diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..cb4a3fa --- /dev/null +++ b/.gitignore @@ -0,0 +1,361 @@ +# Custom +/hands + +#################### Go.gitignore #################### + +# If you prefer the allow list template instead of the deny list, see community template: +# https://github.com/github/gitignore/blob/main/community/Golang/Go.AllowList.gitignore +# +# Binaries for programs and plugins +*.exe +*.exe~ +*.dll +*.so +*.dylib + +# Test binary, built with `go test -c` +*.test + +# Output of the go coverage tool, specifically when used with LiteIDE +*.out + +# Dependency directories (remove the comment below to include it) +# vendor/ + +# Go workspace file +go.work + +#################### Archives.gitignore #################### + +# It's better to unpack these files and commit the raw source because +# git has its own built in compression methods. +*.7z +*.jar +*.rar +*.zip +*.gz +*.gzip +*.tgz +*.bzip +*.bzip2 +*.bz2 +*.xz +*.lzma +*.cab +*.xar + +# Packing-only formats +*.iso +*.tar + +# Package management formats +*.dmg +*.xpi +*.gem +*.egg +*.deb +*.rpm +*.msi +*.msm +*.msp +*.txz + +#################### Backup.gitignore #################### + +*.bak +*.gho +*.ori +*.orig +*.tmp + +#################### Emacs.gitignore #################### + +# -*- mode: gitignore; -*- +*~ +\#*\# +/.emacs.desktop +/.emacs.desktop.lock +*.elc +auto-save-list +tramp +.\#* + +# Org-mode +.org-id-locations +*_archive + +# flymake-mode +*_flymake.* + +# eshell files +/eshell/history +/eshell/lastdir + +# elpa packages +/elpa/ + +# reftex files +*.rel + +# AUCTeX auto folder +/auto/ + +# cask packages +.cask/ +dist/ + +# Flycheck +flycheck_*.el + +# server auth directory +/server/ + +# projectiles files +.projectile + +# directory configuration +.dir-locals.el + +# network security +/network-security.data + + +#################### JetBrains.gitignore #################### + +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +# User-specific stuff +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf + +# AWS User-specific +.idea/**/aws.xml + +# Generated files +.idea/**/contentModel.xml + +# Sensitive or high-churn files +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml + +# Gradle +.idea/**/gradle.xml +.idea/**/libraries + +# Gradle and Maven with auto-import +# When using Gradle or Maven with auto-import, you should exclude module files, +# since they will be recreated, and may cause churn. Uncomment if using +# auto-import. +# .idea/artifacts +# .idea/compiler.xml +# .idea/jarRepositories.xml +# .idea/modules.xml +# .idea/*.iml +# .idea/modules +# *.iml +# *.ipr + +# CMake +cmake-build-*/ + +# Mongo Explorer plugin +.idea/**/mongoSettings.xml + +# File-based project format +*.iws + +# IntelliJ +out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# SonarLint plugin +.idea/sonarlint/ + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +# Editor-based Rest Client +.idea/httpRequests + +# Android studio 3.1+ serialized cache file +.idea/caches/build_file_checksums.ser + +#################### Linux.gitignore #################### + +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +#################### NotepadPP.gitignore #################### + +# Notepad++ backups # +*.bak + +#################### PuTTY.gitignore #################### + +# Private key +*.ppk + +#################### SublimeText.gitignore #################### + +# Cache files for Sublime Text +*.tmlanguage.cache +*.tmPreferences.cache +*.stTheme.cache + +# Workspace files are user-specific +*.sublime-workspace + +# Project files should be checked into the repository, unless a significant +# proportion of contributors will probably not be using Sublime Text +# *.sublime-project + +# SFTP configuration file +sftp-config.json +sftp-config-alt*.json + +# Package control specific files +Package Control.last-run +Package Control.ca-list +Package Control.ca-bundle +Package Control.system-ca-bundle +Package Control.cache/ +Package Control.ca-certs/ +Package Control.merged-ca-bundle +Package Control.user-ca-bundle +oscrypto-ca-bundle.crt +bh_unicode_properties.cache + +# Sublime-github package stores a github token in this file +# https://packagecontrol.io/packages/sublime-github +GitHub.sublime-settings + +#################### Vim.gitignore #################### + +# Swap +[._]*.s[a-v][a-z] +!*.svg # comment out if you don't need vector files +[._]*.sw[a-p] +[._]s[a-rt-v][a-z] +[._]ss[a-gi-z] +[._]sw[a-p] + +# Session +Session.vim +Sessionx.vim + +# Temporary +.netrwhist +*~ +# Auto-generated tag files +tags +# Persistent undo +[._]*.un~ + +#################### VisualStudioCode.gitignore #################### + +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets + +# Local History for Visual Studio Code +.history/ + +# Built Visual Studio Code Extensions +*.vsix + +#################### Windows.gitignore #################### + +# Windows thumbnail cache files +Thumbs.db +Thumbs.db:encryptable +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +#################### macOS.gitignore #################### + +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +#################### Custom.gitignore #################### + +# add your custom gitignore here: +!.gitignore +!.gitsubmodules \ No newline at end of file diff --git a/.goreleaser.yaml b/.goreleaser.yaml index 46acb6e..d7e2972 100644 --- a/.goreleaser.yaml +++ b/.goreleaser.yaml @@ -8,6 +8,8 @@ before: builds: - id: dashboard-server + env: + - CGO_ENABLED=0 goos: - linux goarch: diff --git a/Dockerfile b/Dockerfile index 9537283..6dfa4f3 100644 --- a/Dockerfile +++ b/Dockerfile @@ -17,10 +17,10 @@ WORKDIR /app COPY --link static/ ./static/ -COPY --link --from=builder /app/dashboard-server /usr/local/bin/dashboard-server +COPY --link --from=builder /app/dashboard-server /app/dashboard-server EXPOSE 9099 ENV SERVER_PORT="9099" -CMD ["dashboard-server"] \ No newline at end of file +CMD ["/app/dashboard-server"] \ No newline at end of file diff --git a/Dockerfile.goreleaser b/Dockerfile.goreleaser index fcf31a5..6a8f670 100644 --- a/Dockerfile.goreleaser +++ b/Dockerfile.goreleaser @@ -1,10 +1,10 @@ FROM alpine:3.21 -COPY --link dashboard-server /usr/local/bin/dashboard-server -COPY --link static/ ./static/ +WORKDIR /app + +COPY --link . . EXPOSE 9099 - ENV SERVER_PORT="9099" -ENTRYPOINT ["dashboard-server"] +CMD ["/app/dashboard-server"] diff --git a/api2/animation_handlers.go b/api2/animation_handlers.go new file mode 100644 index 0000000..558d872 --- /dev/null +++ b/api2/animation_handlers.go @@ -0,0 +1,197 @@ +package api2 + +import ( + "fmt" + "net/http" + + "github.com/gin-gonic/gin" +) + +// handleGetAnimations 获取可用动画列表 +func (s *Server) handleGetAnimations(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 获取设备 + dev, 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 + } + + // 获取动画引擎 + animEngine := dev.GetAnimationEngine() + + // 获取已注册的动画列表 + availableAnimations := animEngine.GetRegisteredAnimations() + + // 获取当前动画状态 + isRunning := animEngine.IsRunning() + currentName := animEngine.GetCurrentAnimation() + + response := AnimationStatusResponse{ + IsRunning: isRunning, + CurrentName: currentName, + AvailableList: availableAnimations, + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} + +// handleStartAnimation 启动动画 +func (s *Server) handleStartAnimation(c *gin.Context) { + deviceId := c.Param("deviceId") + + var req AnimationStartRequest + if err := c.ShouldBindJSON(&req); err != nil { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: "无效的动画请求：" + err.Error(), + }) + return + } + + // 获取设备 + dev, 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 + } + + // 获取动画引擎 + animEngine := dev.GetAnimationEngine() + + // 验证动画名称是否已注册 + availableAnimations := animEngine.GetRegisteredAnimations() + validAnimation := false + for _, name := range availableAnimations { + if name == req.Name { + validAnimation = true + break + } + } + + if !validAnimation { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("无效的动画类型：%s，可用动画：%v", req.Name, availableAnimations), + }) + return + } + + // 处理速度参数 + speedMs := req.SpeedMs + if speedMs <= 0 { + speedMs = 500 // 默认速度 + } + + // 启动动画 + if err := animEngine.Start(req.Name, speedMs); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("启动动画失败：%v", err), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 的 %s 动画已启动", deviceId, req.Name), + Data: map[string]any{ + "deviceId": deviceId, + "name": req.Name, + "speedMs": speedMs, + }, + }) +} + +// handleStopAnimation 停止动画 +func (s *Server) handleStopAnimation(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 获取设备 + dev, 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 + } + + // 获取动画引擎 + animEngine := dev.GetAnimationEngine() + + // 检查是否有动画在运行 + if !animEngine.IsRunning() { + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 