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feat: 摆头

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stream 2025-12-16 14:02:24 +08:00
parent 0032d67ea0
commit ac7d5c283c
4 changed files with 142 additions and 1 deletions
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12
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java
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@ -53,4 +53,16 @@ public class TeFlowiseController extends BaseController {
public AjaxResult chat(@RequestBody FlowiseChatRequestVO request) {
return AjaxResult.ok(flowiseActionService.chat(request));
}
@ApiOperation("动作（眨眼+动嘴+头部微动）")
@GetMapping("/action/start")
public AjaxResult actionStart() {
return AjaxResult.ok(flowiseActionService.actionStart());
}
@ApiOperation("动作停止")
@GetMapping("/action/stop")
public AjaxResult actionStop() {
return AjaxResult.ok(flowiseActionService.actionStop());
}
}

3
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
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@ -44,7 +44,10 @@ public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
}
}
// log.info("movej start time={}", System.currentTimeMillis());
HumanoidRobotCommand.MoveJ.Response response = stub.moveJ(builder.build());
// log.info("movej success time={}", System.currentTimeMillis());
return JSON.toJSONString(response.getHeader());
}

1
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java
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@ -12,7 +12,6 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import java.util.List;
@Slf4j
@Service

127
cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java
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@ -7,7 +7,10 @@ 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;
@ -22,8 +25,10 @@ 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
@ -31,6 +36,7 @@ import java.util.Map;
public class FlowiseActionService {
private final EdgeBioHeadService edgeBioHeadService;
private final EdgeHumanoidRobotService edgeHumanoidRobotService;
private final TaskContextManager taskContextManager;
private final FlowControlService flowControlService;
@ -52,6 +58,11 @@ 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;
@ -161,4 +172,120 @@ public class FlowiseActionService {
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;
}
}