469 lines
12 KiB
Go
469 lines
12 KiB
Go
package api
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import (
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"fmt"
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"hands/config"
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"hands/define"
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"hands/hands"
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"net/http"
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"time"
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"github.com/gin-gonic/gin"
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)
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// 手型设置处理函数
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func HandleHandType(c *gin.Context) {
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var req HandTypeRequest
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的手型设置请求：" + err.Error(),
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})
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return
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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// 验证手型 ID
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if req.HandType == "left" && req.HandId != uint32(define.HAND_TYPE_LEFT) {
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req.HandId = uint32(define.HAND_TYPE_LEFT)
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} else if req.HandType == "right" && req.HandId != uint32(define.HAND_TYPE_RIGHT) {
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req.HandId = uint32(define.HAND_TYPE_RIGHT)
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}
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// 设置手型配置
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hands.SetHandConfig(req.Interface, req.HandType, req.HandId)
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handTypeName := "右手"
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if req.HandType == "left" {
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handTypeName = "左手"
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("接口 %s 手型已设置为%s (0x%X)", req.Interface, handTypeName, req.HandId),
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Data: map[string]any{
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"interface": req.Interface,
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"handType": req.HandType,
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"handId": req.HandId,
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},
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})
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}
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// 手指姿态处理函数
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func HandleFingers(c *gin.Context) {
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var req FingerPoseRequest
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的手指姿态数据：" + err.Error(),
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})
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return
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}
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// 验证每个值是否在范围内
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for _, v := range req.Pose {
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if v < 0 || v > 255 {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "手指姿态值必须在 0-255 范围内",
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})
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return
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}
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}
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// 如果未指定接口，使用默认接口
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if req.Interface == "" {
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req.Interface = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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hands.StopAllAnimations(req.Interface)
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if err := hands.SendFingerPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "发送手指姿态失败：" + err.Error(),
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})
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return
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: "手指姿态指令发送成功",
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Data: map[string]any{"interface": req.Interface, "pose": req.Pose},
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})
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}
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// 掌部姿态处理函数
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func HandlePalm(c *gin.Context) {
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var req PalmPoseRequest
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的掌部姿态数据：" + err.Error(),
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})
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return
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}
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// 验证每个值是否在范围内
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for _, v := range req.Pose {
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if v < 0 || v > 255 {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "掌部姿态值必须在 0-255 范围内",
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})
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return
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}
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}
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// 如果未指定接口，使用默认接口
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if req.Interface == "" {
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req.Interface = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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hands.StopAllAnimations(req.Interface)
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if err := hands.SendPalmPose(req.Interface, req.Pose, req.HandType, req.HandId); err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "发送掌部姿态失败：" + err.Error(),
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})
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return
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: "掌部姿态指令发送成功",
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Data: map[string]any{"interface": req.Interface, "pose": req.Pose},
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})
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}
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// 预设姿势处理函数
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func HandlePreset(c *gin.Context) {
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pose := c.Param("pose")
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// 从查询参数获取接口名称和手型
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ifName := c.Query("interface")
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handType := c.Query("handType")
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if ifName == "" {
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ifName = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(ifName) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
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})
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return
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}
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hands.StopAllAnimations(ifName)
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var fingerPose []byte
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var message string
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switch pose {
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case "fist":
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fingerPose = []byte{64, 64, 64, 64, 64, 64}
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message = "已设置握拳姿势"
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case "open":
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fingerPose = []byte{192, 192, 192, 192, 192, 192}
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message = "已设置完全张开姿势"
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case "pinch":
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fingerPose = []byte{120, 120, 64, 64, 64, 64}
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message = "已设置捏取姿势"
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case "thumbsup":
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fingerPose = []byte{64, 192, 192, 192, 192, 64}
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message = "已设置竖起大拇指姿势"
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case "point":
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fingerPose = []byte{192, 64, 192, 192, 192, 64}
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message = "已设置食指指点姿势"
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// 数字手势
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case "1":
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fingerPose = []byte{192, 64, 192, 192, 192, 64}
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message = "已设置数字 1 手势"
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case "2":
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fingerPose = []byte{192, 64, 64, 192, 192, 64}
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message = "已设置数字 2 手势"
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case "3":
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fingerPose = []byte{192, 64, 64, 64, 192, 64}
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message = "已设置数字 3 手势"
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case "4":
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fingerPose = []byte{192, 64, 64, 64, 64, 64}
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message = "已设置数字 4 手势"
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case "5":
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fingerPose = []byte{192, 192, 192, 192, 192, 192}
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message = "已设置数字 5 手势"
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case "6":
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fingerPose = []byte{64, 192, 192, 192, 192, 64}
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message = "已设置数字 6 手势"
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case "7":
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fingerPose = []byte{64, 64, 192, 192, 192, 64}
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message = "已设置数字 7 手势"
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case "8":
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fingerPose = []byte{64, 64, 64, 192, 192, 64}
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message = "已设置数字 8 手势"
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case "9":
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fingerPose = []byte{64, 64, 64, 64, 192, 64}
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message = "已设置数字 9 手势"
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default:
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的预设姿势",
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})
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return
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}
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// 解析手型 ID（从查询参数或使用接口配置）
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handId := uint32(0)
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if handType != "" {
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handId = hands.ParseHandType(handType, 0, ifName)
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}
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if err := hands.SendFingerPose(ifName, fingerPose, handType, handId); err != nil {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "设置预设姿势失败：" + err.Error(),
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})
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return
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}
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: message,
