refactor: split routers handlers to handler.go
This commit is contained in:
Eli Yip
parent
972f48f948
commit
b07a91af4b
466
api/handler.go
466
api/handler.go
@ -1,2 +1,468 @@
|
||||
package api
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"hands/config"
|
||||
"hands/define"
|
||||
"hands/hands"
|
||||
"net/http"
|
||||
"time"
|
||||
|
||||
"github.com/gin-gonic/gin"
|
||||
)
|
||||
|
||||
// 手型设置处理函数
|
||||
func HandleHandType(c *gin.Context) {
|
||||
var req HandTypeRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的手型设置请求：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 验证手型 ID
|
||||
if req.HandType == "left" && req.HandId != define.HAND_TYPE_LEFT {
|
||||
req.HandId = define.HAND_TYPE_LEFT
|
||||
} else if req.HandType == "right" && req.HandId != define.HAND_TYPE_RIGHT {
|
||||
req.HandId = define.HAND_TYPE_RIGHT
|
||||
}
|
||||
|
||||
// 设置手型配置
|
||||
hands.SetHandConfig(req.Interface, req.HandType, req.HandId)
|
||||
|
||||
handTypeName := "右手"
|
||||
if req.HandType == "left" {
|
||||
handTypeName = "左手"
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("接口 %s 手型已设置为%s (0x%X)", req.Interface, handTypeName, req.HandId),
|
||||
Data: map[string]any{
|
||||
"interface": req.Interface,
|
||||
"handType": req.HandType,
|
||||
"handId": req.HandId,
|
||||
},
|
||||
})
|
||||
}
|
||||
|
||||
// 手指姿态处理函数
|
||||
func HandleFingers(c *gin.Context) {
|
||||
var req FingerPoseRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的手指姿态数据：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 验证每个值是否在范围内
|
||||
for _, v := range req.Pose {
|
||||
if v < 0 || v > 255 {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "手指姿态值必须在 0-255 范围内",
|
||||
})
|
||||
return
|
||||
}
|
||||
}
|
||||
|
||||
// 如果未指定接口，使用默认接口
|
||||
if req.Interface == "" {
|
||||
req.Interface = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
hands.StopAllAnimations(req.Interface)
|
||||
|
||||
if err := hands.SendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "发送手指姿态失败：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: "手指姿态指令发送成功",
|
||||
Data: map[string]any{"interface": req.Interface, "pose": req.Pose},
|
||||
})
|
||||
}
|
||||
|
||||
// 掌部姿态处理函数
|
||||
func HandlePalm(c *gin.Context) {
|
||||
var req PalmPoseRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的掌部姿态数据：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 验证每个值是否在范围内
|
||||
for _, v := range req.Pose {
|
||||
if v < 0 || v > 255 {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "掌部姿态值必须在 0-255 范围内",
|
||||
})
|
||||
return
|
||||
}
|
||||
}
|
||||
|
||||
// 如果未指定接口，使用默认接口
|
||||
if req.Interface == "" {
|
||||
req.Interface = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
hands.StopAllAnimations(req.Interface)
|
||||
|
||||
if err := hands.SendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "发送掌部姿态失败：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: "掌部姿态指令发送成功",
|
||||
Data: map[string]any{"interface": req.Interface, "pose": req.Pose},
|
||||
})
|
||||
}
|
||||
|
||||
// 预设姿势处理函数
|
||||
func HandlePreset(c *gin.Context) {
|
||||
pose := c.Param("pose")
|
||||
|
||||
// 从查询参数获取接口名称和手型
|
||||
ifName := c.Query("interface")
|
||||
handType := c.Query("handType")
|
||||
|
||||
if ifName == "" {
|
||||
ifName = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(ifName) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
hands.StopAllAnimations(ifName)
|
||||
|
||||
var fingerPose []byte
|
||||
var message string
|
||||
|
||||
switch pose {
|
||||
case "fist":
|
||||
fingerPose = []byte{64, 64, 64, 64, 64, 64}
|
||||
message = "已设置握拳姿势"
|
||||
case "open":
|
||||
fingerPose = []byte{192, 192, 192, 192, 192, 192}
