feat: 增加对讲

server/proto/cmvr/api/arm_service.proto

@@ -8,6 +8,7 @@ import "cmvr/api/arm_command.proto";
 service ArmService {
   rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
   rpc moveL(MoveL.Request) returns (MoveL.Response);
   rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);

server/proto/cmvr/api/common.proto

@@ -29,6 +29,22 @@ message CommandHeader {
     }
 }
 
+message AudioData {
+    enum AudioFormat {
+        PCM = 0;
+        MP3 = 1;
+        AAC = 2;
+        WAV = 3;
+    }
+    bytes data = 1;
+    int32 sample_rate = 2;
+    int32 channels = 3;
+    AudioFormat format = 4;
+    string codec = 5;
+    int64 pts = 6;
+    int32 nb_samples = 7;
+}
+
 message ConfigParam {
 
     string param_name = 1;

server/proto/cmvr/api/microphone_command.proto

@@ -0,0 +1,92 @@
+syntax = "proto3";
+
+import "cmvr/api/common.proto";
+
+package cmvr.api;
+
+message MicState  {
+    bool is_initialized = 1;
+    bool is_running = 2;
+    bool is_recording = 3;
+    int32 volume = 4;
+    string error_message = 5;
+}
+
+message GetMicStateCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        MicState  state = 2;
+    }
+}
+
+message StartMicRecordingCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        string file_path = 2;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message StopMicRecordingCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message PauseMicRecordingCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message ResumeMicRecordingCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message StreamMicAudioCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        AudioData audio = 2;
+    }
+}
+
+message SetMicPhoneVolumeCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        int32 volume = 2;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message GetMicPhoneVolumeCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        int32 volume = 2;
+    }
+}

server/proto/cmvr/api/microphone_service.proto

@@ -0,0 +1,17 @@
+syntax = "proto3";
+
+import "cmvr/api/microphone_command.proto";
+
+package cmvr.api;
+
+service MicPhoneService {
+    rpc GetStatus(GetMicStateCommand.Request) returns (GetMicStateCommand.Feedback);
+    rpc StartRecord(StartMicRecordingCommand.Request) returns (StartMicRecordingCommand.Feedback);
+    rpc StopRecord(StopMicRecordingCommand.Request) returns (StopMicRecordingCommand.Feedback);
+    rpc PauseRecord(PauseMicRecordingCommand.Request) returns (PauseMicRecordingCommand.Feedback);
+    rpc ResumeRecord(ResumeMicRecordingCommand.Request) returns (ResumeMicRecordingCommand.Feedback);
+    rpc StreamAudio(StreamMicAudioCommand.Request) returns (stream StreamMicAudioCommand.Feedback);
+
+    rpc SetVolume(SetMicPhoneVolumeCommand.Request) returns (SetMicPhoneVolumeCommand.Feedback);
+    rpc GetVolume(GetMicPhoneVolumeCommand.Request) returns (GetMicPhoneVolumeCommand.Feedback);
+}

server/proto/cmvr/api/speaker_command.proto

@@ -0,0 +1,92 @@
+syntax = "proto3";
+
+import "cmvr/api/common.proto";
+
+package cmvr.api;
+
+message SpeakerState {
+    bool is_initialized = 1;
+    bool is_running = 2;
+    bool is_decoding = 3;
+    bool is_paused = 5;
+    int32 volume = 6;
+    string error_message = 7;
+}
+
+message GetSpeakerStateCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        SpeakerState state = 2;
+    }
+}
+
+message PlayAudioCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        string audio_path = 2;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message StreamSpeakerAudioCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        AudioData audio = 2;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message StopSpeakerCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message PauseSpeakerCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message ResumeSpeakerCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message SetSpeakerVolumeCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        int32 volume = 2;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
+message GetSpeakerVolumeCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+    }
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        int32 volume = 2;
+    }
+}

server/proto/cmvr/api/speaker_service.proto

@@ -0,0 +1,17 @@
+syntax = "proto3";
+
+import "cmvr/api/speaker_command.proto";
+
+package cmvr.api;
+
+service SpeakerService {
+    rpc GetStatus(GetSpeakerStateCommand.Request) returns (GetSpeakerStateCommand.Feedback);
+    rpc PlayAudio(PlayAudioCommand.Request) returns (PlayAudioCommand.Feedback);
+    rpc StreamAudio(stream StreamSpeakerAudioCommand.Request) returns (StreamSpeakerAudioCommand.Feedback);
+    rpc StopPlayback(StopSpeakerCommand.Request) returns (StopSpeakerCommand.Feedback);
+    rpc PausePlayback(PauseSpeakerCommand.Request) returns (PauseSpeakerCommand.Feedback);
+    rpc ResumePlayback(ResumeSpeakerCommand.Request) returns (ResumeSpeakerCommand.Feedback);
+
+    rpc SetVolume(SetSpeakerVolumeCommand.Request) returns (SetSpeakerVolumeCommand.Feedback);
+    rpc GetVolume(GetSpeakerVolumeCommand.Request) returns (GetSpeakerVolumeCommand.Feedback);
+}

src/views/Home.vue

@@ -37,7 +37,12 @@ import Camera from './camera/index.vue'
 import { useRouter } from 'vue-router';
 
 import autofit from 'autofit.js'
-autofit.init()
+autofit.init({
+    designHeight: 1080,
+    designWidth: 1920,
+    renderDom: '#app',
+    resize: true
+  })
 
 const router = useRouter()
 
@@ -78,12 +83,25 @@ const back = () => {
     router.back()
 }
 
+const resetAutoFit = () => {
+    autofit.destroy() // 销毁旧缩放
+    autofit.init({
+    designHeight: 1080,
+    designWidth: 1920,
+    renderDom: '#app',
+    resize: true
+  })
+}
+
 let clockTimer, binaryTimer;
 onMounted(() => {
     updateClock();
     clockTimer = setInterval(updateClock, 1000);
     animateBinary()
     binaryTimer = setInterval(animateBinary, 400);
+
+    document.addEventListener('fullscreenchange', resetAutoFit)
+    document.addEventListener('webkitfullscreenchange', resetAutoFit)
 })
 
 onUnmounted(() => {

src/views/arm/MechanicalArm.vue

@@ -523,7 +523,7 @@ onUnmounted(() => {
           margin-bottom: 12px;
 
           .number {
-            width: 180px;
+            width: 170px;
             border-radius: 5px;
             padding: 6px;
             background: $color-background-card;