inspection-host-computer/server/index.js

// server/index.js
import express from 'express'
import cors from 'cors'
import path from 'path';

import 'dotenv/config';
import {
  createAGVGrpcClient,
  createARMGrpcClient,
  createMicrophoneGrpcClient,
  __dirname
} from './grpcClient.js';
import { attachAudioWebSocket } from './audioWebSocket.js';

const app = express()
app.use(express.static(path.join(__dirname, '../dist')));
app.use(cors())
app.use(express.json())

// 获取机器人麦克风音量（0-100）。
app.post('/api/audio/microphone/volume/get', (req, res) => {
  const { ip, deviceId } = req.body
  if (!ip || !deviceId) {
    res.status(400).json({ code: 400, message: '机器人地址和麦克风设备 ID 不能为空' })
    return
  }

  const grpcClient = createMicrophoneGrpcClient(ip)
  grpcClient.getVolume(
    { header: { device_id: deviceId } },
    { deadline: Date.now() + 5000 },
    (error, feedback) => {
      grpcClient.close()
      if (error) {
        console.error('[audio] get microphone volume failed:', error)
        res.status(502).json({ code: 502, message: error.details || error.message || '获取机器人音量失败' })
        return
      }
      if (feedback?.header?.success === false) {
        res.status(502).json({
          code: 502,
          message: feedback.header.error_message || '机器人拒绝获取音量'
        })
        return
      }
      res.json({ code: 200, data: { volume: feedback?.volume ?? 0 } })
    }
  )
})

// 设置机器人麦克风音量（0-100）。
app.post('/api/audio/microphone/volume/set', (req, res) => {
  const { ip, deviceId } = req.body
  const volume = Number(req.body.volume)
  if (!ip || !deviceId) {
    res.status(400).json({ code: 400, message: '机器人地址和麦克风设备 ID 不能为空' })
    return
  }
  if (!Number.isInteger(volume) || volume < 0 || volume > 100) {
    res.status(400).json({ code: 400, message: '音量必须是 0 到 100 的整数' })
    return
  }

  const grpcClient = createMicrophoneGrpcClient(ip)
  grpcClient.setVolume({
    header: { device_id: deviceId },
    volume
  }, { deadline: Date.now() + 5000 }, (error, feedback) => {
    grpcClient.close()
    if (error) {
      console.error('[audio] set microphone volume failed:', error)
      res.status(502).json({ code: 502, message: error.details || error.message || '设置机器人音量失败' })
      return
    }
    if (feedback?.header?.success === false) {
      res.status(502).json({
        code: 502,
        message: feedback.header.error_message || '机器人拒绝设置音量'
      })
      return
    }
    res.json({ code: 200, data: { volume } })
  })
})

// 获取agv运行时状态
app.post('/api/agv/getRuntimeState', async (req, res) => {
  const request = {
    header: {
      device_id: req.body.deviceId || 'agv_src1100'
    }
  };

  const grpcClient = createAGVGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.getRuntimeState(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.state
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

// 获取机器人当前地图
app.post('/api/agv/getCurrentMap', async (req, res) => {
  const grpcClient = createAGVGrpcClient(req.body.ip)
  const request = {
    header: {
      device_id: req.body.deviceId || 'agv_src1100'
    },
    map_name: req.body.mapName
  };

  const resp = await new Promise((resolve, reject) => {
    grpcClient.downloadMap(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.content
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

// 机器人运动控制
app.post('/api/agv/moveRobot', async (req, res) => {
  const grpcClient = setVelocity(req.body.ip)
  const request = {
    header: {
      device_id: req.body.deviceId || 'agv_src1100'
    },
    velocity: {
      vx: req.body.vx,
      vy: req.body.vy,
      vz: req.body.vz
    }
  };

  const resp = await new Promise((resolve, reject) => {
    grpcClient.setVelocity(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.status
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json({
      code: 200,
      data: resp
    })
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

// 机器人停止运动
app.post('/api/agv/stopRobot', async (req, res) => {
  const grpcClient = createAGVGrpcClient(req.body.ip)
  const request = {
    header: {
      device_id: req.body.deviceId || 'agv_src1100'
    }
  };

  const resp = await new Promise((resolve, reject) => {
    grpcClient.stopVelocityControl(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.status
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json({
      code: 200,
      data: resp
    })
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})


// ==================================================

// 获取机械臂末端位姿
app.post('/api/arm/getPose', async (req, res) => {
  const request = {
    header: {
      device_id: req.body.deviceId || 'huayan_arm'
    }
  };

  const grpcClient = createARMGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.getPose(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.pose
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

// 获取机械臂节点状态
app.post('/api/arm/getJointState', async (req, res) => {
  const request = {
    header: {
      device_id: req.body.deviceId || 'huayan_arm'
    }
  };

  const grpcClient = createARMGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.getJointState(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.state
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

// 机械臂关节运动
app.post('/api/arm/speedJ', async (req, res) => {
  const request = {
    header: {
      device_id: req.body.deviceId || 'huayan_arm'
    },
    velocity: {
      velocity: req.body.velocities
    },
    acceleration: req.body.acceleration,
    duration: req.body.duration
  };
  const grpcClient = createARMGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.speedJ(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

app.post('/api/arm/speedL', async (req, res) => {
  const request = {
    header: {
      device_id: req.body.deviceId || 'huayan_arm'
    },
    velocity: req.body.velocity,
    acceleration: req.body.acceleration,
    duration: req.body.duration
  };
  const grpcClient = createARMGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.speedL(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

// 机械臂停止运动
app.post('/api/arm/stopMotion', async (req, res) => {
  const request = {
    // header: {
      device_id: req.body.deviceId || 'huayan_arm',
    // },
  };
  const grpcClient = createARMGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.stopMotion(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res.success
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

app.post('/api/arm/torqueOn', async (req, res) => {
  const request = {
    device_id: req.body.deviceId || 'huayan_arm',
  };
  const grpcClient = createARMGrpcClient(req.body.ip)

  const resp = await new Promise((resolve, reject) => {
    grpcClient.torqueOn(request, (err, res) => {
      if (err) {
        resolve({
          code: 500,
          data: `grpc服务端错误`
        });
      } else {
        resolve({
          code: 200,
          data: res
        });
      }
    });
  })

  if (resp.code === 200) {
    res.json(resp)
  } else {
    res.status(500).json({ error: 'grpc服务端错误' })
  }
})

const isProd = process.env.NODE_ENV === 'production';
const PORT = process.env.VITE_SERVICE_PORT || 3000;

// ============ 生产环境：托管 Vite 构建产物 ============
if (isProd) {
  const distPath = path.resolve(__dirname, '../dist');

  // 托管静态文件
  app.use(express.static(distPath));

  // SPA 回退：所有非 API 请求返回 index.html
  app.get('/{*path}', (req, res) => {
    res.sendFile(path.resolve(distPath, 'index.html'));
  });

  app.post('/{*path}', (req, res) => {
    res.sendFile(path.resolve(distPath, 'index.html'));
  });
}

// ========== 启动 =========

const httpServer = app.listen(PORT, () => {
  console.log(`gRPC 桥接服务已启动: http://localhost:${PORT}`)
})

attachAudioWebSocket(httpServer)