当前没有动画在运行", deviceId), + Data: map[string]any{ + "deviceId": deviceId, + }, + }) + return + } + + // 停止动画 + if err := animEngine.Stop(); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("停止动画失败：%v", err), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 的动画已停止", deviceId), + Data: map[string]any{ + "deviceId": deviceId, + }, + }) +} + +// handleAnimationStatus 获取动画状态 +func (s *Server) handleAnimationStatus(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 获取设备 + dev, 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 + } + + // 获取动画引擎 + animEngine := dev.GetAnimationEngine() + + // 获取已注册的动画列表 + availableAnimations := animEngine.GetRegisteredAnimations() + + // 获取当前状态 + isRunning := animEngine.IsRunning() + currentName := animEngine.GetCurrentAnimation() + + response := AnimationStatusResponse{ + IsRunning: isRunning, + CurrentName: currentName, + AvailableList: availableAnimations, + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} diff --git a/api2/device_handlers.go b/api2/device_handlers.go new file mode 100644 index 0000000..dce693b --- /dev/null +++ b/api2/device_handlers.go @@ -0,0 +1,251 @@ +package api2 + +import ( + "fmt" + "net/http" + + "hands/define" + "hands/device" + + "github.com/gin-gonic/gin" +) + +// handleGetDevices 获取所有设备列表 +func (s *Server) handleGetDevices(c *gin.Context) { + devices := s.deviceManager.GetAllDevices() + + deviceInfos := make([]DeviceInfo, 0, len(devices)) + for _, dev := range devices { + status, err := dev.GetStatus() + if err != nil { + // 如果获取状态失败，使用默认状态 + status = device.DeviceStatus{ + IsConnected: false, + IsActive: false, + ErrorCount: 1, + LastError: err.Error(), + } + } + + deviceInfo := DeviceInfo{ + ID: dev.GetID(), + Model: dev.GetModel(), + HandType: dev.GetHandType().String(), + Status: status, + } + deviceInfos = append(deviceInfos, deviceInfo) + } + + response := DeviceListResponse{ + Devices: deviceInfos, + Total: len(deviceInfos), + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} + +// handleCreateDevice 创建新设备 +func (s *Server) handleCreateDevice(c *gin.Context) { + var req DeviceCreateRequest + if err := c.ShouldBindJSON(&req); err != nil { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: "无效的设备创建请求：" + err.Error(), + }) + return + } + + // 检查设备是否已存在 + if _, err := s.deviceManager.GetDevice(req.ID); err == nil { + c.JSON(http.StatusConflict, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("设备 %s 已存在", req.ID), + }) + return + } + + // 准备设备配置 + config := req.Config + if config == nil { + config = make(map[string]any) + } + config["id"] = req.ID + + // 设置手型 + if req.HandType != "" { + config["hand_type"] = req.HandType + } + + // 创建设备实例 + dev, err := device.CreateDevice(req.Model, config) + if err != nil { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("创建设备失败：%v", err), + }) + return + } + + // 注册设备到管理器 + if err := s.deviceManager.RegisterDevice(dev); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("注册设备失败：%v", err), + }) + return + } + + // 获取设备状态 + status, err := dev.GetStatus() + if err != nil { + status = device.DeviceStatus{ + IsConnected: false, + IsActive: false, + ErrorCount: 1, + LastError: err.Error(), + } + } + + deviceInfo := DeviceInfo{ + ID: dev.GetID(), + Model: dev.GetModel(), + HandType: dev.GetHandType().String(), + Status: status, + } + + c.JSON(http.StatusCreated, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 创建成功", req.ID), + Data: deviceInfo, + }) +} + +// handleGetDevice 获取设备详情 +func (s *Server) handleGetDevice(c *gin.Context) { + deviceId := c.Param("deviceId") + + dev, 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 + } + + status, err := dev.GetStatus() + if err != nil { + status = device.DeviceStatus{ + IsConnected: false, + IsActive: false, + ErrorCount: 1, + LastError: err.Error(), + } + } + + deviceInfo := DeviceInfo{ + ID: dev.GetID(), + Model: dev.GetModel(), + HandType: dev.GetHandType().String(), + Status: status, + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: deviceInfo, + }) +} + +// handleDeleteDevice 删除设备 +func (s *Server) handleDeleteDevice(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 检查设备是否存在 + dev, 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 + } + + // 停止设备的动画（如果正在运行） + animEngine := dev.GetAnimationEngine() + if animEngine.IsRunning() { + if err := animEngine.Stop(); err != nil { + // 记录错误但不阻止删除 + fmt.Printf("警告：停止设备 %s 动画时出错：%v\n", deviceId, err) + } + } + + // 从管理器中移除设备 + if err := s.deviceManager.RemoveDevice(deviceId); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("删除设备失败：%v", err), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 已删除", deviceId), + }) +} + +// handleSetHandType 设置设备手型 +func (s *Server) handleSetHandType(c *gin.Context) { + deviceId := c.Param("deviceId") + + var req HandTypeRequest + if err := c.ShouldBindJSON(&req); err != nil { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: "无效的手型设置请求：" + err.Error(), + }) + return + } + + // 获取设备 + dev, 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 + } + + // 转换手型字符串为枚举 + var handType define.HandType + handType = define.HandTypeFromString(req.HandType) + if handType == define.HAND_TYPE_UNKNOWN { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: "无效的手型，必须是 'left' 或 'right'", + }) + return + } + + // 设置手型 + if err := dev.SetHandType(handType); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("设置手型失败：%v", err), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 手型已设置为 %s", deviceId, req.HandType), + Data: map[string]any{ + "deviceId": deviceId, + "handType": req.HandType, + }, + }) +} diff --git a/api2/models.go b/api2/models.go new file mode 100644 index 0000000..c94dc41 --- /dev/null +++ b/api2/models.go @@ -0,0 +1,111 @@ +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"` +} diff --git a/api2/pose_handlers.go b/api2/pose_handlers.go new file mode 100644 index 0000000..1df5232 --- /dev/null +++ b/api2/pose_handlers.go @@ -0,0 +1,312 @@ +package api2 + +import ( + "fmt" + "net/http" + + "github.com/gin-gonic/gin" +) + +// handleSetFingerPose 设置手指姿态 +func (s *Server) handleSetFingerPose(c *gin.Context) { + deviceId := c.Param("deviceId") + + var req FingerPoseRequest + if err := c.ShouldBindJSON(&req); err != nil { + c.JSON(http.StatusBadRequest, 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 > 255 { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: "手指姿态值必须在 0-255 范围内", + }) + return + } + } + + // 获取设备 + dev, 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 + } + + // 停止当前动画（如果正在运行） + animEngine := dev.GetAnimationEngine() + if animEngine.IsRunning() { + if err := animEngine.Stop(); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("停止动画失败：%v", err), + }) + return + } + } + + // 设置手指姿态 + if err := dev.SetFingerPose(req.Pose); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: "发送手指姿态失败：" + err.Error(), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: "手指姿态指令发送成功", + Data: map[string]any{ + "deviceId": deviceId, + "pose": req.Pose, + }, + }) +} + +// handleSetPalmPose 设置手掌姿态 +func (s *Server) handleSetPalmPose(c *gin.Context) { + deviceId := c.Param("deviceId") + + var req PalmPoseRequest + if err := c.ShouldBindJSON(&req); err != nil { + c.JSON(http.StatusBadRequest, 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 > 255 { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: "掌部姿态值必须在 0-255 范围内", + }) + return + } + } + + // 获取设备 + dev, 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 + } + + // 停止当前动画（如果正在运行） + animEngine := dev.GetAnimationEngine() + if animEngine.IsRunning() { + if err := animEngine.Stop(); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("停止动画失败：%v", err), + }) + return + } + } + + // 设置手掌姿态 + if err := dev.SetPalmPose(req.Pose); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: "发送掌部姿态失败：" + err.Error(), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: "掌部姿态指令发送成功", + Data: map[string]any{ + "deviceId": deviceId, + "pose": req.Pose, + }, + }) +} + +// handleSetPresetPose 设置预设姿势 +func (s *Server) handleSetPresetPose(c *gin.Context) { + deviceId := c.Param("deviceId") + pose := c.Param("pose") + + // 获取设备 + dev, 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 + } + + // 停止当前动画（如果正在运行） + animEngine := dev.GetAnimationEngine() + if animEngine.IsRunning() { + if err := animEngine.Stop(); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("停止动画失败：%v", err), + }) + return + } + } + + // 使用设备的预设姿势方法 + if err := dev.ExecutePreset(pose); err != nil { + c.JSON(http.StatusBadRequest, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("执行预设姿势失败: %v", err), + }) + return + } + + // 获取预设姿势的描述 + description := dev.GetPresetDescription(pose) + message := fmt.Sprintf("已设置预设姿势: %s", pose) + if description != "" { + message = fmt.Sprintf("已设置%s", description) + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: