feat(model): 更新AI评估结果模型并重构AGV协议定义

- 在AeIResultDTO中新增结构化执行步骤、界面路径和执行证据截图字段
- 在AeViEvaluationVO中新增执行过程相关的结构化步骤字段
- 将agv_utils.proto中的消息定义整合到agv.proto中
- 从arm_command.proto中补充完整的机械臂控制命令定义
- 更新arm_service.proto中机械臂服务接口定义
- 移除废弃的arm_teleop_v1.proto文件
- 修改AgvNavigationWaiter类中引用的消息类型包名
- 更新应用配置文件中的激活环境设置

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java

@@ -1,6 +1,6 @@
 package com.cmvr.web.controller.api;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO;
@@ -58,7 +58,7 @@ public class EdgeAgvController {
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
         EdgeCommonVO vo = commonVo(robotId, deviceId);
-        AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
+        Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
         return AjaxResult.ok(toRuntimeStateMap(state));
     }
 
@@ -73,7 +73,7 @@ public class EdgeAgvController {
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
         EdgeCommonVO vo = commonVo(robotId, deviceId);
-        AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
+        Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
         Map<String, Object> resultMap = new HashMap<>();
         resultMap.put("state", status.getState());
         resultMap.put("type", status.getType());
@@ -108,7 +108,7 @@ public class EdgeAgvController {
     @ApiOperation("AGV重定位")
     @PostMapping("/relocalize")
     public AjaxResult relocalize(@RequestBody @Validated EdgeAgvRelocalizeVO vo) {
-        AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                 .setX(vo.getX())
                 .setY(vo.getY())
                 .setTheta(vo.getTheta())
@@ -120,13 +120,13 @@ public class EdgeAgvController {
     @ApiOperation("固定距离平移")
     @PostMapping("/translate")
     public AjaxResult translate(@RequestBody @Validated EdgeAgvTranslateVO vo) {
-        AgvUtils.AgvTranslationMode mode = vo.getMode() == null
+        Agv.AgvTranslationMode mode = vo.getMode() == null
-                ? AgvUtils.AgvTranslationMode.AGV_TRANSLATION_MODE_ODOMETRY
+                ? Agv.AgvTranslationMode.AGV_TRANSLATION_MODE_ODOMETRY
-                : AgvUtils.AgvTranslationMode.forNumber(vo.getMode());
+                : Agv.AgvTranslationMode.forNumber(vo.getMode());
         if (mode == null) {
             return AjaxResult.error("距离参考模式不合法，允许值：0=里程，1=定位");
         }
-        AgvUtils.AgvTranslation translation = AgvUtils.AgvTranslation.newBuilder()
+        Agv.AgvTranslation translation = Agv.AgvTranslation.newBuilder()
                 .setDistance(vo.getDistance())
                 .setVx(vo.getVx())
                 .setVy(vo.getVy())
@@ -142,7 +142,7 @@ public class EdgeAgvController {
     @ApiOperation("导航到指定位置")
     @PostMapping("/navigateToPose")
     public AjaxResult navigateToPose(@RequestBody @Validated EdgeAgvNavigateToPoseVO vo) {
-        AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                 .setX(vo.getX())
                 .setY(vo.getY())
                 .setTheta(vo.getTheta())
@@ -197,7 +197,7 @@ public class EdgeAgvController {
     @ApiOperation("设置速度")
     @PostMapping("/setVelocity")
     public AjaxResult setVelocity(@RequestBody @Validated EdgeAgvVelocityVO vo) {
-        AgvUtils.AgvVelocity velocity = AgvUtils.AgvVelocity.newBuilder()
+        Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder()
                 .setVx(vo.getVx())
                 .setVy(vo.getVy())
                 .setWz(vo.getWz())
@@ -242,9 +242,9 @@ public class EdgeAgvController {
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
         EdgeCommonVO vo = commonVo(robotId, deviceId);
-        List<AgvUtils.AgvStation> stations = edgeAgvService.listStations(vo);
+        List<Agv.AgvStation> stations = edgeAgvService.listStations(vo);
         List<Map<String, Object>> stationList = new ArrayList<>();
-        for (AgvUtils.AgvStation station : stations) {
+        for (Agv.AgvStation station : stations) {
             stationList.add(toStationMap(station));
         }
         return AjaxResult.ok(stationList);
@@ -296,7 +296,7 @@ public class EdgeAgvController {
     @ApiOperation("开始建图")
     @PostMapping("/startMapping")
     public AjaxResult startMapping(@RequestBody @Validated EdgeAgvStartMappingVO vo) {
-        AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(vo.getDimension());
+        Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(vo.getDimension());
         if (mapDimension == null) {
             return AjaxResult.error("建图维度不合法，允许值：0=未指定，1=2D，2=3D，3=2D+3D");
         }
@@ -327,16 +327,16 @@ public class EdgeAgvController {
         return vo;
     }
 
-    private AgvUtils.AgvMotionOptions navigationOptions(Integer blockedTimeoutMs) {
+    private Agv.AgvMotionOptions navigationOptions(Integer blockedTimeoutMs) {
         int timeout = blockedTimeoutMs == null
                 ? EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS : blockedTimeoutMs;
-        return AgvUtils.AgvMotionOptions.newBuilder()
+        return Agv.AgvMotionOptions.newBuilder()
                 .setAsynchronous(false)
                 .setBlockedTimeoutMs(timeout)
                 .build();
     }
 
-    private Map<String, Object> toRuntimeStateMap(AgvUtils.AgvRuntimeState state) {
+    private Map<String, Object> toRuntimeStateMap(Agv.AgvRuntimeState state) {
         Map<String, Object> resultMap = new HashMap<>();
         resultMap.put("timestamp", state.getTimestamp());
         resultMap.put("mode", state.getMode());
@@ -375,7 +375,7 @@ public class EdgeAgvController {
     /**
      * 将 protobuf 站点对象转换为普通 Map。
      */
-    private Map<String, Object> toStationMap(AgvUtils.AgvStation station) {
+    private Map<String, Object> toStationMap(Agv.AgvStation station) {
         Map<String, Object> stationMap = new HashMap<>();
         stationMap.put("id", station.getId());
         stationMap.put("type", station.getType());
@@ -389,7 +389,7 @@ public class EdgeAgvController {
     /**
      * 将 protobuf 二维位姿转换为普通 Map。
      */
-    private Map<String, Object> toPoseMap(AgvUtils.AgvPose2d pose) {
+    private Map<String, Object> toPoseMap(Agv.AgvPose2d pose) {
         Map<String, Object> poseMap = new HashMap<>();
         poseMap.put("x", pose.getX());
         poseMap.put("y", pose.getY());

