mirror of
https://gitcode.com/JianFeeeee/HomeAgent.git
synced 2026-09-22 09:58:06 +00:00
cb32032f76
用户澄清推翻了早期设计的三处前提，本提交按新模型重做调度核心（行为有意变化）： 1) 类别由注入 API 决定，与通道名无关 - InjectInterrupt* -> TaskInterrupt（带级别，可被严格更高级中断打断） - InjectText*/InjectInputSync*/内核自循环 -> TaskQueued（无级别，可被任何中断打断） - 删除按通道名推断的 taskLevel()：qq 走 InjectInterruptTextOpts，本就是中断 2) 级别只属于中断 - 插件在 InjectOptions.Priority 声明 L1-L3（空/非法降级 L1，声明 L4 夹到 L3） - L4 内核独占：新增 raiseKernelInterrupt（panic / selfip）；requestKernelPreempt 不夹取 - panic 现在产生一条带 kernel 标记的 L4 中断；L4 自身 panic 不再产生新 L4（防自我放大） 3) 选择结构：四容器固定次序，删除统一比较器 - immediate（抢占者立即运行）-> 中断队列 L4..L1 -> 栈顶(与队头比级别) -> 排队 FIFO - 删除 pickTaskIndex/taskBefore 与“同级 pending 优先”补丁（根因是抢占者进了队列） - 中断栈上界改为结构推论 = 4（= 中断级数）；删除“超限转 pendingInterrupts”降级 公开 SDK（feature 分支有意新增，纯追加）：InjectOptions.Priority + PriorityL1/2/3； 内核 io / proc 桥 / 插件模板同步透传。 设计稿 §2/§3/§4.1/§6.3/§9/§11/§12/§13/§15 按新模型重写。 验收：go build/vet 干净；go test ./... 37 包 ok 0 FAIL；-race 全绿； e2e（抢占-挂起-恢复）+ 压力（200 排队 + 50 中断，L1/L2/L3 轮转）通过。
794 lines
25 KiB
Go
794 lines
25 KiB
Go
package io
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import (
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"fmt"
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"log"
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"runtime/debug"
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"sync"
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"time"
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pubsdk "gitcode.com/JianFeeeee/homeagent-sdk/sdk"
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)
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// ChannelDef 描述通道在记忆计算层的行为，与 ToolDef.NoMemory/Cleaner 语义一致。
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type ChannelDef = pubsdk.ChannelDef
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type DeviceType int
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const (
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DeviceInput DeviceType = 0
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DeviceOutput DeviceType = 1
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DeviceIO DeviceType = 2
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)
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// OutputCapability 定义通道支持的输出格式
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type OutputCapability int
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const (
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CapText OutputCapability = 1 << iota // 文本
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CapFile // 文件
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CapImage // 图片
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CapAudio // 音频
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CapStructured // 结构化数据（JSON/卡片）
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)
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func (c OutputCapability) Supports(cap OutputCapability) bool {
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return c&cap != 0
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}
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func (c OutputCapability) String() string {
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var flags []string
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if c&CapText != 0 {
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flags = append(flags, "text")
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}
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if c&CapFile != 0 {
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flags = append(flags, "file")
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}
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if c&CapImage != 0 {
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flags = append(flags, "image")
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}
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if c&CapAudio != 0 {
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flags = append(flags, "audio")
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}
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if c&CapStructured != 0 {
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flags = append(flags, "structured")
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}
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return fmt.Sprintf("%v", flags)
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}
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type Device interface {
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Name() string
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Type() DeviceType
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Description() string
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Tools() []ToolDef
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Execute(tool string, args map[string]interface{}) (interface{}, error)
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Start() error
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Stop() error
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OutputCapabilities() OutputCapability
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ChannelDef() ChannelDef
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}
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type ToolHandler func(args map[string]interface{}) (interface{}, error)
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type ToolDef struct {
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Name string `json:"name"`
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Description string `json:"description"`
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Parameters map[string]interface{} `json:"parameters"`
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Handler ToolHandler `json:"-"` // 可选：插件工具的直接处理器，Device 通过 Execute() 分发
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}
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type InputEvent struct {
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RequestID string `json:"request_id"`
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Source string `json:"source"`
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Type string `json:"type"`
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Payload map[string]interface{} `json:"payload"`
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ResponseCh chan<- *OutputEvent `json:"-"`
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OutputChannel string `json:"output_channel"` // 默认输出通道（不传则等于 Source）
