117 lines
3.5 KiB
Go
117 lines
3.5 KiB
Go
package main
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import (
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"fmt"
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"hands/api"
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"hands/cli"
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"hands/config"
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"hands/hands"
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"log"
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"os"
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"time"
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"github.com/gin-contrib/cors"
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"github.com/gin-gonic/gin"
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)
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// 初始化服务
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func initService() {
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log.Printf("🔧 服务配置：")
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log.Printf(" - CAN 服务 URL: %s", config.Config.CanServiceURL)
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log.Printf(" - Web 端口: %s", config.Config.WebPort)
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log.Printf(" - 可用接口: %v", config.Config.AvailableInterfaces)
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log.Printf(" - 默认接口: %s", config.Config.DefaultInterface)
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// 初始化手型配置映射
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hands.InitHands()
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log.Println("✅ 控制服务初始化完成")
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}
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func printUsage() {
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fmt.Println("CAN Control Service with Hand Type Support")
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fmt.Println("Usage:")
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fmt.Println(" -can-url string CAN 服务的 URL (default: http://127.0.0.1:5260)")
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fmt.Println(" -port string Web 服务的端口 (default: 9099)")
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fmt.Println(" -interface string 默认 CAN 接口")
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fmt.Println(" -can-interfaces string 支持的 CAN 接口列表，用逗号分隔")
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fmt.Println("")
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fmt.Println("Environment Variables:")
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fmt.Println(" CAN_SERVICE_URL CAN 服务的 URL")
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fmt.Println(" WEB_PORT Web 服务的端口")
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fmt.Println(" DEFAULT_INTERFACE 默认 CAN 接口")
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fmt.Println(" CAN_INTERFACES 支持的 CAN 接口列表，用逗号分隔")
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fmt.Println("")
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fmt.Println("New Features:")
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fmt.Println(" - Support for left/right hand configuration")
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fmt.Println(" - Dynamic CAN ID assignment based on hand type")
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fmt.Println(" - Hand type API endpoints")
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fmt.Println(" - Enhanced logging with hand type information")
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fmt.Println("")
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fmt.Println("Examples:")
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fmt.Println(" ./control-service -can-interfaces can0,can1,vcan0")
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fmt.Println(" ./control-service -interface can1 -can-interfaces can0,can1")
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fmt.Println(" CAN_INTERFACES=can0,can1,vcan0 ./control-service")
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fmt.Println(" CAN_SERVICE_URL=http://localhost:5260 ./control-service")
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}
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func main() {
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// 检查是否请求帮助
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if len(os.Args) > 1 && (os.Args[1] == "-h" || os.Args[1] == "--help") {
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printUsage()
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return
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}
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// 解析配置
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config.Config = cli.ParseConfig()
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// 验证配置
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if len(config.Config.AvailableInterfaces) == 0 {
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log.Fatal("❌ 没有可用的 CAN 接口")
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}
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if config.Config.DefaultInterface == "" {
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log.Fatal("❌ 没有设置默认 CAN 接口")
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}
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// 记录启动时间
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api.ServerStartTime = time.Now()
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log.Printf("🚀 启动 CAN 控制服务 (支持左右手配置)")
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// 初始化服务
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initService()
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// 启动传感器数据模拟
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hands.ReadSensorData()
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// 设置 Gin 模式
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gin.SetMode(gin.ReleaseMode)
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// 创建 Gin 引擎
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r := gin.Default()
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r.Use(cors.New(cors.Config{
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AllowOrigins: []string{"*"}, // 允许的域，*表示允许所有
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AllowMethods: []string{"GET", "POST", "PUT", "PATCH", "DELETE", "OPTIONS"},
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AllowHeaders: []string{"Origin", "Content-Length", "Content-Type", "Authorization"},
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ExposeHeaders: []string{"Content-Length"},
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AllowCredentials: true,
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MaxAge: 12 * time.Hour,
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}))
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// 设置 API 路由
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api.SetupRoutes(r)
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// 启动服务器
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log.Printf("🌐 CAN 控制服务运行在 http://localhost:%s", config.Config.WebPort)
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log.Printf("📡 连接到 CAN 服务: %s", config.Config.CanServiceURL)
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log.Printf("🎯 默认接口: %s", config.Config.DefaultInterface)
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log.Printf("🔌 可用接口: %v", config.Config.AvailableInterfaces)
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log.Printf("🤖 支持左右手动态配置")
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if err := r.Run(":" + config.Config.WebPort); err != nil {
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log.Fatalf("❌ 服务启动失败: %v", err)
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}
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}
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