Su Yang
GitHub
commit
83eb355946
1
.gitignore
vendored
1
.gitignore
vendored
@ -1,4 +1,5 @@
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# Custom
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/temp.md
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/hands
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#################### Go.gitignore ####################
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@ -2,6 +2,8 @@
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Dexterous hand-operated dashboard for LinkerHand 👋!
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[中文文档](./docs/README_CN.md) [中文贡献指南](./docs/contribute_CN.md)
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## Project Overview
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**Dexterous Hand Dashboard** is a control dashboard service specifically developed for the LinkerHand dexterous hand device. Built with Golang, it provides a flexible RESTful API interface, enabling finger and palm pose control, execution of preset gestures, real-time sensor data monitoring, and dynamic configuration of hand type (left or right) and CAN interfaces.
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@ -1,4 +1,4 @@
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package api2
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package api
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import (
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"fmt"
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@ -1,4 +1,4 @@
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package api2
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package api
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import (
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"fmt"
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468
api/handler.go
468
api/handler.go
@ -1,468 +0,0 @@
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package api
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import (
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"fmt"
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"hands/config"
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"hands/define"
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"hands/hands"
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"net/http"
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"time"
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"github.com/gin-gonic/gin"
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)
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// 手型设置处理函数
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func HandleHandType(c *gin.Context) {
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var req HandTypeRequest
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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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})
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return
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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// 验证手型 ID
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if req.HandType == "left" && req.HandId != uint32(define.HAND_TYPE_LEFT) {
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req.HandId = uint32(define.HAND_TYPE_LEFT)
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} else if req.HandType == "right" && req.HandId != uint32(define.HAND_TYPE_RIGHT) {
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req.HandId = uint32(define.HAND_TYPE_RIGHT)
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}
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// 设置手型配置
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hands.SetHandConfig(req.Interface, req.HandType, req.HandId)
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handTypeName := "右手"
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if req.HandType == "left" {
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handTypeName = "左手"
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("接口 %s 手型已设置为%s (0x%X)", req.Interface, handTypeName, req.HandId),
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Data: map[string]any{
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"interface": req.Interface,
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"handType": req.HandType,
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"handId": req.HandId,
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},
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})
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}
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// 手指姿态处理函数
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func HandleFingers(c *gin.Context) {
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var req FingerPoseRequest
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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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})
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return
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}
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// 验证每个值是否在范围内
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for _, v := range req.Pose {
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if v < 0 || v > 255 {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "手指姿态值必须在 0-255 范围内",
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})
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return
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}
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}
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// 如果未指定接口，使用默认接口
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if req.Interface == "" {
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req.Interface = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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hands.StopAllAnimations(req.Interface)
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if err := hands.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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})
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return
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: "手指姿态指令发送成功",
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Data: map[string]any{"interface": req.Interface, "pose": req.Pose},
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})
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}
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// 掌部姿态处理函数
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func HandlePalm(c *gin.Context) {
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var req PalmPoseRequest
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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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})
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return
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}
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// 验证每个值是否在范围内
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for _, v := range req.Pose {
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if v < 0 || v > 255 {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "掌部姿态值必须在 0-255 范围内",
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})
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return
