deepseek Bot
6dd1fa7e24
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
94 lines
3.0 KiB
Bash
Executable File
94 lines
3.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 通过常驻守护进程注入动作（只写状态文件，不自己开连接）
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#
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# 前提：robot-daemon.py 正在运行，保持唯一长连接。
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#
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# 用法：
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# bash rc.sh go -40 800 # 后退 40% 速度 0.8 秒
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# bash rc.sh go 40 800 # 前进
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# bash rc.sh strafe 40 800 # 右转（负值左转）
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# bash rc.sh joy 30 -40 800 # 任意摇杆组合
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# bash rc.sh jump # 跳一下
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# bash rc.sh stop # 立即归零
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# bash rc.sh status # 看当前注入状态 + 守护进程是否活着
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# bash rc.sh hold # 持续注入零帧（确保静止，默认 5 秒）
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set -u
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D="$(cd "$(dirname "$0")" && pwd)"
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STATE="${RC_STATE:-$D/daemon-state.json}"
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PIDF="$D/daemon.pid"
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die() { echo "[rc] $*" >&2; exit 1; }
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alive() {
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[ -f "$PIDF" ] || return 1
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local pid; pid="$(cat "$PIDF" 2>/dev/null || true)"
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[ -n "$pid" ] || return 1
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kill -0 "$pid" 2>/dev/null || return 1
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return 0
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}
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write_state() { # joy_x joy_y dir seconds
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local jx="$1" jy="$2" dr="$3" secs="$4"
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local until
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if [ "${secs:-0}" = "0" ]; then
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until=0
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else
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until="$(python3 -c "import time;print(f'{time.time()+float($secs):.3f}')")"
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fi
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python3 - "$STATE" "$jx" "$jy" "$dr" "$until" <<'PY'
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import json, sys, os, tempfile
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path, jx, jy, dr, until = sys.argv[1], int(sys.argv[2]), int(sys.argv[3]), sys.argv[4], float(sys.argv[5])
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data = {"joy_x": jx, "joy_y": jy, "dir": dr, "until": until}
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d = os.path.dirname(os.path.abspath(path))
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fd, tmp = tempfile.mkstemp(dir=d)
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with os.fdopen(fd, "w") as f:
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json.dump(data, f)
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os.replace(tmp, path)
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PY
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}
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CMD="${1:-}"; shift || true
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alive || die "守护进程未运行。先启动：setsid nohup python3 $D/robot-daemon.py > $D/daemon.log 2>&1 &"
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# 平衡开关硬锁：拒绝关闭
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case "$CMD" in
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stable|balance)
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die "拒绝：主动保持平衡不允许关闭（用户明确指令）。"
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;;
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esac
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case "$CMD" in
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go)
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Y="${1:-50}"; MS="${2:-800}"
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write_state 0 "$Y" stop "$(python3 -c "print(float($MS)/1000)")"
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echo "[rc] 摇杆 y=$Y 持续 ${MS}ms" ;;
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strafe)
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X="${1:-50}"; MS="${2:-800}"
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write_state "$X" 0 stop "$(python3 -c "print(float($MS)/1000)")"
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echo "[rc] 摇杆 x=$X 持续 ${MS}ms" ;;
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joy)
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X="${1:-0}"; Y="${2:-0}"; MS="${3:-800}"
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write_state "$X" "$Y" stop "$(python3 -c "print(float($MS)/1000)")"
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echo "[rc] 摇杆 x=$X y=$Y 持续 ${MS}ms" ;;
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jump)
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MS="${1:-300}"
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write_state 0 0 jump "$(python3 -c "print(float($MS)/1000)")"
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echo "[rc] 跳 ${MS}ms" ;;
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stop)
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write_state 0 0 stop 0
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echo "[rc] 已归零" ;;
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hold)
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MS="${1:-5000}"
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write_state 0 0 stop "$(python3 -c "print(float($MS)/1000)")"
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echo "[rc] 保持零帧 ${MS}ms" ;;
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status)
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echo "[rc] 守护进程 PID: $(cat "$PIDF")"
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echo "[rc] 状态文件: $STATE"
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cat "$STATE" 2>/dev/null || echo "(无)"
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echo
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echo "[rc] 最近日志:"; tail -6 "$D/daemon.log" 2>/dev/null ;;
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*)
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sed -n '2,16p' "$0" | sed 's/^# \{0,1\}//'; exit 1 ;;
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esac
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