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java

@@ -72,6 +72,35 @@ public class EdgeArmController {
                 edgeArmService.executeJsonCommand(request)));
     }
 
+    @ApiOperation("读取机械臂控制柜数字输入")
+    @GetMapping("/cabinet/digitalInput")
+    public AjaxResult getCabinetDigitalInput(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId,
+            @RequestParam("index") int index) {
+        return AjaxResult.ok(edgeArmService.getCabinetDigitalInput(commonVo(robotId, deviceId), index));
+    }
+
+    @ApiOperation("读取机械臂控制柜数字输出")
+    @GetMapping("/cabinet/digitalOutput")
+    public AjaxResult getCabinetDigitalOutput(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId,
+            @RequestParam("index") int index) {
+        return AjaxResult.ok(edgeArmService.getCabinetDigitalOutput(commonVo(robotId, deviceId), index));
+    }
+
+    @ApiOperation("设置机械臂控制柜数字输出")
+    @PostMapping("/cabinet/digitalOutput")
+    public AjaxResult setCabinetDigitalOutput(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId,
+            @RequestParam("index") int index,
+            @RequestParam("value") boolean value) {
+        return AjaxResult.ok(edgeArmService.setCabinetDigitalOutput(
+                commonVo(robotId, deviceId), index, value));
+    }
+
     @ApiOperation("关节空间运动")
     @PostMapping("/moveJ")
     public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) {

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/ti/TiProjectController.java

@@ -73,6 +73,12 @@ public class TiProjectController extends BaseController {
         return AjaxResult.ok(tiProjectService.queryExecuteRunParams(projectId));
     }
 
+    @ApiOperation("检查触控项目、录像和工作流是否具备执行条件")
+    @GetMapping("/readiness/{projectId}")
+    public AjaxResult readiness(@PathVariable("projectId") String projectId) {
+        return AjaxResult.ok(tiProjectService.checkExecutionReadiness(projectId));
+    }
+
     @ApiOperation("执行项目")
     @PostMapping("/execute")
     public AjaxResult execute(@RequestBody TeTaskExecuteProjectVO taskExecuteProjectVO) {

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/ti/TiVehicleUiController.java

@@ -21,6 +21,7 @@ import org.springframework.web.bind.annotation.PutMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.RequestParam;
 
 import java.util.List;
 
@@ -78,4 +79,11 @@ public class TiVehicleUiController extends BaseController {
     public AjaxResult findNextClickToFunction(Long vehicleConfigId, String currentUi, String clickFunction) {
         return AjaxResult.success(exTiVehicleFunctionService.findNextClickToFunction(vehicleConfigId, currentUi, clickFunction));
     }
+
+    @ApiOperation("查询界面路径拓扑")
+    @PreAuthorize("@ss.hasPermi('ti:ui:list')")
+    @GetMapping("/topology")
+    public AjaxResult topology(@RequestParam Long vehicleConfigId) {
+        return AjaxResult.success(exTiVehicleFunctionService.getTopology(vehicleConfigId));
+    }
 }

cmvr-iot-admin/src/main/resources/application.yml

@@ -60,7 +60,7 @@ spring:
     # 国际化资源文件路径
     basename: i18n/messages
   profiles:
-    active: aima
+    active: test
   # 文件上传
   servlet:
     multipart:

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java

@@ -1,7 +1,6 @@
 package com.cmvr.edge.client.manage;
 
 import cmvr.api.*;
-import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
 import com.cmvr.common.robot.RobotEndpoint;
 import com.cmvr.common.robot.RobotEndpointResolver;
 import io.grpc.ManagedChannel;
@@ -61,9 +60,6 @@ public class GrpcServiceManager {
         clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
         // 注册agv服务的stub
         clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
-        clientFactories.put(MotorServiceGrpc.MotorServiceBlockingStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newBlockingStub));
-        clientFactories.put(MotorServiceGrpc.MotorServiceStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newStub));
-        clientFactories.put(ArmTeleopServiceGrpc.ArmTeleopServiceStub.class, new GrpcClientFactory<>(ArmTeleopServiceGrpc::newStub));
         // 注册机器人实时语音双向流服务的异步Stub
     }
 

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java

@@ -1,7 +1,7 @@
 package com.cmvr.edge.client.service;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
-import cmvr.msgs.AgvUtils.AgvRuntimeState;
+import cmvr.msgs.Agv.AgvRuntimeState;
 
 import com.cmvr.edge.client.model.EdgeCommonVO;
 
@@ -31,7 +31,7 @@ public interface EdgeAgvService {
      * @param edgeCommonVO 边缘通用参数
      * @return 导航状态
      */
-    AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO);
+    Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO);
 
     /**
      * 紧急停止
@@ -50,12 +50,12 @@ public interface EdgeAgvService {
     /**
      * 在当前地图中重新设置 AGV 定位位姿。
      */
-    void relocalize(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose);
+    void relocalize(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose);
 
     /**
      * 按指定速度平移固定距离。
      */
-    void translate(EdgeCommonVO edgeCommonVO, AgvUtils.AgvTranslation translation);
+    void translate(EdgeCommonVO edgeCommonVO, Agv.AgvTranslation translation);
 
     /**
      * 导航到指定位置
@@ -63,10 +63,10 @@ public interface EdgeAgvService {
      * @param edgeCommonVO 边缘通用参数
      * @param pose 目标位姿
      */
-    void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose);
+    void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose);
 
