按功能拆分接口并清理核心乱码注释

src/api/KinematicsWebAPI.Core.cpp

@@ -0,0 +1,126 @@
+#include "KinematicsWebAPI.h"
+#include "URDFStrings.h"
+
+#include <cassert>
+#include <ctime>
+#include <iostream>
+#include <string>
+
+namespace
+{
+bool isRobotCommand(const std::string &req_cmd)
+{
+    return req_cmd == "Cmd_Kinematics_inverse_pose_str" ||
+           req_cmd == "Cmd_Kinematics_inverse_pose_str_2PSteps" ||
+           req_cmd == "Cmd_Kinematics_inverse_pose_str_NoDifference" ||
+           req_cmd == "Cmd_Kinematics_forward_pose_str" ||
+           req_cmd == "Cmd_Kinematics_forward_all_joints" ||
+           req_cmd == "Cmd_InitRobot" ||
+           req_cmd == "Cmd_GetRobot" ||
+           req_cmd == "Cmd_RemoveRobot" ||
+           req_cmd == "Cmd_ListRobots" ||
+           req_cmd == "Cmd_SelectCraftTree" ||
+           req_cmd == "Cmd_AddOperationTree";
+}
+} // namespace
+
+KinematicsWebAPI::KinematicsWebAPI()
+{
+    init_func();
+}
+
+std::string KinematicsWebAPI::init_func()
+{
+    std::string urdf_string = URDFStrings::abb120_urdf;
+    RobotManager::initRobot(urdf_string, "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1");
+    RobotManager::initRobot(urdf_string, "abb_irb120_3_58");
+
+    return utils::create_api_response(true, 200, "init_func", "", "", "").dump();
+}
+
+std::string KinematicsWebAPI::func(std::string sanitized_body)
+{
+    log("func called with body: " + sanitized_body.substr(0, 100));
+    assert(!sanitized_body.empty() && "sanitized_body should not be empty");
+
+    try
+    {
+        json request_json;
+        try
+        {
+            request_json = json::parse(sanitized_body);
+        }
+        catch (const std::exception &)
+        {
+            return utils::create_api_response(false, 400, "Invalid JSON format", "", "", "").dump();
+        }
+
+        const std::string msg = request_json.value("msg", "");
+        const std::string req_code = request_json.value("req_code", "");
+        const std::string req_from = request_json.value("req_from", "");
+        const std::string req_cmd = request_json.value("req_cmd", "");
+        const json req_param = request_json.value("req_param", json::object());
+
+        json res_data = dispatchCommand(req_cmd, req_param);
+        return utils::create_api_response(true, 0, msg, req_code, req_from, req_cmd, res_data).dump();
+    }
+    catch (const std::exception &e)
+    {
+        return utils::create_api_response(false, 500, "Processing error: " + std::string(e.what()), "", "", "").dump();
+    }
+}
+
+json KinematicsWebAPI::dispatchCommand(const std::string &req_cmd, const json &req_param)
+{
+    if (isRobotCommand(req_cmd))
+    {
+        return handleRobotCommand(req_cmd, req_param);
+    }
+
+    if (req_cmd == "Cmd_Spc")
+    {
+        return handleSpcCommand(req_cmd, req_param);
+    }
+
+    if (req_cmd == "Cmd_FourBar_CrankSlider")
+    {
+        return handleFourBarCommand(req_cmd, req_param);
+    }
+
+    if (req_cmd == "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles" ||
+        req_cmd == "Cmd_QuadrupedRobot_PerformForwardKinematics")
+    {
+        return handleQuadrupedCommand(req_cmd, req_param);
+    }
+
+    return createUnknownCommandResponse(req_cmd, req_param);
+}
+
+json KinematicsWebAPI::createUnknownCommandResponse(const std::string &req_cmd, const json &req_param) const
+{
+    return {
+        {"success", false},
+        {"error", "Unknown command: " + req_cmd},
+        {"received_params", req_param},
+        {"timestamp", std::time(nullptr)}};
+}
+
+void KinematicsWebAPI::log(const std::string &message)
+{
+    std::cout << "[" << getCurrentTimestamp() << "] " << message << std::endl;
+
+    if (onLog)
+    {
+        onLog("[" + getCurrentTimestamp() + "] " + message);
+    }
+}
+
+std::string KinematicsWebAPI::getCurrentTimestamp()
+{
+    return utils::get_current_timestamp();
+}
+
+bool KinematicsWebAPI::is_running() const
+{
+    return running_;
+}