CMVR-IOT/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java

package com.cmvr.test.service;

import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.common.utils.http.CallAPIUtil;
import com.cmvr.common.utils.uuid.IdUtils;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
import com.cmvr.edge.client.service.EdgeBioHeadService;
import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
import com.cmvr.test.enums.FlowiseActionEnum;
import com.cmvr.test.flow.context.TaskContext;
import com.cmvr.test.flow.context.TaskContextManager;
import com.cmvr.test.flow.control.FlowControlService;
import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
import com.cmvr.test.model.vo.FlowiseActionRequestVO;
import com.cmvr.test.model.vo.FlowiseChatRequestVO;
import com.cmvr.test.model.vo.FlowiseStartRequestVO;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.Collections;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.atomic.AtomicBoolean;

@Slf4j
@Service
@RequiredArgsConstructor
public class FlowiseActionService {

    private final EdgeBioHeadService edgeBioHeadService;
    private final EdgeHumanoidRobotService edgeHumanoidRobotService;
    private final TaskContextManager taskContextManager;
    private final FlowControlService flowControlService;
    private final FlowTaskRuntimeService flowTaskRuntimeService;

    @Value("${flowise.tts}")
    private String flowiseTts;

    @Value("${flowise.query}")
    private String flowiseQuery;

    @Value("${flowise.start}")
    private String flowiseStart;

    @Value("${flowise.abort}")
    private String flowiseAbort;

    @Value("${flowise.api-key}")
    private String flowiseApiKey;

    @Resource(name = "threadPoolTaskExecutor")
    private final ThreadPoolTaskExecutor executor;

    /**
     * 整个动作是否在运行（张嘴 + 摆头）
     */
    private final AtomicBoolean actionRunning = new AtomicBoolean(true);


    private final Object lock = new Object();
    private String chatId = null;

    public String start(FlowiseStartRequestVO request) {
        log.info("flowise start: {}", System.currentTimeMillis());
        abort();
        synchronized (lock) {
            if (chatId != null) {
                throw new GlobalException("Flow is already running: " + chatId);
            }

            chatId = IdUtils.fastUUID();

            JSONObject body = new JSONObject();
            body.put("question", request.getQuestion());
            body.put("chatId", chatId);
            body.put("streaming", true);

            executor.submit(() -> {
                try {
                    HttpRequest.post(flowiseStart)
                            .header("Content-Type", "application/json")
                            .header("Authorization", "Bearer " + flowiseApiKey)
                            .body(body.toJSONString())
                            .timeout(0)
                            .execute()
                            .body();
                } catch (Exception e) {
                    throw new GlobalException("flowise 流程执行失败: ", e.getMessage());
                }
            });
            return chatId;
        }
    }

    public String abort() {
        CallAPIUtil.doPostJson(flowiseTts + "stop", null, null);
        Map<String, TaskContext> instContextMap = taskContextManager.getInstContextMap();
        instContextMap.forEach((key, value) -> flowControlService.stop(key));
        synchronized (lock) {

            if (chatId == null) {
                return "No flow running.";
            }

            String id = chatId;

            String result = HttpRequest.put(flowiseAbort + id)
                    .header("Authorization", "Bearer " + flowiseApiKey)
                    .execute()
                    .body();

            chatId = null;

            return result;
        }
    }

    public String command(FlowiseActionRequestVO request) {
        log.info("command start: {}", System.currentTimeMillis());
        String action = request.getAction();
        FlowiseActionEnum actionEnum = FlowiseActionEnum.fromAction(action);
        String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
        String bioId = "bio_head";
        switch (actionEnum) {
            // ==== 表情 ====
            case SMILE:
                return edgeBioHeadService.specialExpression(terminalId, bioId, 1);
            case SAD:
                return edgeBioHeadService.specialExpression(terminalId, bioId, 4);
            case SURPRISED:
                return edgeBioHeadService.specialExpression(terminalId, bioId, 2);
            case TIRED:
                return edgeBioHeadService.specialExpression(terminalId, bioId, 5);