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}
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type OutputEvent struct {
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RequestID string `json:"request_id"`
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Target string `json:"target"`
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Type string `json:"type"`
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Payload map[string]interface{} `json:"payload"`
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Done bool `json:"done,omitempty"`
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OutputChannel string `json:"output_channel"` // 路由到此通道
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}
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type IOManager struct {
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mu sync.RWMutex
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devices map[string]Device
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inputCh chan *InputEvent
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interruptCh chan *InputEvent
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outputCh chan *OutputEvent
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nextReqID int64
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inputChannels map[string]ChannelDef
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// toolBlocks：插件工具注入多模态内容块，process.go 在下一条 tool message 时消费。
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// 用 interface{}[] 避免 import api.ContentBlock 导致的循环依赖。
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toolBlocksMu sync.Mutex
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toolPendingBlocks []interface{}
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}
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func NewIOManager() *IOManager {
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return &IOManager{
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devices: make(map[string]Device),
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inputCh: make(chan *InputEvent, 256),
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interruptCh: make(chan *InputEvent, 64),
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outputCh: make(chan *OutputEvent, 256),
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inputChannels: make(map[string]ChannelDef),
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}
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}
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func (m *IOManager) UnregisterDevice(name string) {
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m.mu.Lock()
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defer m.mu.Unlock()
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delete(m.devices, name)
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}
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func (m *IOManager) nextRequestID() string {
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m.mu.Lock()
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defer m.mu.Unlock()
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m.nextReqID++
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return fmt.Sprintf("req_%d_%d", time.Now().UnixNano(), m.nextReqID)
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}
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// AtomicSwapDevices 原子化替换全部 IO 设备
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// 1. 新设备必须在调用前已完成 Start()
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// 2. 调用后旧设备立即摘除，新请求走向新设备
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// 3. 返回旧设备列表，由调用方负责 Stop()
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func (m *IOManager) AtomicSwapDevices(newDevices map[string]Device) map[string]Device {
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m.mu.Lock()
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defer m.mu.Unlock()
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oldDevices := m.devices
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m.devices = newDevices
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return oldDevices
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}
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func (m *IOManager) RegisterDevice(dev Device) error {
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m.mu.Lock()
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defer m.mu.Unlock()
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if _, ok := m.devices[dev.Name()]; ok {
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return fmt.Errorf("device %s already registered", dev.Name())
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}
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m.devices[dev.Name()] = dev
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return nil
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}
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func (m *IOManager) GetDevice(name string) Device {
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m.mu.RLock()
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defer m.mu.RUnlock()
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return m.devices[name]
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}
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func (m *IOManager) StartAll() error {
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m.mu.RLock()
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devices := make([]Device, 0, len(m.devices))
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for _, dev := range m.devices {
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devices = append(devices, dev)
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}
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m.mu.RUnlock()
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for _, dev := range devices {
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if err := dev.Start(); err != nil {
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return fmt.Errorf("start device %s: %w", dev.Name(), err)
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}
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}
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return nil
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}
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func (m *IOManager) StopAll() {