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}
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}
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// 如果未指定接口，使用默认接口
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if req.Interface == "" {
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req.Interface = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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hands.StopAllAnimations(req.Interface)
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if err := hands.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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})
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return
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: "掌部姿态指令发送成功",
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Data: map[string]any{"interface": req.Interface, "pose": req.Pose},
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})
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}
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// 预设姿势处理函数
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func HandlePreset(c *gin.Context) {
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pose := c.Param("pose")
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// 从查询参数获取接口名称和手型
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ifName := c.Query("interface")
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handType := c.Query("handType")
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if ifName == "" {
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ifName = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(ifName) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
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})
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return
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}
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hands.StopAllAnimations(ifName)
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var fingerPose []byte
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var message string
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switch pose {
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case "fist":
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fingerPose = []byte{64, 64, 64, 64, 64, 64}
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message = "已设置握拳姿势"
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case "open":
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fingerPose = []byte{192, 192, 192, 192, 192, 192}
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message = "已设置完全张开姿势"
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case "pinch":
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fingerPose = []byte{120, 120, 64, 64, 64, 64}
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message = "已设置捏取姿势"
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case "thumbsup":
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fingerPose = []byte{64, 192, 192, 192, 192, 64}
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message = "已设置竖起大拇指姿势"
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case "point":
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fingerPose = []byte{192, 64, 192, 192, 192, 64}
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message = "已设置食指指点姿势"
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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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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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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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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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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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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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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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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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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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default:
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的预设姿势",
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})
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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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handId := uint32(0)
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if handType != "" {
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handId = hands.ParseHandType(handType, 0, ifName)
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}
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if err := hands.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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})
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return
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: message,
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Data: map[string]any{"interface": ifName, "pose": fingerPose},
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})
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}
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// 动画控制处理函数
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func HandleAnimation(c *gin.Context) {
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var req AnimationRequest
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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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})
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return
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}
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// 如果未指定接口，使用默认接口
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if req.Interface == "" {
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req.Interface = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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// 停止当前动画
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hands.StopAllAnimations(req.Interface)
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// 如果是停止命令，直接返回
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if req.Type == "stop" {
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("%s 动画已停止", req.Interface),
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})
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return
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}
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// 处理速度参数
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if req.Speed <= 0 {
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req.Speed = 500 // 默认速度
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}
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// 根据类型启动动画
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switch req.Type {
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case "wave":
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hands.StartWaveAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("%s 波浪动画已启动", req.Interface),
