317 lines
11 KiB
Java
317 lines
11 KiB
Java
package com.cmvr.test.service;
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import cn.hutool.http.HttpRequest;
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import cn.hutool.http.HttpUtil;
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import com.alibaba.fastjson2.JSON;
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import com.alibaba.fastjson2.JSONArray;
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import com.alibaba.fastjson2.JSONObject;
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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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import com.cmvr.test.flow.context.TaskContext;
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import com.cmvr.test.flow.context.TaskContextManager;
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import com.cmvr.test.flow.control.FlowControlService;
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import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
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import com.cmvr.test.model.vo.FlowiseActionRequestVO;
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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.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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@RequiredArgsConstructor
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public class FlowiseActionService {
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private final EdgeBioHeadService edgeBioHeadService;
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private final EdgeHumanoidRobotService edgeHumanoidRobotService;
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private final TaskContextManager taskContextManager;
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private final FlowControlService flowControlService;
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private final FlowTaskRuntimeService flowTaskRuntimeService;
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@Value("${flowise.tts}")
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private String flowiseTts;
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@Value("${flowise.query}")
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private String flowiseQuery;
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@Value("${flowise.start}")
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private String flowiseStart;
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@Value("${flowise.abort}")
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private String flowiseAbort;
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@Value("${flowise.api-key}")
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private String flowiseApiKey;
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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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public String start(FlowiseStartRequestVO request) {
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log.info("flowise start: {}", System.currentTimeMillis());
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abort();
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synchronized (lock) {
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if (chatId != null) {
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throw new GlobalException("Flow is already running: " + chatId);
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}
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chatId = IdUtils.fastUUID();
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JSONObject body = new JSONObject();
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body.put("question", request.getQuestion());
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body.put("chatId", chatId);
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body.put("streaming", true);
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executor.submit(() -> {
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try {
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HttpRequest.post(flowiseStart)
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.header("Content-Type", "application/json")
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.header("Authorization", "Bearer " + flowiseApiKey)
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.body(body.toJSONString())
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.timeout(0)
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.execute()
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.body();
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} catch (Exception e) {
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throw new GlobalException("flowise 流程执行失败: ", e.getMessage());
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}
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});
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return chatId;
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}
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}
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public String abort() {
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CallAPIUtil.doPostJson(flowiseTts + "stop", null, null);
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Map<String, TaskContext> instContextMap = taskContextManager.getInstContextMap();
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instContextMap.forEach((key, value) -> flowControlService.stop(key));
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synchronized (lock) {
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if (chatId == null) {
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return "No flow running.";
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}
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String id = chatId;
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String result = HttpRequest.put(flowiseAbort + id)
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.header("Authorization", "Bearer " + flowiseApiKey)
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.execute()
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.body();
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chatId = null;
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return result;
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}
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}
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public String command(FlowiseActionRequestVO request) {
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log.info("command start: {}", System.currentTimeMillis());
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String action = request.getAction();
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FlowiseActionEnum actionEnum = FlowiseActionEnum.fromAction(action);
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String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
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String bioId = "bio_head";
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switch (actionEnum) {
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// ==== 表情 ====
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case SMILE:
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return edgeBioHeadService.specialExpression(terminalId, bioId, 1);
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case SAD:
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return edgeBioHeadService.specialExpression(terminalId, bioId, 4);
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case SURPRISED:
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return edgeBioHeadService.specialExpression(terminalId, bioId, 2);
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case TIRED:
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return edgeBioHeadService.specialExpression(terminalId, bioId, 5);
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// ==== 动作 ====
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case AC_ON:
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// TeTaskExecuteNormalVO teTaskExecuteNormalVO = new TeTaskExecuteNormalVO();
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// teTaskExecuteNormalVO.setTerminalId(terminalId);
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// teTaskExecuteNormalVO.setTaskId("bd19174754e6e2b84661a4771d04e212");
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// flowTaskRuntimeService.executeTask(teTaskExecuteNormalVO);
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HttpUtil.post("http://192.168.0.131:8000/action/one", "");
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return "空调打开了";
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case AC_OFF:
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log.info("空调关闭了");
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return "空调关闭了";
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case MUSIC_ON:
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log.info("音乐打开了");
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return "音乐打开了";
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case MUSIC_OFF:
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log.info("音乐关闭了");
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return "音乐关闭了";
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case DRIVE_MODE_SPORT:
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log.info("驾驶模式已切换为运动模式");
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return "驾驶模式已切换为运动模式";
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case DRIVE_MODE_COMFORT:
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log.info("驾驶模式已切换为舒适模式");
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return "驾驶模式已切换为舒适模式";
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default:
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throw new UnsupportedOperationException("未实现的 Flowise Action: " + action);
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}
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}
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public String chat(FlowiseChatRequestVO requestVO) {
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log.info("chat start: {}", System.currentTimeMillis());
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Map<String, String> body = new HashMap<>();
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body.put("text", requestVO.getText());
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body.put("voice", "x4_yezi");
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CallAPIUtil.doPostJson(flowiseTts + "play", null, body);
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return "ok";
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}
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public JSONObject query(String chatId) {
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String body = HttpRequest.get(flowiseQuery + chatId)
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.header("Authorization", "Bearer " + flowiseApiKey)
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.execute()
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.body();
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JSONObject root = JSON.parseObject(body);
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String execStr = root.getString("executionData");
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JSONArray execJson = JSON.parseArray(execStr);
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root.put("executionData", execJson);
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return root;
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}
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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 = "8c7c5d5d8c8b09df9d1e5fc9b76c46ab";
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// String terminalId = "25d13e8ee0cbc2b1046e190f840b8ab0";
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String bioId = "hc01";
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String spkId = "spk1";
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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(spkId);
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try {
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// 张嘴
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// edgeBioHeadService.speakStart(speakVO);
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log.info("张嘴动作触发完成");
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// 摆头循环
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boolean toRight = true;
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while (actionRunning.get()) {
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double rad = toRight ? 0.1d : -0.1d;
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EdgeMoveJVO moveJVO = buildHeadMoveJVO(
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terminalId,
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bioId,
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rad
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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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long t1 = System.currentTimeMillis();
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log.info(">>> moveJ end, rad={}, cost={}", rad, t1 - t0);
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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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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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bioId,
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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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}
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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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public String actionStop() {
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if (!actionRunning.get()) {
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return "not running";
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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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headCmd.setVel(0d);
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vo.setCmds(Collections.singletonList(headCmd));
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return vo;
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}
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} |