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m.mu.RLock()
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devices := make([]Device, 0, len(m.devices))
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for _, dev := range m.devices {
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devices = append(devices, dev)
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}
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m.mu.RUnlock()
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for _, dev := range devices {
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if err := dev.Stop(); err != nil {
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log.Printf("[io] stop device %s error: %v", dev.Name(), err)
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}
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}
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}
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func (m *IOManager) InjectInput(source string, eventType string, payload map[string]interface{}) {
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m.inputCh <- &InputEvent{
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RequestID: m.nextRequestID(),
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Source: source,
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Type: eventType,
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Payload: payload,
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OutputChannel: source,
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}
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}
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func (m *IOManager) InjectInputSync(source string, eventType string, payload map[string]interface{}) *OutputEvent {
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ch := make(chan *OutputEvent, 1)
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m.inputCh <- &InputEvent{
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RequestID: m.nextRequestID(),
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Source: source,
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Type: eventType,
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Payload: payload,
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ResponseCh: ch,
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OutputChannel: source,
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}
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return <-ch
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}
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// InjectInputTo 注入输入事件并指定输出通道
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func (m *IOManager) InjectInputTo(source, outputChannel, eventType string, payload map[string]interface{}) {
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m.inputCh <- &InputEvent{
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RequestID: m.nextRequestID(),
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Source: source,
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Type: eventType,
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Payload: payload,
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OutputChannel: outputChannel,
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}
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}
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// InjectInputSyncTo 注入输入事件（同步等待）并指定输出通道
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func (m *IOManager) InjectInputSyncTo(source, outputChannel, eventType string, payload map[string]interface{}) *OutputEvent {
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ch := make(chan *OutputEvent, 1)
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m.inputCh <- &InputEvent{
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RequestID: m.nextRequestID(),
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Source: source,
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Type: eventType,
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Payload: payload,
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ResponseCh: ch,
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OutputChannel: outputChannel,
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}
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return <-ch
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}
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// InjectOptions 声明一次注入在记忆层与上下文层的表现。
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//
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// 零值 = 记入记忆 + 不裁剪上下文，与历史的三参数注入方法完全一致。
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// 别名到公共 SDK 而非另建一套：内置插件与外部插件必须用同一套结构，
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// 否则内核要认两种类型，而漏认会静默丢失标志位。
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type InjectOptions = pubsdk.InjectOptions
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// applyInjectOpts 把注入标志位写进事件 payload。
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//
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// 只在非零时写：零值与旧 payload 逐字节一致，事件订阅方与旧内核
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// （不认识这两个键）都不会受影响。
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//
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// 为什么不把标志位当独立参数传到底：eventloop 与各注入路径都按 payload 取字段
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// （no_memory 本来就是这么走的），payload 是这里唯一已有的携带面。
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func applyInjectOpts(payload map[string]interface{}, opts InjectOptions) {
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if opts.NoMemory {
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payload["no_memory"] = true
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}
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if opts.ContextPolicy != "" {
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payload["context_policy"] = opts.ContextPolicy
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}
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if opts.CleanerName != "" {
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payload["cleaner_name"] = opts.CleanerName
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}
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// priority 只对中断注入有意义；排队路径会忽略它（内核侧只读不写）。
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if opts.Priority != "" {
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payload["priority"] = opts.Priority
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}