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Data: map[string]any{"interface": req.Interface, "speed": req.Speed},
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})
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case "sway":
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hands.StartSwayAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("%s 横向摆动动画已启动", req.Interface),
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Data: map[string]any{"interface": req.Interface, "speed": req.Speed},
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})
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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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Error: "无效的动画类型",
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})
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}
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}
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// 获取传感器数据处理函数
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func HandleSensors(c *gin.Context) {
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// 从查询参数获取接口名称
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ifName := c.Query("interface")
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hands.SensorMutex.RLock()
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defer hands.SensorMutex.RUnlock()
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if ifName != "" {
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// 验证接口
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if !config.IsValidInterface(ifName) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
|
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Status: "error",
|
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
|
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})
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return
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}
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// 请求特定接口的数据
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if sensorData, ok := hands.SensorDataMap[ifName]; ok {
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Data: sensorData,
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})
|
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} else {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "传感器数据不存在",
|
||||
})
|
||||
}
|
||||
} else {
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// 返回所有接口的数据
|
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c.JSON(http.StatusOK, define.ApiResponse{
|
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Status: "success",
|
||||
Data: hands.SensorDataMap,
|
||||
})
|
||||
}
|
||||
}
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||||
|
||||
// 系统状态处理函数
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func HandleStatus(c *gin.Context) {
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hands.AnimationMutex.Lock()
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animationStatus := make(map[string]bool)
|
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for _, ifName := range config.Config.AvailableInterfaces {
|
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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 {
|
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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",
|
||||
},
|
||||
})
|
||||
}
|
||||
120
api/models.go
120
api/models.go
@ -1,29 +1,111 @@
|
||||
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
|
||||
import (
|
||||
"hands/device"
|
||||
"time"
|
||||
)
|
||||
|
||||
// ===== 通用响应模型 =====
|
||||
|
||||
// ApiResponse 统一 API 响应格式（保持与原 API 兼容）
|
||||
type ApiResponse struct {
|
||||
Status string `json:"status"`
|
||||
Message string `json:"message,omitempty"`
|
||||
Error string `json:"error,omitempty"`
|
||||
Data any `json:"data,omitempty"`
|
||||
}
|
||||
|
||||
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
|
||||
// ===== 设备管理相关模型 =====
|
||||
|
||||
// DeviceCreateRequest 创建设备请求
|
||||
type DeviceCreateRequest struct {
|
||||
ID string `json:"id" binding:"required"`
|
||||
Model string `json:"model" binding:"required"`
|
||||
Config map[string]any `json:"config"`
|
||||
HandType string `json:"handType,omitempty"` // "left" 或 "right"
|
||||
}
|
||||
|
||||
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
|
||||
// DeviceInfo 设备信息响应
|
||||
type DeviceInfo struct {
|
||||
ID string `json:"id"`
|
||||
Model string `json:"model"`
|
||||
HandType string `json:"handType"`
|
||||
Status device.DeviceStatus `json:"status"`
|
||||
}
|
||||
|
||||
// DeviceListResponse 设备列表响应
|
||||
type DeviceListResponse struct {
|
||||
Devices []DeviceInfo `json:"devices"`
|
||||
Total int `json:"total"`
|
||||
}
|
||||
|
||||
// HandTypeRequest 手型设置请求
|
||||
type HandTypeRequest struct {
|
||||
Interface string `json:"interface" binding:"required"`
|
||||
HandType string `json:"handType" binding:"required,oneof=left right"`
|
||||
HandId uint32 `json:"handId" binding:"required"`
|
||||
HandType string `json:"handType" binding:"required,oneof=left right"`
|
||||
}
|
||||
|
||||
// ===== 姿态控制相关模型 =====
|
||||
|
||||
// FingerPoseRequest 手指姿态设置请求
|
||||
type FingerPoseRequest struct {
|
||||
Pose []byte `json:"pose" binding:"required,len=6"`
|
||||
}
|
||||
|
||||
// PalmPoseRequest 手掌姿态设置请求
|
||||
type PalmPoseRequest struct {
|
||||
Pose []byte `json:"pose" binding:"required,len=4"`
|
||||
}
|
||||
|
||||
// ===== 动画控制相关模型 =====
|
||||
|
||||
// AnimationStartRequest 动画启动请求
|
||||
type AnimationStartRequest struct {
|
||||
Name string `json:"name" binding:"required"`
|
||||
SpeedMs int `json:"speedMs,omitempty"`
|
||||
}
|
||||
|
||||
// AnimationStatusResponse 动画状态响应
|
||||
type AnimationStatusResponse struct {
|
||||
IsRunning bool `json:"isRunning"`
|
||||
CurrentName string `json:"currentName,omitempty"`
|
||||
AvailableList []string `json:"availableList"`
|
||||
}
|
||||
|
||||
// ===== 传感器相关模型 =====
|
||||
|
||||
// SensorDataResponse 传感器数据响应
|
||||
type SensorDataResponse struct {
|
||||
SensorID string `json:"sensorId"`
|
||||
Timestamp time.Time `json:"timestamp"`
|
||||
Values map[string]any `json:"values"`
|
||||
}
|
||||
|
||||
// SensorListResponse 传感器列表响应
|
||||
type SensorListResponse struct {
|
||||
Sensors []SensorDataResponse `json:"sensors"`
|
||||
Total int `json:"total"`
|
||||
}
|
||||
|
||||
// ===== 系统管理相关模型 =====
|
||||
|
||||
// SystemStatusResponse 系统状态响应
|
||||
type SystemStatusResponse struct {
|
||||
TotalDevices int `json:"totalDevices"`
|
||||
ActiveDevices int `json:"activeDevices"`
|
||||
SupportedModels []string `json:"supportedModels"`
|
||||
Devices map[string]DeviceInfo `json:"devices"`
|
||||
Uptime time.Duration `json:"uptime"`
|
||||
}
|
||||
|
||||
// SupportedModelsResponse 支持的设备型号响应
|
||||
type SupportedModelsResponse struct {
|
||||
Models []string `json:"models"`
|
||||
Total int `json:"total"`
|
||||
}
|
||||
|
||||
// HealthResponse 健康检查响应
|
||||
type HealthResponse struct {
|
||||
Status string `json:"status"`
|
||||
Timestamp time.Time `json:"timestamp"`
|
||||
Version string `json:"version,omitempty"`
|
||||
}
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
package api2
|
||||
package api
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
@ -235,47 +235,8 @@ func (s *Server) handleResetPose(c *gin.Context) {
|
||||
})
|
||||
}
|
||||
|
||||
// ExecutePresetPose 执行预设姿势
|
||||
func (s *Server) ExecutePresetPose(c *gin.Context) {
|
