fix： 调试

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

@@ -9,7 +9,6 @@ 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;
@@ -22,15 +21,14 @@ import com.cmvr.test.model.vo.FlowiseChatRequestVO;
 import com.cmvr.test.model.vo.FlowiseStartRequestVO;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.jetbrains.annotations.NotNull;
 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
@@ -61,12 +59,6 @@ public class FlowiseActionService {
     @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;
 
@@ -235,118 +227,41 @@ public class FlowiseActionService {
 
     public String actionStart() {
 
-        // 防止重复启动
+        EdgeCommonVO speakVO = getEdgeCommonVO();
-        if (!actionRunning.compareAndSet(false, true)) {
+        try {
-            log.warn("action 已在运行中");
+            // 张嘴
-            return "already running";
+            String speakStart = edgeBioHeadService.speakStart(speakVO);
+            log.info("张嘴动作触发完成: {}", speakStart);
+        } catch (Exception e) {
+            throw new GlobalException("张嘴执行异常", e);
         }
 
+        return "ok";
+    }
+
+    @NotNull
+    private static EdgeCommonVO getEdgeCommonVO() {
         String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
-        String robotId = "hc01";
         String bioId = "bio_head";
 
-        executor.execute(() -> {
+        EdgeCommonVO speakVO = new EdgeCommonVO();
-            EdgeCommonVO speakVO = new EdgeCommonVO();
+        speakVO.setTerminalId(terminalId);
-            speakVO.setTerminalId(terminalId);
+        speakVO.setDeviceId(bioId);
-            speakVO.setDeviceId(bioId);
+        return speakVO;
-            try {
-                // 张嘴
-                String speakStart = edgeBioHeadService.speakStart(speakVO);
-                log.info("张嘴动作触发完成: {}", speakStart);
-
-//                // 摆头循环
-//                boolean toRight = true;
-//
-//                while (actionRunning.get()) {
-//
-//                    double rad = toRight ? 0.1d : -0.1d;
-//
-//                    EdgeMoveJVO moveJVO = buildHeadMoveJVO(
-//                            terminalId,
-//                            robotId,
-//                            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,
-//                            robotId,
-//                            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()) {
+        EdgeCommonVO speakVO = getEdgeCommonVO();
-            return "not running";
+        // 停止张嘴
+        try {
+            edgeBioHeadService.speakStop(speakVO);
+            log.info("停止张嘴成功");
+        } catch (Exception e) {
+            throw new GlobalException("停止张嘴失败", e);
         }
-
-        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);
-
-        vo.setCmds(Collections.singletonList(headCmd));
-        return vo;
-    }
-
     private void speakStatus(String text) {
         Map<String, String> body = new HashMap<>();
         body.put("text", text);