            // ==== 动作 ====
            case AC_ON:
//                TeTaskExecuteNormalVO teTaskExecuteNormalVO = new TeTaskExecuteNormalVO();
//                teTaskExecuteNormalVO.setTerminalId(terminalId);
//                teTaskExecuteNormalVO.setTaskId("bd19174754e6e2b84661a4771d04e212");
//                flowTaskRuntimeService.executeTask(teTaskExecuteNormalVO);
                HttpUtil.post("http://192.168.0.131:8000/action/one", "");
                return "空调打开了";

            case AC_OFF:
                log.info("空调关闭了");
                return "空调关闭了";

            case MUSIC_ON:
                log.info("音乐打开了");
                return "音乐打开了";

            case MUSIC_OFF:
                log.info("音乐关闭了");
                return "音乐关闭了";

            case DRIVE_MODE_SPORT:
                log.info("驾驶模式已切换为运动模式");
                return "驾驶模式已切换为运动模式";

            case DRIVE_MODE_COMFORT:
                log.info("驾驶模式已切换为舒适模式");
                return "驾驶模式已切换为舒适模式";

            default:
                throw new UnsupportedOperationException("未实现的 Flowise Action: " + action);
        }
    }

    public String chat(FlowiseChatRequestVO requestVO) {
        log.info("chat start: {}", System.currentTimeMillis());
        Map<String, String> body = new HashMap<>();
        body.put("text", requestVO.getText());
        body.put("voice", "x4_yezi");

        CallAPIUtil.doPostJson(flowiseTts + "play", null, body);
        return "ok";
    }

    public JSONObject query(String chatId) {
        String body = HttpRequest.get(flowiseQuery + chatId)
                .header("Authorization", "Bearer " + flowiseApiKey)
                .execute()
                .body();
        JSONObject root = JSON.parseObject(body);
        String execStr = root.getString("executionData");
        JSONArray execJson = JSON.parseArray(execStr);
        root.put("executionData", execJson);

        return root;
    }

    public String actionStart() {

        // 防止重复启动
        if (!actionRunning.compareAndSet(false, true)) {
            log.warn("action 已在运行中");
            return "already running";
        }

        String terminalId = "8c7c5d5d8c8b09df9d1e5fc9b76c46ab";
//        String terminalId = "25d13e8ee0cbc2b1046e190f840b8ab0";
        String bioId = "hc01";
        String spkId = "spk1";

        executor.execute(() -> {
            EdgeCommonVO speakVO = new EdgeCommonVO();
            speakVO.setTerminalId(terminalId);
            speakVO.setDeviceId(spkId);
            try {
                // 张嘴
//                edgeBioHeadService.speakStart(speakVO);
                log.info("张嘴动作触发完成");

                // 摆头循环
                boolean toRight = true;

                while (actionRunning.get()) {

                    double rad = toRight ? 0.1d : -0.1d;

                    EdgeMoveJVO moveJVO = buildHeadMoveJVO(
                            terminalId,
                            bioId,
                            rad
                    );

                    long t0 = System.currentTimeMillis();
                    log.info(">>> moveJ start, rad={},time={}", rad, t0);
                    String res = edgeHumanoidRobotService.moveJ(moveJVO);

                    long t1 = System.currentTimeMillis();
                    log.info(">>> moveJ end, rad={}, cost={}", rad, t1 - t0);

                    // 判断返回
                    try {
                        JSONObject resJson = JSON.parseObject(res);
                        if (!resJson.getBooleanValue("success")) {
                            log.warn("moveJ 返回失败，res={}", res);
                        }
                    } catch (Exception ignore) {
                    }

                    toRight = !toRight;
                }

            } catch (Exception e) {
                log.error("action 执行异常", e);

            } finally {
                // 回正
                try {
                    EdgeMoveJVO resetVO = buildHeadMoveJVO(
                            terminalId,
                            bioId,
                            0d
                    );
                    log.info("结束动作，头部回正 rad=0");
                    edgeHumanoidRobotService.moveJ(resetVO);
                } catch (Exception e) {
                    log.error("头部回正异常", e);
                }

                // 停止张嘴
                try {
//                    edgeBioHeadService.speakStop(speakVO);
                    log.info("speakStop 已调用");
                } catch (Exception e) {
                    log.error("speakStop 调用失败", e);
                }

                actionRunning.set(false);
                log.info("action 线程结束");
            }
        });

        return "ok";
    }

    public String actionStop() {
        if (!actionRunning.get()) {
            return "not running";
        }

        log.info("actionStop 调用，准备停止所有动作");
        actionRunning.set(false);
        return "ok";
    }

    private EdgeMoveJVO buildHeadMoveJVO(String terminalId,
                                         String deviceId,
                                         double rad) {

        EdgeMoveJVO vo = new EdgeMoveJVO();
        vo.setTerminalId(terminalId);
        vo.setDeviceId(deviceId);
        vo.setAcc(1d);
        vo.setVel(1d);

        EdgeMoveJVO.JointCmd headCmd = new EdgeMoveJVO.JointCmd();
        headCmd.setJointName("HEAD_R");
        headCmd.setRad(rad);
        headCmd.setVel(0d);

        vo.setCmds(Collections.singletonList(headCmd));
        return vo;
    }
}