refactor: keep legacy sensor data
This commit is contained in:
Eli Yip
parent
e1f60366c8
commit
f8aa2138ab
@ -7,7 +7,6 @@ import (
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"hands/config"
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"hands/define"
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"hands/device"
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"github.com/gin-gonic/gin"
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)
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@ -430,7 +429,6 @@ func (s *LegacyServer) handleAnimation(c *gin.Context) {
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}
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// handleSensors 获取传感器数据处理函数
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// TODO: 现在的传感器数据都是模拟的，先不进行严格定义，等到有文档了之后修改设备层和这里
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func (s *LegacyServer) handleSensors(c *gin.Context) {
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// 从查询参数获取接口名称
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ifName := c.Query("interface")
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@ -455,32 +453,17 @@ func (s *LegacyServer) handleSensors(c *gin.Context) {
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return
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}
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// 获取设备的传感器组件
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sensorComponents := dev.GetComponents(device.SensorComponent)
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// 构建传感器数据响应
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sensorData := make(map[string]any)
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for _, component := range sensorComponents {
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sensorId := component.GetID()
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data, err := dev.ReadSensorData(sensorId)
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if err != nil {
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// 如果读取失败，记录错误状态
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sensorData[sensorId] = map[string]any{
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"error": err.Error(),
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"timestamp": time.Now(),
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}
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continue
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}
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sensorData[sensorId] = map[string]any{
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"values": data.Values(),
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"timestamp": data.Timestamp(),
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}
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sensorData, err := dev.ReadSensorData()
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if err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "获取传感器数据失败：" + err.Error(),
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})
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Data: sensorData,
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Data: sensorData.Values(),
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})
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} else {
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// 返回所有接口的传感器数据
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@ -490,35 +473,17 @@ func (s *LegacyServer) handleSensors(c *gin.Context) {
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// 获取对应的设备
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dev, err := s.mapper.GetDeviceForInterface(ifName)
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if err != nil {
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allSensorData[ifName] = map[string]any{
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"error": "设备不可用：" + err.Error(),
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}
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allSensorData[ifName] = map[string]any{"error": "设备不可用：" + err.Error()}
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continue
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}
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// 获取设备的传感器组件
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sensorComponents := dev.GetComponents(device.SensorComponent)
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// 构建传感器数据响应
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sensorData := make(map[string]any)
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for _, component := range sensorComponents {
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sensorId := component.GetID()
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data, err := dev.ReadSensorData(sensorId)
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if err != nil {
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sensorData[sensorId] = map[string]any{
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"error": err.Error(),
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"timestamp": time.Now(),
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}
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continue
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}
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sensorData[sensorId] = map[string]any{
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"values": data.Values(),
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"timestamp": data.Timestamp(),
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}
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sensorData, err := dev.ReadSensorData()
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if err != nil {
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allSensorData[ifName] = map[string]any{"error": "设备不可用：" + err.Error()}
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continue
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}
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allSensorData[ifName] = sensorData
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allSensorData[ifName] = sensorData.Values()
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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@ -67,8 +67,7 @@ func (s *Server) SetupRoutes(r *gin.Engine) {
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// 传感器数据路由
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sensors := deviceRoutes.Group("/sensors")
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{
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sensors.GET("", s.handleGetSensors) // 获取所有传感器数据
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sensors.GET("/:sensorId", s.handleGetSensorData) // 获取特定传感器数据
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sensors.GET("", s.handleGetSensors) // 获取所有传感器数据
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}
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// 设备状态路由
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@ -3,7 +3,6 @@ package api
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import (
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"fmt"
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"net/http"
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"time"
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"hands/device"
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@ -24,103 +23,17 @@ func (s *Server) handleGetSensors(c *gin.Context) {
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return
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}
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// 获取设备的传感器组件
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sensorComponents := dev.GetComponents(device.SensorComponent)
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sensors := make([]SensorDataResponse, 0, len(sensorComponents))
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// 遍历所有传感器组件，读取数据
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for _, component := range sensorComponents {
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sensorId := component.GetID()
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// 读取传感器数据
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sensorData, err := dev.ReadSensorData(sensorId)
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if err != nil {
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// 如果读取失败，创建一个错误状态的传感器数据
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sensors = append(sensors, SensorDataResponse{
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SensorID: sensorId,
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Timestamp: time.Now(),
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Values: map[string]any{
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"error": err.Error(),
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"status": "error",
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},
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})
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continue
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}
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// 转换为响应格式
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sensorResponse := SensorDataResponse{
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SensorID: sensorData.SensorID(),
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Timestamp: sensorData.Timestamp(),
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Values: sensorData.Values(),
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}
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sensors = append(sensors, sensorResponse)
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}
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response := SensorListResponse{
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Sensors: sensors,
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Total: len(sensors),
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}
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c.JSON(http.StatusOK, ApiResponse{
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Status: "success",
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Data: response,