||||
deviceID := c.Param("deviceId")
|
||||
presetName := c.Param("presetName")
|
||||
|
||||
device, err := s.deviceManager.GetDevice(deviceID)
|
||||
if err != nil {
|
||||
c.JSON(http.StatusNotFound, ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("设备 %s 不存在", deviceID),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 使用设备的预设姿势方法
|
||||
if err := device.ExecutePreset(presetName); err != nil {
|
||||
c.JSON(http.StatusBadRequest, ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("执行预设姿势失败: %v", err),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 停止当前动画（如果有）
|
||||
engine := device.GetAnimationEngine()
|
||||
if engine.IsRunning() {
|
||||
engine.Stop()
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("预设姿势 '%s' 执行成功", presetName),
|
||||
Data: map[string]any{
|
||||
"deviceId": deviceID,
|
||||
"presetName": presetName,
|
||||
},
|
||||
})
|
||||
}
|
||||
|
||||
// GetSupportedPresets 获取设备支持的预设姿势列表
|
||||
func (s *Server) GetSupportedPresets(c *gin.Context) {
|
||||
// handleGetPresetPose 获取设备支持的预设姿势列表
|
||||
func (s *Server) handleGetPresetPose(c *gin.Context) {
|
||||
deviceID := c.Param("deviceId")
|
||||
|
||||
device, err := s.deviceManager.GetDevice(deviceID)
|
||||
@ -1,50 +1,87 @@
|
||||
package api
|
||||
|
||||
import (
|
||||
"hands/device"
|
||||
"time"
|
||||
|
||||
"github.com/gin-gonic/gin"
|
||||
)
|
||||
|
||||
// 全局变量
|
||||
var (
|
||||
ServerStartTime time.Time
|
||||
)
|
||||
// Server API v2 服务器结构体
|
||||
type Server struct {
|
||||
deviceManager *device.DeviceManager
|
||||
startTime time.Time
|
||||
version string
|
||||
}
|
||||
|
||||
func SetupRoutes(r *gin.Engine) {
|
||||
// NewServer 创建新的 API v1 服务器实例
|
||||
func NewServer(deviceManager *device.DeviceManager) *Server {
|
||||
return &Server{
|
||||
deviceManager: deviceManager,
|
||||
startTime: time.Now(),
|
||||
version: "1.0.0",
|
||||
}
|
||||
}
|
||||
|
||||
// SetupRoutes 设置 API v1 路由
|
||||
func (s *Server) SetupRoutes(r *gin.Engine) {
|
||||
r.StaticFile("/", "./static/index.html")
|
||||
r.Static("/static", "./static")
|
||||
|
||||
api := r.Group("/api")
|
||||
// API v1 路由组
|
||||
v2 := r.Group("/api/v1")
|
||||
{
|
||||
// 手型设置 API
|
||||
api.POST("/hand-type", HandleHandType)
|
||||
// 设备管理路由
|
||||
devices := v2.Group("/devices")
|
||||
{
|
||||
devices.GET("", s.handleGetDevices) // 获取所有设备列表
|
||||
devices.POST("", s.handleCreateDevice) // 创建新设备
|
||||
devices.GET("/:deviceId", s.handleGetDevice) // 获取设备详情
|
||||
devices.DELETE("/:deviceId", s.handleDeleteDevice) // 删除设备
|
||||
devices.PUT("/:deviceId/hand-type", s.handleSetHandType) // 设置手型
|
||||
|
||||
// 手指姿态 API
|
||||
api.POST("/fingers", HandleFingers)
|
||||
// 设备级别的功能路由
|
||||
deviceRoutes := devices.Group("/:deviceId")
|
||||
{
|
||||
// 姿态控制路由
|
||||
poses := deviceRoutes.Group("/poses")
|
||||
{
|
||||
poses.POST("/fingers", s.handleSetFingerPose) // 设置手指姿态
|
||||
poses.POST("/palm", s.handleSetPalmPose) // 设置手掌姿态
|
||||
poses.POST("/reset", s.handleResetPose) // 重置姿态
|
||||
|
||||
// 掌部姿态 API
|
||||
api.POST("/palm", HandlePalm)
|
||||
// 新的预设姿势 API
|
||||
poses.GET("/presets", s.handleGetPresetPose) // 获取支持的预设姿势列表
|
||||
poses.POST("/presets/:presetName", s.handleSetPresetPose) // 执行预设姿势
|
||||
}
|
||||
|
||||
// 预设姿势 API
|
||||
api.POST("/preset/:pose", HandlePreset)
|
||||
// 动画控制路由
|
||||
animations := deviceRoutes.Group("/animations")
|
||||
{
|
||||
animations.GET("", s.handleGetAnimations) // 获取可用动画列表
|
||||
animations.POST("/start", s.handleStartAnimation) // 启动动画
|
||||
animations.POST("/stop", s.handleStopAnimation) // 停止动画
|
||||
animations.GET("/status", s.handleAnimationStatus) // 获取动画状态
|
||||
}
|
||||
|
||||
// 动画控制 API
|
||||
api.POST("/animation", HandleAnimation)
|
||||
// 传感器数据路由
|
||||
sensors := deviceRoutes.Group("/sensors")
|
||||
{
|
||||
sensors.GET("", s.handleGetSensors) // 获取所有传感器数据
|
||||
sensors.GET("/:sensorId", s.handleGetSensorData) // 获取特定传感器数据
|
||||
}
|
||||
|
||||
// 获取传感器数据 API
|
||||
api.GET("/sensors", HandleSensors)
|
||||
// 设备状态路由
|
||||
deviceRoutes.GET("/status", s.handleGetDeviceStatus) // 获取设备状态
|
||||
}
|
||||
}
|
||||
|
||||
// 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)
|
||||
// 系统管理路由
|
||||
system := v2.Group("/system")
|
||||
{
|
||||
system.GET("/models", s.handleGetSupportedModels) // 获取支持的设备型号
|
||||
system.GET("/status", s.handleGetSystemStatus) // 获取系统状态
|
||||
system.GET("/health", s.handleHealthCheck) // 健康检查
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
package api2
|
||||
package api
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
@ -1,4 +1,4 @@
|
||||
package api2
|
||||
package api
|
||||
|
||||
import (
|
||||
"net/http"
|
||||
111
api2/models.go
111
api2/models.go
@ -1,111 +0,0 @@
|
||||
package api2
|
||||
|
||||
import (
|
||||
"hands/device"
|
||||
"time"
|
||||
)
|
||||
|
||||
// ===== 通用响应模型 =====
|
||||
|
||||
// ApiResponse 统一 API 响应格式（保持与原 API 兼容）
|
||||
type ApiResponse struct {
|
||||
Status string `json:"status"`
|
||||
Message string `json:"message,omitempty"`
|
||||
Error string `json:"error,omitempty"`
|
||||
Data any `json:"data,omitempty"`
|
||||
}
|
||||
|
||||
// ===== 设备管理相关模型 =====
|
||||
|
||||
// DeviceCreateRequest 创建设备请求
|
||||
type DeviceCreateRequest struct {
|
||||
ID string `json:"id" binding:"required"`
|
||||
Model string `json:"model" binding:"required"`
|
||||
Config map[string]any `json:"config"`
|
||||
HandType string `json:"handType,omitempty"` // "left" 或 "right"
|
||||
}
|
||||
|
||||
// DeviceInfo 设备信息响应
|
||||
type DeviceInfo struct {
|
||||
ID string `json:"id"`
|
||||
Model string `json:"model"`
|
||||
HandType string `json:"handType"`
|
||||
Status device.DeviceStatus `json:"status"`
|
||||
}
|
||||
|
||||
// DeviceListResponse 设备列表响应
|
||||
type DeviceListResponse struct {
|
||||
Devices []DeviceInfo `json:"devices"`
|
||||
Total int `json:"total"`
|
||||
}
|
||||
|
||||
// HandTypeRequest 手型设置请求
|
||||
type HandTypeRequest struct {
|
||||
HandType string `json:"handType" binding:"required,oneof=left right"`
|
||||
}
|
||||
|
||||
// ===== 姿态控制相关模型 =====
|
||||
|
||||
// FingerPoseRequest 手指姿态设置请求
|
||||
type FingerPoseRequest struct {
|
||||
Pose []byte `json:"pose" binding:"required,len=6"`
|
||||
}
|
||||
|
||||
// PalmPoseRequest 手掌姿态设置请求
|
||||
type PalmPoseRequest struct {
|
||||
Pose []byte `json:"pose" binding:"required,len=4"`
|
||||
}
|
||||
|
||||
// ===== 动画控制相关模型 =====
|
||||
|
||||
// AnimationStartRequest 动画启动请求
|
||||
type AnimationStartRequest struct {
|
||||
Name string `json:"name" binding:"required"`
|
||||
SpeedMs int `json:"speedMs,omitempty"`
|
||||
}
|
||||
|
||||
// AnimationStatusResponse 动画状态响应
|
||||
type AnimationStatusResponse struct {
|
||||
IsRunning bool `json:"isRunning"`
|
||||
CurrentName string `json:"currentName,omitempty"`
|
||||
AvailableList []string `json:"availableList"`
|
||||
}
|
||||
|
||||
// ===== 传感器相关模型 =====
|
||||
|
||||
// SensorDataResponse 传感器数据响应
|
||||
type SensorDataResponse struct {
|
||||
SensorID string `json:"sensorId"`
|
||||
Timestamp time.Time `json:"timestamp"`
|
||||
Values map[string]any `json:"values"`
|
||||
}
|
||||
|
||||
// SensorListResponse 传感器列表响应
|
||||
type SensorListResponse struct {
|
||||
Sensors []SensorDataResponse `json:"sensors"`
|
||||
Total int `json:"total"`
|
||||
}
|
||||
|
||||
// ===== 系统管理相关模型 =====
|
||||
|
||||
// SystemStatusResponse 系统状态响应
|
||||
type SystemStatusResponse struct {
|
||||
TotalDevices int `json:"totalDevices"`
|
||||
