From fc9ec7c165ced0a4b3c42b20e9af36745a00f45f Mon Sep 17 00:00:00 2001 From: Eli Yip Date: Wed, 28 May 2025 14:15:21 +0800 Subject: [PATCH] docs: add config field desc for NewL10Hand --- cmd/hand_controller/main.go | 183 ------------------------------------ device/models/l10.go | 7 +- pkg/config/config.go | 105 --------------------- 3 files changed, 6 insertions(+), 289 deletions(-) delete mode 100644 cmd/hand_controller/main.go delete mode 100644 pkg/config/config.go diff --git a/cmd/hand_controller/main.go b/cmd/hand_controller/main.go deleted file mode 100644 index 2bb2d6f..0000000 --- a/cmd/hand_controller/main.go +++ /dev/null @@ -1,183 +0,0 @@ -package main - -import ( - "flag" - "fmt" - "log" - "os" - "os/signal" - "syscall" - "time" - - "hands/pkg/config" - "hands/pkg/control" - "hands/pkg/control/modes" - "hands/pkg/device" - _ "hands/pkg/device/models" // 导入以注册设备类型 -) - -func main() { - // 解析命令行参数 - configPath := flag.String("config", "config.json", "配置文件路径") - flag.Parse() - - // 加载配置 - cfg, err := loadOrCreateConfig(*configPath) - if err != nil { - log.Fatalf("加载配置失败: %v", err) - } - - // 创建设备管理器 - deviceManager := device.NewDeviceManager() - - // 创建并注册设备 - for _, deviceCfg := range cfg.Devices { - dev, err := createDevice(deviceCfg, cfg.CanServiceURL) - if err != nil { - log.Printf("创建设备 %s 失败: %v", deviceCfg.ID, err) - continue - } - - if err := deviceManager.RegisterDevice(dev); err != nil { - log.Printf("注册设备 %s 失败: %v", deviceCfg.ID, err) - continue - } - - log.Printf("成功注册设备: %s (%s)", deviceCfg.ID, deviceCfg.Model) - } - - // 创建操作模式管理器 - modeManager := control.NewModeManager() - - // 注册操作模式 - modeManager.RegisterMode(modes.NewDirectPoseMode()) - - animFactory := modes.NewAnimationFactory() - for _, animType := range animFactory.GetSupportedAnimations() { - anim, _ := animFactory.CreateAnimation(animType) - modeManager.RegisterMode(anim) - } - - // 设置默认设备 - if len(cfg.Devices) > 0 { - defaultDev, err := deviceManager.GetDevice(cfg.DefaultDevice.ID) - if err != nil { - log.Printf("获取默认设备失败: %v", err) - } else { - modeManager.SetDevice(defaultDev) - - // 连接设备 - if err := defaultDev.Connect(); err != nil { - log.Printf("连接设备失败: %v", err) - } else { - log.Printf("成功连接设备: %s", cfg.DefaultDevice.ID) - } - } - } - - // 启动默认模式 - if err := modeManager.SwitchMode("DirectPose", nil); err != nil { - log.Printf("启动默认模式失败: %v", err) - } else { - log.Println("成功启动直接姿态控制模式") - } - - // 演示功能 - demonstrateFeatures(modeManager, deviceManager) - - // 等待中断信号 - waitForShutdown() - - log.Println("应用程序正在关闭...") -} - -func loadOrCreateConfig(configPath string) (*config.Config, error) { - if _, err := os.Stat(configPath); os.IsNotExist(err) { - // 配置文件不存在，创建默认配置 - cfg := config.GetDefaultConfig() - if err := config.SaveConfig(cfg, configPath); err != nil { - return nil, fmt.Errorf("保存默认配置失败：%w", err) - } - log.Printf("创建默认配置文件: %s", configPath) - return cfg, nil - } - - return config.LoadConfig(configPath) -} - -func createDevice(deviceCfg config.DeviceConfig, canServiceURL string) (device.Device, error) { - deviceConfig := map[string]interface{}{ - "id": deviceCfg.ID, - "can_service_url": canServiceURL, - "can_interface": deviceCfg.CanInterface, - } - - // 合并设备特定参数 - for k, v := range deviceCfg.Parameters { - deviceConfig[k] = v - } - - return device.CreateDevice(deviceCfg.Model, deviceConfig) -} - -func demonstrateFeatures(modeManager *control.ModeManager, deviceManager *device.DeviceManager) { - log.Println("开始功能演示...") - - // 演示直接姿态控制 - log.Println("演示直接姿态控制...") - if activeMode := modeManager.GetActiveMode(); activeMode != nil { - if poseMode, ok := activeMode.