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})
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}
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// handleGetSensorData 获取特定传感器数据
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func (s *Server) handleGetSensorData(c *gin.Context) {
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deviceId := c.Param("deviceId")
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sensorId := c.Param("sensorId")
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// 获取设备
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dev, err := s.deviceManager.GetDevice(deviceId)
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if err != nil {
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c.JSON(http.StatusNotFound, ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("设备 %s 不存在", deviceId),
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})
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return
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}
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// 验证传感器是否存在
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sensorComponents := dev.GetComponents(device.SensorComponent)
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sensorExists := false
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for _, component := range sensorComponents {
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if component.GetID() == sensorId {
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sensorExists = true
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break
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}
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}
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if !sensorExists {
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c.JSON(http.StatusNotFound, ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("设备 %s 上不存在传感器 %s", deviceId, sensorId),
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})
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return
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}
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// 读取传感器数据
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sensorData, err := dev.ReadSensorData(sensorId)
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sensorData, err := dev.ReadSensorData()
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if err != nil {
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c.JSON(http.StatusInternalServerError, ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("读取传感器 %s 数据失败：%v", sensorId, err),
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Error: fmt.Sprintf("读取传感器数据失败：%v", err),
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})
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return
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}
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// 转换为响应格式
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response := SensorDataResponse{
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SensorID: sensorData.SensorID(),
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Timestamp: sensorData.Timestamp(),
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Values: sensorData.Values(),
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}
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c.JSON(http.StatusOK, ApiResponse{
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Status: "success",
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Data: response,
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Data: sensorData.Values(),
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})
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}
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@ -1,78 +0,0 @@
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package component
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import (
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"fmt"
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"hands/device"
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"math/rand/v2"
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"time"
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)
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// PressureSensor 压力传感器实现
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type PressureSensor struct {
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id string
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config map[string]any
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isActive bool
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samplingRate int
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lastReading time.Time
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}
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func NewPressureSensor(id string, config map[string]any) *PressureSensor {
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return &PressureSensor{
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id: id,
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config: config,
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isActive: true,
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samplingRate: 100,
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lastReading: time.Now(),
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}
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}
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func (p *PressureSensor) GetID() string {
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return p.id
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}
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func (p *PressureSensor) GetType() device.ComponentType {
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return device.SensorComponent
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}
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func (p *PressureSensor) GetConfiguration() map[string]any {
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return p.config
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}
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func (p *PressureSensor) IsActive() bool {
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return p.isActive
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}
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func (p *PressureSensor) ReadData() (device.SensorData, error) {
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if !p.isActive {
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return nil, fmt.Errorf("传感器 %s 未激活", p.id)
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}
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// 模拟压力数据读取
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// 在实际实现中，这里应该从 can-bridge 或其他数据源读取真实数据
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pressure := rand.Float64() * 100 // 0-100 的随机压力值
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values := map[string]any{
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"pressure": pressure,
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"unit": "kPa",
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"location": p.config["location"],
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}
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p.lastReading = time.Now()
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return NewSensorData(p.id, values), nil
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}
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func (p *PressureSensor) GetDataType() string {
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return "pressure"
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}
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func (p *PressureSensor) GetSamplingRate() int {
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return p.samplingRate
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}
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func (p *PressureSensor) SetSamplingRate(rate int) error {
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if rate <= 0 || rate > 1000 {
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return fmt.Errorf("采样率必须在 1-1000Hz 之间")
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}
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p.samplingRate = rate
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return nil
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}
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@ -2,41 +2,69 @@ package component
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import (
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"hands/device"
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"math/rand/v2"
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"time"
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)
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// Sensor 传感器组件接口
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type Sensor interface {
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device.Component
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// device.Component
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ReadData() (device.SensorData, error)
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GetDataType() string
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GetSamplingRate() int
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SetSamplingRate(rate int) error
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// GetDataType() string
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// GetSamplingRate() int
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// SetSamplingRate(rate int) error
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MockData()
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}
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// SensorDataImpl 传感器数据的具体实现
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type SensorDataImpl struct {
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timestamp time.Time
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values map[string]any
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sensorID string
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Interface string `json:"interface"`
