feat: separate laser API endpoint (POST /api/laser)

config/nginx-aimbot.conf

@@ -34,7 +34,7 @@ server {
         proxy_send_timeout 86400s;
     }
 
-    # 模式切换 API (HTTP → ROS2 web_node)
+    # API (HTTP → ROS2 web_node)
     location /api/ {
         proxy_pass http://127.0.0.1:8080/api/;
         proxy_set_header Host $host;

docs/使用指南.md

@@ -109,11 +109,6 @@ curl -X POST http://localhost:8080/api/mode/switch \
 curl -X POST http://localhost:8080/api/mode/switch \
   -H "Content-Type: application/json" \
   -d '{"mode": "debug"}'
-
-# 激光开关
-curl -X POST http://localhost:8080/api/mode/switch \
-  -H "Content-Type: application/json" \
-  -d '{"mode": "laser_on"}'
 ```
 
 也可直接通过 ROS2 话题发送：
@@ -122,7 +117,28 @@ curl -X POST http://localhost:8080/api/mode/switch \
 ros2 topic pub /gimbal/mode std_msgs/String "data: 'auto'"
 ```
 
-## 6. 手动控制云台
+## 6. 激光控制
+
+```bash
+# 开激光
+curl -X POST http://localhost:8080/api/laser \
+  -H "Content-Type: application/json" \
+  -d '{"action": "on"}'
+
+# 关激光
+curl -X POST http://localhost:8080/api/laser \
+  -H "Content-Type: application/json" \
+  -d '{"action": "off"}'
+```
+
+也可直接通过 ROS2 话题发送：
+
+```bash
+ros2 topic pub /gimbal/mode std_msgs/String "data: 'laser_on'"
+ros2 topic pub /gimbal/mode std_msgs/String "data: 'laser_off'"
+```
+
+## 7. 手动控制云台
 
 ```bash
 # angular.y = pitch 角速度, angular.z = yaw 角速度
@@ -130,7 +146,7 @@ ros2 topic pub /cmd_gimbal geometry_msgs/Twist \
   "{angular: {y: 0.0, z: 0.0}}"
 ```
 
-## 7. PID 调参（调试模式）
+## 8. PID 调参（调试模式）
 
 先切换到 debug 模式，然后通过 `/pid_config` 话题发送参数：
 
@@ -144,13 +160,13 @@ ros2 topic pub /pid_config std_msgs/String \
 
 参数立即生效，调试完毕后切回 auto 或 manual 模式。
 
-## 8. 查看视觉结果
+## 9. 查看视觉结果
 
 浏览器打开 `http://<设备IP>:8080`，可看到：
 - 原始图像 + 轮廓标注（result）
 - Otsu 二值化 + 闭运算结果（binary）
 
-## 9. 查看话题
+## 10. 查看话题
 
 ```bash
 # 列出所有活跃话题
@@ -164,7 +180,7 @@ ros2 topic hz /vision/target
 ros2 topic echo /vision/target
 ```
 
-## 10. 测试
+## 11. 测试
 
 ```bash
 cd workspace
@@ -179,7 +195,7 @@ colcon test --packages-select gimbal_control_pkg
 colcon test-result --all
 ```
 
-## 11. 故障排查
+## 12. 故障排查
 
 | 现象 | 检查项 |
 |------|--------|

workspace/src/application_pkg/application_pkg/web_node.py

@@ -89,40 +89,77 @@ class _ImageHandler(BaseHTTPRequestHandler):
     def do_POST(self):
         path = self.path.split('?')[0]
         if path == '/api/mode/switch':
-            content_length = int(self.headers.get('Content-Length', 0))
+            self._handle_mode_switch()
-            body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+        elif path == '/api/laser':
-            try:
+            self._handle_laser()
-                data = json.loads(body)
-                mode = data.get('mode', '')
-            except json.JSONDecodeError:
-                self.send_response(400)
-                self.end_headers()
-                self.wfile.write(b'{"error":"invalid json"}')
-                return
-
-            valid_modes = ('auto', 'manual', 'debug', 'laser_on', 'laser_off')
-            if mode not in valid_modes:
-                self.send_response(400)
-                self.end_headers()
-                self.wfile.write(
-                    f'{{"error":"invalid mode, must be one of {valid_modes}"}}'
-                    .encode()
-                )
-                return
-
-            if _mode_publisher is not None:
-                msg = String()
-                msg.data = mode
-                _mode_publisher.publish(msg)
-
-            self.send_response(200)
-            self.send_header('Content-type', 'application/json')
-            self.end_headers()
-            self.wfile.write(f'{{"status":"ok","mode":"{mode}"}}'.encode())
         else:
             self.send_response(404)
             self.end_headers()
 
+    def _handle_mode_switch(self):
+        content_length = int(self.headers.get('Content-Length', 0))
+        body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+        try:
+            data = json.loads(body)
+            mode = data.get('mode', '')
+        except json.JSONDecodeError:
+            self.send_response(400)
+            self.end_headers()
+            self.wfile.write(b'{"error":"invalid json"}')
+            return
+
+        valid_modes = ('auto', 'manual', 'debug')
+        if mode not in valid_modes:
+            self.send_response(400)
+            self.end_headers()
+            self.wfile.write(
+                f'{{"error":"invalid mode, must be one of {valid_modes}"}}'
+                .encode()
+            )
+            return
+
+        if _mode_publisher is not None:
+            msg = String()
+            msg.data = mode
+            _mode_publisher.publish(msg)
+
+        self.send_response(200)
+        self.send_header('Content-type', 'application/json')
+        self.end_headers()
+        self.wfile.write(f'{{"status":"ok","mode":"{mode}"}}'.encode())
+
+    def _handle_laser(self):
+        content_length = int(self.headers.get('Content-Length', 0))
+        body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+        try:
+            data = json.loads(body)
+            action = data.get('action', '')
+        except json.JSONDecodeError:
+            self.send_response(400)
+            self.end_headers()
+            self.wfile.write(b'{"error":"invalid json"}')
+            return
+
+        if action == 'on':
+            mode = 'laser_on'
+        elif action == 'off':
+            mode = 'laser_off'
+        else:
+            self.send_response(400)
+            self.end_headers()
+            self.wfile.write(b'{"error":"action must be on or off"}')
+            return
+
+        if _mode_publisher is not None:
+            msg = String()
+            msg.data = mode
+            _mode_publisher.publish(msg)
+
+        self.send_response(200)
+        self.send_header('Content-type', 'application/json')
+        self.end_headers()
+        self.wfile.write(f'{{"status":"ok","laser":"{action}"}}'.encode())
+
     def _serve_image(self, key):
         global _latest_jpeg
         jpeg = _latest_jpeg.get(key) if _latest_jpeg else None