message, + Data: map[string]any{ + "deviceId": deviceId, + "pose": pose, + "description": description, + }, + }) +} + +// handleResetPose 重置姿态 +func (s *Server) handleResetPose(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 获取设备 + dev, 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 + } + + // 停止当前动画（如果正在运行） + animEngine := dev.GetAnimationEngine() + if animEngine.IsRunning() { + if err := animEngine.Stop(); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("停止动画失败：%v", err), + }) + return + } + } + + // 重置姿态 + if err := dev.ResetPose(); err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: "重置姿态失败：" + err.Error(), + }) + return + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: fmt.Sprintf("设备 %s 已重置到默认姿态", deviceId), + Data: map[string]any{ + "deviceId": deviceId, + }, + }) +} + +// 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) { + deviceID := c.Param("deviceId") + + 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 + presets := device.GetSupportedPresets() + + // 构建详细的预设信息 + presetDetails := make([]map[string]string, 0, len(presets)) + for _, presetName := range presets { + description := device.GetPresetDescription(presetName) + presetDetails = append(presetDetails, map[string]string{ + "name": presetName, + "description": description, + }) + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Message: "获取设备支持的预设姿势列表成功", + Data: map[string]any{ + "deviceId": deviceID, + "presets": presetDetails, + "count": len(presets), + }, + }) +} diff --git a/api2/router.go b/api2/router.go new file mode 100644 index 0000000..bf3d2cf --- /dev/null +++ b/api2/router.go @@ -0,0 +1,88 @@ +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 + } + } +} diff --git a/api2/sensor_handlers.go b/api2/sensor_handlers.go new file mode 100644 index 0000000..6cf1322 --- /dev/null +++ b/api2/sensor_handlers.go @@ -0,0 +1,180 @@ +package api2 + +import ( + "fmt" + "net/http" + "time" + + "hands/device" + + "github.com/gin-gonic/gin" +) + +// handleGetSensors 获取所有传感器数据 +func (s *Server) handleGetSensors(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 获取设备 + dev, 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 + } + + // 获取设备的传感器组件 + sensorComponents := dev.GetComponents(device.SensorComponent) + + sensors := make([]SensorDataResponse, 0, len(sensorComponents)) + + // 遍历所有传感器组件，读取数据 + for _, component := range sensorComponents { + sensorId := component.GetID() + + // 读取传感器数据 + sensorData, err := dev.ReadSensorData(sensorId) + if err != nil { + // 如果读取失败，创建一个错误状态的传感器数据 + sensors = append(sensors, SensorDataResponse{ + SensorID: sensorId, + Timestamp: time.Now(), + Values: map[string]any{ + "error": err.Error(), + "status": "error", + }, + }) + continue + } + + // 转换为响应格式 + sensorResponse := SensorDataResponse{ + SensorID: sensorData.SensorID(), + Timestamp: sensorData.Timestamp(), + Values: sensorData.Values(), + } + sensors = append(sensors, sensorResponse) + } + + response := SensorListResponse{ + Sensors: sensors, + Total: len(sensors), + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} + +// handleGetSensorData 获取特定传感器数据 +func (s *Server) handleGetSensorData(c *gin.Context) { + deviceId := c.Param("deviceId") + sensorId := c.Param("sensorId") + + // 获取设备 + dev, 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 + } + + // 验证传感器是否存在 + sensorComponents := dev.GetComponents(device.SensorComponent) + sensorExists := false + for _, component := range sensorComponents { + if component.GetID() == sensorId { + sensorExists = true + break + } + } + + if !sensorExists { + c.JSON(http.StatusNotFound, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("设备 %s 上不存在传感器 %s", deviceId, sensorId), + }) + return + } + + // 读取传感器数据 + sensorData, err := dev.ReadSensorData(sensorId) + if err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("读取传感器 %s 数据失败：%v", sensorId, err), + }) + return + } + + // 转换为响应格式 + response := SensorDataResponse{ + SensorID: sensorData.SensorID(), + Timestamp: sensorData.Timestamp(), + Values: sensorData.Values(), + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} + +// handleGetDeviceStatus 获取设备状态 +func (s *Server) handleGetDeviceStatus(c *gin.Context) { + deviceId := c.Param("deviceId") + + // 获取设备 + dev, 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 + } + + // 获取设备状态 + status, err := dev.GetStatus() + if err != nil { + c.JSON(http.StatusInternalServerError, ApiResponse{ + Status: "error", + Error: fmt.Sprintf("获取设备状态失败：%v", err), + }) + return + } + + // 获取动画引擎状态 + animEngine := dev.GetAnimationEngine() + animationStatus := map[string]any{ + "isRunning": animEngine.IsRunning(), + } + + // 获取传感器组件数量 + sensorComponents := dev.GetComponents(device.SensorComponent) + + // 构建详细的设备状态响应 + deviceInfo := DeviceInfo{ + ID: dev.GetID(), + Model: dev.GetModel(), + HandType: dev.GetHandType().String(), + Status: status, + } + + // 扩展状态信息 + extendedStatus := map[string]any{ + "device": deviceInfo, + "animation": animationStatus, + "sensorCount": len(sensorComponents), + "lastUpdate": status.LastUpdate, + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: extendedStatus, + }) +} diff --git a/api2/system_handlers.go b/api2/system_handlers.go new file mode 100644 index 0000000..db11d67 --- /dev/null +++ b/api2/system_handlers.go @@ -0,0 +1,114 @@ +package api2 + +import ( + "net/http" + "time" + + "hands/device" + + "github.com/gin-gonic/gin" +) + +// handleGetSupportedModels 获取支持的设备型号 +func (s *Server) handleGetSupportedModels(c *gin.Context) { + // 获取支持的设备型号列表 + models := device.GetSupportedModels() + + response := SupportedModelsResponse{ + Models: models, + Total: len(models), + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} + +// handleGetSystemStatus 获取系统状态 +func (s *Server) handleGetSystemStatus(c *gin.Context) { + // 获取所有设备 + devices := s.deviceManager.GetAllDevices() + + // 统计设备信息 + totalDevices := len(devices) + activeDevices := 0 + deviceInfos := make(map[string]DeviceInfo) + + for _, dev := range devices { + status, err := dev.GetStatus() + if err != nil { + // 如果获取状态失败，使用默认状态 + status = device.DeviceStatus{ + IsConnected: false, + IsActive: false, + ErrorCount: 1, + LastError: err.Error(), + } + } + + if status.IsActive { + activeDevices++ + } + + deviceInfo := DeviceInfo{ + ID: dev.GetID(), + Model: dev.GetModel(), + HandType: dev.GetHandType().String(), + Status: status, + } + deviceInfos[dev.GetID()] = deviceInfo + } + + // 获取支持的设备型号 + supportedModels := device.GetSupportedModels() + + // 计算系统运行时间 + uptime := time.Since(s.startTime) + + response := SystemStatusResponse{ + TotalDevices: totalDevices, + ActiveDevices: activeDevices, + SupportedModels: supportedModels, + Devices: deviceInfos, + Uptime: uptime, + } + + c.JSON(http.StatusOK, ApiResponse{ + Status: "success", + Data: response, + }) +} + +// handleHealthCheck 健康检查 +func (s *Server) handleHealthCheck(c *gin.Context) { + // 执行基本的健康检查 + status := "healthy" + + // 检查设备管理器是否正常 + if s.deviceManager == nil { + status = "unhealthy" + } + + // 可以添加更多健康检查逻辑，比如： + // - 检查关键服务是否可用 + // - 检查数据库连接 + // - 检查外部依赖 + + response := HealthResponse{ + Status: status, + Timestamp: time.Now(), + Version: s.version, + } + + // 根据健康状态返回相应的 HTTP 状态码 + httpStatus := http.StatusOK + if status != "healthy" { + httpStatus = http.StatusServiceUnavailable + } + + c.JSON(httpStatus, ApiResponse{ + Status: "success", + Data: response, + }) +} diff --git a/pkg/communication/communicator.go b/communication/communicator.go similarity index 100% rename from pkg/communication/communicator.go rename to communication/communicator.go diff --git a/pkg/component/pressure_sensor.go b/component/pressure_sensor.go similarity index 98% rename from pkg/component/pressure_sensor.go rename to component/pressure_sensor.go index 1c1d454..1c74a69 100644 --- a/pkg/component/pressure_sensor.go +++ b/component/pressure_sensor.go @@ -2,7 +2,7 @@ package component import ( "fmt" - "hands/pkg/device" + "hands/device" "math/rand/v2" "time" ) diff --git a/pkg/component/sensor.go b/component/sensor.go similarity index 97% rename from pkg/component/sensor.go rename to component/sensor.go index c684e19..66b9265 100644 --- a/pkg/component/sensor.go +++ b/component/sensor.go @@ -1,7 +1,7 @@ package component import ( - "hands/pkg/device" + "hands/device" "time" ) diff --git a/define/hands.go b/define/hands.go index 54cd472..04e3c8e 100644 --- a/define/hands.go +++ b/define/hands.go @@ -3,6 +3,25 @@ package define type HandType int const ( - HAND_TYPE_LEFT HandType = 0x28 - HAND_TYPE_RIGHT HandType = 0x27 + HAND_TYPE_LEFT HandType = 0x28 + HAND_TYPE_RIGHT HandType = 0x27 + HAND_TYPE_UNKNOWN HandType = 0x00 ) + +func (ht HandType) String() string { + if ht == HAND_TYPE_LEFT { + return "左手" + } + return "右手" +} + +func HandTypeFromString(s string) HandType { + switch s { + case "left": + return HAND_TYPE_LEFT + case "right": + return HAND_TYPE_RIGHT + default: + return HAND_TYPE_UNKNOWN + } +} diff --git a/device/animation.go b/device/animation.go new file mode 100644 index 0000000..1cf1718 --- /dev/null +++ b/device/animation.go @@ -0,0 +1,12 @@ +package device + +// Animation 定义了一个动画序列的行为 +type Animation interface { + // Run 执行动画的一个周期或直到被停止 + // executor: 用于执行姿态指令 + // stop: 接收停止信号的通道 + // speedMs: 动画执行的速度（毫秒） + Run(executor PoseExecutor, stop <-chan struct{}, speedMs int) error + // Name 返回动画的名称 + Name() string +} diff --git a/pkg/device/commands.go b/device/commands.go similarity index 100% rename from pkg/device/commands.go rename to device/commands.go diff --git a/pkg/device/device.go b/device/device.go similarity index 81% rename from pkg/device/device.go rename to device/device.go index 0a4d31c..2f9d54f 100644 --- a/pkg/device/device.go +++ b/device/device.go @@ -17,6 +17,15 @@ type Device interface { GetStatus() (DeviceStatus, error) // 获取设备状态 Connect() error // 连接设备 Disconnect() error // 断开设备连接 + + // --- 新增 --- + PoseExecutor // 嵌入 PoseExecutor 接口，Device 需实现它 + GetAnimationEngine() *AnimationEngine // 获取设备的动画引擎 + + // --- 预设姿势相关方法 --- + GetSupportedPresets() []string // 获取支持的预设姿势列表 + ExecutePreset(presetName string) error // 执行预设姿势 + GetPresetDescription(presetName string) string // 获取预设姿势描述 } // Command 代表一个发送给设备的指令 diff --git a/device/engine.go b/device/engine.go new file mode 100644 index 0000000..f96e2a8 --- /dev/null +++ b/device/engine.go @@ -0,0 +1,210 @@ +package device + +import ( + "fmt" + "log" + "sync" +) + +// defaultAnimationSpeedMs 定义默认动画速度（毫秒） +const defaultAnimationSpeedMs = 500 + +// AnimationEngine 管理和执行动画 +type AnimationEngine struct { + executor PoseExecutor // 关联的姿态执行器 + animations map[string]Animation // 注册的动画 + stopChan chan struct{} // 当前动画的停止通道 + current string // 当前运行的动画名称 + isRunning bool // 是否有动画在运行 + engineMutex sync.Mutex // 保护引擎状态 (isRunning, current, stopChan) + registerMutex sync.RWMutex // 保护动画注册表 (animations) +} + +// NewAnimationEngine 创建一个新的动画引擎 +func NewAnimationEngine(executor PoseExecutor) *AnimationEngine { + return &AnimationEngine{ + executor: executor, + animations: make(map[string]Animation), + } +} + +// Register 注册一个动画 +func (e *AnimationEngine) Register(anim Animation) { + e.registerMutex.Lock() + defer e.registerMutex.Unlock() + + if anim == nil { + log.Printf("⚠️ 尝试注册一个空动画") + return + } + + name := anim.Name() + if _, exists := e.animations[name]; exists { + log.Printf("⚠️ 动画 %s 已注册，将被覆盖", name) + } + e.animations[name] = anim + log.Printf("✅ 动画 %s 已注册", name) +} + +// getAnimation 安全地获取一个已注册的动画 +func (e *AnimationEngine) getAnimation(name string) (Animation, bool) { + e.registerMutex.RLock() + defer e.registerMutex.RUnlock() + anim, exists := e.animations[name] + return anim, exists +} + +// getDeviceName 尝试获取设备 ID 用于日志记录 +func (e *AnimationEngine) getDeviceName() string { + // 尝试通过接口断言获取 ID + if idProvider, ok := e.executor.(interface{ GetID() string }); ok { + return idProvider.GetID() + } + return "设备" // 默认名称 +} + +// Start 启动一个动画 +func (e *AnimationEngine) Start(name string, speedMs int) error { + e.engineMutex.Lock() + defer e.engineMutex.Unlock() // 确保在任何情况下都释放锁 + + anim, exists := e.getAnimation(name) + if !exists { + return fmt.Errorf("❌ 动画 %s 未注册", name) + } + + // 如果有动画在运行，先发送停止信号 + if e.isRunning { + log.Printf("ℹ️ 正在停止当前动画 %s 以启动 %s...", e.current, name) + close(e.stopChan) + // 注意：我们不在此处等待旧动画结束。 + // 新动画将立即启动，旧动画的 goroutine 在收到信号后会退出。 + // 其 defer 中的 `stopChan` 比较会确保它不会干扰新动画的状态。 + } + + // 设置新动画状态 + e.stopChan = make(chan struct{}) // 创建新的停止通道 + e.isRunning = true + e.current = name + + // 验证并设置速度 + actualSpeedMs := speedMs + if actualSpeedMs <= 0 { + actualSpeedMs = defaultAnimationSpeedMs + } + + log.Printf("🚀 准备启动动画 %s (设备: %s, 速度: %dms)", name, e.getDeviceName(), actualSpeedMs) + + // 启动动画 goroutine + go e.runAnimationLoop(anim, e.stopChan, actualSpeedMs) + + return nil +} + +// Stop 停止当前正在运行的动画 +func (e *AnimationEngine) Stop() error { + e.engineMutex.Lock() + defer e.engineMutex.Unlock() + + if !e.isRunning { + log.Printf("ℹ️ 当前没有动画在运行 (设备: %s)", e.getDeviceName()) + return nil + } + + log.Printf("⏳ 正在发送停止信号给动画 %s (设备: %s)...", e.current, e.getDeviceName()) + close(e.stopChan) // 发送停止信号 + e.isRunning = false // 立即标记为未运行，防止重复停止 + e.current = "" + // 动画的 goroutine 将在下一次检查通道时退出， + // 并在其 defer 块中执行最终的清理（包括 ResetPose）。 + + return nil +} + +// IsRunning 检查是否有动画在运行 +func (e *AnimationEngine) IsRunning() bool { + e.engineMutex.Lock() + defer e.engineMutex.Unlock() + return e.isRunning +} + +// GetRegisteredAnimations 获取已注册的动画名称列表 +func (e *AnimationEngine) GetRegisteredAnimations() []string { + e.registerMutex.RLock() + defer e.registerMutex.RUnlock() + + animations := make([]string, 0, len(e.animations)) + for name := range e.animations { + animations = append(animations, name) + } + return animations +} + +// GetCurrentAnimation 获取当前运行的动画名称 +func (e *AnimationEngine) GetCurrentAnimation() string { + e.engineMutex.Lock() + defer e.engineMutex.Unlock() + return e.current +} + +// runAnimationLoop 是动画执行的核心循环，在单独的 Goroutine 中运行。 +func (e *AnimationEngine) runAnimationLoop(anim Animation, stopChan <-chan struct{}, speedMs int) { + deviceName := e.getDeviceName() + animName := anim.Name() + + // 使用 defer 确保无论如何都能执行清理逻辑 + defer e.handleLoopExit(stopChan, deviceName, animName) + + log.Printf("▶️ %s 动画 %s 已启动", deviceName, animName) + + // 动画主循环 + for { + select { + case <-stopChan: + log.Printf("🛑 %s 动画 %s 被显式停止", deviceName, animName) + return // 接收到停止信号，退出循环 + default: + // 执行一轮动画 + err := anim.Run(e.executor, stopChan, speedMs) + if err != nil { + log.Printf("❌ %s 动画 %s 执行出错: %v", deviceName, animName, err) + return // 出错则退出 + } + + // 再次检查停止信号，防止 Run 结束后才收到信号 + select { + case <-stopChan: + log.Printf("🛑 %s 动画 %s 在周期结束时被停止", deviceName, animName) + return + default: + // 继续下一个循环 + } + } + } +} + +// handleLoopExit 是动画 Goroutine 退出时执行的清理函数。 +func (e *AnimationEngine) handleLoopExit(stopChan <-chan struct{}, deviceName, animName string) { + e.engineMutex.Lock() + defer e.engineMutex.Unlock() + + // --- 关键并发控制 --- + // 检查当前引擎的 stopChan 是否与此 Goroutine 启动时的 stopChan 相同。 + // 如果不相同，说明一个新的动画已经启动，并且接管了引擎状态。 + // 这种情况下，旧的 Goroutine 不应该修改引擎状态或重置姿态， + // 以避免干扰新动画。 + if stopChan == e.stopChan { + // 只有当自己仍然是"活跃"的动画时，才更新状态并重置姿态 + e.isRunning = false + e.current = "" + log.Printf("👋 %s 动画 %s 已完成或停止，正在重置姿态...", deviceName, animName) + if err := e.executor.ResetPose(); err != nil { + log.Printf("⚠️ %s 动画结束后重置姿态失败: %v", deviceName, err) + } else { + log.Printf("✅ %s 姿态已重置", deviceName) + } + } else { + // 如果 stopChan 不同，说明自己是旧的 Goroutine，只需安静退出 + log.Printf("ℹ️ 旧的 %s 动画 %s goroutine 退出，但新动画已启动，无需重置。", deviceName, animName) + } +} diff --git a/pkg/device/factory.go b/device/factory.go similarity index 100% rename from pkg/device/factory.go rename to device/factory.go diff --git a/pkg/device/manager.go b/device/manager.go similarity index 100% rename from pkg/device/manager.go rename to device/manager.go diff --git a/pkg/device/models/init.go b/device/models/init.go similarity index 80% rename from pkg/device/models/init.go rename to device/models/init.go index c3910c7..7bf9a3f 100644 --- a/pkg/device/models/init.go +++ b/device/models/init.go @@ -1,6 +1,6 @@ package models -import "hands/pkg/device" +import "hands/device" func init() { // 注册 L10 设备类型 diff --git a/device/models/l10.go b/device/models/l10.go new file mode 100644 index 0000000..671adc5 --- /dev/null +++ b/device/models/l10.go @@ -0,0 +1,380 @@ +package models + +import ( + "fmt" + "log" + "math/rand/v2" + "sync" + "time" + + "hands/communication" + "hands/component" + "hands/define" + "hands/device" +) + +// L10Hand L10 型号手部设备实现 +type L10Hand struct { + id string + model string + handType define.HandType + communicator communication.Communicator + components map[device.ComponentType][]device.Component + status device.DeviceStatus + mutex sync.RWMutex + canInterface string // CAN 接口名称，如 "can0" + animationEngine *device.AnimationEngine // 动画引擎 + presetManager *device.PresetManager // 预设姿势管理器 +} + +// 在 base 基础上进行 ±delta 的扰动，范围限制在 [0, 255] +func perturb(base byte, delta int) byte { + offset := rand.IntN(2*delta+1) - delta + v := int(base) + offset + if v < 0 { + v = 0 + } + if v > 255 { + v = 255 + } + return byte(v) +} + +// NewL10Hand 创建 L10 手部设备实例 +// 参数 config 是设备配置，包含以下字段： +// - id: 设备 ID +// - can_service_url: CAN 服务 URL +// - can_interface: CAN 接口名称，如 "can0" +// - hand_type: 手型，可选值为 "left" 或 "right"，默认值为 "right" +func NewL10Hand(config map[string]any) (device.Device, error) { + id, ok := config["id"].(string) + if !ok { + return nil, fmt.Errorf("缺少设备 ID 配置") + } + + serviceURL, ok := config["can_service_url"].(string) + if !ok { + return nil, fmt.Errorf("缺少 can 服务 URL 配置") + } + + canInterface, ok := config["can_interface"].