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}
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func (m *IOManager) InjectInputOpts(source, eventType string, payload map[string]interface{}, opts InjectOptions) {
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applyInjectOpts(payload, opts)
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m.InjectInput(source, eventType, payload)
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}
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func (m *IOManager) InjectInputToOpts(source, outputChannel, eventType string, payload map[string]interface{}, opts InjectOptions) {
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applyInjectOpts(payload, opts)
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m.InjectInputTo(source, outputChannel, eventType, payload)
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}
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func (m *IOManager) InjectInputSyncToOpts(source, outputChannel, eventType string, payload map[string]interface{}, opts InjectOptions) *OutputEvent {
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applyInjectOpts(payload, opts)
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return m.InjectInputSyncTo(source, outputChannel, eventType, payload)
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}
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func (m *IOManager) InjectInterruptOpts(source, channel string, payload map[string]interface{}, opts InjectOptions) {
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applyInjectOpts(payload, opts)
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m.InjectInterrupt(source, channel, payload)
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}
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func (m *IOManager) InjectText(source string, text string) {
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m.InjectInput(source, "text", map[string]interface{}{
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"content": text,
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})
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}
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func (m *IOManager) InjectTextSync(source string, text string) *OutputEvent {
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return m.InjectInputSync(source, "text", map[string]interface{}{
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"content": text,
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})
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}
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// InjectTextTo 注入文本输入并指定输出通道
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func (m *IOManager) InjectTextTo(source, outputChannel, text string) {
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m.InjectInputTo(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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})
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}
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// InjectTextNoMemoryTo 注入文本输入（不产生记忆）并指定输出通道
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func (m *IOManager) InjectTextNoMemoryTo(source, outputChannel, text string) {
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m.InjectInputTo(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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"no_memory": true,
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})
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}
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// InjectTextSyncNoMemoryTo 注入文本输入（同步等待，不产生记忆）并指定输出通道
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func (m *IOManager) InjectTextSyncNoMemoryTo(source, outputChannel, text string) *OutputEvent {
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return m.InjectInputSyncTo(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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"no_memory": true,
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})
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}
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// InjectInterrupt 向中断通道发送输入
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func (m *IOManager) InjectInterrupt(source, channel string, payload map[string]interface{}) {
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if payload == nil {
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payload = map[string]interface{}{}
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}
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evtType, _ := payload["type"].(string)
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m.interruptCh <- &InputEvent{
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RequestID: m.nextRequestID(),
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Source: source,
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Type: evtType,
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Payload: payload,
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OutputChannel: channel,
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}
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}
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func (m *IOManager) InjectInterruptText(source, channel, text string) {
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m.InjectInterruptTextOpts(source, channel, text, InjectOptions{})
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}
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// InjectInterruptTextOpts 注入中断文本，并声明本次注入的记忆/裁剪行为。
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//
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// 中断也允许声明 ContextPolicyPrune：中断同样携带内容进入上下文。
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func (m *IOManager) InjectInterruptTextOpts(source, channel, text string, opts InjectOptions) {
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m.InjectInterruptOpts(source, channel, map[string]interface{}{
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"type": "text",
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"content": text,
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}, opts)
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}
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// InjectTextOpts 注入排队文本，并声明本次注入的记忆/裁剪行为。
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func (m *IOManager) InjectTextOpts(source, channel, text string, opts InjectOptions) {