ActiveDevices int `json:"activeDevices"`
|
||||
SupportedModels []string `json:"supportedModels"`
|
||||
Devices map[string]DeviceInfo `json:"devices"`
|
||||
Uptime time.Duration `json:"uptime"`
|
||||
}
|
||||
|
||||
// SupportedModelsResponse 支持的设备型号响应
|
||||
type SupportedModelsResponse struct {
|
||||
Models []string `json:"models"`
|
||||
Total int `json:"total"`
|
||||
}
|
||||
|
||||
// HealthResponse 健康检查响应
|
||||
type HealthResponse struct {
|
||||
Status string `json:"status"`
|
||||
Timestamp time.Time `json:"timestamp"`
|
||||
Version string `json:"version,omitempty"`
|
||||
}
|
||||
@ -1,88 +0,0 @@
|
||||
package api2
|
||||
|
||||
import (
|
||||
"hands/device"
|
||||
"time"
|
||||
|
||||
"github.com/gin-gonic/gin"
|
||||
)
|
||||
|
||||
// Server API v2 服务器结构体
|
||||
type Server struct {
|
||||
deviceManager *device.DeviceManager
|
||||
startTime time.Time
|
||||
version string
|
||||
}
|
||||
|
||||
// NewServer 创建新的 API v2 服务器实例
|
||||
func NewServer(deviceManager *device.DeviceManager) *Server {
|
||||
return &Server{
|
||||
deviceManager: deviceManager,
|
||||
startTime: time.Now(),
|
||||
version: "2.0.0",
|
||||
}
|
||||
}
|
||||
|
||||
// SetupRoutes 设置 API v2 路由
|
||||
func (s *Server) SetupRoutes(r *gin.Engine) {
|
||||
r.StaticFile("/", "./static/index.html")
|
||||
r.Static("/static", "./static")
|
||||
|
||||
// API v2 路由组
|
||||
v2 := r.Group("/api/v2")
|
||||
{
|
||||
// 设备管理路由
|
||||
devices := v2.Group("/devices")
|
||||
{
|
||||
devices.GET("", s.handleGetDevices) // 获取所有设备列表
|
||||
devices.POST("", s.handleCreateDevice) // 创建新设备
|
||||
devices.GET("/:deviceId", s.handleGetDevice) // 获取设备详情
|
||||
devices.DELETE("/:deviceId", s.handleDeleteDevice) // 删除设备
|
||||
devices.PUT("/:deviceId/hand-type", s.handleSetHandType) // 设置手型
|
||||
|
||||
// 设备级别的功能路由
|
||||
deviceRoutes := devices.Group("/:deviceId")
|
||||
{
|
||||
// 姿态控制路由
|
||||
poses := deviceRoutes.Group("/poses")
|
||||
{
|
||||
poses.POST("/fingers", s.handleSetFingerPose) // 设置手指姿态
|
||||
poses.POST("/palm", s.handleSetPalmPose) // 设置手掌姿态
|
||||
poses.POST("/preset/:pose", s.handleSetPresetPose) // 设置预设姿势
|
||||
poses.POST("/reset", s.handleResetPose) // 重置姿态
|
||||
|
||||
// 新的预设姿势 API
|
||||
poses.GET("/presets", s.GetSupportedPresets) // 获取支持的预设姿势列表
|
||||
poses.POST("/presets/:presetName", s.ExecutePresetPose) // 执行预设姿势
|
||||
}
|
||||
|
||||
// 动画控制路由
|
||||
animations := deviceRoutes.Group("/animations")
|
||||
{
|
||||
animations.GET("", s.handleGetAnimations) // 获取可用动画列表
|
||||
animations.POST("/start", s.handleStartAnimation) // 启动动画
|
||||
animations.POST("/stop", s.handleStopAnimation) // 停止动画
|
||||
animations.GET("/status", s.handleAnimationStatus) // 获取动画状态
|
||||
}
|
||||
|
||||
// 传感器数据路由
|
||||
sensors := deviceRoutes.Group("/sensors")
|
||||
{
|
||||
sensors.GET("", s.handleGetSensors) // 获取所有传感器数据
|
||||
sensors.GET("/:sensorId", s.handleGetSensorData) // 获取特定传感器数据
|
||||
}
|
||||
|
||||
// 设备状态路由
|
||||
deviceRoutes.GET("/status", s.handleGetDeviceStatus) // 获取设备状态
|
||||
}
|
||||
}
|
||||
|
||||
// 系统管理路由
|
||||
system := v2.Group("/system")
|
||||
{
|
||||
system.GET("/models", s.handleGetSupportedModels) // 获取支持的设备型号
|
||||
system.GET("/status", s.handleGetSystemStatus) // 获取系统状态
|
||||
system.GET("/health", s.handleHealthCheck) // 健康检查
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -2,6 +2,7 @@ package communication
|
||||
|
||||
import (
|
||||
"bytes"
|
||||
"context"
|
||||
"encoding/json"
|
||||
"fmt"
|
||||
"io"
|
||||
@ -20,7 +21,7 @@ type RawMessage struct {
|
||||
// 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
|
||||
SendMessage(ctx context.Context, msg RawMessage) error
|
||||
|
||||
// GetInterfaceStatus 获取指定 CAN 接口的状态
|
||||
GetInterfaceStatus(ifName string) (isActive bool, err error)
|
||||
@ -50,14 +51,22 @@ func NewCanBridgeClient(serviceURL string) Communicator {
|
||||
}
|
||||
}
|
||||
|
||||
func (c *CanBridgeClient) SendMessage(msg RawMessage) error {
|
||||
func (c *CanBridgeClient) SendMessage(ctx context.Context, 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))
|
||||
|
||||
// 创建带有 context 的请求
|
||||
req, err := http.NewRequestWithContext(ctx, "POST", url, bytes.NewBuffer(jsonData))
|
||||
if err != nil {
|
||||
return fmt.Errorf("创建 HTTP 请求失败：%w", err)
|
||||
}
|
||||
req.Header.Set("Content-Type", "application/json")
|
||||
|
||||
resp, err := c.client.Do(req)
|
||||
if err != nil {
|
||||
return fmt.Errorf("发送 HTTP 请求失败：%w", err)
|
||||
}
|
||||
|
||||
@ -2,7 +2,7 @@ package models
|
||||
|
||||
import "hands/device"
|
||||
|
||||
func init() {
|
||||
func RegisterDeviceTypes() {
|
||||
// 注册 L10 设备类型
|
||||
device.RegisterDeviceType("L10", NewL10Hand)
|
||||
}
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
package models
|
||||
|
||||
import (
|
||||
"context"
|
||||
"fmt"
|
||||
"log"
|
||||
"math/rand/v2"
|
||||
@ -30,13 +31,7 @@ type L10Hand struct {
|
||||
// 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
|
||||
}
|
||||
v := min(max(int(base)+offset, 0), 255)
|
||||
return byte(v)
|
||||
}
|
||||
|
||||
@ -79,8 +74,9 @@ func NewL10Hand(config map[string]any) (device.Device, error) {
|
||||
components: make(map[device.ComponentType][]device.Component),
|
||||
canInterface: canInterface,
|
||||
status: device.DeviceStatus{
|
||||
IsConnected: false,
|
||||
IsActive: false,
|
||||
// TODO: 这里需要修改，根据实际连接情况设置，因为当前还没有实现连接和断开路由，先设置为 true
|
||||
IsConnected: true,
|
||||
IsActive: true,
|
||||
LastUpdate: time.Now(),
|
||||
},
|
||||
}
|
||||
@ -250,8 +246,12 @@ func (h *L10Hand) ExecuteCommand(cmd device.Command) error {
|
||||
return fmt.Errorf("转换指令失败：%w", err)
|
||||
}
|
||||
|
||||
// 创建带有超时的 context，设置 3 秒超时
|
||||
ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second)
|
||||
defer cancel()
|
||||
|
||||
// 发送到 can-bridge 服务
|
||||
if err := h.communicator.SendMessage(rawMsg); err != nil {
|
||||
if err := h.communicator.SendMessage(ctx, rawMsg); err != nil {
|
||||
h.status.ErrorCount++
|
||||
h.status.LastError = err.Error()
|
||||
log.Printf("❌ %s (%s) 发送指令失败: %v (ID: 0x%X, Data: %X)", h.id, h.handType.String(), err, rawMsg.ID, rawMsg.Data)
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
# Dexterous Hand Dashboard 项目文档
|
||||
|
||||
[贡献指南](./contribute_CN.md)
|
||||
|
||||
## 项目概述
|
||||
|
||||
**Dexterous Hand Dashboard** 是专为 LinkerHand 灵巧手设备开发的控制仪表盘服务。该服务基于 Golang 开发，提供灵活的 RESTful API 接口，可实现手指与掌部姿态控制、预设动作执行及实时传感器数据监控，并支持动态配置手型（左手或右手）及 CAN 接口。
|
||||
623
docs/contribute_CN.md
Normal file
623
docs/contribute_CN.md
Normal file
@ -0,0 +1,623 @@
|
||||
# 当前架构详解
|
||||
|
||||
## 设备抽象层 (device 包)
|
||||
|
||||
目标：统一不同型号设备的操作接口，屏蔽底层硬件差异（主要体现在指令到 RawMessage 的转换和设备特定功能的实现上）。
|
||||
|
||||
核心接口与结构体：
|
||||
|
||||
**Device 接口 (device/device.go): 代表一个可控制的设备单元。**
|
||||
|
||||
```go
|
||||
type Device interface {
|
||||
GetID() string
|
||||
GetModel() string
|
||||
GetHandType() define.HandType
|
||||
SetHandType(handType define.HandType) error
|
||||
ExecuteCommand(cmd Command) error
|
||||
ReadSensorData(sensorID string) (SensorData, error)
|
||||
GetComponents(componentType ComponentType) []Component
|
||||
GetStatus() (DeviceStatus, error)
|
||||
Connect() error
|
||||
Disconnect() error
|
||||
|
||||
PoseExecutor // 嵌入 PoseExecutor 接口
|
||||
GetAnimationEngine() *AnimationEngine
|
||||
|
||||
GetSupportedPresets() []string
|
||||
ExecutePreset(presetName string) error
|
||||
GetPresetDescription(presetName string) string
|
||||
}
|
||||
```
|
||||
|
||||