(string) + if !ok { + canInterface = "can0" // 默认接口 + } + + handTypeStr, ok := config["hand_type"].(string) + handType := define.HAND_TYPE_RIGHT // 默认右手 + if ok && handTypeStr == "left" { + handType = define.HAND_TYPE_LEFT + } + + // 创建通信客户端 + comm := communication.NewCanBridgeClient(serviceURL) + + hand := &L10Hand{ + id: id, + model: "L10", + handType: handType, + communicator: comm, + components: make(map[device.ComponentType][]device.Component), + canInterface: canInterface, + status: device.DeviceStatus{ + IsConnected: false, + IsActive: false, + LastUpdate: time.Now(), + }, + } + + // 初始化动画引擎，将 hand 自身作为 PoseExecutor + hand.animationEngine = device.NewAnimationEngine(hand) + + // 注册默认动画 + hand.animationEngine.Register(NewL10WaveAnimation()) + hand.animationEngine.Register(NewL10SwayAnimation()) + + // 初始化预设姿势管理器 + hand.presetManager = device.NewPresetManager() + + // 注册 L10 的预设姿势 + for _, preset := range GetL10Presets() { + hand.presetManager.RegisterPreset(preset) + } + + // 初始化组件 + if err := hand.initializeComponents(config); err != nil { + return nil, fmt.Errorf("初始化组件失败：%w", err) + } + + log.Printf("✅ 设备 L10 (%s, %s) 创建成功", id, handType.String()) + return hand, nil +} + +// GetHandType 获取设备手型 +func (h *L10Hand) GetHandType() define.HandType { + h.mutex.RLock() + defer h.mutex.RUnlock() + return h.handType +} + +// SetHandType 设置设备手型 +func (h *L10Hand) SetHandType(handType define.HandType) error { + h.mutex.Lock() + defer h.mutex.Unlock() + if handType != define.HAND_TYPE_LEFT && handType != define.HAND_TYPE_RIGHT { + return fmt.Errorf("无效的手型：%d", handType) + } + h.handType = handType + log.Printf("🔧 设备 %s 手型已更新: %s", h.id, handType.String()) + return nil +} + +// GetAnimationEngine 获取动画引擎 +func (h *L10Hand) GetAnimationEngine() *device.AnimationEngine { + return h.animationEngine +} + +// SetFingerPose 设置手指姿态 (实现 PoseExecutor) +func (h *L10Hand) SetFingerPose(pose []byte) error { + if len(pose) != 6 { + return fmt.Errorf("无效的手指姿态数据长度，需要 6 个字节") + } + + // 添加随机扰动 + perturbedPose := make([]byte, len(pose)) + for i, v := range pose { + perturbedPose[i] = perturb(v, 5) + } + + // 创建指令 + cmd := device.NewFingerPoseCommand("all", perturbedPose) + + // 执行指令 + err := h.ExecuteCommand(cmd) + if err == nil { + log.Printf("✅ %s (%s) 手指动作已发送: [%X %X %X %X %X %X]", + h.id, h.GetHandType().String(), perturbedPose[0], perturbedPose[1], perturbedPose[2], + perturbedPose[3], perturbedPose[4], perturbedPose[5]) + } + return err +} + +// SetPalmPose 设置手掌姿态 (实现 PoseExecutor) +func (h *L10Hand) SetPalmPose(pose []byte) error { + if len(pose) != 4 { + return fmt.Errorf("无效的手掌姿态数据长度，需要 4 个字节") + } + + // 添加随机扰动 + perturbedPose := make([]byte, len(pose)) + for i, v := range pose { + perturbedPose[i] = perturb(v, 8) + } + + // 创建指令 + cmd := device.NewPalmPoseCommand(perturbedPose) + + // 执行指令 + err := h.ExecuteCommand(cmd) + if err == nil { + log.Printf("✅ %s (%s) 掌部姿态已发送: [%X %X %X %X]", + h.id, h.GetHandType().String(), perturbedPose[0], perturbedPose[1], perturbedPose[2], perturbedPose[3]) + } + return err +} + +// ResetPose 重置到默认姿态 (实现 PoseExecutor) +func (h *L10Hand) ResetPose() error { + log.Printf("🔄 正在重置设备 %s (%s) 到默认姿态...", h.id, h.GetHandType().String()) + defaultFingerPose := []byte{64, 64, 64, 64, 64, 64} // 0x40 - 半开 + defaultPalmPose := []byte{128, 128, 128, 128} // 0x80 - 居中 + + if err := h.SetFingerPose(defaultFingerPose); err != nil { + log.Printf("❌ %s 重置手指姿势失败: %v", h.id, err) + return err + } + time.Sleep(20 * time.Millisecond) // 短暂延时 + if err := h.SetPalmPose(defaultPalmPose); err != nil { + log.Printf("❌ %s 重置掌部姿势失败: %v", h.id, err) + return err + } + log.Printf("✅ 设备 %s 已重置到默认姿态", h.id) + return nil +} + +// commandToRawMessage 将通用指令转换为 L10 特定的 CAN 消息 +func (h *L10Hand) commandToRawMessage(cmd device.Command) (communication.RawMessage, error) { + h.mutex.RLock() + defer h.mutex.RUnlock() + + var data []byte + canID := uint32(h.handType) + + switch cmd.Type() { + case "SetFingerPose": + // 添加 0x01 前缀 + data = append([]byte{0x01}, cmd.Payload()...) + if len(data) > 8 { // CAN 消息数据长度限制 + return communication.RawMessage{}, fmt.Errorf("手指姿态数据过长") + } + case "SetPalmPose": + // 添加 0x04 前缀 + data = append([]byte{0x04}, cmd.Payload()...) + if len(data) > 8 { // CAN 消息数据长度限制 + return communication.RawMessage{}, fmt.Errorf("手掌姿态数据过长") + } + default: + return communication.RawMessage{}, fmt.Errorf("L10 不支持的指令类型: %s", cmd.Type()) + } + + return communication.RawMessage{ + Interface: h.canInterface, + ID: canID, + Data: data, + }, nil +} + +// ExecuteCommand 执行一个通用指令 +func (h *L10Hand) ExecuteCommand(cmd device.Command) error { + h.mutex.Lock() // 使用写锁，因为会更新状态 + defer h.mutex.Unlock() + + if !h.status.IsConnected || !h.status.IsActive { + return fmt.Errorf("设备 %s 未连接或未激活", h.id) + } + + // 转换指令为 CAN 消息 + rawMsg, err := h.commandToRawMessage(cmd) + if err != nil { + h.status.ErrorCount++ + h.status.LastError = err.Error() + return fmt.Errorf("转换指令失败：%w", err) + } + + // 发送到 can-bridge 服务 + if err := h.communicator.SendMessage(rawMsg); err != nil { + h.status.ErrorCount++ + h.status.LastError = err.Error() + 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) + return fmt.Errorf("发送指令失败：%w", err) + } + + h.status.LastUpdate = time.Now() + // 成功的日志记录移到 SetFingerPose 和 SetPalmPose 中，因为那里有更详细的信息 + return nil +} + +// --- 其他 L10Hand 方法 (initializeComponents, GetID, GetModel, ReadSensorData, etc.) 保持不变 --- +// --- 确保它们存在且与您上传的版本一致 --- + +func (h *L10Hand) initializeComponents(_ map[string]any) error { + // 初始化传感器组件 + sensors := []device.Component{ + component.NewPressureSensor("pressure_thumb", map[string]any{"location": "thumb"}), + component.NewPressureSensor("pressure_index", map[string]any{"location": "index"}), + component.NewPressureSensor("pressure_middle", map[string]any{"location": "middle"}), + component.NewPressureSensor("pressure_ring", map[string]any{"location": "ring"}), + component.NewPressureSensor("pressure_pinky", map[string]any{"location": "pinky"}), + } + h.components[device.SensorComponent] = sensors + return nil +} + +func (h *L10Hand) GetID() string { + return h.id +} + +func (h *L10Hand) GetModel() string { + return h.model +} + +func (h *L10Hand) ReadSensorData(sensorID string) (device.SensorData, error) { + h.mutex.RLock() + defer h.mutex.RUnlock() + + sensors := h.components[device.SensorComponent] + for _, comp := range sensors { + if comp.GetID() == sensorID { + if sensor, ok := comp.(component.Sensor); ok { + return sensor.ReadData() + } + } + } + return nil, fmt.Errorf("传感器 %s 不存在", sensorID) +} + +func (h *L10Hand) GetComponents(componentType device.ComponentType) []device.Component { + h.mutex.RLock() + defer h.mutex.RUnlock() + + if components, exists := h.components[componentType]; exists { + result := make([]device.Component, len(components)) + copy(result, components) + return result + } + return []device.Component{} +} + +func (h *L10Hand) GetStatus() (device.DeviceStatus, error) { + h.mutex.RLock() + defer h.mutex.RUnlock() + return h.status, nil +} + +func (h *L10Hand) Connect() error { + h.mutex.Lock() + defer h.mutex.Unlock() + + // TODO: 假设连接总是成功，除非有显式错误 + h.status.IsConnected = true + h.status.IsActive = true + h.status.LastUpdate = time.Now() + log.Printf("🔗 设备 %s 已连接", h.id) + return nil +} + +func (h *L10Hand) Disconnect() error { + h.mutex.Lock() + defer h.mutex.Unlock() + + h.status.IsConnected = false + h.status.IsActive = false + h.status.LastUpdate = time.Now() + log.Printf("🔌 设备 %s 已断开", h.id) + return nil +} + +// --- 预设姿势相关方法 --- + +// GetSupportedPresets 获取支持的预设姿势列表 +func (h *L10Hand) GetSupportedPresets() []string { return h.presetManager.GetSupportedPresets() } + +// ExecutePreset 执行预设姿势 +func (h *L10Hand) ExecutePreset(presetName string) error { + preset, exists := h.presetManager.GetPreset(presetName) + if !exists { + return fmt.Errorf("预设姿势 '%s' 不存在", presetName) + } + + log.Printf("🎯 设备 %s (%s) 执行预设姿势: %s", h.id, h.GetHandType().String(), presetName) + + // 执行手指姿态 + if err := h.SetFingerPose(preset.FingerPose); err != nil { + return fmt.Errorf("执行预设姿势 '%s' 的手指姿态失败: %w", presetName, err) + } + + // 如果有手掌姿态数据，也执行 + if len(preset.PalmPose) > 0 { + time.Sleep(20 * time.Millisecond) // 短暂延时 + if err := h.SetPalmPose(preset.PalmPose); err != nil { + return fmt.Errorf("执行预设姿势 '%s' 的手掌姿态失败: %w", presetName, err) + } + } + + log.Printf("✅ 设备 %s 预设姿势 '%s' 执行完成", h.id, presetName) + return nil +} + +// GetPresetDescription 获取预设姿势描述 +func (h *L10Hand) GetPresetDescription(presetName string) string { + return h.presetManager.GetPresetDescription(presetName) +} diff --git a/device/models/l10_animation.go b/device/models/l10_animation.go new file mode 100644 index 0000000..b4e8b56 --- /dev/null +++ b/device/models/l10_animation.go @@ -0,0 +1,125 @@ +package models + +import ( + "hands/device" + "log" + "time" +) + +// --- L10WaveAnimation --- + +// L10WaveAnimation 实现 L10 的波浪动画 +type L10WaveAnimation struct{} + +// NewL10WaveAnimation 创建 L10 波浪动画实例 +func NewL10WaveAnimation() *L10WaveAnimation { return &L10WaveAnimation{} } + +func (w *L10WaveAnimation) Name() string { return "wave" } + +func (w *L10WaveAnimation) Run(executor device.PoseExecutor, stop <-chan struct{}, speedMs int) error { + fingerOrder := []int{0, 1, 2, 3, 4, 5} + open := byte(64) // 0x40 + close := byte(192) // 0xC0 + delay := time.Duration(speedMs) * time.Millisecond + + deviceName := "L10" + + // 波浪张开 + for _, idx := range fingerOrder { + pose := make([]byte, 6) + for j := 0; j < 6; j++ { + if j == idx { + pose[j] = open + } else { + pose[j] = close + } + } + + if err := executor.SetFingerPose(pose); err != nil { + log.Printf("❌ %s 动画 %s 发送失败: %v", deviceName, w.Name(), err) + return err + } + + select { + case <-stop: + return nil // 动画被停止 + case <-time.After(delay): + // 继续 + } + } + + // 波浪握拳 + for _, idx := range fingerOrder { + pose := make([]byte, 6) + for j := 0; j < 6; j++ { + if j == idx { + pose[j] = close + } else { + pose[j] = open + } + } + + if err := executor.SetFingerPose(pose); err != nil { + log.Printf("❌ %s 动画 %s 发送失败: %v", deviceName, w.Name(), err) + return err + } + + select { + case <-stop: + return nil // 动画被停止 + case <-time.After(delay): + // 继续 + } + } + + return nil // 完成一个周期 +} + +// --- L10SwayAnimation --- + +// L10SwayAnimation 实现 L10 的横向摆动动画 +type L10SwayAnimation struct{} + +// NewL10SwayAnimation 创建 L10 摆动动画实例 +func NewL10SwayAnimation() *L10SwayAnimation { return &L10SwayAnimation{} } + +func (s *L10SwayAnimation) Name() string { return "sway" } + +func (s *L10SwayAnimation) Run(executor device.PoseExecutor, stop <-chan struct{}, speedMs int) error { + leftPose := []byte{48, 48, 48, 48} // 0x30 + rightPose := []byte{208, 208, 208, 208} // 0xD0 + delay := time.Duration(speedMs) * time.Millisecond + + deviceName := "L10" + if idProvider, ok := executor.(interface{ GetID() string }); ok { + deviceName = idProvider.GetID() + } + + // 向左移动 + if err := executor.SetPalmPose(leftPose); err != nil { + log.Printf("❌ %s 动画 %s 发送失败: %v", deviceName, s.Name(), err) + return err + } + + select { + case <-stop: + return nil // 动画被停止 + case <-time.After(delay): + // 继续 + } + + // 向右移动 + if err := executor.SetPalmPose(rightPose); err != nil { + log.Printf("❌ %s 动画 %s 发送失败: %v", deviceName, s.Name(), err) + return err + } + + select { + case <-stop: + return nil // 动画被停止 + case <-time.After(delay): + // 继续 + } + + return nil // 完成一个周期 +} diff --git a/device/models/l10_presets.go b/device/models/l10_presets.go new file mode 100644 index 0000000..f8237be --- /dev/null +++ b/device/models/l10_presets.go @@ -0,0 +1,82 @@ +package models + +import "hands/device" + +// GetL10Presets 获取 L10 设备的所有预设姿势 +func GetL10Presets() []device.PresetPose { + return []device.PresetPose{ + // 基础姿势 + { + Name: "fist", + Description: "握拳姿势", + FingerPose: []byte{64, 64, 64, 64, 64, 64}, + }, + { + Name: "open", + Description: "完全张开姿势", + FingerPose: []byte{192, 192, 192, 192, 192, 192}, + }, + { + Name: "pinch", + Description: "捏取姿势", + FingerPose: []byte{120, 120, 64, 64, 64, 64}, + }, + { + Name: "thumbsup", + Description: "竖起大拇指姿势", + FingerPose: []byte{64, 192, 192, 192, 192, 64}, + }, + { + Name: "point", + Description: "食指指点姿势", + FingerPose: []byte{192, 64, 192, 192, 192, 64}, + }, + + // 数字手势 + { + Name: "1", + Description: "数字 1 手势", + FingerPose: []byte{192, 64, 192, 192, 192, 64}, + }, + { + Name: "2", + Description: "数字 2 手势", + FingerPose: []byte{192, 64, 64, 192, 192, 64}, + }, + { + Name: "3", + Description: "数字 3 手势", + FingerPose: []byte{192, 64, 64, 64, 192, 64}, + }, + { + Name: "4", + Description: "数字 4 手势", + FingerPose: []byte{192, 64, 64, 64, 64, 64}, + }, + { + Name: "5", + Description: "数字 5 手势", + FingerPose: []byte{192, 192, 192, 192, 192, 192}, + }, + { + Name: "6", + Description: "数字 6 手势", + FingerPose: []byte{64, 192, 192, 192, 192, 64}, + }, + { + Name: "7", + Description: "数字 7 手势", + FingerPose: []byte{64, 64, 192, 192, 192, 64}, + }, + { + Name: "8", + Description: "数字 8 手势", + FingerPose: []byte{64, 64, 64, 192, 192, 64}, + }, + { + Name: "9", + Description: "数字 9 手势", + FingerPose: []byte{64, 64, 64, 64, 192, 64}, + }, + } +} diff --git a/device/pose_executor.go b/device/pose_executor.go new file mode 100644 index 0000000..eb79dcb --- /dev/null +++ b/device/pose_executor.go @@ -0,0 +1,20 @@ +package device + +import "hands/define" + +// PoseExecutor 定义了执行基本姿态指令的能力 +type PoseExecutor interface { + // SetFingerPose 设置手指姿态 + // pose: 6 字节数据，代表 6 个手指的位置 + SetFingerPose(pose []byte) error + + // SetPalmPose 设置手掌姿态 + // pose: 4 字节数据，代表手掌的 4 个自由度 + SetPalmPose(pose []byte) error + + // ResetPose 重置到默认姿态 + ResetPose() error + + // GetHandType 获取当前手型 + GetHandType() define.HandType +} diff --git a/device/preset.go b/device/preset.go new file mode 100644 index 0000000..4931a39 --- /dev/null +++ b/device/preset.go @@ -0,0 +1,45 @@ +package device + +// PresetPose 定义预设姿势的结构 +type PresetPose struct { + Name string // 姿势名称 + Description string // 姿势描述 + FingerPose []byte // 手指姿态数据 + PalmPose []byte // 手掌姿态数据（可选） +} + +// PresetManager 预设姿势管理器 +type PresetManager struct{ presets map[string]PresetPose } + +// NewPresetManager 创建新的预设姿势管理器 +func NewPresetManager() *PresetManager { + return &PresetManager{ + presets: make(map[string]PresetPose), + } +} + +// RegisterPreset 注册一个预设姿势 +func (pm *PresetManager) RegisterPreset(preset PresetPose) { pm.presets[preset.Name] = preset } + +// GetPreset 获取指定名称的预设姿势 +func (pm *PresetManager) GetPreset(name string) (PresetPose, bool) { + preset, exists := pm.presets[name] + return preset, exists +} + +// GetSupportedPresets 获取所有支持的预设姿势名称列表 +func (pm *PresetManager) GetSupportedPresets() []string { + presets := make([]string, 0, len(pm.presets)) + for name := range pm.presets { + presets = append(presets, name) + } + return presets +} + +// GetPresetDescription 获取预设姿势的描述 +func (pm *PresetManager) GetPresetDescription(name string) string { + if preset, exists := pm.presets[name]; exists { + return preset.Description + } + return "" +} diff --git a/hands/animation.go b/hands/animation.go deleted file mode 100644 index 27500a4..0000000 --- a/hands/animation.go +++ /dev/null @@ -1,268 +0,0 @@ -package hands - -import ( - "hands/config" - "log" - "sync" - "time" -) - -var ( - AnimationActive map[string]bool // 每个接口的动画状态 - AnimationMutex sync.Mutex - StopAnimationMap map[string]chan struct{} // 每个接口的停止动画通道 -) - -func initAnimation() { - // 初始化动画状态映射 - AnimationActive = make(map[string]bool) - StopAnimationMap = make(map[string]chan struct{}) - for _, ifName := range config.Config.AvailableInterfaces { - AnimationActive[ifName] = false - StopAnimationMap[ifName] = make(chan struct{}, 1) - } -} - -// 执行波浪动画 - 支持手型参数 -func StartWaveAnimation(ifName string, speed int, handType string, handId uint32) { - if speed <= 0 { - speed = 500 // 默认速度 - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("❌ 无法启动波浪动画: 无效的接口 %s", ifName) - return - } - - AnimationMutex.Lock() - - // 如果已经有动画在运行，先停止它 - if AnimationActive[ifName] { - select { - case StopAnimationMap[ifName] <- struct{}{}: - // 发送成功 - default: - // 通道已满，无需发送 - } - - StopAnimationMap[ifName] = make(chan struct{}, 1) - } - - AnimationActive[ifName] = true - AnimationMutex.Unlock() - - currentStopChannel := StopAnimationMap[ifName] - - go func() { - defer func() { - AnimationMutex.Lock() - AnimationActive[ifName] = false - AnimationMutex.Unlock() - log.Printf("👋 %s 波浪动画已完成", ifName) - }() - - fingerOrder := []int{0, 1, 2, 3, 4, 5} - open := byte(64) // 0x40 - close := byte(192) // 0xC0 - - log.Printf("🚀 开始 %s 波浪动画", ifName) - - // 动画循环 - for { - select { - case <-currentStopChannel: - log.Printf("🛑 %s 波浪动画被用户停止", ifName) - return - default: - // 波浪张开 - for _, idx := range fingerOrder { - pose := make([]byte, 6) - for j := 0; j < 6; j++ { - if j == idx { - pose[j] = open - } else { - pose[j] = close - } - } - - if err := SendFingerPose(ifName, pose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - delay := time.Duration(speed) * time.Millisecond - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 波浪动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - } - - // 波浪握拳 - for _, idx := range fingerOrder { - pose := make([]byte, 6) - for j := 0; j < 6; j++ { - if j == idx { - pose[j] = close - } else { - pose[j] = open - } - } - - if err := SendFingerPose(ifName, pose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - delay := time.Duration(speed) * time.Millisecond - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 波浪动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - } - } - } - }() -} - -// 执行横向摆动动画 - 支持手型参数 -func StartSwayAnimation(ifName string, speed int, handType