fix： 调试
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@ -9,7 +9,6 @@ import com.cmvr.common.exception.GlobalException;
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import com.cmvr.common.utils.http.CallAPIUtil;
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import com.cmvr.common.utils.uuid.IdUtils;
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import com.cmvr.edge.client.model.EdgeCommonVO;
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import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
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import com.cmvr.edge.client.service.EdgeBioHeadService;
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import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
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import com.cmvr.test.enums.FlowiseActionEnum;
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@ -22,15 +21,14 @@ import com.cmvr.test.model.vo.FlowiseChatRequestVO;
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import com.cmvr.test.model.vo.FlowiseStartRequestVO;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.jetbrains.annotations.NotNull;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.util.Collections;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.concurrent.atomic.AtomicBoolean;
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@Slf4j
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@Service
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@ -61,12 +59,6 @@ public class FlowiseActionService {
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@Resource(name = "threadPoolTaskExecutor")
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private final ThreadPoolTaskExecutor executor;
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/**
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* 整个动作是否在运行（张嘴 + 摆头）
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*/
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private final AtomicBoolean actionRunning = new AtomicBoolean(true);
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private final Object lock = new Object();
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private String chatId = null;
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@ -235,118 +227,41 @@ public class FlowiseActionService {
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public String actionStart() {
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// 防止重复启动
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if (!actionRunning.compareAndSet(false, true)) {
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log.warn("action 已在运行中");
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return "already running";
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}
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String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
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String robotId = "hc01";
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String bioId = "bio_head";
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executor.execute(() -> {
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EdgeCommonVO speakVO = new EdgeCommonVO();
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speakVO.setTerminalId(terminalId);
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speakVO.setDeviceId(bioId);
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EdgeCommonVO speakVO = getEdgeCommonVO();
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try {
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// 张嘴
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String speakStart = edgeBioHeadService.speakStart(speakVO);
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log.info("张嘴动作触发完成: {}", speakStart);
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// // 摆头循环
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// boolean toRight = true;
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//
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// while (actionRunning.get()) {
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//
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// double rad = toRight ? 0.1d : -0.1d;
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//
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// EdgeMoveJVO moveJVO = buildHeadMoveJVO(
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// terminalId,
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// robotId,
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// rad
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// );
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//
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// long t0 = System.currentTimeMillis();
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// log.info(">>> moveJ start, rad={},time={}", rad, t0);
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// String res = edgeHumanoidRobotService.moveJ(moveJVO);
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//
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// long t1 = System.currentTimeMillis();
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// log.info(">>> moveJ end, rad={}, cost={}", rad, t1 - t0);
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//
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// // 判断返回
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// try {
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// JSONObject resJson = JSON.parseObject(res);
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// if (!resJson.getBooleanValue("success")) {
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// log.warn("moveJ 返回失败，res={}", res);
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// }
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// } catch (Exception ignore) {
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// }
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//
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// toRight = !toRight;
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// }
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} catch (Exception e) {
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log.error("action 执行异常", e);
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} finally {
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// 回正
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// try {
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// EdgeMoveJVO resetVO = buildHeadMoveJVO(
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// terminalId,
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// robotId,
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// 0d
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// );
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// log.info("结束动作，头部回正 rad=0");
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// edgeHumanoidRobotService.moveJ(resetVO);
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// } catch (Exception e) {
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// log.error("头部回正异常", e);
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// }
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// 停止张嘴
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try {
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edgeBioHeadService.speakStop(speakVO);
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log.info("speakStop 已调用");
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} catch (Exception e) {
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log.error("speakStop 调用失败", e);
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throw new GlobalException("张嘴执行异常", e);
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}
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actionRunning.set(false);
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log.info("action 线程结束");
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}
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});
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return "ok";
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}
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@NotNull
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private static EdgeCommonVO getEdgeCommonVO() {
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String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
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String bioId = "bio_head";
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EdgeCommonVO speakVO = new EdgeCommonVO();
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speakVO.setTerminalId(terminalId);
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speakVO.setDeviceId(bioId);
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return speakVO;
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}
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public String actionStop() {
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if (!actionRunning.get()) {
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return "not running";
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EdgeCommonVO speakVO = getEdgeCommonVO();
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// 停止张嘴
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try {
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edgeBioHeadService.speakStop(speakVO);
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log.info("停止张嘴成功");
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} catch (Exception e) {
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throw new GlobalException("停止张嘴失败", e);
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}
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log.info("actionStop 调用，准备停止所有动作");
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actionRunning.set(false);
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return "ok";
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}
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private EdgeMoveJVO buildHeadMoveJVO(String terminalId,
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String deviceId,
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double rad) {
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EdgeMoveJVO vo = new EdgeMoveJVO();
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vo.setTerminalId(terminalId);
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vo.setDeviceId(deviceId);
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vo.setAcc(1d);
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vo.setVel(1d);
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EdgeMoveJVO.JointCmd headCmd = new EdgeMoveJVO.JointCmd();
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headCmd.setJointName("HEAD_R");
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headCmd.setRad(rad);
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vo.setCmds(Collections.singletonList(headCmd));
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return vo;
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}
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private void speakStatus(String text) {
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Map<String, String> body = new HashMap<>();
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body.put("text", text);
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