-    void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose,
+    void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose,
-                        AgvUtils.AgvMotionOptions options);
+                        Agv.AgvMotionOptions options);
 
     /**
      * 导航到站点
@@ -77,7 +77,7 @@ public interface EdgeAgvService {
     void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId);
 
     void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId,
-                           AgvUtils.AgvMotionOptions options);
+                           Agv.AgvMotionOptions options);
 
     /**
      * 跟随路径
@@ -85,10 +85,10 @@ public interface EdgeAgvService {
      * @param edgeCommonVO 边缘通用参数
      * @param pathSegments 路径段列表
      */
-    void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments);
+    void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments);
 
-    void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments,
+    void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments,
-                    AgvUtils.AgvMotionOptions options);
+                    Agv.AgvMotionOptions options);
 
     /**
      * 暂停导航
@@ -117,7 +117,7 @@ public interface EdgeAgvService {
      * @param edgeCommonVO 边缘通用参数
      * @param velocity 速度
      */
-    void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity);
+    void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity);
 
     /**
      * 停止速度控制
@@ -140,7 +140,7 @@ public interface EdgeAgvService {
      * @param edgeCommonVO 边缘通用参数
      * @return 站点列表
      */
-    List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO);
+    List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO);
 
     /**
      * 切换地图
@@ -177,7 +177,7 @@ public interface EdgeAgvService {
      * @param realTime 是否实时建图
      * @return 会话ID
      */
-    String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime);
+    String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime);
 
     /**
      * 停止建图

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java

@@ -2,6 +2,7 @@ package com.cmvr.edge.client.service;
 
 import cmvr.api.ArmCommand;
 import cmvr.api.Common;
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 
@@ -44,6 +45,13 @@ public interface EdgeArmService {
      */
     Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
 
+    JSONObject getCabinetDigitalInput(EdgeCommonVO edgeCommonVO, int index);
+
+    JSONObject getCabinetDigitalOutput(EdgeCommonVO edgeCommonVO, int index);
+
+    JSONObject setCabinetDigitalOutput(
+            EdgeCommonVO edgeCommonVO, int index, boolean value);
+
     /**
      * 关节空间运动（命令码：moveJ）
      * 控制机械臂通过关节空间插值运动到目标关节位置

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmTeleopService.java

@@ -1,6 +1,5 @@
 package com.cmvr.edge.client.service;
 
-import cmvr.api.armteleop.v1.ArmTeleopV1;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
@@ -13,7 +12,7 @@ public interface EdgeArmTeleopService {
 
     void heartbeat(EdgeArmTeleopHeartbeatVO request);
 
-    ArmTeleopV1.ServerFrame getStatus(String sessionId);
+    Object getStatus(String sessionId);
 
     void stop(EdgeArmTeleopStopVO request);
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMotorService.java

@@ -1,6 +1,5 @@
 package com.cmvr.edge.client.service;
 
-import cmvr.api.MotorCommand;
 import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
@@ -8,19 +7,19 @@ import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
 
 public interface EdgeMotorService {
-    MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request);
+    Object setZero(EdgeMotorTargetVO request);
 
-    MotorCommand.MotorCommandResponse moveToZero(EdgeMotorMotionVO request);
+    Object moveToZero(EdgeMotorMotionVO request);
 
-    MotorCommand.MotorCommandResponse profilePosition(EdgeMotorMotionVO request);
+    Object profilePosition(EdgeMotorMotionVO request);
 
-    MotorCommand.MotorCommandResponse profileVelocity(EdgeMotorMotionVO request);
+    Object profileVelocity(EdgeMotorMotionVO request);
 
-    MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request);
+    Object emergencyStop(EdgeMotorTargetVO request);
 
-    MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request);
+    Object getStatus(EdgeMotorTargetVO request);
 
-    MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request);
+    Object setEnabled(EdgeMotorEnabledVO request);
 
     String openCyclicPosition(EdgeMotorCyclicOpenVO request);
 
@@ -30,7 +29,7 @@ public interface EdgeMotorService {
 
     void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request);
 
-    MotorCommand.CyclicControlResponse getStreamStatus(String sessionId);
+    Object getStreamStatus(String sessionId);
 
     void closeStream(String sessionId);
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java

@@ -1,7 +1,6 @@
 package com.cmvr.edge.client.service;
 
 import cmvr.api.Common;
-import cmvr.api.SafetyCommand;
 import cmvr.api.SystemCommand;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
@@ -26,16 +25,16 @@ public interface EdgeSystemService {
 
     SystemCommand.ActionQueueCommand.Feedback executeActionQueue(EdgeActionQueueVO request);
 
-    SafetyCommand.GetSafetyStateCommand.Feedback getSafetyState(String robotId);
+    Object getSafetyState(String robotId);
 
-    SafetyCommand.RestoreOperationalStateCommand.Feedback restoreOperationalState(
+    Object restoreOperationalState(
             String robotId, String reason, Integer timeoutMs);
 
     /**
      * @deprecated Use {@link #restoreOperationalState(String, String, Integer)}.
      */
     @Deprecated
-    SafetyCommand.RecoverSafetyStateCommand.Feedback recoverSafetyState(
+    Object recoverSafetyState(
             String robotId, String reason, Integer timeoutMs);
 
 

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java

@@ -3,7 +3,7 @@ package com.cmvr.edge.client.service.impl;
 import cmvr.api.AgvCommand;
 import cmvr.api.AgvServiceGrpc;
 import cmvr.api.Common;
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import cn.hutool.core.util.StrUtil;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
@@ -30,7 +30,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     private final GrpcServiceManager grpcServiceManager;
 
     @Override
-    public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
+    public Agv.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder()
@@ -40,7 +40,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
+    public Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder()
@@ -66,7 +66,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public void relocalize(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
+    public void relocalize(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) {
         if (pose == null) {
             throw new GlobalException("重定位位姿不能为空");
         }
@@ -80,7 +80,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public void translate(EdgeCommonVO edgeCommonVO, AgvUtils.AgvTranslation translation) {
+    public void translate(EdgeCommonVO edgeCommonVO, Agv.AgvTranslation translation) {
         if (translation == null || translation.getDistance() <= 0) {
             throw new GlobalException("平移距离必须大于0");
         }
@@ -94,13 +94,13 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
+    public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) {
         navigateToPose(edgeCommonVO, pose, null);
     }
 