string, handId uint32) { - if speed <= 0 { - speed = 500 // 默认速度 - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("❌ 无法启动摆动动画: 无效的接口 %s", ifName) - return - } - - AnimationMutex.Lock() - - if AnimationActive[ifName] { - select { - case StopAnimationMap[ifName] <- struct{}{}: - // 发送成功 - default: - // 通道已满，无需发送 - } - - StopAnimationMap[ifName] = make(chan struct{}, 1) - } - - AnimationActive[ifName] = true - AnimationMutex.Unlock() - - currentStopChannel := StopAnimationMap[ifName] - - go func() { - defer func() { - AnimationMutex.Lock() - AnimationActive[ifName] = false - AnimationMutex.Unlock() - log.Printf("🔄 %s 横向摆动动画已完成", ifName) - }() - - leftPose := []byte{48, 48, 48, 48} // 0x30 - rightPose := []byte{208, 208, 208, 208} // 0xD0 - - log.Printf("🚀 开始 %s 横向摆动动画", ifName) - - // 动画循环 - for { - select { - case <-currentStopChannel: - log.Printf("🛑 %s 横向摆动动画被用户停止", ifName) - return - default: - // 向左移动 - if err := SendPalmPose(ifName, leftPose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - delay := time.Duration(speed) * time.Millisecond - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 横向摆动动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - - // 向右移动 - if err := SendPalmPose(ifName, rightPose, handType, handId); err != nil { - log.Printf("%s 动画发送失败: %v", ifName, err) - return - } - - select { - case <-currentStopChannel: - log.Printf("🛑 %s 横向摆动动画被用户停止", ifName) - return - case <-time.After(delay): - // 继续执行 - } - } - } - }() -} - -// 停止所有动画 -func StopAllAnimations(ifName string) { - // 如果未指定接口，停止所有接口的动画 - if ifName == "" { - for _, validIface := range config.Config.AvailableInterfaces { - StopAllAnimations(validIface) - } - return - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("⚠️ 尝试停止无效接口的动画: %s", ifName) - return - } - - AnimationMutex.Lock() - defer AnimationMutex.Unlock() - - if AnimationActive[ifName] { - select { - case StopAnimationMap[ifName] <- struct{}{}: - log.Printf("✅ 已发送停止 %s 动画信号", ifName) - default: - StopAnimationMap[ifName] = make(chan struct{}, 1) - StopAnimationMap[ifName] <- struct{}{} - log.Printf("⚠️ %s 通道重置后发送了停止信号", ifName) - } - - AnimationActive[ifName] = false - - go func() { - time.Sleep(100 * time.Millisecond) - resetToDefaultPose(ifName) - }() - } else { - log.Printf("ℹ️ %s 当前没有运行中的动画", ifName) - } -} diff --git a/hands/can.go b/hands/can.go deleted file mode 100644 index 15e3baf..0000000 --- a/hands/can.go +++ /dev/null @@ -1,95 +0,0 @@ -package hands - -import ( - "bytes" - "encoding/json" - "fmt" - "hands/config" - "hands/define" - "log" - "net/http" -) - -type CanMessage struct { - Interface string `json:"interface"` - ID uint32 `json:"id"` - Data []byte `json:"data"` -} - -// 检查 CAN 服务状态 -func CheckCanServiceStatus() map[string]bool { - resp, err := http.Get(config.Config.CanServiceURL + "/api/status") - if err != nil { - log.Printf("❌ CAN 服务状态检查失败: %v", err) - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - return result - } - defer resp.Body.Close() - - if resp.StatusCode != http.StatusOK { - log.Printf("❌ CAN 服务返回非正常状态：%d", resp.StatusCode) - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - return result - } - - var statusResp define.ApiResponse - if err := json.NewDecoder(resp.Body).Decode(&statusResp); err != nil { - log.Printf("❌ 解析 CAN 服务状态失败: %v", err) - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - return result - } - - // 检查状态数据 - result := make(map[string]bool) - for _, ifName := range config.Config.AvailableInterfaces { - result[ifName] = false - } - - // 从响应中获取各接口状态 - if statusData, ok := statusResp.Data.(map[string]interface{}); ok { - if interfaces, ok := statusData["interfaces"].(map[string]interface{}); ok { - for ifName, ifStatus := range interfaces { - if status, ok := ifStatus.(map[string]interface{}); ok { - if active, ok := status["active"].(bool); ok { - result[ifName] = active - } - } - } - } - } - - return result -} - -// 发送请求到 CAN 服务 -func sendToCanService(msg CanMessage) error { - jsonData, err := json.Marshal(msg) - if err != nil { - return fmt.Errorf("JSON 编码错误: %v", err) - } - - resp, err := http.Post(config.Config.CanServiceURL+"/api/can", "application/json", bytes.NewBuffer(jsonData)) - if err != nil { - return fmt.Errorf("CAN 服务请求失败: %v", err) - } - defer resp.Body.Close() - - if resp.StatusCode != http.StatusOK { - var errResp define.ApiResponse - if err := json.NewDecoder(resp.Body).Decode(&errResp); err != nil { - return fmt.Errorf("CAN 服务返回错误：HTTP %d", resp.StatusCode) - } - return fmt.Errorf("CAN 服务返回错误: %s", errResp.Error) - } - - return nil -} diff --git a/hands/hands.go b/hands/hands.go deleted file mode 100644 index 363f86e..0000000 --- a/hands/hands.go +++ /dev/null @@ -1,241 +0,0 @@ -package hands - -import ( - "fmt" - "hands/config" - "hands/define" - "log" - "math/rand/v2" - "strings" - "sync" - "time" -) - -// 手型配置结构体 -type HandConfig struct { - HandType string `json:"handType"` - HandId uint32 `json:"handId"` -} - -var ( - HandConfigMutex sync.RWMutex - HandConfigs map[string]*HandConfig // 每个接口的手型配置 -) - -func Init() { - initSensorData() - initAnimation() - initHands() -} - -func initHands() { - HandConfigs = make(map[string]*HandConfig) -} - -func SetHandConfig(ifName, handType string, handId uint32) { - HandConfigMutex.Lock() - defer HandConfigMutex.Unlock() - - HandConfigs[ifName] = &HandConfig{ - HandType: handType, - HandId: handId, - } - - log.Printf("🔧 接口 %s 手型配置已更新: %s (0x%X)", ifName, handType, handId) -} - -func GetHandConfig(ifName string) *HandConfig { - HandConfigMutex.RLock() - if handConfig, exists := HandConfigs[ifName]; exists { - HandConfigMutex.RUnlock() - return handConfig - } - HandConfigMutex.RUnlock() - - // 创建默认配置 - HandConfigMutex.Lock() - defer HandConfigMutex.Unlock() - - // 再次检查（双重检查锁定） - if handConfig, exists := HandConfigs[ifName]; exists { - return handConfig - } - - // 创建默认配置（右手） - HandConfigs[ifName] = &HandConfig{ - HandType: "right", - HandId: uint32(define.HAND_TYPE_RIGHT), - } - - log.Printf("🆕 为接口 %s 创建默认手型配置: 右手 (0x%X)", ifName, define.HAND_TYPE_RIGHT) - return HandConfigs[ifName] -} - -// 解析手型参数 -func ParseHandType(handType string, handId uint32, ifName string) uint32 { - // 如果提供了有效的 handId，直接使用 - if handId != 0 { - return handId - } - - // 根据 handType 字符串确定 ID - switch strings.ToLower(handType) { - case "left": - return uint32(define.HAND_TYPE_LEFT) - case "right": - return uint32(define.HAND_TYPE_RIGHT) - default: - // 使用接口的配置 - handConfig := GetHandConfig(ifName) - return handConfig.HandId - } -} - -// 发送手指姿态指令 - 支持手型参数 -func SendFingerPose(ifName string, pose []byte, handType string, handId uint32) error { - if len(pose) != 6 { - return fmt.Errorf("无效的姿态数据长度，需要 6 个字节") - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - return fmt.Errorf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces) - } - - // 解析手型 ID - canId := ParseHandType(handType, handId, ifName) - - // 添加随机扰动 - perturbedPose := make([]byte, len(pose)) - for i, v := range pose { - perturbedPose[i] = perturb(v, 5) - } - - // 构造 CAN 消息 - msg := CanMessage{ - Interface: ifName, - ID: canId, // 使用动态的手型 ID - Data: append([]byte{0x01}, perturbedPose...), - } - - err := sendToCanService(msg) - if err == nil { - handTypeName := "右手" - if canId == uint32(define.HAND_TYPE_LEFT) { - handTypeName = "左手" - } - log.Printf("✅ %s (%s, 0x%X) 手指动作已发送: [%X %X %X %X %X %X]", - ifName, handTypeName, canId, perturbedPose[0], perturbedPose[1], perturbedPose[2], - perturbedPose[3], perturbedPose[4], perturbedPose[5]) - } else { - log.Printf("❌ %s 手指控制发送失败: %v", ifName, err) - } - - return err -} - -// 在 base 基础上进行 ±delta 的扰动，范围限制在 [0, 255] -func perturb(base byte, delta int) byte { - offset := rand.IntN(2*delta+1) - delta - v := int(base) + offset - if v < 0 { - v = 0 - } - if v > 255 { - v = 255 - } - return byte(v) -} - -// 发送掌部姿态指令 - 支持手型参数 -func SendPalmPose(ifName string, pose []byte, handType string, handId uint32) error { - if len(pose) != 4 { - return fmt.Errorf("无效的姿态数据长度，需要 4 个字节") - } - - // 如果未指定接口，使用默认接口 - if ifName == "" { - ifName = config.Config.DefaultInterface - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - return fmt.Errorf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces) - } - - // 解析手型 ID - canId := ParseHandType(handType, handId, ifName) - - // 添加随机扰动 - perturbedPose := make([]byte, len(pose)) - for i, v := range pose { - perturbedPose[i] = perturb(v, 8) - } - - // 构造 CAN 消息 - msg := CanMessage{ - Interface: ifName, - ID: canId, // 使用动态的手型 ID - Data: append([]byte{0x04}, perturbedPose...), - } - - err := sendToCanService(msg) - if err == nil { - handTypeName := "右手" - if canId == uint32(define.HAND_TYPE_LEFT) { - handTypeName = "左手" - } - log.Printf("✅ %s (%s, 0x%X) 掌部姿态已发送: [%X %X %X %X]", - ifName, handTypeName, canId, perturbedPose[0], perturbedPose[1], perturbedPose[2], perturbedPose[3]) - - // 