|
||||
message = "已设置完全张开姿势"
|
||||
case "pinch":
|
||||
fingerPose = []byte{120, 120, 64, 64, 64, 64}
|
||||
message = "已设置捏取姿势"
|
||||
case "thumbsup":
|
||||
fingerPose = []byte{64, 192, 192, 192, 192, 64}
|
||||
message = "已设置竖起大拇指姿势"
|
||||
case "point":
|
||||
fingerPose = []byte{192, 64, 192, 192, 192, 64}
|
||||
message = "已设置食指指点姿势"
|
||||
// 数字手势
|
||||
case "1":
|
||||
fingerPose = []byte{192, 64, 192, 192, 192, 64}
|
||||
message = "已设置数字 1 手势"
|
||||
case "2":
|
||||
fingerPose = []byte{192, 64, 64, 192, 192, 64}
|
||||
message = "已设置数字 2 手势"
|
||||
case "3":
|
||||
fingerPose = []byte{192, 64, 64, 64, 192, 64}
|
||||
message = "已设置数字 3 手势"
|
||||
case "4":
|
||||
fingerPose = []byte{192, 64, 64, 64, 64, 64}
|
||||
message = "已设置数字 4 手势"
|
||||
case "5":
|
||||
fingerPose = []byte{192, 192, 192, 192, 192, 192}
|
||||
message = "已设置数字 5 手势"
|
||||
case "6":
|
||||
fingerPose = []byte{64, 192, 192, 192, 192, 64}
|
||||
message = "已设置数字 6 手势"
|
||||
case "7":
|
||||
fingerPose = []byte{64, 64, 192, 192, 192, 64}
|
||||
message = "已设置数字 7 手势"
|
||||
case "8":
|
||||
fingerPose = []byte{64, 64, 64, 192, 192, 64}
|
||||
message = "已设置数字 8 手势"
|
||||
case "9":
|
||||
fingerPose = []byte{64, 64, 64, 64, 192, 64}
|
||||
message = "已设置数字 9 手势"
|
||||
default:
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的预设姿势",
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 解析手型 ID（从查询参数或使用接口配置）
|
||||
handId := uint32(0)
|
||||
if handType != "" {
|
||||
handId = hands.ParseHandType(handType, 0, ifName)
|
||||
}
|
||||
|
||||
if err := hands.SendFingerPose(ifName, fingerPose, handType, handId); err != nil {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "设置预设姿势失败：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: message,
|
||||
Data: map[string]any{"interface": ifName, "pose": fingerPose},
|
||||
})
|
||||
}
|
||||
|
||||
// 动画控制处理函数
|
||||
func HandleAnimation(c *gin.Context) {
|
||||
var req AnimationRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的动画请求：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 如果未指定接口，使用默认接口
|
||||
if req.Interface == "" {
|
||||
req.Interface = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 停止当前动画
|
||||
hands.StopAllAnimations(req.Interface)
|
||||
|
||||
// 如果是停止命令，直接返回
|
||||
if req.Type == "stop" {
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("%s 动画已停止", req.Interface),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 处理速度参数
|
||||
if req.Speed <= 0 {
|
||||
req.Speed = 500 // 默认速度
|
||||
}
|
||||
|
||||
// 根据类型启动动画
|
||||
switch req.Type {
|
||||
case "wave":
|
||||
hands.StartWaveAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("%s 波浪动画已启动", req.Interface),
|
||||
Data: map[string]any{"interface": req.Interface, "speed": req.Speed},
|
||||
})
|
||||
case "sway":
|
||||
hands.StartSwayAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("%s 横向摆动动画已启动", req.Interface),
|
||||
Data: map[string]any{"interface": req.Interface, "speed": req.Speed},
|
||||
})
|
||||
default:
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的动画类型",
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
// 获取传感器数据处理函数
|
||||
func HandleSensors(c *gin.Context) {
|
||||
// 从查询参数获取接口名称
|
||||
ifName := c.Query("interface")
|
||||
|
||||
hands.SensorMutex.RLock()
|
||||
defer hands.SensorMutex.RUnlock()
|
||||
|
||||
if ifName != "" {
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(ifName) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 请求特定接口的数据
|
||||
if sensorData, ok := hands.SensorDataMap[ifName]; ok {
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: sensorData,
|
||||
})
|
||||