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m.InjectInputToOpts(source, channel, "text", map[string]interface{}{
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"content": text,
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}, opts)
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}
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// InjectTextSyncOpts 同步注入文本并声明记忆/裁剪行为。
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func (m *IOManager) InjectTextSyncOpts(source, outputChannel, text string, opts InjectOptions) *OutputEvent {
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return m.InjectInputSyncToOpts(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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}, opts)
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}
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func (m *IOManager) InputInterruptChan() <-chan *InputEvent { return m.interruptCh }
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// InjectTextSyncTo 注入文本输入（同步等待）并指定输出通道
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func (m *IOManager) InjectTextSyncTo(source, outputChannel, text string) *OutputEvent {
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return m.InjectInputSyncTo(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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})
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}
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// ---- 带标志位的注入（记忆/裁剪行为由调用点声明）----
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// InjectInputMediaOpts 注入带媒体块的输入，并声明记忆/裁剪行为。
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func (m *IOManager) InjectInputMediaOpts(source, outputChannel, text string, blocks []pubsdk.ContentBlock, opts InjectOptions) {
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m.InjectInputToOpts(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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"media_blocks": blocks,
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}, opts)
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}
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// InjectInputMediaSyncOpts 注入带媒体块的输入并同步等待回复，同时声明记忆/裁剪行为。
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func (m *IOManager) InjectInputMediaSyncOpts(source, outputChannel, text string, blocks []pubsdk.ContentBlock, opts InjectOptions) *OutputEvent {
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return m.InjectInputSyncToOpts(source, outputChannel, "text", map[string]interface{}{
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"content": text,
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"media_blocks": blocks,
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}, opts)
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}
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// InjectInterruptMediaOpts 注入带媒体块的中断，并声明记忆/裁剪行为。
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func (m *IOManager) InjectInterruptMediaOpts(source, channel, text string, blocks []pubsdk.ContentBlock, opts InjectOptions) {
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m.InjectInterruptOpts(source, channel, map[string]interface{}{
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"type": "text",
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"content": text,
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"media_blocks": blocks,
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}, opts)
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}
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func (m *IOManager) EmitOutput(target string, outputType string, payload map[string]interface{}) {
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m.outputCh <- &OutputEvent{
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RequestID: "",
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Target: target,
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Type: outputType,
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Payload: payload,
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Done: true,
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}
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}
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// EmitOutputTo 通过指定输出通道发送
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func (m *IOManager) EmitOutputTo(target, outputChannel, outputType string, payload map[string]interface{}) {
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m.outputCh <- &OutputEvent{
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RequestID: "",
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Target: target,
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Type: outputType,
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Payload: payload,
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Done: true,
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OutputChannel: outputChannel,
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}
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}
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func (m *IOManager) EmitText(target string, text string) {
|
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m.EmitOutput(target, "text", map[string]interface{}{
|
||
"content": text,
|
||
})
|
||
}
|
||
|
||
// EmitTextTo 通过指定输出通道发送文本
|
||
func (m *IOManager) EmitTextTo(target, outputChannel, text string) {
|
||
m.EmitOutputTo(target, outputChannel, "text", map[string]interface{}{
|
||
"content": text,
|
||
})
|
||
}
|
||
|
||
func (m *IOManager) InputChan() <-chan *InputEvent { return m.inputCh }
|
||
func (m *IOManager) OutputChan() <-chan *OutputEvent { return m.outputCh }
|
||
|
||
// RegisterInputChannel 注册输入通道的记忆行为
|
||
func (m *IOManager) RegisterInputChannel(name string, def ChannelDef) {
|
||
m.mu.Lock()
|
||
defer m.mu.Unlock()
|
||
m.inputChannels[name] = def
|
||
}
|
||
|
||
// UnregisterInputChannel 注销输入通道
|
||
func (m *IOManager) UnregisterInputChannel(name string) {
|
||
m.mu.Lock()
|
||
defer m.mu.Unlock()
|
||
delete(m.inputChannels, name)
|
||
}
|
||
|
||
// GetInputChannelDef 查询输入通道的记忆行为定义
|
||
func (m *IOManager) GetInputChannelDef(name string) (ChannelDef, bool) {
|
||
m.mu.RLock()
|
||
defer m.mu.RUnlock()
|
||
def, ok := m.inputChannels[name]
|
||
return def, ok
|
||
}
|
||
|
||
func (m *IOManager) GetAllTools() []ToolDef {
|
||
m.mu.RLock()
|
||
defer m.mu.RUnlock()
|
||
var tools []ToolDef
|
||
for _, dev := range m.devices {
|
||
tools = append(tools, dev.Tools()...)