更新传感器数据中的掌部位置 - SensorMutex.Lock() - if sensorData, exists := SensorDataMap[ifName]; exists { - copy(sensorData.PalmPosition, perturbedPose) - sensorData.LastUpdate = time.Now() - } - SensorMutex.Unlock() - } else { - log.Printf("❌ %s 掌部控制发送失败: %v", ifName, err) - } - - return err -} - -// 重置到默认姿势 -func resetToDefaultPose(ifName string) { - // 如果未指定接口，重置所有接口 - if ifName == "" { - for _, validIface := range config.Config.AvailableInterfaces { - resetToDefaultPose(validIface) - } - return - } - - // 验证接口 - if !config.IsValidInterface(ifName) { - log.Printf("⚠️ 尝试重置无效接口: %s", ifName) - return - } - - defaultFingerPose := []byte{64, 64, 64, 64, 64, 64} - defaultPalmPose := []byte{128, 128, 128, 128} - - // 获取当前接口的手型配置 - handConfig := GetHandConfig(ifName) - - if err := SendFingerPose(ifName, defaultFingerPose, handConfig.HandType, handConfig.HandId); err != nil { - log.Printf("%s 重置手指姿势失败: %v", ifName, err) - } - - if err := SendPalmPose(ifName, defaultPalmPose, handConfig.HandType, handConfig.HandId); err != nil { - log.Printf("%s 重置掌部姿势失败: %v", ifName, err) - } - - log.Printf("✅ 已重置 %s 到默认姿势", ifName) -} diff --git a/hands/sensor.go b/hands/sensor.go deleted file mode 100644 index a8185d7..0000000 --- a/hands/sensor.go +++ /dev/null @@ -1,65 +0,0 @@ -package hands - -import ( - "hands/config" - "math/rand/v2" - "sync" - "time" -) - -// 传感器数据结构体 -type SensorData struct { - Interface string `json:"interface"` - Thumb int `json:"thumb"` - Index int `json:"index"` - Middle int `json:"middle"` - Ring int `json:"ring"` - Pinky int `json:"pinky"` - PalmPosition []byte `json:"palmPosition"` - LastUpdate time.Time `json:"lastUpdate"` -} - -var ( - SensorDataMap map[string]*SensorData // 每个接口的传感器数据 - SensorMutex sync.RWMutex -) - -func initSensorData() { - // 初始化传感器数据映射 - SensorDataMap = make(map[string]*SensorData) - for _, ifName := range config.Config.AvailableInterfaces { - SensorDataMap[ifName] = &SensorData{ - Interface: ifName, - Thumb: 0, - Index: 0, - Middle: 0, - Ring: 0, - Pinky: 0, - PalmPosition: []byte{128, 128, 128, 128}, - LastUpdate: time.Now(), - } - } -} - -// 读取传感器数据 (模拟) -func ReadSensorData() { - go func() { - for { - SensorMutex.Lock() - // 为每个接口模拟压力数据 (0-100) - for _, ifName := range config.Config.AvailableInterfaces { - if sensorData, exists := SensorDataMap[ifName]; exists { - sensorData.Thumb = rand.IntN(101) - sensorData.Index = rand.IntN(101) - sensorData.Middle = rand.IntN(101) - sensorData.Ring = rand.IntN(101) - sensorData.Pinky = rand.IntN(101) - sensorData.LastUpdate = time.Now() - } - } - SensorMutex.Unlock() - - time.Sleep(500 * time.Millisecond) - } - }() -} diff --git a/main.go b/main.go index 1f6c93e..fb5e036 100644 --- a/main.go +++ b/main.go @@ -5,7 +5,6 @@ import ( "hands/api" "hands/cli" "hands/config" - "hands/hands" "log" "os" "time" @@ -22,9 +21,6 @@ func initService() { log.Printf(" - 可用接口: %v", config.Config.AvailableInterfaces) log.Printf(" - 默认接口: %s", config.Config.DefaultInterface) - // 初始化手型配置映射 - hands.Init() - log.Println("✅ 控制服务初始化完成") } @@ -82,9 +78,6 @@ func main() { // 初始化服务 initService() - // 启动传感器数据模拟 - hands.ReadSensorData() - // 设置 Gin 模式 gin.SetMode(gin.ReleaseMode) diff --git a/pkg/device/models/l10.go b/pkg/device/models/l10.go deleted file mode 100644 index 1711d58..0000000 --- a/pkg/device/models/l10.go +++ /dev/null @@ -1,240 +0,0 @@ -package models - -import ( - "fmt" - "sync" - "time" - - "hands/define" - "hands/pkg/communication" - "hands/pkg/component" - "hands/pkg/device" -) - -// L10Hand L10 型号手部设备实现 -type L10Hand struct { - id string - model string - handType define.HandType - communicator communication.Communicator - components map[device.ComponentType][]device.Component - status device.DeviceStatus - mutex sync.RWMutex - canInterface string // CAN 接口名称，如 "can0" -} - -// NewL10Hand 创建 L10 手部设备实例 -func NewL10Hand(config map[string]any) (device.Device, error) { - id, ok := config["id"].(string) - if !ok { - return nil, fmt.Errorf("缺少设备 ID 配置") - } - - serviceURL, ok := config["can_service_url"].(string) - if !ok { - return nil, fmt.Errorf("缺少 can 服务 URL 配置") - } - - canInterface, ok := config["can_interface"].(string) - if !ok { - canInterface = "can0" // 默认接口 - } - - handType, ok := config["hand_type"].(define.HandType) - if !ok { - handType = define.HAND_TYPE_LEFT - } - - // 创建通信客户端 - comm := communication.NewCanBridgeClient(serviceURL) - - hand := &L10Hand{ - id: id, - model: "L10", - handType: handType, - communicator: comm, - components: make(map[device.ComponentType][]device.Component), - canInterface: canInterface, - status: device.DeviceStatus{ - IsConnected: false, - IsActive: false, - LastUpdate: time.Now(), - }, - } - - // 初始化组件 - if err := hand.initializeComponents(config); err != nil { - return nil, fmt.Errorf("初始化组件失败：%w", err) - } - - return hand, nil -} - -func (h *L10Hand) GetHandType() define.HandType { - return h.handType -} - -func (h *L10Hand) SetHandType(handType define.HandType) error { - h.handType = handType - return nil -} - -func (h *L10Hand) initializeComponents(_ map[string]any) error { - // 初始化传感器组件 - sensors := []device.Component{ - component.NewPressureSensor("pressure_thumb", map[string]any{"location": "thumb"}), - component.NewPressureSensor("pressure_index", map[string]any{"location": "index"}), - component.NewPressureSensor("pressure_middle", map[string]any{"location": "middle"}), - component.NewPressureSensor("pressure_ring", map[string]any{"location": "ring"}), - component.NewPressureSensor("pressure_pinky", map[string]any{"location": "pinky"}), - } - h.components[device.SensorComponent] = sensors - - return nil -} - -func (h *L10Hand) GetID() string { - return h.id -} - -func (h *L10Hand) GetModel() string { - return h.model -} - -func (h *L10Hand) ExecuteCommand(cmd device.Command) error { - h.mutex.Lock() - defer h.mutex.Unlock() - - // 将通用指令转换为 L10 特定的 CAN 消息 - rawMsg, err := h.commandToRawMessage(cmd) - if err != nil { - return fmt.Errorf("转换指令失败：%w", err) - } - - // 发送到 can-bridge 服务 - if err := h.communicator.SendMessage(rawMsg); err != nil { - h.status.ErrorCount++ - h.status.LastError = err.Error() - return fmt.Errorf("发送指令失败：%w", err) - } - - h.status.LastUpdate = time.Now() - return nil -} - -func (h *L10Hand) commandToRawMessage(cmd device.Command) (communication.RawMessage, error) { - var canID uint32 - var data []byte - - switch cmd.Type() { - case "SetFingerPose": - // 根据目标组件确定 CAN ID - canID = h.getFingerCanID(cmd.TargetComponent()) - data = cmd.Payload() - case "SetPalmPose": - canID = h.getPalmCanID() - data = cmd.Payload() - default: - return communication.RawMessage{}, fmt.Errorf("不支持的指令类型: %s", cmd.Type()) - } - - return communication.RawMessage{ - Interface: h.canInterface, - ID: canID, - Data: data, - }, nil -} - -func (h *L10Hand) getFingerCanID(targetComponent string) uint32 { - // L10 设备的手指 CAN ID 映射 - fingerIDs := map[string]uint32{ - "finger_thumb": 0x100, - "finger_index": 0x101, - "finger_middle": 0x102, - "finger_ring": 0x103, - "finger_pinky": 0x104, - } - - if id, exists := fingerIDs[targetComponent]; exists { - return id - } - return 0x100 // 默认拇指 -} - -func (h *L10Hand) getPalmCanID() uint32 { - return 0x200 // L10 设备的手掌 CAN ID -} - -func (h *L10Hand) ReadSensorData(sensorID string) (device.SensorData, error) { - h.mutex.RLock() - defer h.mutex.RUnlock() - - // 查找传感器组件 - sensors := h.components[device.SensorComponent] - for _, comp := range sensors { - if comp.GetID() == sensorID { - if sensor, ok := comp.(component.Sensor); ok { - return sensor.ReadData() - } - } - } - - return nil, fmt.Errorf("传感器 %s 不存在", sensorID) -} - -func (h *L10Hand) GetComponents(componentType device.ComponentType) []device.Component { - h.mutex.RLock() - defer h.mutex.RUnlock() - - if components, exists := h.components[componentType]; exists { - result := make([]device.Component, len(components)) - copy(result, components) - return result - } - - return []device.Component{} -} - -func (h *L10Hand) GetStatus() (device.DeviceStatus, error) { - h.mutex.RLock() - defer h.mutex.RUnlock() - - return h.status, nil -} - -func (h *L10Hand) Connect() error { - h.mutex.Lock() - defer h.mutex.Unlock() - - // 检查与 can-bridge 服务的连接 - if !h.communicator.IsConnected() { - return fmt.Errorf("无法连接到 can-bridge 服务") - } - - // 检查 CAN 接口状态 - isActive, err := h.communicator.GetInterfaceStatus(h.canInterface) - if err != nil { - return fmt.Errorf("检查 CAN 接口状态失败：%w", err) - } - - if !isActive { - return fmt.Errorf("CAN接口 %s 未激活", h.canInterface) - } - - h.status.IsConnected = true - h.status.IsActive = true - h.status.LastUpdate = time.Now() - - return nil -} - -func (h *L10Hand) Disconnect() error { - h.mutex.Lock() - defer h.mutex.Unlock() - - h.status.IsConnected = false - h.status.IsActive = false - h.status.LastUpdate = time.Now() - - return nil -}