**PoseExecutor 接口 (device/pose_executor.go): 定义了执行基本姿态指令的能力。**
|
||||
|
||||
```go
|
||||
type PoseExecutor interface {
|
||||
SetFingerPose(pose []byte) error
|
||||
SetPalmPose(pose []byte) error
|
||||
ResetPose() error
|
||||
GetHandType() define.HandType
|
||||
}
|
||||
```
|
||||
|
||||
**Command 接口 (device/device.go): 代表一个发送给设备的指令。**
|
||||
|
||||
```go
|
||||
type Command interface {
|
||||
Type() string
|
||||
Payload() []byte
|
||||
TargetComponent() string // 目标组件 ID
|
||||
}
|
||||
```
|
||||
|
||||
具体指令实现位于 device/commands.go，如 FingerPoseCommand, PalmPoseCommand, GenericCommand。
|
||||
|
||||
**SensorData 接口 (device/device.go): 代表从传感器读取的数据。**
|
||||
|
||||
```go
|
||||
type SensorData interface {
|
||||
Timestamp() time.Time
|
||||
Values() map[string]any
|
||||
SensorID() string
|
||||
}
|
||||
```
|
||||
|
||||
**ComponentType (device/device.go): 定义组件类型。**
|
||||
|
||||
```go
|
||||
const (
|
||||
SensorComponent ComponentType = "sensor"
|
||||
SkinComponent ComponentType = "skin" // 示例，可扩展
|
||||
ActuatorComponent ComponentType = "actuator" // 示例，可扩展
|
||||
)
|
||||
```
|
||||
|
||||
**Component 接口 (device/device.go): 代表设备的一个可插拔组件。**
|
||||
|
||||
```go
|
||||
type Component interface {
|
||||
GetID() string
|
||||
GetType() ComponentType
|
||||
GetConfiguration() map[string]interface{}
|
||||
IsActive() bool
|
||||
}
|
||||
```
|
||||
|
||||
**具体设备型号实现 (如 device/models/l10.go 中的 L10Hand):**
|
||||
|
||||
1. 实现 Device 和 PoseExecutor 接口。
|
||||
2. 管理内部的 AnimationEngine 和 PresetManager。
|
||||
3. 包含将通用 Command 转换为发送给 can-bridge 的 RawMessage 的逻辑 (如 commandToRawMessage 方法)。
|
||||
4. 管理其配备的传感器等组件 (initializeComponents 方法)。
|
||||
|
||||
**DeviceManager (device/manager.go): 用于注册、发现和管理可用的设备实例。**
|
||||
|
||||
```go
|
||||
type DeviceManager struct { /* ... */ }
|
||||
func NewDeviceManager() *DeviceManager { /* ... */ }
|
||||
func (m *DeviceManager) RegisterDevice(dev Device) error { /* ... */ }
|
||||
func (m *DeviceManager) GetDevice(id string) (Device, error) { /* ... */ }
|
||||
```
|
||||
|
||||
## 组件化设计 (component 包)
|
||||
|
||||
目标：将“皮肤”、“传感器”等视为可配置、可替换的组件。
|
||||
|
||||
核心接口与结构体：
|
||||
|
||||
**传感器组件 (Sensor):**
|
||||
|
||||
component/sensor.go 中定义了通用的 Sensor 接口 (嵌入了 device.Component)。
|
||||
|
||||
```go
|
||||
type Sensor interface {
|
||||
device.Component
|
||||
ReadData() (device.SensorData, error)
|
||||
GetDataType() string
|
||||
GetSamplingRate() int
|
||||
SetSamplingRate(rate int) error
|
||||
}
|
||||
```
|
||||
|
||||
具体的传感器实现，如 component/component.go 中的 PressureSensor，实现了 Sensor 接口。
|
||||
|
||||
传感器数据的实际获取方式（模拟、通过 can-bridge 的特定端点，或完全独立的数据源）在具体的 Sensor 组件实现中处理。
|
||||
|
||||
SensorDataImpl (component/sensor.go) 是 device.SensorData 的一个具体实现。
|
||||
|
||||
皮肤组件 (Skin) 及其他组件：
|
||||
|
||||
如果“皮肤”影响设备的物理特性或参数范围，可以将其抽象为一个 Skin 组件，实现 device.Component 接口。
|
||||
|
||||
设备可以关联多个不同类型的组件，并在其 initializeComponents 方法中进行初始化。
|
||||
|
||||
## 动画与姿态控制
|
||||
|
||||
目标：提供灵活的动画播放和直接的姿态控制能力，与具体设备和通信方式解耦。
|
||||
|
||||
**AnimationEngine (device/engine.go):**
|
||||
|
||||
每个设备实例拥有一个 AnimationEngine。
|
||||
|
||||
负责注册、启动、停止和管理动画的生命周期。
|
||||
|
||||
**使用 PoseExecutor 来执行动画中的姿态变化。**
|
||||
|
||||
```go
|
||||
type AnimationEngine struct { /* ... */ }
|
||||
func NewAnimationEngine(executor PoseExecutor) *AnimationEngine { /* ... */ }
|
||||
func (e *AnimationEngine) Register(anim Animation) { /* ... */ }
|
||||
func (e *AnimationEngine) Start(name string, speedMs int) error { /* ... */ }
|
||||
func (e *AnimationEngine) Stop() error { /* ... */ }
|
||||
```
|
||||
|
||||
Animation 接口 (device/animation.go): 定义了动画的行为。
|
||||
|
||||
```go
|
||||
type Animation interface {
|
||||
Run(executor PoseExecutor, stop <-chan struct{}, speedMs int) error
|
||||
Name() string
|
||||
}
|
||||
```
|
||||
|
||||
具体的动画实现与设备型号绑定，例如 device/models/l10_animation.go 中的 L10WaveAnimation。
|
||||
|
||||
直接姿态控制：
|
||||
|
||||
通过设备实例直接调用其实现的 PoseExecutor 接口方法 (SetFingerPose, SetPalmPose, ResetPose)。
|
||||
|
||||
或者通过构造 FingerPoseCommand 或 PalmPoseCommand，然后调用 device.ExecuteCommand()。
|
||||
|
||||
预设姿势 (PresetManager - device/preset.go):
|
||||
|
||||
每个设备实例拥有一个 PresetManager。
|
||||
|
||||
负责注册和管理预设姿势 (PresetPose 结构体)。
|
||||
|
||||
Device 接口提供了 GetSupportedPresets, ExecutePreset, GetPresetDescription 方法与预设姿势交互。
|
||||
|
||||
## 通信层抽象 (communication 包)
|
||||
|
||||
目标：将与 can-bridge Web 服务的 HTTP 通信细节封装起来，对上层透明。
|
||||
|
||||
RawMessage 结构体 (communication/communicator.go): 匹配 can-bridge 服务期望的 JSON 格式。
|
||||
|
||||
```go
|
||||
type RawMessage struct {
|
||||
Interface string `json:"interface"`
|
||||
ID uint32 `json:"id"`
|
||||
Data []byte `json:"data"`
|
||||
}
|
||||
```
|
||||
|
||||
Communicator 接口 (communication/communicator.go): 定义了与 can-bridge Web 服务进行通信的接口。
|
||||
|
||||
```go
|
||||
type Communicator interface {
|
||||
SendMessage(ctx context.Context, msg RawMessage) error
|
||||
GetInterfaceStatus(ifName string) (isActive bool, err error)
|
||||
GetAllInterfaceStatuses() (statuses map[string]bool, err error)
|
||||
SetServiceURL(url string)
|
||||
IsConnected() bool
|
||||
}
|
||||
```
|
||||
|
||||
**CanBridgeClient (communication/communicator.go): Communicator 接口的实现。**
|
||||
|
||||
1. 内部使用标准的 net/http 包与 can-bridge 服务交互。
|
||||
2. 负责构造 HTTP 请求 (POST 到 /api/can 用于发送，GET 到 /api/status/* 用于状态检查)。
|
||||
3. 处理 JSON 序列化/反序列化以及 HTTP 错误。
|
||||
4. 需要配置 can-bridge 服务的 URL。
|
||||
|
||||
具体设备实现 (如 L10Hand) 依赖此 Communicator 接口来发送指令。
|
||||
|
||||
## 指令生成与解析
|
||||
|
||||
指令生成：上层逻辑（如动画、直接控制）创建 device.Command 类型的对象 (如 NewFingerPoseCommand(...))。
|
||||
|
||||
设备的 ExecuteCommand 方法接收此 Command。
|
||||
|
||||
设备内部的 commandToRawMessage (或类似) 方法将通用的 Command 转换为特定于该型号的 RawMessage（包含正确的 Interface, ID, Data）。
|
||||
|
||||
传感器数据解析：
|
||||
|
||||
L10Hand 的 ReadSensorData 方法委托给相应的 Sensor 组件。
|
||||
|
||||
Sensor 组件的 ReadData 方法负责获取原始数据（如果通过 CAN，则可能需要 Communicator 支持读取功能，目前 can-bridge 主要用于发送）并将其解析为高层可理解的 SensorData。当前实现中，PressureSensor 是模拟数据。
|
||||
|
||||
## 配置与注册
|
||||
|
||||
设备工厂 (device/factory.go):
|
||||
|
||||
使用 DeviceFactory (defaultFactory) 来创建不同型号的 Device 实例。
|
||||
|
||||
RegisterDeviceType(modelName string, constructor func(config map[string]any) (Device, error)): 注册新的设备型号及其构造函数。
|
||||
|
||||
CreateDevice(modelName string, config map[string]any) (Device, error): 根据型号和配置创建设备实例。
|
||||
|
||||
设备构造函数 (如 NewL10Hand) 接收一个 map[string]any 类型的配置参数。
|
||||
|
||||
动画和预设姿势注册：
|
||||
|
||||
动画通过 AnimationEngine.Register() 在设备实例化时注册。
|
||||
|
||||
预设姿势通过 PresetManager.RegisterPreset() 在设备实例化时注册。
|
||||
|
||||
## 如何添加新的设备实现
|
||||
|
||||
要添加对新型号设备（例如 "L20"）的支持，请遵循以下步骤：
|
||||
|
||||
### 创建设备模型文件：
|
||||
|
||||
在 device/models/ 目录下为新设备创建一个 Go 文件，例如 l20.go。
|
||||
|
||||
如果需要设备特定的动画，创建 l20_animation.go。
|
||||
|
||||
如果需要设备特定的预设姿势，创建 l20_presets.go。
|
||||
|
||||
定义设备结构体 (l20.go):
|
||||
|
||||
```go
|
||||
package models
|
||||
|
||||
import (
|
||||
"context"
|
||||
"fmt"
|
||||
"log"
|
||||
"sync"
|
||||
"time"
|
||||
// ... 其他必要的 import
|
||||
"hands/communication"
|
||||
"hands/component" // 如果需要自定义组件或使用现有组件
|
||||
"hands/define"
|
||||
"hands/device"
|
||||
)
|
||||
|
||||
type L20Hand 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
|
||||
animationEngine *device.AnimationEngine
|
||||
presetManager *device.PresetManager
|
||||
// ... L20 特有的字段
|
||||
}
|
||||
```
|
||||
|
||||
实现构造函数 (NewL20Hand):
|
||||
|
||||
```go
|
||||
func NewL20Hand(config map[string]any) (device.Device, error) {
|
||||
// 1. 解析配置 (id, can_service_url, can_interface, hand_type 等)
|
||||
// ...