} else {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "传感器数据不存在",
|
||||
})
|
||||
}
|
||||
} else {
|
||||
// 返回所有接口的数据
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: hands.SensorDataMap,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
// 系统状态处理函数
|
||||
func HandleStatus(c *gin.Context) {
|
||||
hands.AnimationMutex.Lock()
|
||||
animationStatus := make(map[string]bool)
|
||||
for _, ifName := range config.Config.AvailableInterfaces {
|
||||
animationStatus[ifName] = hands.AnimationActive[ifName]
|
||||
}
|
||||
hands.AnimationMutex.Unlock()
|
||||
|
||||
// 检查 CAN 服务状态
|
||||
canStatus := hands.CheckCanServiceStatus()
|
||||
|
||||
// 获取手型配置
|
||||
hands.HandConfigMutex.RLock()
|
||||
handConfigsData := make(map[string]any)
|
||||
for ifName, handConfig := range hands.HandConfigs {
|
||||
handConfigsData[ifName] = map[string]any{
|
||||
"handType": handConfig.HandType,
|
||||
"handId": handConfig.HandId,
|
||||
}
|
||||
}
|
||||
hands.HandConfigMutex.RUnlock()
|
||||
|
||||
interfaceStatuses := make(map[string]any)
|
||||
for _, ifName := range config.Config.AvailableInterfaces {
|
||||
interfaceStatuses[ifName] = map[string]any{
|
||||
"active": canStatus[ifName],
|
||||
"animationActive": animationStatus[ifName],
|
||||
"handConfig": handConfigsData[ifName],
|
||||
}
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: map[string]any{
|
||||
"interfaces": interfaceStatuses,
|
||||
"uptime": time.Since(ServerStartTime).String(),
|
||||
"canServiceURL": config.Config.CanServiceURL,
|
||||
"defaultInterface": config.Config.DefaultInterface,
|
||||
"availableInterfaces": config.Config.AvailableInterfaces,
|
||||
"activeInterfaces": len(canStatus),
|
||||
"handConfigs": handConfigsData,
|
||||
},
|
||||
})
|
||||
}
|
||||
|
||||
// 获取可用接口列表处理函数
|
||||
func HandleInterfaces(c *gin.Context) {
|
||||
responseData := map[string]any{
|
||||
"availableInterfaces": config.Config.AvailableInterfaces,
|
||||
"defaultInterface": config.Config.DefaultInterface,
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: responseData,
|
||||
})
|
||||
}
|
||||
|
||||
// 获取手型配置处理函数
|
||||
func HandleHandConfigs(c *gin.Context) {
|
||||
hands.HandConfigMutex.RLock()
|
||||
defer hands.HandConfigMutex.RUnlock()
|
||||
|
||||
result := make(map[string]any)
|
||||
for _, ifName := range config.Config.AvailableInterfaces {
|
||||
if handConfig, exists := hands.HandConfigs[ifName]; exists {
|
||||
result[ifName] = map[string]any{
|
||||
"handType": handConfig.HandType,
|
||||
"handId": handConfig.HandId,
|
||||
}
|
||||
} else {
|
||||
// 返回默认配置
|
||||
result[ifName] = map[string]any{
|
||||
"handType": "right",
|
||||
"handId": define.HAND_TYPE_RIGHT,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: result,
|
||||
})
|
||||
}
|
||||
|
||||
// 健康检查处理函数
|
||||
func HandleHealth(c *gin.Context) {
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: "CAN Control Service is running",
|
||||
Data: map[string]any{
|
||||
"timestamp": time.Now(),
|
||||
"availableInterfaces": config.Config.AvailableInterfaces,
|
||||
"defaultInterface": config.Config.DefaultInterface,
|
||||
"serviceVersion": "1.0.0-hand-type-support",
|
||||
},
|
||||
})
|
||||
}
|
||||
|
||||
467
api/router.go
467
api/router.go
@ -1,11 +1,6 @@
|
||||
package api
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"hands/config"
|
||||
"hands/define"
|
||||
"hands/hands"
|
||||
"net/http"
|
||||
"time"
|
||||
|
||||
"github.com/gin-gonic/gin"
|
||||
@ -22,460 +17,34 @@ func SetupRoutes(r *gin.Engine) {
|
||||
|
||||
api := r.Group("/api")
|
||||
{
|
||||
// 手型设置 API - 新增
|
||||
api.POST("/hand-type", func(c *gin.Context) {
|
||||
