release: v1.0 - WL-PRO 轮组机器人遥控脚本
反向实现设备 WebSocket 控制协议，提供单次命令与常驻长连接两种模式。
核心内容:
- robot-ctl.py 单次命令客户端，纯标准库无依赖
- robot-daemon.py 常驻守护进程，维持唯一长连接，
解决断开丢尾帧导致的速度残留
- rc.sh 向守护进程注入动作，内置 stable=1 硬锁
- docs/PROTOCOL.md 协议逆向与踩坑记录
- tests/fake-robot-ws.js 离线验证用假设备
实测标定 (50% 速度):
- 前进/后退 ~8 cm/s
- 左转/右转 ~35 deg/s
已知限制:
- 设备为 Arduino WebSocketsServer，纯单向，不回传状态
- 仅摇杆与跳跃有效，linear/angular/方向键无效
- 网页与脚本不可同时连接，会互相覆盖帧
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#!/usr/bin/env node
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/**
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* WL-PRO 轮组机器人 遥控脚本（无外部依赖，Node >= 22 自带 WebSocket）
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*
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* 控制通道与网页一致的协议：ws://<host>:81/ 发送 JSON 状态帧：
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* {dir, mode, roll, height, linear, angular, stable, joy_x, joy_y}
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* dir: stop | forward | back | left | right | jump
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*
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* 用法示例：
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* node robot-ctl.js --host 203.0.113.10 --port 81 stop
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* node robot-ctl.js --host 192.168.4.1 forward --ms 800
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* node robot-ctl.js jump # 原地跳一下
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* node robot-ctl.js joy 0 100 --ms 1200 # 摇杆：x=0 y=100 持续 1.2s
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* node robot-ctl.js height 60 # 站高 60mm（32~85）
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* node robot-ctl.js roll 10 # 横滚 10°（-30~30）
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* node robot-ctl.js linear 100 --ms 500 # 线速度 100mm/s
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* node robot-ctl.js seq "height 50; forward 800; stop"
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* node robot-ctl.js probe # 只连接并打印收到的帧
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* node robot-ctl.js raw '{"dir":"jump"}'
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*
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* 通用参数：--host <ip> --port <p, 默认81> --timeout <ms> --rate <ms 推帧间隔, 默认150> --wet
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* --wet：允许真正发出动作（不写它也能动，仅为显式确认用法保留）
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*/
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const DEFAULT_STATE = {
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roll: 0,
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height: 38,
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linear: 0,
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angular: 0,
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stable: 0,
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mode: 'basic',
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dir: 'stop',
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joy_x: 0,
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joy_y: 0,
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};
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function parseArgs(argv) {
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const opts = { host: '192.168.4.1', port: 81, timeout: 6000, rate: 150, ms: null, wet: false };
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const tokens = [];
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for (let i = 0; i < argv.length; i++) {
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const a = argv[i];
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if (a === '--host') opts.host = argv[++i];
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else if (a === '--port') opts.port = Number(argv[++i]);
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else if (a === '--timeout') opts.timeout = Number(argv[++i]);
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else if (a === '--rate') opts.rate = Number(argv[++i]);
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else if (a === '--ms') opts.ms = Number(argv[++i]);
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else if (a === '--wet') opts.wet = true;
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else tokens.push(a);
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}
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opts.cmd = tokens[0];
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opts.args = tokens.slice(1);
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return opts;
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}
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class Robot {
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constructor(opts) {
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this.opts = opts;
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this.state = { ...DEFAULT_STATE };
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this.ws = null;
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this.log = (...m) => console.log('[robot]', ...m);
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}
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url() {
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return `ws://${this.opts.host}:${this.opts.port}/`;
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}
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connect() {
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if (typeof WebSocket === 'undefined') {
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return Promise.reject(new Error('当前 Node 无全局 WebSocket，需要 Node >= 22'));
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}
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return new Promise((resolve, reject) => {
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const ws = new WebSocket(this.url());
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this.ws = ws;
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const timer = setTimeout(() => {
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try { ws.close(); } catch {}
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reject(new Error(`连接超时 ${this.url()}`));
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}, this.opts.timeout);
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ws.onopen = () => {
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clearTimeout(timer);
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this.log('已连接', this.url());
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resolve();
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};
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ws.onerror = (e) => {
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clearTimeout(timer);
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reject(new Error(`连接失败 ${this.url()} (${(e && (e.message || e.type)) || 'error'})`));
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};
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ws.onclose = (e) => {
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this.log('连接关闭', e?.code ?? '', e?.reason ?? '');
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};
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ws.onmessage = (m) => {
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const s = typeof m.data === 'string' ? m.data : '[binary]';
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this.log('收到:', s.slice(0, 400));
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};
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});
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}
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send(extra = {}) {
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if (!this.ws || this.ws.readyState !== 1) throw new Error('未连接');
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Object.assign(this.state, extra);
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const frame = {
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dir: this.state.dir,
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mode: this.state.mode,
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roll: this.state.roll,
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height: this.state.height,
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linear: this.state.linear,
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angular: this.state.angular,
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stable: this.state.stable,
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joy_x: this.state.joy_x,
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joy_y: this.state.joy_y,
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};
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this.ws.send(JSON.stringify(frame));
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return frame;
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}
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sleep(ms) { return new Promise((r) => setTimeout(r, ms)); }
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/** 推一段时间状态帧（用于持续动作/摇杆） */
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async stream(extra, ms, rate) {
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const step = Math.max(30, rate || this.opts.rate);
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const t0 = Date.now();