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Data: map[string]any{"interface": ifName, "pose": fingerPose},
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})
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}
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// 动画控制处理函数
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func HandleAnimation(c *gin.Context) {
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var req AnimationRequest
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if err := c.ShouldBindJSON(&req); err != nil {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的动画请求：" + err.Error(),
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})
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return
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}
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// 如果未指定接口，使用默认接口
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if req.Interface == "" {
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req.Interface = config.Config.DefaultInterface
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}
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// 验证接口
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if !config.IsValidInterface(req.Interface) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", req.Interface, config.Config.AvailableInterfaces),
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})
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return
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}
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// 停止当前动画
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hands.StopAllAnimations(req.Interface)
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// 如果是停止命令，直接返回
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if req.Type == "stop" {
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("%s 动画已停止", req.Interface),
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})
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return
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}
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// 处理速度参数
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if req.Speed <= 0 {
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req.Speed = 500 // 默认速度
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}
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// 根据类型启动动画
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switch req.Type {
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case "wave":
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hands.StartWaveAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("%s 波浪动画已启动", req.Interface),
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Data: map[string]any{"interface": req.Interface, "speed": req.Speed},
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})
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case "sway":
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hands.StartSwayAnimation(req.Interface, req.Speed, req.HandType, req.HandId)
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: fmt.Sprintf("%s 横向摆动动画已启动", req.Interface),
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Data: map[string]any{"interface": req.Interface, "speed": req.Speed},
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})
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default:
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: "无效的动画类型",
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})
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}
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}
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// 获取传感器数据处理函数
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func 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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hands.SensorMutex.RLock()
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defer hands.SensorMutex.RUnlock()
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if ifName != "" {
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// 验证接口
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if !config.IsValidInterface(ifName) {
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c.JSON(http.StatusBadRequest, define.ApiResponse{
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Status: "error",
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Error: fmt.Sprintf("无效的接口 %s，可用接口: %v", ifName, config.Config.AvailableInterfaces),
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})
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return
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}
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// 请求特定接口的数据
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if sensorData, ok := hands.SensorDataMap[ifName]; ok {
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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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})
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} else {
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c.JSON(http.StatusInternalServerError, define.ApiResponse{
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Status: "error",
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Error: "传感器数据不存在",
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})
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}
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} else {
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// 返回所有接口的数据
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Data: hands.SensorDataMap,
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})
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}
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}
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// 系统状态处理函数
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func HandleStatus(c *gin.Context) {
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hands.AnimationMutex.Lock()
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animationStatus := make(map[string]bool)
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for _, ifName := range config.Config.AvailableInterfaces {
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animationStatus[ifName] = hands.AnimationActive[ifName]
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}
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hands.AnimationMutex.Unlock()
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// 检查 CAN 服务状态
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canStatus := hands.CheckCanServiceStatus()
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// 获取手型配置
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hands.HandConfigMutex.RLock()
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handConfigsData := make(map[string]any)
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for ifName, handConfig := range hands.HandConfigs {
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handConfigsData[ifName] = map[string]any{
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"handType": handConfig.HandType,
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"handId": handConfig.HandId,
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}
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}
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hands.HandConfigMutex.RUnlock()
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interfaceStatuses := make(map[string]any)
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for _, ifName := range config.Config.AvailableInterfaces {
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interfaceStatuses[ifName] = map[string]any{
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"active": canStatus[ifName],
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"animationActive": animationStatus[ifName],
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"handConfig": handConfigsData[ifName],
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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: map[string]any{
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"interfaces": interfaceStatuses,
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"uptime": time.Since(ServerStartTime).String(),
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"canServiceURL": config.Config.CanServiceURL,
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"defaultInterface": config.Config.DefaultInterface,
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"availableInterfaces": config.Config.AvailableInterfaces,
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"activeInterfaces": len(canStatus),
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"handConfigs": handConfigsData,
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},
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})
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}
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// 获取可用接口列表处理函数
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func HandleInterfaces(c *gin.Context) {
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responseData := map[string]any{
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"availableInterfaces": config.Config.AvailableInterfaces,
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"defaultInterface": config.Config.DefaultInterface,
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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: responseData,
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})
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}
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// 获取手型配置处理函数
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func HandleHandConfigs(c *gin.Context) {
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hands.HandConfigMutex.RLock()
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defer hands.HandConfigMutex.RUnlock()
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result := make(map[string]any)
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for _, ifName := range config.Config.AvailableInterfaces {
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if handConfig, exists := hands.HandConfigs[ifName]; exists {
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result[ifName] = map[string]any{
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"handType": handConfig.HandType,
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"handId": handConfig.HandId,
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}
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} else {
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// 返回默认配置
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result[ifName] = map[string]any{
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"handType": "right",
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"handId": define.HAND_TYPE_RIGHT,
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}
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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: result,
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})
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}
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// 健康检查处理函数
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func HandleHealth(c *gin.Context) {
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c.JSON(http.StatusOK, define.ApiResponse{
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Status: "success",
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Message: "CAN Control Service is running",
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Data: map[string]any{
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"timestamp": time.Now(),
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"availableInterfaces": config.Config.AvailableInterfaces,
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"defaultInterface": config.Config.DefaultInterface,
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"serviceVersion": "1.0.0-hand-type-support",
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},
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})
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}
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