var req HandTypeRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的手型设置请求：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
// 手型设置 API
|
||||
api.POST("/hand-type", HandleHandType)
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
// 手指姿态 API
|
||||
api.POST("/fingers", HandleFingers)
|
||||
|
||||
// 验证手型 ID
|
||||
if req.HandType == "left" && req.HandId != define.HAND_TYPE_LEFT {
|
||||
req.HandId = define.HAND_TYPE_LEFT
|
||||
} else if req.HandType == "right" && req.HandId != define.HAND_TYPE_RIGHT {
|
||||
req.HandId = define.HAND_TYPE_RIGHT
|
||||
}
|
||||
// 掌部姿态 API
|
||||
api.POST("/palm", HandlePalm)
|
||||
|
||||
// 设置手型配置
|
||||
hands.SetHandConfig(req.Interface, req.HandType, req.HandId)
|
||||
// 预设姿势 API
|
||||
api.POST("/preset/:pose", HandlePreset)
|
||||
|
||||
handTypeName := "右手"
|
||||
if req.HandType == "left" {
|
||||
handTypeName = "左手"
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("接口 %s 手型已设置为%s (0x%X)", req.Interface, handTypeName, req.HandId),
|
||||
Data: map[string]interface{}{
|
||||
"interface": req.Interface,
|
||||
"handType": req.HandType,
|
||||
"handId": req.HandId,
|
||||
},
|
||||
})
|
||||
})
|
||||
|
||||
// 手指姿态 API - 更新支持手型
|
||||
api.POST("/fingers", func(c *gin.Context) {
|
||||
var req FingerPoseRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的手指姿态数据：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 验证每个值是否在范围内
|
||||
for _, v := range req.Pose {
|
||||
if v < 0 || v > 255 {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "手指姿态值必须在 0-255 范围内",
|
||||
})
|
||||
return
|
||||
}
|
||||
}
|
||||
|
||||
// 如果未指定接口，使用默认接口
|
||||
if req.Interface == "" {
|
||||
req.Interface = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
hands.StopAllAnimations(req.Interface)
|
||||
|
||||
if err := hands.SendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "发送手指姿态失败：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: "手指姿态指令发送成功",
|
||||
Data: map[string]interface{}{"interface": req.Interface, "pose": req.Pose},
|
||||
})
|
||||
})
|
||||
|
||||
// 掌部姿态 API - 更新支持手型
|
||||
api.POST("/palm", func(c *gin.Context) {
|
||||
var req PalmPoseRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的掌部姿态数据：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 验证每个值是否在范围内
|
||||
for _, v := range req.Pose {
|
||||
if v < 0 || v > 255 {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "掌部姿态值必须在 0-255 范围内",
|
||||
})
|
||||
return
|
||||
}
|
||||
}
|
||||
|
||||
// 如果未指定接口，使用默认接口
|
||||
if req.Interface == "" {
|
||||
req.Interface = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
hands.StopAllAnimations(req.Interface)
|
||||
|
||||
if err := hands.SendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "发送掌部姿态失败：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: "掌部姿态指令发送成功",
|
||||
Data: map[string]interface{}{"interface": req.Interface, "pose": req.Pose},
|
||||
})
|
||||
})
|
||||
|
||||
// 预设姿势 API - 更新支持手型
|
||||
api.POST("/preset/:pose", func(c *gin.Context) {
|
||||
pose := c.Param("pose")
|
||||
|
||||
// 从查询参数获取接口名称和手型
|
||||
ifName := c.Query("interface")
|
||||
handType := c.Query("handType")
|
||||
|
||||
if ifName == "" {
|
||||
ifName = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(ifName) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
hands.StopAllAnimations(ifName)
|
||||
|
||||
var fingerPose []byte
|
||||
var message string
|
||||
|
||||
switch pose {
|
||||
case "fist":
|
||||
fingerPose = []byte{64, 64, 64, 64, 64, 64}
|
||||
message = "已设置握拳姿势"
|
||||
case "open":
|
||||
fingerPose = []byte{192, 192, 192, 192, 192, 192}
|
||||
message = "已设置完全张开姿势"
|
||||
case "pinch":
|
||||
fingerPose = []byte{120, 120, 64, 64, 64, 64}
