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fix: execute command dead lock

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This commit is contained in:
Eli Yip 2025-06-03 13:05:42 +08:00
parent b0bfd95ed9
commit e1f60366c8
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GPG Key ID: C98B69D4CF7D7EC5
2 changed files with 8 additions and 13 deletions
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2
device/commands.go
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@ -3,7 +3,7 @@ package device
// FingerPoseCommand 手指姿态指令 // FingerPoseCommand 手指姿态指令
type FingerPoseCommand struct{ poseData []byte } type FingerPoseCommand struct{ poseData []byte }
func NewFingerPoseCommand(fingerID string, poseData []byte) *FingerPoseCommand { func NewFingerPoseCommand(poseData []byte) *FingerPoseCommand {
return &FingerPoseCommand{poseData: poseData} return &FingerPoseCommand{poseData: poseData}
} }

19
device/models/l10.go
View File

@ -142,7 +142,7 @@ func (h *L10Hand) SetFingerPose(pose []byte) error {
} }
// 创建指令 // 创建指令
cmd := device.NewFingerPoseCommand("all", perturbedPose) cmd := device.NewFingerPoseCommand(perturbedPose)
// 执行指令 // 执行指令
err := h.ExecuteCommand(cmd) err := h.ExecuteCommand(cmd)
@ -197,11 +197,9 @@ func (h *L10Hand) ResetPose() error {
return nil return nil
} }
// commandToRawMessage 将通用指令转换为 L10 特定的 CAN 消息 // commandToRawMessageUnsafe 将通用指令转换为 L10 特定的 CAN 消息（不加锁版本）
func (h *L10Hand) commandToRawMessage(cmd device.Command) (communication.RawMessage, error) { // 注意：此方法不是线程安全的，只应在已获取适当锁的情况下调用
h.mutex.RLock() func (h *L10Hand) commandToRawMessageUnsafe(cmd device.Command) (communication.RawMessage, error) {
defer h.mutex.RUnlock()
var data []byte var data []byte
canID := uint32(h.handType) canID := uint32(h.handType)
@ -238,8 +236,8 @@ func (h *L10Hand) ExecuteCommand(cmd device.Command) error {
return fmt.Errorf("设备 %s 未连接或未激活", h.id) return fmt.Errorf("设备 %s 未连接或未激活", h.id)
} }
// 转换指令为 CAN 消息 // 转换指令为 CAN 消息（使用不加锁版本，因为已经在写锁保护下）
rawMsg, err := h.commandToRawMessage(cmd) rawMsg, err := h.commandToRawMessageUnsafe(cmd)
if err != nil { if err != nil {
h.status.ErrorCount++ h.status.ErrorCount++
h.status.LastError = err.Error() h.status.LastError = err.Error()
@ -259,13 +257,10 @@ func (h *L10Hand) ExecuteCommand(cmd device.Command) error {
} }
h.status.LastUpdate = time.Now() 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 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 { func (h *L10Hand) initializeComponents(_ map[string]any) error {
// 初始化传感器组件 // 初始化传感器组件
sensors := []device.Component{ sensors := []device.Component{