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Thumb int `json:"thumb"`
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Index int `json:"index"`
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Middle int `json:"middle"`
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Ring int `json:"ring"`
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Pinky int `json:"pinky"`
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PalmPosition []byte `json:"palmPosition"`
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LastUpdate time.Time `json:"lastUpdate"`
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}
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func NewSensorData(sensorID string, values map[string]any) *SensorDataImpl {
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func NewSensorData(ifName string) *SensorDataImpl {
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return &SensorDataImpl{
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timestamp: time.Now(),
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values: values,
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sensorID: sensorID,
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Interface: ifName,
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Thumb: 0,
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Index: 0,
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Middle: 0,
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Ring: 0,
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Pinky: 0,
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PalmPosition: []byte{128, 128, 128, 128},
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LastUpdate: time.Now(),
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}
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}
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func (s *SensorDataImpl) Timestamp() time.Time {
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return s.timestamp
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func (s *SensorDataImpl) MockData() {
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go func() {
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for {
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s.Thumb = rand.IntN(101)
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s.Index = rand.IntN(101)
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s.Middle = rand.IntN(101)
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s.Ring = rand.IntN(101)
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s.Pinky = rand.IntN(101)
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s.LastUpdate = time.Now()
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time.Sleep(500 * time.Millisecond)
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}
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}()
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}
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func (s *SensorDataImpl) Values() map[string]any {
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return s.values
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return map[string]any{
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"thumb": s.Thumb,
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"index": s.Index,
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"middle": s.Middle,
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"ring": s.Ring,
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"pinky": s.Pinky,
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"palmPosition": s.PalmPosition,
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"lastUpdate": s.LastUpdate,
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}
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}
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func (s *SensorDataImpl) SensorID() string {
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return s.sensorID
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}
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func (s *SensorDataImpl) ReadData() (device.SensorData, error) { return s, nil }
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@ -12,7 +12,7 @@ type Device interface {
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GetHandType() define.HandType // 获取设备手型
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SetHandType(handType define.HandType) error // 设置设备手型
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ExecuteCommand(cmd Command) error // 执行一个通用指令
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ReadSensorData(sensorID string) (SensorData, error) // 读取特定传感器数据
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ReadSensorData() (SensorData, error) // 读取特定传感器数据
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GetComponents(componentType ComponentType) []Component // 获取指定类型的组件
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GetStatus() (DeviceStatus, error) // 获取设备状态
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Connect() error // 连接设备
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@ -37,9 +37,9 @@ type Command interface {
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// SensorData 代表从传感器读取的数据
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type SensorData interface {
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Timestamp() time.Time
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// Timestamp() time.Time
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Values() map[string]any // 例如 {"pressure": 100, "angle": 30.5}
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SensorID() string
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// SensorID() string
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}
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// ComponentType 定义组件类型
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@ -53,10 +53,10 @@ const (
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// Component 代表设备的一个可插拔组件
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type Component interface {
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GetID() string
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GetType() ComponentType
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GetConfiguration() map[string]interface{} // 组件的特定配置
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IsActive() bool
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// GetID() string
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// GetType() ComponentType
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// GetConfiguration() map[string]interface{} // 组件的特定配置
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// IsActive() bool
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}
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// DeviceStatus 代表设备状态
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@ -263,13 +263,9 @@ func (h *L10Hand) ExecuteCommand(cmd device.Command) error {
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func (h *L10Hand) initializeComponents(_ map[string]any) error {
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// 初始化传感器组件
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sensors := []device.Component{
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component.NewPressureSensor("pressure_thumb", map[string]any{"location": "thumb"}),
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component.NewPressureSensor("pressure_index", map[string]any{"location": "index"}),
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component.NewPressureSensor("pressure_middle", map[string]any{"location": "middle"}),
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component.NewPressureSensor("pressure_ring", map[string]any{"location": "ring"}),
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component.NewPressureSensor("pressure_pinky", map[string]any{"location": "pinky"}),
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}
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defaultSensor := component.NewSensorData(h.canInterface)
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defaultSensor.MockData()
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sensors := []device.Component{defaultSensor}
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h.components[device.SensorComponent] = sensors
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return nil
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}
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@ -282,19 +278,17 @@ func (h *L10Hand) GetModel() string {
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return h.model
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}
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func (h *L10Hand) ReadSensorData(sensorID string) (device.SensorData, error) {
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func (h *L10Hand) ReadSensorData() (device.SensorData, error) {
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h.mutex.RLock()
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defer h.mutex.RUnlock()
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sensors := h.components[device.SensorComponent]
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for _, comp := range sensors {
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if comp.GetID() == sensorID {
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if sensor, ok := comp.(component.Sensor); ok {
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return sensor.ReadData()
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}
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if sensor, ok := comp.(component.Sensor); ok {
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return sensor.ReadData()
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}
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}
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return nil, fmt.Errorf("传感器 %s 不存在", sensorID)
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return nil, fmt.Errorf("传感器不存在")
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}
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func (h *L10Hand) GetComponents(componentType device.ComponentType) []device.Component {
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