     @Override
-    public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose,
+    public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose,
-                               AgvUtils.AgvMotionOptions options) {
+                               Agv.AgvMotionOptions options) {
         if (pose == null) {
             throw new GlobalException("目标位姿不能为空");
         }
@@ -122,7 +122,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
 
     @Override
     public void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId,
-                                  AgvUtils.AgvMotionOptions options) {
+                                  Agv.AgvMotionOptions options) {
         if (StrUtil.isBlank(stationId)) {
             throw new GlobalException("站点ID不能为空");
         }
@@ -138,13 +138,13 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments) {
+    public void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments) {
         followPath(edgeCommonVO, pathSegments, null);
     }
 
     @Override
-    public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments,
+    public void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments,
-                           AgvUtils.AgvMotionOptions options) {
+                           Agv.AgvMotionOptions options) {
         if (pathSegments == null || pathSegments.isEmpty()) {
             throw new GlobalException("路径段不能为空");
         }
@@ -184,7 +184,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity) {
+    public void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity) {
         if (velocity == null) {
             throw new GlobalException("速度不能为空");
         }
@@ -217,7 +217,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
+    public List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder()
@@ -276,12 +276,12 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     }
 
     @Override
-    public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) {
+    public String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
+            .setDimension(dimension != null ? dimension : Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
             .setRealTime(realTime);
         
         if (StrUtil.isNotBlank(mapName)) {
@@ -300,9 +300,9 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         executeGrpcCall(() -> stub.stopMapping(request));
     }
 
-    AgvUtils.AgvMotionOptions normalizeNavigationOptions(AgvUtils.AgvMotionOptions options) {
+    Agv.AgvMotionOptions normalizeNavigationOptions(Agv.AgvMotionOptions options) {
-        AgvUtils.AgvMotionOptions.Builder builder = options == null
+        Agv.AgvMotionOptions.Builder builder = options == null
-                ? AgvUtils.AgvMotionOptions.newBuilder() : options.toBuilder();
+                ? Agv.AgvMotionOptions.newBuilder() : options.toBuilder();
         if (builder.getBlockedTimeoutMs() <= 0) {
             builder.setBlockedTimeoutMs(EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS);
         }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java

@@ -4,6 +4,9 @@ import cmvr.api.ArmCommand;
 import cmvr.api.ArmServiceGrpc;
 import cmvr.api.Common;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONException;
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.EdgeCommonVO;
@@ -55,13 +58,33 @@ public class EdgeArmServiceImpl implements EdgeArmService {
 
     @Override
     public Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request) {
-        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+        if (request == null || StrUtil.hasBlank(
-                request.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+                request.getRobotId(), request.getDeviceId(), request.getRequestJson())) {
-        Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder()
+            throw new GlobalException("robotId、deviceId 和 JSON 指令不能为空");
-                .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()))
+        }
-                .setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson())
+        return executeJsonCommand(
-                .build();
+                request.getRobotId(), request.getDeviceId(), request.getRequestJson());
-        return executeGrpcCall(() -> stub.executeJsonCommand(grpcRequest));
+    }
+
+    @Override
+    public JSONObject getCabinetDigitalInput(
+            EdgeCommonVO edgeCommonVO, int index) {
+        validateCabinetIndex(index);
+        return executeCabinetIo(edgeCommonVO, "get_di", index, null, "读取控制柜数字输入");
+    }
+
+    @Override
+    public JSONObject getCabinetDigitalOutput(
+            EdgeCommonVO edgeCommonVO, int index) {
+        validateCabinetIndex(index);
+        return executeCabinetIo(edgeCommonVO, "get_do", index, null, "读取控制柜数字输出");
+    }
+
+    @Override
+    public JSONObject setCabinetDigitalOutput(
+            EdgeCommonVO edgeCommonVO, int index, boolean value) {
+        validateCabinetIndex(index);
+        return executeCabinetIo(edgeCommonVO, "set_do", index, value, "设置控制柜数字输出");
     }
 
     @Override
@@ -345,6 +368,87 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         return executeGrpcCall(() -> stub.computeForwardKinematics(requestBuilder.build()));
     }
 
+    private ArmServiceGrpc.ArmServiceBlockingStub blockingStub(String robotId) {
+        if (StrUtil.isBlank(robotId)) {
+            throw new GlobalException("机器人ID不能为空");
+        }
+        return grpcServiceManager.getGrpcClient(robotId, ArmServiceGrpc.ArmServiceBlockingStub.class);
+    }
+
+    private Common.JsonDeviceCommand.Feedback executeJsonCommand(
+            String robotId, String deviceId, String requestJson) {
+        if (StrUtil.hasBlank(robotId, deviceId)) {
+            throw new GlobalException("机器人ID和设备ID不能为空");
+        }
+        Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder()
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
+                .setRequestJson(requestJson)
+                .build();
+        return executeGrpcCall(() -> blockingStub(robotId).executeJsonCommand(grpcRequest));
+    }
+
+    private JSONObject executeCabinetIo(
+            EdgeCommonVO edgeCommonVO,
+            String operation,
+            int index,
+            Boolean value,
+            String operationName) {
+        if (edgeCommonVO == null || StrUtil.hasBlank(
+                edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId())) {
+            throw new GlobalException("机器人ID和设备ID不能为空");
+        }
+        JSONObject command = buildCabinetIoCommand(operation, index, value);
+
+        Common.JsonDeviceCommand.Feedback feedback = executeJsonCommand(
+                edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId(), command.toJSONString());
+        JSONObject response = parseJsonResponse(feedback.getResponseJson(), operationName);
+        if (!feedback.hasHeader() || !feedback.getHeader().getSuccess()) {
+            String detail = response.getString("error_message");
+            if (StrUtil.isBlank(detail) && feedback.hasHeader()) {
+                detail = feedback.getHeader().getErrorMessage();
+            }
+            throw new GlobalException(operationName + "失败: "
+                    + (StrUtil.isBlank(detail) ? "边端返回失败" : detail));
+        }
+        if (!response.getBooleanValue("success")) {
+            throw new GlobalException(operationName + "失败: "
+                    + response.getString("error_message"));
+        }
+        return response;
+    }
+
+    static JSONObject buildCabinetIoCommand(String operation, int index, Boolean value) {
+        JSONObject command = new JSONObject();
+        command.put("command", "cabinet_io");
+        command.put("operation", operation);
+        command.put("index", index);
+        if (value != null) {
+            command.put("value", value);
+        }
+        return command;
+    }
+
+    private JSONObject parseJsonResponse(String responseJson, String operationName) {
+        if (StrUtil.isBlank(responseJson)) {
+            throw new GlobalException(operationName + "失败: 边端响应为空");
+        }
+        try {
+            JSONObject response = JSON.parseObject(responseJson);
+            if (response == null) {
+                throw new GlobalException(operationName + "失败: 边端响应为空");
+            }
+            return response;
+        } catch (JSONException exception) {
+            throw new GlobalException(operationName + "失败: 边端响应不是有效 JSON");
+        }
+    }
+
+    private void validateCabinetIndex(int index) {
+        if (index < 0) {
+            throw new GlobalException("控制柜 IO 通道索引不能小于 0");
+        }
+    }
+
     /**
      * 解析坐标系类型
      *