|
||||
|
||||
// 2. 创建 communicator
|
||||
comm := communication.NewCanBridgeClient(serviceURL) // serviceURL from config
|
||||
|
||||
hand := &L20Hand{
|
||||
id: id, // from config
|
||||
model: "L20",
|
||||
handType: handType, // from config or default
|
||||
communicator: comm,
|
||||
components: make(map[device.ComponentType][]device.Component),
|
||||
canInterface: canInterface, // from config or default
|
||||
status: device.DeviceStatus{ /* initial status */ },
|
||||
// ... 初始化 L20 特有字段
|
||||
}
|
||||
|
||||
// 3. 初始化 AnimationEngine
|
||||
hand.animationEngine = device.NewAnimationEngine(hand) // hand 实现了 PoseExecutor
|
||||
// 注册 L20 特定的动画 (见步骤 6)
|
||||
// hand.animationEngine.Register(NewL20WaveAnimation()) // 示例
|
||||
|
||||
// 4. 初始化 PresetManager
|
||||
hand.presetManager = device.NewPresetManager()
|
||||
// 注册 L20 特定的预设姿势 (见步骤 7)
|
||||
// for _, preset := range GetL20Presets() { hand.presetManager.RegisterPreset(preset) } // 示例
|
||||
|
||||
// 5. 初始化组件
|
||||
if err := hand.initializeComponents(config); err != nil {
|
||||
return nil, fmt.Errorf("L20 初始化组件失败：%w", err)
|
||||
}
|
||||
|
||||
log.Printf("✅ 设备 L20 (%s, %s) 创建成功", hand.id, hand.handType.String())
|
||||
return hand, nil
|
||||
}
|
||||
```
|
||||
|
||||
**实现 device.Device 和 device.PoseExecutor 接口：**
|
||||
|
||||
基本方法：GetID(), GetModel(), GetHandType(), SetHandType(), GetStatus(), Connect(), Disconnect()。这些通常比较直接。
|
||||
|
||||
**PoseExecutor 方法：**
|
||||
|
||||
1. SetFingerPose(pose []byte) error
|
||||
2. SetPalmPose(pose []byte) error
|
||||
3. ResetPose() error
|
||||
|
||||
这些方法内部会调用 ExecuteCommand，或者直接构造 RawMessage 发送（如果 L20 的姿态设置非常特殊）。通常建议通过 ExecuteCommand。
|
||||
|
||||
```go
|
||||
ExecuteCommand(cmd device.Command) error:
|
||||
|
||||
func (h *L20Hand) ExecuteCommand(cmd device.Command) error {
|
||||
h.mutex.Lock()
|
||||
defer h.mutex.Unlock()
|
||||
// 1. 检查设备状态
|
||||
// 2. 调用 h.commandToRawMessage(cmd) 将通用指令转换为 L20 特定的 RawMessage
|
||||
// 3. 使用 h.communicator.SendMessage(ctx, rawMsg) 发送
|
||||
// 4. 更新设备状态和日志
|
||||
return nil // or error
|
||||
}
|
||||
```
|
||||
|
||||
commandToRawMessage(cmd device.Command) (communication.RawMessage, error): 这个辅助方法是设备差异化的关键。它需要根据 L20 的 CAN 协议，将 cmd.Type() 和 cmd.Payload() 转换为正确的 RawMessage.ID 和 RawMessage.Data。
|
||||
|
||||
组件和传感器方法：ReadSensorData(), GetComponents()。
|
||||
|
||||
动画和预设方法：GetAnimationEngine(), GetSupportedPresets(), ExecutePreset(), GetPresetDescription()。这些通常直接委托给内部的 animationEngine 和 presetManager。
|
||||
|
||||
实现设备特定逻辑：initializeComponents(config map[string]any) error: 根据 L20 的硬件配置，创建并注册其传感器、执行器等组件到 h.components。
|
||||
|
||||
```go
|
||||
func (h *L20Hand) initializeComponents(config map[string]any) error {
|
||||
// 示例：添加一个 L20 特有的传感器
|
||||
// l20Sensor := component.NewL20SpecificSensor("l20_sensor_1", nil)
|
||||
// h.components[device.SensorComponent] = append(h.components[device.SensorComponent], l20Sensor)
|
||||
return nil
|
||||
}
|
||||
```
|
||||
|
||||
添加设备特定动画 (l20_animation.go):
|
||||
|
||||
定义实现 device.Animation 接口的动画结构体，如 L20WaveAnimation。
|
||||
|
||||
在 NewL20Hand 中，使用 hand.animationEngine.Register(NewL20WaveAnimation()) 注册它们。
|
||||
|
||||
添加设备特定预设姿势 (l20_presets.go):
|
||||
|
||||
定义一个函数如 GetL20Presets() []device.PresetPose，返回 L20 的预设姿势列表。
|
||||
|
||||
在 NewL20Hand 中，遍历这些预设并使用 hand.presetManager.RegisterPreset(preset) 注册它们。
|
||||
|
||||
注册设备类型：
|
||||
|
||||
在 device/models/init.go 的 RegisterDeviceTypes() 函数中添加一行：
|
||||
|
||||
device.RegisterDeviceType("L20", NewL20Hand)
|
||||
|
||||
## 如何添加新的动画/预设姿势
|
||||
|
||||
这里主要指实现项目已定义的 Go 接口，如 device.Animation 或 component.Sensor。
|
||||
|
||||
### 添加新的动画 (实现 device.Animation)
|
||||
|
||||
定义动画结构体：在设备模型相关的动画文件内 (例如，若为 L10 添加新动画，则在 device/models/l10_animation.go 中)，或为通用动画创建新文件。
|
||||
|
||||
示例：
|
||||
|
||||
```go
|
||||
// device/models/l10_animation.go
|
||||
type L10GreetingAnimation struct{}
|
||||
|
||||
func NewL10GreetingAnimation() *L10GreetingAnimation { return &L10GreetingAnimation{} }
|
||||
```
|
||||
|
||||
实现 device.Animation 接口：
|
||||
|
||||
```go
|
||||
func (a *L10GreetingAnimation) Name() string { return "greeting" }
|
||||
|
||||
func (a *L10GreetingAnimation) Run(executor device.PoseExecutor, stop <-chan struct{}, speedMs int) error {
|
||||
log.Printf("Running %s animation on %s", a.Name(), executor.GetHandType())
|
||||
delay := time.Duration(speedMs) * time.Millisecond
|
||||
|
||||
// 示例：挥手动作
|
||||
poses := [][]byte{
|
||||
{192, 192, 192, 192, 192, 192}, // 张开
|
||||
{160, 160, 160, 160, 160, 160}, // 稍弯曲
|
||||
}
|
||||
palmPoses := [][]byte{
|
||||
{100, 128, 128, 128}, // 手掌姿态 1
|
||||
{150, 128, 128, 128}, // 手掌姿态 2
|
||||
}
|
||||
|
||||
for i := 0; i < 3; i++ { // 重复几次
|
||||
for j, pose := range poses {
|
||||
if err := executor.SetFingerPose(pose); err != nil { return err }
|
||||
if err := executor.SetPalmPose(palmPoses[j%len(palmPoses)]); err != nil { return err } // 循环使用手掌姿态
|
||||
|
||||
select {
|
||||
case <-stop:
|
||||
log.Printf("%s animation stopped.", a.Name())
|
||||
return nil
|
||||
case <-time.After(delay):
|
||||
// continue
|
||||
}
|
||||
}
|
||||
}
|
||||
return nil
|
||||
}
|
||||
```
|
||||
|
||||
注册动画：在对应设备的构造函数中 (例如 NewL10Hand)，获取 AnimationEngine 实例并注册新动画：
|
||||
|
||||
```go
|
||||
// 在 NewL10Hand 中：
|
||||
hand.animationEngine.Register(NewL10GreetingAnimation())
|
||||
```
|
||||
|
||||
### 添加新的传感器类型 (实现 component.Sensor 和 device.Component)
|
||||
|
||||
定义传感器结构体：
|
||||
|
||||
在 component/ 目录下创建新文件，例如 temperature_sensor.go。
|
||||
|
||||
定义结构体：
|
||||
|
||||
```go
|
||||
// component/temperature_sensor.go
|
||||
package component
|
||||
|
||||
import (
|
||||
"hands/device"
|
||||
"math/rand/v2"
|
||||
"time"
|
||||
"fmt"
|
||||
)
|
||||
|
||||
type TemperatureSensor struct {