|
||||
message = "已设置捏取姿势"
|
||||
case "thumbsup":
|
||||
fingerPose = []byte{64, 192, 192, 192, 192, 64}
|
||||
message = "已设置竖起大拇指姿势"
|
||||
case "point":
|
||||
fingerPose = []byte{192, 64, 192, 192, 192, 64}
|
||||
message = "已设置食指指点姿势"
|
||||
// 数字手势
|
||||
case "1":
|
||||
fingerPose = []byte{192, 64, 192, 192, 192, 64}
|
||||
message = "已设置数字 1 手势"
|
||||
case "2":
|
||||
fingerPose = []byte{192, 64, 64, 192, 192, 64}
|
||||
message = "已设置数字 2 手势"
|
||||
case "3":
|
||||
fingerPose = []byte{192, 64, 64, 64, 192, 64}
|
||||
message = "已设置数字 3 手势"
|
||||
case "4":
|
||||
fingerPose = []byte{192, 64, 64, 64, 64, 64}
|
||||
message = "已设置数字 4 手势"
|
||||
case "5":
|
||||
fingerPose = []byte{192, 192, 192, 192, 192, 192}
|
||||
message = "已设置数字 5 手势"
|
||||
case "6":
|
||||
fingerPose = []byte{64, 192, 192, 192, 192, 64}
|
||||
message = "已设置数字 6 手势"
|
||||
case "7":
|
||||
fingerPose = []byte{64, 64, 192, 192, 192, 64}
|
||||
message = "已设置数字 7 手势"
|
||||
case "8":
|
||||
fingerPose = []byte{64, 64, 64, 192, 192, 64}
|
||||
message = "已设置数字 8 手势"
|
||||
case "9":
|
||||
fingerPose = []byte{64, 64, 64, 64, 192, 64}
|
||||
message = "已设置数字 9 手势"
|
||||
default:
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的预设姿势",
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 解析手型 ID（从查询参数或使用接口配置）
|
||||
handId := uint32(0)
|
||||
if handType != "" {
|
||||
handId = hands.ParseHandType(handType, 0, ifName)
|
||||
}
|
||||
|
||||
if err := hands.SendFingerPose(ifName, fingerPose, handType, handId); err != nil {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "设置预设姿势失败：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: message,
|
||||
Data: map[string]interface{}{"interface": ifName, "pose": fingerPose},
|
||||
})
|
||||
})
|
||||
|
||||
// 动画控制 API - 更新支持手型
|
||||
api.POST("/animation", func(c *gin.Context) {
|
||||
var req AnimationRequest
|
||||
if err := c.ShouldBindJSON(&req); err != nil {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的动画请求：" + err.Error(),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 如果未指定接口，使用默认接口
|
||||
if req.Interface == "" {
|
||||
req.Interface = config.Config.DefaultInterface
|
||||
}
|
||||
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(req.Interface) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 停止当前动画
|
||||
hands.StopAllAnimations(req.Interface)
|
||||
|
||||
// 如果是停止命令，直接返回
|
||||
if req.Type == "stop" {
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("%s 动画已停止", req.Interface),
|
||||
})
|
||||
return
|
||||
}
|
||||
|
||||
// 处理速度参数
|
||||
if req.Speed <= 0 {
|
||||
req.Speed = 500 // 默认速度
|
||||
}
|
||||
|
||||
// 根据类型启动动画
|
||||
switch req.Type {
|
||||
case "wave":
|
||||
hands.StartWaveAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("%s 波浪动画已启动", req.Interface),
|
||||
Data: map[string]interface{}{"interface": req.Interface, "speed": req.Speed},
|
||||
})
|
||||
case "sway":
|
||||
hands.StartSwayAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: fmt.Sprintf("%s 横向摆动动画已启动", req.Interface),
|
||||
Data: map[string]interface{}{"interface": req.Interface, "speed": req.Speed},
|
||||
})
|
||||
default:
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "无效的动画类型",
|
||||
})
|
||||
}
|
||||
})
|
||||
// 动画控制 API
|
||||
api.POST("/animation", HandleAnimation)
|
||||
|
||||
// 获取传感器数据 API
|
||||
api.GET("/sensors", func(c *gin.Context) {
|
||||
// 从查询参数获取接口名称
|
||||
ifName := c.Query("interface")
|
||||
api.GET("/sensors", HandleSensors)
|
||||
|
||||
hands.SensorMutex.RLock()
|
||||
defer hands.SensorMutex.RUnlock()
|
||||
// 系统状态 API
|
||||
api.GET("/status", HandleStatus)
|
||||
|
||||
if ifName != "" {
|
