er
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return fmt.Errorf("无效的接口 %s，可用接口: %v", ifName, config.AvailableInterfaces)
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}
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// 解析手型ID
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// 解析手型 ID
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canId := parseHandType(handType, handId, ifName)
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// 添加随机扰动
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@ -297,7 +297,7 @@ func sendPalmPose(ifName string, pose []byte, handType string, handId uint32) er
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// 构造 CAN 消息
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msg := CanMessage{
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Interface: ifName,
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ID: canId, // 使用动态的手型ID
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ID: canId, // 使用动态的手型 ID
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Data: append([]byte{0x04}, perturbedPose...),
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}
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@ -326,7 +326,7 @@ func sendPalmPose(ifName string, pose []byte, handType string, handId uint32) er
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// 在 base 基础上进行 ±delta 的扰动，范围限制在 [0, 255]
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func perturb(base byte, delta int) byte {
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offset := rand.Intn(2*delta+1) - delta
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offset := rand.IntN(2*delta+1) - delta
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v := int(base) + offset
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if v < 0 {
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v = 0
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@ -622,11 +622,11 @@ func readSensorData() {
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// 为每个接口模拟压力数据 (0-100)
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for _, ifName := range config.AvailableInterfaces {
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if sensorData, exists := sensorDataMap[ifName]; exists {
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sensorData.Thumb = rand.Intn(101)
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sensorData.Index = rand.Intn(101)
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sensorData.Middle = rand.Intn(101)
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sensorData.Ring = rand.Intn(101)
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sensorData.Pinky = rand.Intn(101)
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sensorData.Thumb = rand.IntN(101)
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sensorData.Index = rand.IntN(101)
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sensorData.Middle = rand.IntN(101)
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sensorData.Ring = rand.IntN(101)
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sensorData.Pinky = rand.IntN(101)
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sensorData.LastUpdate = time.Now()
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}
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}
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@ -651,7 +651,7 @@ func checkCanServiceStatus() map[string]bool {
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defer resp.Body.Close()
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if resp.StatusCode != http.StatusOK {
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log.Printf("❌ CAN 服务返回非正常状态: %d", resp.StatusCode)
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log.Printf("❌ CAN 服务返回非正常状态：%d", resp.StatusCode)
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result := make(map[string]bool)
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for _, ifName := range config.AvailableInterfaces {
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result[ifName] = false
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@ -704,7 +704,7 @@ func setupRoutes(r *gin.Engine) {
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的手型设置请求: " + err.Error(),
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Error: "无效的手型设置请求：" + err.Error(),
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})
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return
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}
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@ -718,7 +718,7 @@ func setupRoutes(r *gin.Engine) {
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return
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}
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// 验证手型ID
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// 验证手型 ID
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if req.HandType == "left" && req.HandId != HAND_TYPE_LEFT {
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req.HandId = HAND_TYPE_LEFT
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} else if req.HandType == "right" && req.HandId != HAND_TYPE_RIGHT {
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@ -750,7 +750,7 @@ func setupRoutes(r *gin.Engine) {
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的手指姿态数据: " + err.Error(),
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Error: "无效的手指姿态数据：" + err.Error(),
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})
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return
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}
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@ -785,7 +785,7 @@ func setupRoutes(r *gin.Engine) {
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if err := sendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "发送手指姿态失败: " + err.Error(),
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Error: "发送手指姿态失败：" + err.Error(),
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})
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return
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}
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@ -803,7 +803,7 @@ func setupRoutes(r *gin.Engine) {
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的掌部姿态数据: " + err.Error(),
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Error: "无效的掌部姿态数据：" + err.Error(),
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})
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return
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}
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@ -838,7 +838,7 @@ func setupRoutes(r *gin.Engine) {
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if err := sendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "发送掌部姿态失败: " + err.Error(),
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Error: "发送掌部姿态失败：" + err.Error(),
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})
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return
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}
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@ -895,31 +895,31 @@ func setupRoutes(r *gin.Engine) {
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// 数字手势
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case "1":
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fingerPose = []byte{192, 64, 192, 192, 192, 64}
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message = "已设置数字1手势"
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message = "已设置数字 1 手势"
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case "2":
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fingerPose = []byte{192, 64, 64, 192, 192, 64}
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message = "已设置数字2手势"
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message = "已设置数字 2 手势"
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case "3":
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fingerPose = []byte{192, 64, 64, 64, 192, 64}
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message = "已设置数字3手势"
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message = "已设置数字 3 手势"
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case "4":
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fingerPose = []byte{192, 64, 64, 64, 64, 64}
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message = "已设置数字4手势"
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message = "已设置数字 4 手势"
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case "5":
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fingerPose = []byte{192, 192, 192, 192, 192, 192}
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message = "已设置数字5手势"
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message = "已设置数字 5 手势"
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case "6":
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fingerPose = []byte{64, 192, 192, 192, 192, 64}
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message = "已设置数字6手势"
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message = "已设置数字 6 手势"
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case "7":
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fingerPose = []byte{64, 64, 192, 192, 192, 64}
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message = "已设置数字7手势"
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message = "已设置数字 7 手势"
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case "8":
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fingerPose = []byte{64, 64, 64, 192, 192, 64}
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message = "已设置数字8手势"
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message = "已设置数字 8 手势"
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case "9":
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fingerPose = []byte{64, 64, 64, 64, 192, 64}
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message = "已设置数字9手势"
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message = "已设置数字 9 手势"
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default:
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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@ -928,7 +928,7 @@ func setupRoutes(r *gin.Engine) {
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return
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}
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// 解析手型ID（从查询参数或使用接口配置）
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// 解析手型 ID（从查询参数或使用接口配置）
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handId := uint32(0)
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if handType != "" {
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handId = parseHandType(handType, 0, ifName)
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@ -937,7 +937,7 @@ func setupRoutes(r *gin.Engine) {
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if err := sendFingerPose(ifName, fingerPose, handType, handId); err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "设置预设姿势失败: " + err.Error(),
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Error: "设置预设姿势失败：" + err.Error(),
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})
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return
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}
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@ -955,7 +955,7 @@ func setupRoutes(r *gin.Engine) {
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的动画请求: " + err.Error(),
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Error: "无效的动画请求：" + err.Error(),
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})
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return
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}
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@ -1208,9 +1208,6 @@ func main() {
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log.Printf("🚀 启动 CAN 控制服务 (支持左右手配置)")
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// 初始化随机数种子
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rand.Seed(time.Now().UnixNano())
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// 初始化服务
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initService()
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