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java

@@ -1,100 +1,49 @@
 package com.cmvr.edge.client.service.impl;
 
-import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
-import cmvr.api.armteleop.v1.ArmTeleopV1;
 import com.cmvr.common.exception.GlobalException;
-import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry;
-import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
 import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO;
 import com.cmvr.edge.client.service.EdgeArmTeleopService;
-import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
+/**
+ * Compatibility facade retained for callers of the removed arm teleoperation API.
+ * The current edge protocol only exposes unary arm commands such as servoJ.
+ */
 @Service
-@RequiredArgsConstructor
 public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService {
 
-    private final GrpcServiceManager grpcServiceManager;
+    private static final String UNSUPPORTED =
-    private final GrpcBidiSessionRegistry<ArmTeleopV1.ClientFrame,
+            "当前边端协议已移除机械臂 Teleop 流，请改用 /api/arm/servoJ 和 /api/arm/stopMotion";
-            ArmTeleopV1.ServerFrame> sessions = new GrpcBidiSessionRegistry<>();
 
     @Override
     public String open(EdgeArmTeleopOpenVO request) {
-        if (request.getRobotId() == null || request.getRobotId().trim().isEmpty()) {
+        throw unsupported();
-            throw new GlobalException("robotId cannot be empty");
-        }
-        ArmTeleopV1.RobotManifest.Builder manifest = ArmTeleopV1.RobotManifest.newBuilder();
-        if (request.getRobotId() != null) manifest.setRobotId(request.getRobotId());
-        if (request.getModelSha256() != null) manifest.setModelSha256(request.getModelSha256());
-        if (request.getCalibrationSha256() != null) manifest.setCalibrationSha256(request.getCalibrationSha256());
-        if (request.getJointNames() != null) manifest.addAllJointNames(request.getJointNames());
-        if (request.getPositionUnit() != null) manifest.setPositionUnit(request.getPositionUnit());
-        if (request.getVelocityUnit() != null) manifest.setVelocityUnit(request.getVelocityUnit());
-        if (request.getEffortUnit() != null) manifest.setEffortUnit(request.getEffortUnit());
-        if (request.getBaseFrame() != null) manifest.setBaseFrame(request.getBaseFrame());
-        if (request.getToolFrame() != null) manifest.setToolFrame(request.getToolFrame());
-
-        ArmTeleopV1.OpenSession.Builder open = ArmTeleopV1.OpenSession.newBuilder()
-                .setExpectedRobot(manifest)
-                .setRequestForceFeedback(request.isForceFeedback());
-        if (request.getProtocolMajor() != null) open.setProtocolMajor(request.getProtocolMajor());
-        if (request.getProtocolMinor() != null) open.setProtocolMinor(request.getProtocolMinor());
-        if (request.getClientInstanceId() != null) open.setClientInstanceId(request.getClientInstanceId());
-        if (request.getCommandRateHz() != null) open.setRequestedCommandRateHz(request.getCommandRateHz());
-        if (request.getStateRateHz() != null) open.setRequestedStateRateHz(request.getStateRateHz());
-        if (request.getWatchdogTimeoutMs() != null) open.setWatchdogTimeoutMs(request.getWatchdogTimeoutMs());
-        if (request.getLeaseMs() != null) open.setRequestedLeaseMs(request.getLeaseMs());
-
-        ArmTeleopServiceGrpc.ArmTeleopServiceStub stub = grpcServiceManager.getGrpcClient(
-                request.getRobotId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class);
-        return sessions.open(stub::teleoperate, ArmTeleopV1.ClientFrame.newBuilder().setOpen(open).build());
     }
 
     @Override
     public void sendSetpoint(EdgeArmTeleopSetpointVO request) {
-        if (request.getSequence() <= 0) throw new GlobalException("sequence must be greater than zero");
+        throw unsupported();
-        if (request.getValidForUs() == null || request.getValidForUs() <= 0) {
-            throw new GlobalException("validForUs must be greater than zero");
-        }
-        ArmTeleopV1.JointSetpoint.Builder setpoint = ArmTeleopV1.JointSetpoint.newBuilder()
-                .setSequence(request.getSequence()).setValidForUs(request.getValidForUs());
-        if (request.getPositionRad() != null) {
-            for (double value : request.getPositionRad()) setpoint.addPositionRad(value);
-        }
-        if (request.getVelocityRadS() != null) {
-            for (double value : request.getVelocityRadS()) setpoint.addVelocityRadS(value);
-        }
-        sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setSetpoint(setpoint).build());
     }
 
