feat: 摆头

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java

@@ -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());
+    }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java

@@ -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());
     }
 

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java

@@ -12,7 +12,6 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.util.List;
 
 @Slf4j
 @Service

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

@@ -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;
+    }
 }