|
||
}
|
||
return tools
|
||
}
|
||
|
||
func (m *IOManager) ExecuteTool(name string, args map[string]interface{}) (ret interface{}, err error) {
|
||
m.mu.RLock()
|
||
type nameDevice struct {
|
||
name string
|
||
dev Device
|
||
}
|
||
var candidates []nameDevice
|
||
for _, dev := range m.devices {
|
||
for _, t := range dev.Tools() {
|
||
if t.Name == name {
|
||
candidates = append(candidates, nameDevice{name: dev.Name(), dev: dev})
|
||
break
|
||
}
|
||
}
|
||
}
|
||
m.mu.RUnlock()
|
||
|
||
if len(candidates) == 0 {
|
||
return nil, fmt.Errorf("tool %s not found", name)
|
||
}
|
||
defer func() {
|
||
if r := recover(); r != nil {
|
||
log.Printf("[io] tool %s execute panic: %v\n%s", name, r, debug.Stack())
|
||
err = fmt.Errorf("tool %s execute panic: %v", name, r)
|
||
}
|
||
}()
|
||
return candidates[0].dev.Execute(name, args)
|
||
}
|
||
|
||
func (m *IOManager) ListDevices() []Device {
|
||
m.mu.RLock()
|
||
defer m.mu.RUnlock()
|
||
list := make([]Device, 0, len(m.devices))
|
||
for _, d := range m.devices {
|
||
list = append(list, d)
|
||
}
|
||
return list
|
||
}
|
||
|
||
// ChannelInfo 返回 IOManager 中已注册的所有通道信息
|
||
type ChannelInfo struct {
|
||
Name string `json:"name"`
|
||
Type DeviceType `json:"type"`
|
||
Description string `json:"description"`
|
||
Tools []ToolDef `json:"tools"`
|
||
OutputCaps OutputCapability `json:"output_capabilities"`
|
||
}
|
||
|
||
func (m *IOManager) ListChannels() []ChannelInfo {
|
||
m.mu.RLock()
|
||
defer m.mu.RUnlock()
|
||
|
||
var list []ChannelInfo
|
||
for _, dev := range m.devices {
|
||
list = append(list, ChannelInfo{
|
||
Name: dev.Name(),
|
||
Type: dev.Type(),
|
||
Description: dev.Description(),
|
||
Tools: dev.Tools(),
|
||
OutputCaps: dev.OutputCapabilities(),
|
||
})
|
||
}
|
||
return list
|
||
}
|
||
|
||
func (m *IOManager) GetChannelCapabilities(channel string) OutputCapability {
|
||
m.mu.RLock()
|
||
defer m.mu.RUnlock()
|
||
if dev, ok := m.devices[channel]; ok {
|
||
return dev.OutputCapabilities()
|
||
}
|
||
return 0
|
||
}
|
||
|
||
// Microphone
|
||
type Microphone struct {
|
||
name string
|
||
sampleRate int
|
||
io *IOManager
|
||
}
|
||
|
||
func NewMicrophone(name string, sampleRate int, io *IOManager) *Microphone {
|
||
return &Microphone{name: name, sampleRate: sampleRate, io: io}
|
||
}
|
||
|
||
func (d *Microphone) Name() string { return d.name }
|
||
func (d *Microphone) Type() DeviceType { return DeviceInput }
|
||
func (d *Microphone) OutputCapabilities() OutputCapability { return 0 } // 纯输入
|
||
func (d *Microphone) Description() string {
|
||
return fmt.Sprintf("麦克风 (%s, %dHz)", d.name, d.sampleRate)
|
||
}
|
||
func (d *Microphone) Start() error { return nil }
|
||
func (d *Microphone) Stop() error { return nil }
|
||
func (d *Microphone) ChannelDef() ChannelDef { return ChannelDef{} }
|
||
|
||
func (d *Microphone) Tools() []ToolDef {
|
||
return []ToolDef{{
|
||
Name: d.name + "_capture",
|
||
Description: fmt.Sprintf("从 %s 录制音频", d.name),
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"duration": map[string]interface{}{"type": "number", "description": "录制时长（秒）", "default": 3},
|
||
},
|
||
},
|
||
}}
|
||
}
|
||
|
||
func (d *Microphone) Execute(tool string, args map[string]interface{}) (interface{}, error) {
|
||
return map[string]interface{}{"device": d.name, "status": "recorded", "format": "wav", "sample_rate": d.sampleRate}, nil