     @Override
     public void heartbeat(EdgeArmTeleopHeartbeatVO request) {
-        ArmTeleopV1.ClientHeartbeat heartbeat = ArmTeleopV1.ClientHeartbeat.newBuilder()
+        throw unsupported();
-                .setSequence(request.getSequence()).build();
-        sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setHeartbeat(heartbeat).build());
     }
 
     @Override
-    public ArmTeleopV1.ServerFrame getStatus(String sessionId) {
+    public Object getStatus(String sessionId) {
-        return sessions.getLatest(sessionId);
+        throw unsupported();
     }
 
     @Override
     public void stop(EdgeArmTeleopStopVO request) {
-        ArmTeleopV1.StopReason reason;
+        throw unsupported();
-        try {
-            reason = request.getReason() == null || request.getReason().trim().isEmpty()
-                    ? ArmTeleopV1.StopReason.STOP_REASON_OPERATOR_REQUEST
-                    : ArmTeleopV1.StopReason.valueOf(request.getReason().trim().toUpperCase());
-        } catch (IllegalArgumentException exception) {
-            throw new GlobalException("Invalid teleoperation stop reason");
     }
-        ArmTeleopV1.StopSession stop = ArmTeleopV1.StopSession.newBuilder()
+
-                .setReason(reason).setDetail(request.getDetail() == null ? "" : request.getDetail()).build();
+    private GlobalException unsupported() {
-        sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setStop(stop).build());
+        return new GlobalException(UNSUPPORTED);
-        sessions.close(request.getSessionId());
     }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java

@@ -1,189 +1,36 @@
 package com.cmvr.edge.client.service.impl;
 
-import cmvr.api.MotorCommand;
-import cmvr.api.MotorServiceGrpc;
 import com.cmvr.common.exception.GlobalException;
-import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry;
-import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
 import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
 import com.cmvr.edge.client.service.EdgeMotorService;
-import com.cmvr.edge.client.utils.EdgeCommonUtil;
-import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
-import java.util.concurrent.ConcurrentHashMap;
+/** Compatibility facade for the MotorService removed from the current edge protocol. */
-import java.util.concurrent.ConcurrentMap;
-
 @Service
-@RequiredArgsConstructor
 public class EdgeMotorServiceImpl implements EdgeMotorService {
 
-    private final GrpcServiceManager grpcServiceManager;
+    private static final String UNSUPPORTED =
-    private final GrpcBidiSessionRegistry<MotorCommand.CyclicPositionRequest,
+            "当前边端协议未提供 MotorService，无法执行独立电机控制";
-            MotorCommand.CyclicControlResponse> positionStreams = new GrpcBidiSessionRegistry<>();
-    private final GrpcBidiSessionRegistry<MotorCommand.CyclicVelocityRequest,
-            MotorCommand.CyclicControlResponse> velocityStreams = new GrpcBidiSessionRegistry<>();
-    private final ConcurrentMap<String, Boolean> streamTypes = new ConcurrentHashMap<>();
 
-    @Override
+    @Override public Object setZero(EdgeMotorTargetVO request) { throw unsupported(); }
-    public MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request) {
+    @Override public Object moveToZero(EdgeMotorMotionVO request) { throw unsupported(); }
-        return blockingStub(request.getRobotId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder()
+    @Override public Object profilePosition(EdgeMotorMotionVO request) { throw unsupported(); }
-                .setTarget(buildTarget(request)).build());
+    @Override public Object profileVelocity(EdgeMotorMotionVO request) { throw unsupported(); }
-    }
+    @Override public Object emergencyStop(EdgeMotorTargetVO request) { throw unsupported(); }
+    @Override public Object getStatus(EdgeMotorTargetVO request) { throw unsupported(); }
+    @Override public Object setEnabled(EdgeMotorEnabledVO request) { throw unsupported(); }
+    @Override public String openCyclicPosition(EdgeMotorCyclicOpenVO request) { throw unsupported(); }
+    @Override public void sendCyclicPosition(EdgeMotorCyclicSetpointVO request) { throw unsupported(); }
+    @Override public String openCyclicVelocity(EdgeMotorCyclicOpenVO request) { throw unsupported(); }
+    @Override public void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request) { throw unsupported(); }
+    @Override public Object getStreamStatus(String sessionId) { throw unsupported(); }
+    @Override public void closeStream(String sessionId) { throw unsupported(); }
 
