chore: add back legacy api

legacy-api/handler.go

@@ -0,0 +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 != uint32(define.HAND_TYPE_LEFT) {
+		req.HandId = uint32(define.HAND_TYPE_LEFT)
+	} else if req.HandType == "right" && req.HandId != uint32(define.HAND_TYPE_RIGHT) {
+		req.HandId = uint32(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",
+		},
+	})
+}

legacy-api/models.go

@@ -0,0 +1,29 @@
+package api
+
+type FingerPoseRequest struct {
+	Interface string `json:"interface,omitempty"`
+	Pose      []byte `json:"pose" binding:"required,len=6"`
+	HandType  string `json:"handType,omitempty"` // 新增：手型类型
+	HandId    uint32 `json:"handId,omitempty"`   // 新增：CAN ID
+}
+
+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
+}
+
+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
+}
+
+type HandTypeRequest struct {
+	Interface string `json:"interface" binding:"required"`
+	HandType  string `json:"handType" binding:"required,oneof=left right"`
+	HandId    uint32 `json:"handId" binding:"required"`
+}

legacy-api/router.go

@@ -0,0 +1,50 @@
+package api
+
+import (
+	"time"
+
+	"github.com/gin-gonic/gin"
+)
+
+// 全局变量
+var (
+	ServerStartTime time.Time
+)
+
+func SetupRoutes(r *gin.Engine) {
+	r.StaticFile("/", "./static/index.html")
+	r.Static("/static", "./static")
+
+	api := r.Group("/api")
+	{
+		// 手型设置 API
+		api.POST("/hand-type", HandleHandType)
+
+		// 手指姿态 API
+		api.POST("/fingers", HandleFingers)
+
+		// 掌部姿态 API
+		api.POST("/palm", HandlePalm)
+
+		// 预设姿势 API
+		api.POST("/preset/:pose", HandlePreset)
+
+		// 动画控制 API
+		api.POST("/animation", HandleAnimation)
+
+		// 获取传感器数据 API
+		api.GET("/sensors", HandleSensors)
+
+		// 系统状态 API
+		api.GET("/status", HandleStatus)
+
+		// 获取可用接口列表 API
+		api.GET("/interfaces", HandleInterfaces)
+
+		// 获取手型配置 API
+		api.GET("/hand-configs", HandleHandConfigs)
+
+		// 健康检查端点
+		api.GET("/health", HandleHealth)
+	}
+}