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this.send(extra);
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while (Date.now() - t0 < ms) {
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await this.sleep(Math.min(step, Math.max(0, ms - (Date.now() - t0))));
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if (Date.now() - t0 >= ms) break;
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this.send(extra);
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}
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}
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stop() {
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if (this.ws && this.ws.readyState === 1) {
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this.send({ dir: 'stop', joy_x: 0, joy_y: 0 });
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}
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}
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close() {
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try { this.stop(); } catch {}
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try { if (this.ws) this.ws.close(); } catch {}
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}
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}
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const DIRS = new Set(['forward', 'back', 'left', 'right', 'jump']);
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async function runOne(robot, cmd, args, opts) {
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const num = (v, d) => (v === undefined || v === '' ? d : Number(v));
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switch (cmd) {
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case 'stop':
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robot.send({ dir: 'stop', joy_x: 0, joy_y: 0 });
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robot.log('停止');
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return;
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case 'probe': {
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const ms = Number(args[0] ?? 3000);
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robot.send({ dir: 'stop' });
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robot.log(`已同步状态，监听 ${ms}ms 内机器人回传…`);
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await robot.sleep(ms);
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return;
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}
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case 'raw': {
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const json = args.join(' ');
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const obj = JSON.parse(json);
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const frame = robot.send(obj);
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robot.log('已发:', JSON.stringify(frame));
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return;
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}
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case 'height':
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robot.send({ height: num(args[0], 38) });
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robot.log(`站高 = ${robot.state.height}mm`);
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return;
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case 'roll':
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robot.send({ roll: num(args[0], 0) });
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robot.log(`横滚 = ${robot.state.roll}°`);
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return;
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case 'linear':
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case 'angular': {
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const v = num(args[0], 0);
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const ms = opts.ms ?? num(args[1], 800);
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await robot.stream({ [cmd]: v }, ms, opts.rate);
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robot.send({ [cmd]: 0 });
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robot.log(`${cmd} = ${v} 持续 ${ms}ms 后归零`);
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return;
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}
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case 'stable':
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robot.send({ stable: num(args[0], 0) ? 1 : 0 });
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robot.log(`stable = ${robot.state.stable}`);
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return;
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case 'joy': {
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const x = num(args[0], 0), y = num(args[1], 0);
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const ms = opts.ms ?? num(args[2], 800);
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await robot.stream({ joy_x: x, joy_y: y }, ms, opts.rate);
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robot.send({ joy_x: 0, joy_y: 0, dir: 'stop' });
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robot.log(`摇杆 x=${x} y=${y} 持续 ${ms}ms 后回中`);
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return;
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}
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case 'seq': {
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const script = args.join(' ');
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for (const part of script.split(';').map((s) => s.trim()).filter(Boolean)) {
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const seg = part.split(/\s+/);
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await runOne(robot, seg[0], seg.slice(1), opts);
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await robot.sleep(120);
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}
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return;
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}
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default: {
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if (DIRS.has(cmd)) {
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const ms = opts.ms ?? (cmd === 'jump' ? 300 : 800);
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await robot.stream({ dir: cmd }, ms, opts.rate);
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robot.send({ dir: 'stop' });
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robot.log(`${cmd} 持续 ${ms}ms 后停止`);
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return;
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}
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throw new Error(`未知命令: ${cmd}（可用: stop forward back left right jump joy height roll linear angular stable seq raw probe）`);
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}
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}
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}
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(async () => {
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const opts = parseArgs(process.argv.slice(2));
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if (!opts.cmd) {
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console.log('用法: node robot-ctl.js [--host IP] [--port 81] [--ms N] <命令> [参数…]');
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console.log('命令: stop | forward | back | left | right | jump | joy <x> <y> [ms] |');
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console.log(' height <mm> | roll <deg> | linear <mm/s> [ms] | angular <deg/s> [ms] |');
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console.log(' stable <0|1> | seq "<cmd…>; <cmd…>" | raw <json> | probe [ms]');
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process.exit(1);
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}
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const robot = new Robot(opts);
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let code = 0;
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const cleanup = () => { try { robot.close(); } catch {} };
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process.on('SIGINT', () => { cleanup(); process.exit(130); });
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process.on('uncaughtException', (e) => { console.error('[robot] 错误:', e.message); cleanup(); process.exit(1); });
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try {
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await robot.connect();
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await runOne(robot, opts.cmd, opts.args, opts);
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await robot.sleep(120);
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} catch (e) {
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console.error('[robot] 失败:', e.message);
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code = 1;
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} finally {
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cleanup();
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await new Promise((r) => setTimeout(r, 150));
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process.exit(code);
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}
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})();
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