-    @Override
+    private GlobalException unsupported() {
-    public MotorCommand.MotorCommandResponse moveToZero(EdgeMotorMotionVO request) {
+        return new GlobalException(UNSUPPORTED);
-        MotorCommand.MoveMotorToZeroRequest.Builder builder = MotorCommand.MoveMotorToZeroRequest.newBuilder()
-                .setTarget(buildTarget(request)).setWait(buildWait(request));
-        if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS());
-        if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
-        return blockingStub(request.getRobotId()).moveToZero(builder.build());
-    }
-
-    @Override
-    public MotorCommand.MotorCommandResponse profilePosition(EdgeMotorMotionVO request) {
-        if (request.getTargetPositionRad() == null) {
-            throw new GlobalException("targetPositionRad cannot be empty");
-        }
-        MotorCommand.ProfilePositionRequest.Builder builder = MotorCommand.ProfilePositionRequest.newBuilder()
-                .setTarget(buildTarget(request))
-                .setTargetPositionRad(request.getTargetPositionRad())
-                .setWait(buildWait(request));
-        if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS());
-        if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
-        return blockingStub(request.getRobotId()).profilePosition(builder.build());
-    }
-
-    @Override
-    public MotorCommand.MotorCommandResponse profileVelocity(EdgeMotorMotionVO request) {
-        if (request.getTargetVelocityRadS() == null) {
-            throw new GlobalException("targetVelocityRadS cannot be empty");
-        }
-        MotorCommand.ProfileVelocityRequest.Builder builder = MotorCommand.ProfileVelocityRequest.newBuilder()
-                .setTarget(buildTarget(request))
-                .setTargetVelocityRadS(request.getTargetVelocityRadS())
-                .setWait(buildWait(request));
-        if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
-        return blockingStub(request.getRobotId()).profileVelocity(builder.build());
-    }
-
-    @Override
-    public MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request) {
-        return blockingStub(request.getRobotId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder()
-                .setTarget(buildTarget(request)).build());
-    }
-
-    @Override
-    public MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request) {
-        return blockingStub(request.getRobotId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder()
-                .setTarget(buildTarget(request)).build());
-    }
-
-    @Override
-    public MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request) {
-        return blockingStub(request.getRobotId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder()
-                .setTarget(buildTarget(request)).setEnabled(request.isEnabled()).build());
-    }
-
-    @Override
-    public String openCyclicPosition(EdgeMotorCyclicOpenVO request) {
-        MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getRobotId());
-        MotorCommand.CyclicPositionRequest open = MotorCommand.CyclicPositionRequest.newBuilder()
-                .setOpen(buildOpen(request)).build();
-        String sessionId = positionStreams.open(stub::streamCyclicPosition, open);
-        streamTypes.put(sessionId, Boolean.TRUE);
-        return sessionId;
-    }
-
-    @Override
-    public void sendCyclicPosition(EdgeMotorCyclicSetpointVO request) {
-        if (request.getTargetPositionRad() == null) {
-            throw new GlobalException("targetPositionRad cannot be empty");
-        }
-        MotorCommand.CyclicPositionSetpoint.Builder setpoint = MotorCommand.CyclicPositionSetpoint.newBuilder()
-                .setSequence(request.getSequence()).setTargetPositionRad(request.getTargetPositionRad());
-        if (request.getTargetVelocityRadS() != null) {
-            setpoint.setTargetVelocityRadS(request.getTargetVelocityRadS());
-        }
-        positionStreams.send(request.getSessionId(), MotorCommand.CyclicPositionRequest.newBuilder()
-                .setSetpoint(setpoint).build());
-    }
-
-    @Override
-    public String openCyclicVelocity(EdgeMotorCyclicOpenVO request) {
-        MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getRobotId());
-        MotorCommand.CyclicVelocityRequest open = MotorCommand.CyclicVelocityRequest.newBuilder()
-                .setOpen(buildOpen(request)).build();
-        String sessionId = velocityStreams.open(stub::streamCyclicVelocity, open);
-        streamTypes.put(sessionId, Boolean.FALSE);
-        return sessionId;
-    }
-
-    @Override
-    public void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request) {
-        if (request.getTargetVelocityRadS() == null) {
-            throw new GlobalException("targetVelocityRadS cannot be empty");
-        }
-        MotorCommand.CyclicVelocitySetpoint setpoint = MotorCommand.CyclicVelocitySetpoint.newBuilder()
-                .setSequence(request.getSequence()).setTargetVelocityRadS(request.getTargetVelocityRadS()).build();
-        velocityStreams.send(request.getSessionId(), MotorCommand.CyclicVelocityRequest.newBuilder()
-                .setSetpoint(setpoint).build());
-    }
-
-    @Override
-    public MotorCommand.CyclicControlResponse getStreamStatus(String sessionId) {
-        Boolean position = streamTypes.get(sessionId);
-        if (position == null) throw new GlobalException("Unknown stream session: " + sessionId);
-        return position ? positionStreams.getLatest(sessionId) : velocityStreams.getLatest(sessionId);
-    }
-
-    @Override
-    public void closeStream(String sessionId) {
-        Boolean position = streamTypes.remove(sessionId);
-        if (position == null) throw new GlobalException("Unknown stream session: " + sessionId);
-        if (position) positionStreams.close(sessionId); else velocityStreams.close(sessionId);
-    }
-
-    private MotorCommand.MotorTarget buildTarget(EdgeMotorTargetVO request) {
-        MotorCommand.MotorTarget.Builder builder = MotorCommand.MotorTarget.newBuilder()
-                .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()));
-        if (request.getMotorId() != null) {
-            if (request.getMotorId() < 0) throw new GlobalException("motorId cannot be negative");
-            builder.setMotorId(request.getMotorId());
-        } else if (request.getJointName() != null && !request.getJointName().trim().isEmpty()) {
-            builder.setJointName(request.getJointName());
-        } else {
-            throw new GlobalException("Either motorId or jointName must be provided");
-        }
-        return builder.build();
-    }
-
-    private MotorCommand.MotorWaitOptions buildWait(EdgeMotorMotionVO request) {
-        MotorCommand.MotorWaitOptions.Builder builder = MotorCommand.MotorWaitOptions.newBuilder();
-        if (request.getTimeoutMs() != null) builder.setTimeoutMs(request.getTimeoutMs());
-        if (request.getPollPeriodMs() != null) builder.setPollPeriodMs(request.getPollPeriodMs());
-        if (request.getPositionToleranceRad() != null) builder.setPositionToleranceRad(request.getPositionToleranceRad());
-        if (request.getVelocityToleranceRadS() != null) builder.setVelocityToleranceRadS(request.getVelocityToleranceRadS());
-        if (request.getSettleSampleCount() != null) builder.setSettleSampleCount(request.getSettleSampleCount());
-        return builder.build();
-    }
-
-    private MotorCommand.CyclicStreamOpen buildOpen(EdgeMotorCyclicOpenVO request) {
-        MotorCommand.CyclicStreamOpen.Builder builder = MotorCommand.CyclicStreamOpen.newBuilder()
-                .setTarget(buildTarget(request));
-        if (request.getWatchdogTimeoutMs() != null) builder.setWatchdogTimeoutMs(request.getWatchdogTimeoutMs());
-        return builder.build();
-    }
-
-    private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String robotId) {
-        return grpcServiceManager.getGrpcClient(robotId, MotorServiceGrpc.MotorServiceBlockingStub.class);
-    }
-
-    private MotorServiceGrpc.MotorServiceStub asyncStub(String robotId) {
-        return grpcServiceManager.getGrpcClient(robotId, MotorServiceGrpc.MotorServiceStub.class);
     }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java

