mirror of
https://gitcode.com/JianFeeeee/HomeAgent.git
synced 2026-09-22 18:08:04 +00:00
fab58e709a
P0: WebUI重构
- 完整 SPA 仪表盘 (7标签页), //go:embed dashboard.html
P1: OpenClaw兼容 (三通道: SKILL.md / sidecar / simulator)
- Node.js 模拟进程统一加载任意 OpenClaw 插件
- JSON-RPC 2.0 over stdio 协议, go:embed 内嵌
P2: Healthcheck 优化
- 定时自动执行 (startAutoCheck, 30min)
- healthcheck_perf 性能监控工具
其他: agentcli/cmd 插件, integration_test, status.go,
test_deepseek 清理, 多项 bug 修复
624 lines
18 KiB
Go
624 lines
18 KiB
Go
package io
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import (
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"fmt"
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"log"
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"sync"
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"time"
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)
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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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}
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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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}
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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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}
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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) 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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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.InjectInterrupt(source, channel, map[string]interface{}{
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"type": "text",
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"content": text,
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})
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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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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{}{
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"content": text,
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})
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}
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// EmitTextTo 通过指定输出通道发送文本
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func (m *IOManager) EmitTextTo(target, outputChannel, text string) {
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m.EmitOutputTo(target, outputChannel, "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) InputChan() <-chan *InputEvent { return m.inputCh }
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func (m *IOManager) OutputChan() <-chan *OutputEvent { return m.outputCh }
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func (m *IOManager) GetAllTools() []ToolDef {
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m.mu.RLock()
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defer m.mu.RUnlock()
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var tools []ToolDef
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for _, dev := range m.devices {
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tools = append(tools, dev.Tools()...)
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}
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return tools
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}
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func (m *IOManager) ExecuteTool(name string, args map[string]interface{}) (interface{}, error) {
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m.mu.RLock()
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type nameDevice struct {
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name string
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dev Device
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}
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var candidates []nameDevice
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for _, dev := range m.devices {
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for _, t := range dev.Tools() {
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if t.Name == name {
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candidates = append(candidates, nameDevice{name: dev.Name(), dev: dev})
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break
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}
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}
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}
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m.mu.RUnlock()
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if len(candidates) == 0 {
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return nil, fmt.Errorf("tool %s not found", name)
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}
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return candidates[0].dev.Execute(name, args)
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}
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func (m *IOManager) ListDevices() []Device {
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m.mu.RLock()
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defer m.mu.RUnlock()
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list := make([]Device, 0, len(m.devices))
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for _, d := range m.devices {
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list = append(list, d)
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}
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return list
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}
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// ChannelInfo 返回 IOManager 中已注册的所有通道信息
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type ChannelInfo struct {
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Name string `json:"name"`
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Type DeviceType `json:"type"`
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Description string `json:"description"`
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Tools []ToolDef `json:"tools"`
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OutputCaps OutputCapability `json:"output_capabilities"`
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}
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func (m *IOManager) ListChannels() []ChannelInfo {
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m.mu.RLock()
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defer m.mu.RUnlock()
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var list []ChannelInfo
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for _, dev := range m.devices {
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list = append(list, ChannelInfo{
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Name: dev.Name(),
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Type: dev.Type(),
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Description: dev.Description(),
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Tools: dev.Tools(),
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OutputCaps: dev.OutputCapabilities(),
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})
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}
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return list
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}
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func (m *IOManager) GetChannelCapabilities(channel string) OutputCapability {
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m.mu.RLock()
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defer m.mu.RUnlock()
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if dev, ok := m.devices[channel]; ok {
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return dev.OutputCapabilities()
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}
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return 0
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}
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// Microphone
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type Microphone struct {
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name string
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sampleRate int
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io *IOManager
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}
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func NewMicrophone(name string, sampleRate int, io *IOManager) *Microphone {
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return &Microphone{name: name, sampleRate: sampleRate, io: io}
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}
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func (d *Microphone) Name() string { return d.name }
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func (d *Microphone) Type() DeviceType { return DeviceInput }
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func (d *Microphone) OutputCapabilities() OutputCapability { return 0 } // 纯输入
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func (d *Microphone) Description() string { return fmt.Sprintf("麦克风 (%s, %dHz)", d.name, d.sampleRate) }
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func (d *Microphone) Start() error { return nil }
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func (d *Microphone) Stop() error { return nil }
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func (d *Microphone) Tools() []ToolDef {
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return []ToolDef{{
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Name: d.name + "_capture",
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Description: fmt.Sprintf("从 %s 录制音频", d.name),
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Parameters: map[string]interface{}{
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"type": "object",
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"properties": map[string]interface{}{
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"duration": map[string]interface{}{"type": "number", "description": "录制时长（秒）", "default": 3},
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},
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},
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}}
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}
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func (d *Microphone) Execute(tool string, args map[string]interface{}) (interface{}, error) {
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return map[string]interface{}{"device": d.name, "status": "recorded", "format": "wav", "sample_rate": d.sampleRate}, nil
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}
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// Speaker
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type Speaker struct {
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name string
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io *IOManager
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}
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func NewSpeaker(name string, io *IOManager) *Speaker {
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return &Speaker{name: name, io: io}
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}
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func (d *Speaker) Name() string { return d.name }
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func (d *Speaker) Type() DeviceType { return DeviceOutput }
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func (d *Speaker) OutputCapabilities() OutputCapability { return CapText | CapAudio }
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func (d *Speaker) Description() string { return fmt.Sprintf("扬声器 (%s)", d.name) }
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func (d *Speaker) Start() error { return nil }
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func (d *Speaker) Stop() error { return nil }
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func (d *Speaker) Tools() []ToolDef {
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return []ToolDef{{
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Name: d.name + "_speak",
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Description: fmt.Sprintf("通过 %s 播放语音", d.name),
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Parameters: map[string]interface{}{
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"type": "object",
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"properties": map[string]interface{}{
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"text": map[string]interface{}{"type": "string", "description": "播放文本"},
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},
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"required": []string{"text"},
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},
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}}
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}
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func (d *Speaker) Execute(tool string, args map[string]interface{}) (interface{}, error) {
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text, _ := args["text"].(string)
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return map[string]interface{}{"device": d.name, "status": "playing", "text": text}, nil
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}
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// Camera
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type Camera struct {
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name string
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io *IOManager
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}
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func NewCamera(name string, io *IOManager) *Camera {
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return &Camera{name: name, io: io}
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}
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func (d *Camera) Name() string { return d.name }
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func (d *Camera) Type() DeviceType { return DeviceInput }
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func (d *Camera) OutputCapabilities() OutputCapability { return CapImage } // 可返回图片
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func (d *Camera) Description() string { return fmt.Sprintf("摄像头 (%s)", d.name) }
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func (d *Camera) Start() error { return nil }
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func (d *Camera) Stop() error { return nil }
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func (d *Camera) Tools() []ToolDef {
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return []ToolDef{
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{
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Name: d.name + "_capture",
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Description: fmt.Sprintf("使用 %s 拍照", d.name),
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Parameters: map[string]interface{}{
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"type": "object",
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"properties": map[string]interface{}{
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"quality": map[string]interface{}{"type": "integer", "description": "质量1-100", "default": 90},
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},
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},
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},
|
||
{
|
||
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) 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) 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
|
||
}
|