(*modes.DirectPoseMode); ok { - // 获取设备 - devices := deviceManager.GetAllDevices() - if len(devices) > 0 { - dev := devices[0] - - // 发送手指姿态 - fingerPoses := map[string][]byte{ - "thumb": {45}, - "index": {30}, - "middle": {60}, - "ring": {45}, - "pinky": {30}, - } - - inputs := map[string]interface{}{ - "finger_poses": fingerPoses, - } - - if err := poseMode.Update(dev, inputs); err != nil { - log.Printf("发送手指姿态失败: %v", err) - } else { - log.Println("成功发送手指姿态") - } - - time.Sleep(2 * time.Second) - } - } - } - - // 演示动画模式 - log.Println("演示波浪动画...") - params := map[string]interface{}{ - "duration": 3 * time.Second, - "frames": 30, - } - - if err := modeManager.SwitchMode("Animation_wave", params); err != nil { - log.Printf("切换到波浪动画失败: %v", err) - } else { - log.Println("成功启动波浪动画") - time.Sleep(4 * time.Second) - } - - // 切换回直接控制模式 - if err := modeManager.SwitchMode("DirectPose", nil); err != nil { - log.Printf("切换回直接控制模式失败: %v", err) - } -} - -func waitForShutdown() { - sigChan := make(chan os.Signal, 1) - signal.Notify(sigChan, syscall.SIGINT, syscall.SIGTERM) - <-sigChan -} diff --git a/device/models/l10.go b/device/models/l10.go index ecfdcb1..e808a76 100644 --- a/device/models/l10.go +++ b/device/models/l10.go @@ -7,9 +7,9 @@ import ( "sync" "time" - "hands/define" "hands/communication" "hands/component" + "hands/define" "hands/device" ) @@ -40,6 +40,11 @@ func perturb(base byte, delta int) byte { } // 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 { diff --git a/pkg/config/config.go b/pkg/config/config.go deleted file mode 100644 index e4029d3..0000000 --- a/pkg/config/config.go +++ /dev/null @@ -1,105 +0,0 @@ -package config - -import ( - "encoding/json" - "fmt" - "os" -) - -// Config 应用配置 -type Config struct { - CanServiceURL string `json:"can_service_url"` - DefaultDevice DeviceConfig `json:"default_device"` - Devices []DeviceConfig `json:"devices"` - Server ServerConfig `json:"server"` -} - -// DeviceConfig 设备配置 -type DeviceConfig struct { - ID string `json:"id"` - Model string `json:"model"` - CanInterface string `json:"can_interface"` - Parameters map[string]interface{} `json:"parameters"` -} - -// ServerConfig 服务器配置 -type ServerConfig struct { - Port int `json:"port"` - Host string `json:"host"` - LogLevel string `json:"log_level"` - EnableCORS bool `json:"enable_cors"` -} - -// LoadConfig 从文件加载配置 -func LoadConfig(configPath string) (*Config, error) { - file, err := os.Open(configPath) - if err != nil { - return nil, fmt.Errorf("打开配置文件失败：%w", err) - } - defer file.Close() - - var config Config - decoder := json.NewDecoder(file) - if err := decoder.Decode(&config); err != nil { - return nil, fmt.Errorf("解析配置文件失败：%w", err) - } - - // 设置默认值 - if config.Server.Port == 0 { - config.Server.Port = 8080 - } - if config.Server.Host == "" { - config.Server.Host = "localhost" - } - if config.Server.LogLevel == "" { - config.Server.LogLevel = "info" - } - - return &config, nil -} - -// SaveConfig 保存配置到文件 -func SaveConfig(config *Config, configPath string) error { - file, err := os.Create(configPath) - if err != nil { - return fmt.Errorf("创建配置文件失败：%w", err) - } - defer file.Close() - - encoder := json.NewEncoder(file) - encoder.SetIndent("", " ") - if err := encoder.Encode(config); err != nil { - return fmt.Errorf("保存配置文件失败：%w", err) - } - - return nil -} - -// GetDefaultConfig 获取默认配置 -func GetDefaultConfig() *Config { - return &Config{ - CanServiceURL: "http://localhost:8081", - DefaultDevice: DeviceConfig{ - ID: "left_hand", - Model: "L10", - CanInterface: "can0", - Parameters: make(map[string]interface{}), - }, - Devices: []DeviceConfig{ - { - ID: "left_hand", - Model: "L10", - CanInterface: "can0", - Parameters: map[string]interface{}{ - "hand_type": "left", - }, - }, - }, - Server: ServerConfig{ - Port: 8080, - Host: "localhost", - LogLevel: "info", - EnableCORS: true, - }, - } -}