|
||||
id string
|
||||
config map[string]any
|
||||
isActive bool
|
||||
samplingRate int // Hz
|
||||
}
|
||||
|
||||
func NewTemperatureSensor(id string, config map[string]any) Sensor { // 返回 Sensor 接口
|
||||
return &TemperatureSensor{
|
||||
id: id,
|
||||
config: config,
|
||||
isActive: true,
|
||||
samplingRate: 1, // 默认 1Hz
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
实现 device.Component 接口：
|
||||
|
||||
```go
|
||||
func (ts *TemperatureSensor) GetID() string { return ts.id }
|
||||
func (ts *TemperatureSensor) GetType() device.ComponentType { return device.SensorComponent }
|
||||
func (ts *TemperatureSensor) GetConfiguration() map[string]any { return ts.config }
|
||||
func (ts *TemperatureSensor) IsActive() bool { return ts.isActive }
|
||||
```
|
||||
|
||||
实现 component.Sensor 接口：
|
||||
|
||||
```go
|
||||
func (ts *TemperatureSensor) ReadData() (device.SensorData, error) {
|
||||
if !ts.isActive {
|
||||
return nil, fmt.Errorf("sensor %s is not active", ts.id)
|
||||
}
|
||||
// 模拟读取温度数据
|
||||
tempValue := 20.0 + rand.Float64()*15.0 // 20-35 度
|
||||
values := map[string]any{
|
||||
"temperature": tempValue,
|
||||
"unit": "Celsius",
|
||||
}
|
||||
return NewSensorData(ts.id, values), nil // 使用 component.NewSensorData
|
||||
}
|
||||
|
||||
func (ts *TemperatureSensor) GetDataType() string { return "temperature" }
|
||||
|
||||
func (ts *TemperatureSensor) GetSamplingRate() int { return ts.samplingRate }
|
||||
|
||||
func (ts *TemperatureSensor) SetSamplingRate(rate int) error {
|
||||
if rate <= 0 {
|
||||
return fmt.Errorf("sampling rate must be positive")
|
||||
}
|
||||
ts.samplingRate = rate
|
||||
return nil
|
||||
}
|
||||
```
|
||||
|
||||
集成到设备：在具体设备模型 (如 L10Hand 或 L20Hand) 的 initializeComponents 方法中，创建并添加此传感器的实例：
|
||||
|
||||
```go
|
||||
// 在 L10Hand.initializeComponents 中：
|
||||
tempSensor1 := component.NewTemperatureSensor("temp_palm", map[string]any{"location": "palm"})
|
||||
h.components[device.SensorComponent] = append(h.components[device.SensorComponent], tempSensor1)
|
||||
```
|
||||
|
||||
### 如何添加新的 Component
|
||||
|
||||
添加一个新的通用组件（非特指传感器）与添加传感器类似，主要区别在于它可能不会实现 component.Sensor 接口，而是直接实现 device.Component 以及任何该组件特有的接口。
|
||||
|
||||
定义组件类型 (如果需要新的 ComponentType): 在 device/device.go 中为新的组件类型添加一个常量：
|
||||
|
||||
```go
|
||||
const (
|
||||
// ...
|
||||
MyCustomComponentType ComponentType = "my_custom_type"
|
||||
)
|
||||
```
|
||||
|
||||
定义组件特定接口：如果该组件有特定行为，可以在 component/ 目录下或与组件实现同文件中定义一个接口：
|
||||
|
||||
```go
|
||||
// component/my_custom_component.go
|
||||
package component
|
||||
|
||||
import "hands/device"
|
||||
|
||||
type MyCustomFunctionality interface {
|
||||
PerformAction(param string) (string, error)
|
||||
}
|
||||
```
|
||||
|
||||
定义组件结构体：在 component/ 目录下创建新文件，例如 my_custom_component.go。
|
||||
|
||||
定义结构体：
|
||||
|
||||
```go
|
||||
type MyCustomComponent struct {
|
||||
id string
|
||||
config map[string]any
|
||||
isActive bool
|
||||
// ... 其他字段
|
||||
}
|
||||
|
||||
func NewMyCustomComponent(id string, config map[string]any) device.Component { // 返回 device.Component
|
||||
return &MyCustomComponent{
|
||||
id: id,
|
||||
config: config,
|
||||
isActive: true,
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
实现 device.Component 接口：
|
||||
|
||||
```go
|
||||
func (mcc *MyCustomComponent) GetID() string { return mcc.id }
|
||||
func (mcc *MyCustomComponent) GetType() device.ComponentType { return MyCustomComponentType } // 使用新定义的类型
|
||||
func (mcc *MyCustomComponent) GetConfiguration() map[string]any { return mcc.config }
|
||||
func (mcc *MyCustomComponent) IsActive() bool { return mcc.isActive }
|
||||
```
|
||||
|
||||
实现组件特定接口：
|
||||
|
||||
```go
|
||||
// 确保 MyCustomComponent 也实现了 MyCustomFunctionality
|
||||
func (mcc *MyCustomComponent) PerformAction(param string) (string, error) {
|
||||
// 实现特定功能
|
||||
return "Action performed with " + param, nil
|
||||
}
|
||||
```
|
||||
|
||||
在这种情况下，NewMyCustomComponent 的返回类型可能需要同时满足 device.Component 和 MyCustomFunctionality，或者在使用时进行类型断言。一个常见的做法是返回具体类型指针 *MyCustomComponent，它自然实现了所有嵌入或直接定义的方法。或者，如果希望返回接口，可以返回 device.Component，然后在需要特定功能时进行类型断言。
|
||||
|
||||
集成到设备：在具体设备模型的 initializeComponents 方法中，创建并添加此组件的实例：
|
||||
|
||||
```go
|
||||
// 在 L10Hand.initializeComponents 中：
|
||||
customComp := component.NewMyCustomComponent("custom_1", map[string]any{"setting": "value"})
|
||||
h.components[component.MyCustomComponentType] = append(h.components[component.MyCustomComponentType], customComp)
|
||||
```
|
||||
|
||||
设备代码可能需要通过 GetComponents(component.MyCustomComponentType) 获取这些组件，并进行类型断言以调用其特定方法：
|
||||
|
||||
```go
|
||||
comps := h.GetComponents(component.MyCustomComponentType)
|
||||
for _, comp := range comps {
|
||||
if customComp, ok := comp.(component.MyCustomFunctionality); ok { // 或 *component.MyCustomComponent
|
||||
result, err := customComp.PerformAction("test")
|
||||
// ...
|
||||
}
|
||||
}
|
||||
```
|
||||
9
main.go
9
main.go
@ -5,6 +5,8 @@ import (
|
||||
"hands/api"
|
||||
"hands/cli"
|
||||
"hands/config"
|
||||
"hands/device"
|
||||
"hands/device/models"
|
||||
"log"
|
||||
"os"
|
||||
"time"
|
||||
@ -70,9 +72,6 @@ func main() {
|
||||
log.Fatal("❌ 没有设置默认 CAN 接口")
|
||||
}
|
||||
|
||||
// 记录启动时间
|
||||
api.ServerStartTime = time.Now()
|
||||
|
||||
log.Printf("🚀 启动 CAN 控制服务 (支持左右手配置)")
|
||||
|
||||
// 初始化服务
|
||||
@ -93,8 +92,10 @@ func main() {
|
||||
MaxAge: 12 * time.Hour,
|
||||
}))
|
||||
|
||||
models.RegisterDeviceTypes()
|
||||
|
||||
// 设置 API 路由
|
||||
api.SetupRoutes(r)
|
||||
api.NewServer(device.NewDeviceManager()).SetupRoutes(r)
|
||||
|
||||
// 启动服务器
|
||||
log.Printf("🌐 CAN 控制服务运行在 http://localhost:%s", config.Config.WebPort)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user