feat: 把 A 端的 Session/KCP/视频/控制都收口到一个本地 daemon 进程里，Django 和输入发送端都改成通过本机 UDS HTTP 去访问它，同时补齐了观测、性能和可用性上的几个关键问题。

2026-04-01 15:48:01 +08:00
parent e69db4c466
commit 2f2c2008e7
17 changed files with 1690 additions and 1 deletions
--- a/python/omnisocket_a_side/control_codec.py
+++ b/python/omnisocket_a_side/control_codec.py
@@ -0,0 +1,90 @@
+"""Binary control packet codec shared by the daemon and local clients."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+import struct
+import time
+
+
+CONTROL_PACKET_VERSION = 1
+CONTROL_PACKET_STRUCT = struct.Struct("!BBHIfQ")
+
+EVENT_NAME_TO_ID = {
+    "pose_home": 1,
+    "pose_hold": 2,
+    "mode_stride": 3,
+    "surge_up": 6,
+    "surge_down": 7,
+    "sway_left": 8,
+    "sway_right": 9,
+    "spin_left": 10,
+    "spin_right": 11,
+    "set_surge": 12,
+    "set_sway": 13,
+    "set_spin": 14,
+    "set_lift": 15,
+    "lift_up": 16,
+    "lift_down": 17,
+    "trim_reset": 18,
+    "session_quit": 19,
+}
+EVENT_ID_TO_NAME = {value: key for key, value in EVENT_NAME_TO_ID.items()}
+ANALOG_EVENT_CODES = {"set_surge", "set_sway", "set_spin"}
+
+
+@dataclass(slots=True)
+class ControlPacket:
+    seq_id: int
+    event_id: int
+    drive_value: float = 1.0
+    sent_at_ns: int = 0
+
+    @property
+    def event_name(self) -> str:
+        return EVENT_ID_TO_NAME.get(self.event_id, f"unknown_{self.event_id}")
+
+    def encode(self) -> bytes:
+        sent_at_ns = self.sent_at_ns or time.time_ns()
+        return CONTROL_PACKET_STRUCT.pack(
+            CONTROL_PACKET_VERSION,
+            self.event_id,
+            0,
+            int(self.seq_id),
+            float(self.drive_value),
+            int(sent_at_ns),
+        )
+
+    @classmethod
+    def decode(cls, payload: bytes) -> "ControlPacket":
+        if len(payload) != CONTROL_PACKET_STRUCT.size:
+            raise ValueError(
+                f"invalid control packet length {len(payload)}; "
+                f"want {CONTROL_PACKET_STRUCT.size}"
+            )
+        version, event_id, _reserved, seq_id, drive_value, sent_at_ns = (
+            CONTROL_PACKET_STRUCT.unpack(payload)
+        )
+        if version != CONTROL_PACKET_VERSION:
+            raise ValueError(f"unsupported control packet version {version}")
+        return cls(
+            seq_id=int(seq_id),
+            event_id=int(event_id),
+            drive_value=float(drive_value),
+            sent_at_ns=int(sent_at_ns),
+        )
+
+
+def make_control_packet(
+    seq_id: int,
+    event_name: str,
+    drive_value: float = 1.0,
+    sent_at_ns: int | None = None,
+) -> ControlPacket:
+    event_id = EVENT_NAME_TO_ID[event_name]
+    return ControlPacket(
+        seq_id=seq_id,
+        event_id=event_id,
+        drive_value=drive_value,
+        sent_at_ns=time.time_ns() if sent_at_ns is None else sent_at_ns,
+    )