|
||
}
|
||
|
||
// Speaker
|
||
type Speaker struct {
|
||
name string
|
||
io *IOManager
|
||
}
|
||
|
||
func NewSpeaker(name string, io *IOManager) *Speaker {
|
||
return &Speaker{name: name, io: io}
|
||
}
|
||
|
||
func (d *Speaker) Name() string { return d.name }
|
||
func (d *Speaker) Type() DeviceType { return DeviceOutput }
|
||
func (d *Speaker) OutputCapabilities() OutputCapability { return CapText | CapAudio }
|
||
func (d *Speaker) Description() string { return fmt.Sprintf("扬声器 (%s)", d.name) }
|
||
func (d *Speaker) Start() error { return nil }
|
||
func (d *Speaker) Stop() error { return nil }
|
||
func (d *Speaker) ChannelDef() ChannelDef { return ChannelDef{} }
|
||
|
||
func (d *Speaker) Tools() []ToolDef {
|
||
return []ToolDef{{
|
||
Name: d.name + "_speak",
|
||
Description: fmt.Sprintf("通过 %s 播放语音", d.name),
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"text": map[string]interface{}{"type": "string", "description": "播放文本"},
|
||
},
|
||
"required": []string{"text"},
|
||
},
|
||
}}
|
||
}
|
||
|
||
func (d *Speaker) Execute(tool string, args map[string]interface{}) (interface{}, error) {
|
||
text, _ := args["text"].(string)
|
||
return map[string]interface{}{"device": d.name, "status": "playing", "text": text}, nil
|
||
}
|
||
|
||
// Camera
|
||
type Camera struct {
|
||
name string
|
||
io *IOManager
|
||
}
|
||
|
||
func NewCamera(name string, io *IOManager) *Camera {
|
||
return &Camera{name: name, io: io}
|
||
}
|
||
|
||
func (d *Camera) Name() string { return d.name }
|
||
func (d *Camera) Type() DeviceType { return DeviceInput }
|
||
func (d *Camera) OutputCapabilities() OutputCapability { return CapImage } // 可返回图片
|
||
func (d *Camera) Description() string { return fmt.Sprintf("摄像头 (%s)", d.name) }
|
||
func (d *Camera) Start() error { return nil }
|
||
func (d *Camera) Stop() error { return nil }
|
||
func (d *Camera) ChannelDef() ChannelDef { return ChannelDef{} }
|
||
|
||
func (d *Camera) Tools() []ToolDef {
|
||
return []ToolDef{
|
||
{
|
||
Name: d.name + "_capture",
|
||
Description: fmt.Sprintf("使用 %s 拍照", d.name),
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"quality": map[string]interface{}{"type": "integer", "description": "质量1-100", "default": 90},
|
||
},
|
||
},
|
||
},
|
||
{
|
||
Name: d.name + "_stream",
|
||
Description: fmt.Sprintf("控制 %s 视频流", d.name),
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"action": map[string]interface{}{"type": "string", "enum": []interface{}{"start", "stop"}},
|
||
},
|
||
"required": []string{"action"},
|
||
},
|
||
},
|
||
}
|
||
}
|
||
|
||
func (d *Camera) Execute(tool string, args map[string]interface{}) (interface{}, error) {
|
||
return map[string]interface{}{"device": d.name, "status": "captured"}, nil
|
||
}
|
||
|
||
// RobotArm
|
||
type RobotArm struct {
|
||
name string
|
||
io *IOManager
|
||
}
|
||
|
||
func NewRobotArm(name string, io *IOManager) *RobotArm {
|
||
return &RobotArm{name: name, io: io}
|
||
}
|
||
|
||
func (d *RobotArm) Name() string { return d.name }
|
||
func (d *RobotArm) Type() DeviceType { return DeviceIO }
|
||
func (d *RobotArm) OutputCapabilities() OutputCapability { return CapStructured }
|
||
func (d *RobotArm) Description() string { return fmt.Sprintf("机械臂 (%s)", d.name) }
|
||
func (d *RobotArm) Start() error { return nil }