||||
// 验证接口
|
||||
if !config.IsValidInterface(ifName) {
|
||||
c.JSON(http.StatusBadRequest, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
|
||||
})
|
||||
return
|
||||
}
|
||||
// 获取可用接口列表 API
|
||||
api.GET("/interfaces", HandleInterfaces)
|
||||
|
||||
// 请求特定接口的数据
|
||||
if sensorData, ok := hands.SensorDataMap[ifName]; ok {
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: sensorData,
|
||||
})
|
||||
} else {
|
||||
c.JSON(http.StatusInternalServerError, define.ApiResponse{
|
||||
Status: "error",
|
||||
Error: "传感器数据不存在",
|
||||
})
|
||||
}
|
||||
} else {
|
||||
// 返回所有接口的数据
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: hands.SensorDataMap,
|
||||
})
|
||||
}
|
||||
})
|
||||
|
||||
// 系统状态 API - 更新包含手型配置
|
||||
api.GET("/status", func(c *gin.Context) {
|
||||
hands.AnimationMutex.Lock()
|
||||
animationStatus := make(map[string]bool)
|
||||
for _, ifName := range config.Config.AvailableInterfaces {
|
||||
animationStatus[ifName] = hands.AnimationActive[ifName]
|
||||
}
|
||||
hands.AnimationMutex.Unlock()
|
||||
|
||||
// 检查 CAN 服务状态
|
||||
canStatus := hands.CheckCanServiceStatus()
|
||||
|
||||
// 获取手型配置
|
||||
hands.HandConfigMutex.RLock()
|
||||
handConfigsData := make(map[string]interface{})
|
||||
for ifName, handConfig := range hands.HandConfigs {
|
||||
handConfigsData[ifName] = map[string]interface{}{
|
||||
"handType": handConfig.HandType,
|
||||
"handId": handConfig.HandId,
|
||||
}
|
||||
}
|
||||
hands.HandConfigMutex.RUnlock()
|
||||
|
||||
interfaceStatuses := make(map[string]interface{})
|
||||
for _, ifName := range config.Config.AvailableInterfaces {
|
||||
interfaceStatuses[ifName] = map[string]interface{}{
|
||||
"active": canStatus[ifName],
|
||||
"animationActive": animationStatus[ifName],
|
||||
"handConfig": handConfigsData[ifName],
|
||||
}
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: map[string]interface{}{
|
||||
"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 API - 修复数据格式
|
||||
api.GET("/interfaces", func(c *gin.Context) {
|
||||
responseData := map[string]interface{}{
|
||||
"availableInterfaces": config.Config.AvailableInterfaces,
|
||||
"defaultInterface": config.Config.DefaultInterface,
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: responseData,
|
||||
})
|
||||
})
|
||||
|
||||
// 获取手型配置 API - 新增
|
||||
api.GET("/hand-configs", func(c *gin.Context) {
|
||||
hands.HandConfigMutex.RLock()
|
||||
defer hands.HandConfigMutex.RUnlock()
|
||||
|
||||
result := make(map[string]interface{})
|
||||
for _, ifName := range config.Config.AvailableInterfaces {
|
||||
if handConfig, exists := hands.HandConfigs[ifName]; exists {
|
||||
result[ifName] = map[string]interface{}{
|
||||
"handType": handConfig.HandType,
|
||||
"handId": handConfig.HandId,
|
||||
}
|
||||
} else {
|
||||
// 返回默认配置
|
||||
result[ifName] = map[string]interface{}{
|
||||
"handType": "right",
|
||||
"handId": define.HAND_TYPE_RIGHT,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Data: result,
|
||||
})
|
||||
})
|
||||
// 获取手型配置 API
|
||||
api.GET("/hand-configs", HandleHandConfigs)
|
||||
|
||||
// 健康检查端点
|
||||
api.GET("/health", func(c *gin.Context) {
|
||||
c.JSON(http.StatusOK, define.ApiResponse{
|
||||
Status: "success",
|
||||
Message: "CAN Control Service is running",
|
||||
Data: map[string]interface{}{
|
||||
"timestamp": time.Now(),
|
||||
"availableInterfaces": config.Config.AvailableInterfaces,
|
||||
"defaultInterface": config.Config.DefaultInterface,
|
||||
"serviceVersion": "1.0.0-hand-type-support",
|
||||
},
|
||||
})
|
||||
})
|
||||
api.GET("/health", HandleHealth)
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user