feat: add legacy router and models

api/legacy/models.go

@@ -0,0 +1,33 @@
+package legacy
+
+// FingerPoseRequest 手指姿态设置请求
+type FingerPoseRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Pose      []byte `json:"pose" binding:"required,len=6"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+// PalmPoseRequest 掌部姿态设置请求
+type PalmPoseRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Pose      []byte `json:"pose" binding:"required,len=4"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+// AnimationRequest 动画控制请求
+type AnimationRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Type      string `json:"type" binding:"required,oneof=wave sway stop"`
+	Speed     int    `json:"speed" binding:"min=0,max=2000"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+// HandTypeRequest 手型设置请求
+type HandTypeRequest struct {
+	Interface string `json:"interface" binding:"required"`
+	HandType  string `json:"handType" binding:"required,oneof=left right"`
+	HandId    uint32 `json:"handId" binding:"required"`
+}

api/legacy/router.go

@@ -0,0 +1,64 @@
+package legacy
+
+import (
+	"time"
+
+	"hands/device"
+
+	"github.com/gin-gonic/gin"
+)
+
+type LegacyServer struct {
+	mapper    *InterfaceDeviceMapper
+	startTime time.Time
+}
+
+// NewLegacyServer 创建新的兼容层 API 服务器实例
+func NewLegacyServer(deviceManager *device.DeviceManager) (*LegacyServer, error) {
+	mapper, err := NewInterfaceDeviceMapper(deviceManager)
+	if err != nil {
+		return nil, err
+	}
+
+	return &LegacyServer{
+		mapper:    mapper,
+		startTime: time.Now(),
+	}, nil
+}
+
+// SetupRoutes 设置兼容层 API 路由
+func (s *LegacyServer) SetupRoutes(r *gin.Engine) {
+	// 兼容层 API 路由组
+	legacy := r.Group("/api/legacy")
+	{
+		// 手型设置 API
+		legacy.POST("/hand-type", s.handleHandType)
+
+		// 手指姿态 API
+		legacy.POST("/fingers", s.handleFingers)
+
+		// 掌部姿态 API
+		legacy.POST("/palm", s.handlePalm)
+
+		// 预设姿势 API
+		legacy.POST("/preset/:pose", s.handlePreset)
+
+		// 动画控制 API
+		legacy.POST("/animation", s.handleAnimation)
+
+		// 获取传感器数据 API
+		legacy.GET("/sensors", s.handleSensors)
+
+		// 系统状态 API
+		legacy.GET("/status", s.handleStatus)
+
+		// 获取可用接口列表 API
+		legacy.GET("/interfaces", s.handleInterfaces)
+
+		// 获取手型配置 API
+		legacy.GET("/hand-configs", s.handleHandConfigs)
+
+		// 健康检查端点
+		legacy.GET("/health", s.handleHealth)
+	}
+}