|
||
func (d *RobotArm) Stop() error { return nil }
|
||
func (d *RobotArm) ChannelDef() ChannelDef { return ChannelDef{} }
|
||
|
||
func (d *RobotArm) Tools() []ToolDef {
|
||
return []ToolDef{
|
||
{
|
||
Name: d.name + "_move",
|
||
Description: fmt.Sprintf("移动 %s 到坐标", d.name),
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"x": map[string]interface{}{"type": "number", "description": "X 轴"},
|
||
"y": map[string]interface{}{"type": "number", "description": "Y 轴"},
|
||
"z": map[string]interface{}{"type": "number", "description": "Z 轴"},
|
||
},
|
||
"required": []string{"x", "y", "z"},
|
||
},
|
||
},
|
||
{
|
||
Name: d.name + "_grip",
|
||
Description: fmt.Sprintf("控制 %s 夹爪", d.name),
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"action": map[string]interface{}{"type": "string", "enum": []interface{}{"open", "close"}},
|
||
},
|
||
"required": []string{"action"},
|
||
},
|
||
},
|
||
}
|
||
}
|
||
|
||
func (d *RobotArm) Execute(tool string, args map[string]interface{}) (interface{}, error) {
|
||
return map[string]interface{}{"device": d.name, "tool": tool, "status": "executed"}, nil
|
||
}
|
||
|
||
// GPIODevice
|
||
type GPIODevice struct {
|
||
name string
|
||
pins []int
|
||
io *IOManager
|
||
}
|
||
|
||
func NewGPIODevice(name string, pins []int, io *IOManager) *GPIODevice {
|
||
return &GPIODevice{name: name, pins: pins, io: io}
|
||
}
|
||
|
||
func (d *GPIODevice) Name() string { return d.name }
|
||
func (d *GPIODevice) Type() DeviceType { return DeviceIO }
|
||
func (d *GPIODevice) OutputCapabilities() OutputCapability { return CapStructured }
|
||
func (d *GPIODevice) Description() string { return "GPIO 通用引脚" }
|
||
func (d *GPIODevice) Start() error { return nil }
|
||
func (d *GPIODevice) Stop() error { return nil }
|
||
func (d *GPIODevice) ChannelDef() ChannelDef { return ChannelDef{} }
|
||
|
||
func (d *GPIODevice) Tools() []ToolDef {
|
||
return []ToolDef{
|
||
{
|
||
Name: d.name + "_gpio_write",
|
||
Description: "设置引脚电平",
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"pin": map[string]interface{}{"type": "integer"},
|
||
"value": map[string]interface{}{"type": "integer", "enum": []interface{}{0, 1}},
|
||
},
|
||
"required": []string{"pin", "value"},
|
||
},
|
||
},
|
||
{
|
||
Name: d.name + "_gpio_read",
|
||
Description: "读取引脚电平",
|
||
Parameters: map[string]interface{}{
|
||
"type": "object",
|
||
"properties": map[string]interface{}{
|
||
"pin": map[string]interface{}{"type": "integer"},
|
||
},
|
||
"required": []string{"pin"},
|
||
},
|
||
},
|
||
}
|
||
}
|
||
|
||
func (d *GPIODevice) Execute(tool string, args map[string]interface{}) (interface{}, error) {
|
||
return map[string]interface{}{"device": d.name, "tool": tool, "status": "ok"}, nil
|
||
}
|
||
|
||
// SetToolBlocks 插件工具调用时注入多模态内容块（image_url/audio_url 等），
|
||
// 下一条 tool message 追加这些块到 content 数组（OpenAI 多模态格式）。
|
||
func (m *IOManager) SetToolBlocks(blocks []interface{}) {
|
||
m.toolBlocksMu.Lock()
|
||
m.toolPendingBlocks = blocks
|
||
m.toolBlocksMu.Unlock()
|
||
}
|
||
|
||
// ConsumeToolBlocks 返回并清空 pending blocks，process.go 在 append tool message 时调用。
|
||
func (m *IOManager) ConsumeToolBlocks() []interface{} {
|
||
m.toolBlocksMu.Lock()
|
||
blocks := m.toolPendingBlocks
|
||
m.toolPendingBlocks = nil
|
||
m.toolBlocksMu.Unlock()
|
||
return blocks
|
||
}
|