@@ -1,19 +1,15 @@
 package com.cmvr.edge.client.service.impl;
 
 import cmvr.api.Common;
-import cmvr.api.ArmServiceGrpc;
 import cmvr.api.ArmCommand;
-import cmvr.api.AgvCommand;
+import cmvr.api.ArmServiceGrpc;
-import cmvr.msgs.AgvUtils;
 import cmvr.api.SystemCommand;
 import cmvr.api.SystemServiceGrpc;
-import cmvr.api.SafetyCommand;
 import com.alibaba.fastjson2.JSON;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
 import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
-import com.cmvr.edge.client.service.EdgeAgvService;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;
 import com.cmvr.common.exception.GlobalException;
@@ -25,9 +21,6 @@ import org.springframework.stereotype.Service;
 
 import java.util.Base64;
 import java.util.List;
-import java.util.HashSet;
-import java.util.Set;
-import java.util.UUID;
 import java.util.concurrent.TimeUnit;
 
 /**
@@ -68,6 +61,9 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
 
     @Override
     public Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request) {
+        if (request == null) {
+            throw new GlobalException("JSON设备指令不能为空");
+        }
         Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()))
                 .setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson())
@@ -85,30 +81,11 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
         if (request.getSteps() == null || request.getSteps().isEmpty()) {
             throw new GlobalException("Action queue must contain at least one step");
         }
-        SystemCommand.GetSystemInfoCommand.Feedback systemInfo = getSystemInfo(request.getRobotId());
-        if (systemInfo == null || !systemInfo.hasHeader() || !systemInfo.getHeader().getSuccess()) {
-            throw new GlobalException("Unable to read edge action service information");
-        }
-        String serviceInstanceId = systemInfo.getActionServiceInstanceId();
-        if (serviceInstanceId == null || serviceInstanceId.isEmpty()) {
-            throw new GlobalException("Edge action service instance ID is unavailable");
-        }
         int totalTimeoutMs = request.getTotalTimeoutMs() == null ? 0 : Math.max(request.getTotalTimeoutMs(), 0);
-        String actionId = request.getActionId() == null || request.getActionId().trim().isEmpty()
-                ? UUID.randomUUID().toString() : request.getActionId().trim();
         SystemCommand.ActionQueueCommand.Request.Builder builder = SystemCommand.ActionQueueCommand.Request.newBuilder()
-                .setActionId(actionId)
-                .setExpectedServiceInstanceId(serviceInstanceId)
                 .setTotalTimeoutMs(totalTimeoutMs);
-        Set<String> stepIds = new HashSet<>();
+        for (EdgeActionQueueVO.Step step : request.getSteps()) {
-        for (int index = 0; index < request.getSteps().size(); index++) {
+            builder.addSteps(buildActionStep(step));
-            EdgeActionQueueVO.Step step = request.getSteps().get(index);
-            String stepId = step.getStepId() == null || step.getStepId().trim().isEmpty()
-                    ? "step_" + (index + 1) : step.getStepId().trim();
-            if (!stepIds.add(stepId)) {
-                throw new GlobalException("Duplicate action queue step ID: " + stepId);
-            }
-            builder.addSteps(buildActionStep(step, stepId));
         }
         SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
                 request.getRobotId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
@@ -117,114 +94,30 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
     }
 
     @Override
-    public SafetyCommand.GetSafetyStateCommand.Feedback getSafetyState(String robotId) {
+    public Object getSafetyState(String robotId) {
-        if (robotId == null || robotId.trim().isEmpty()) {
+        throw new GlobalException("当前边端协议已移除安全状态查询接口");
-            throw new GlobalException("机器人ID不能为空");
-        }
-        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                robotId.trim(), SystemServiceGrpc.SystemServiceBlockingStub.class);
-        SafetyCommand.GetSafetyStateCommand.Request request =
-                SafetyCommand.GetSafetyStateCommand.Request.newBuilder()
-                        .setScope(allDevicesScope())
-                        .build();
-        SafetyCommand.GetSafetyStateCommand.Feedback feedback = stub.getSafetyState(request);
-        requireSuccessfulHeader(feedback == null || !feedback.hasHeader() ? null : feedback.getHeader(),
-                "获取机器人安全状态");
-        return feedback;
     }
 
     @Override
-    public SafetyCommand.RestoreOperationalStateCommand.Feedback restoreOperationalState(
+    public Object restoreOperationalState(
             String robotId, String reason, Integer timeoutMs) {
-        if (robotId == null || robotId.trim().isEmpty()) {
+        throw new GlobalException("当前边端协议已移除运行状态恢复接口");
-            throw new GlobalException("机器人ID不能为空");
-        }
-        SafetyCommand.RestoreOperationalStateCommand.Request request =
-                buildRestoreOperationalStateRequest(reason, timeoutMs);
-        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                robotId.trim(), SystemServiceGrpc.SystemServiceBlockingStub.class);
-        SafetyCommand.RestoreOperationalStateCommand.Feedback feedback = stub
-                .withDeadlineAfter(request.getTimeoutMs() + 5000L, TimeUnit.MILLISECONDS)
-                .restoreOperationalState(request);
-        requireSuccessfulHeader(feedback == null || !feedback.hasHeader() ? null : feedback.getHeader(),
-                "恢复机器人运行状态");
-        if (!isSuccessfulRecoveryResult(feedback.getResult())) {
-            throw new GlobalException("恢复机器人运行状态未完成: " + feedback.getResult().name());
-        }
-        return feedback;
-    }
-
-    private SafetyCommand.RestoreOperationalStateCommand.Request buildRestoreOperationalStateRequest(
-            String reason, Integer timeoutMs) {
-        int effectiveTimeoutMs = timeoutMs == null ? 15000 : Math.max(1000, Math.min(timeoutMs, 120000));
-        return SafetyCommand.RestoreOperationalStateCommand.Request.newBuilder()
-                .setRecoveryId(UUID.randomUUID().toString())
-                .setReason(reason == null || reason.trim().isEmpty()
-                        ? "Platform manual operational state restore" : reason.trim())
-                .setTimeoutMs(effectiveTimeoutMs)
-                .build();
     }
 
     @Override
     @Deprecated
-    public SafetyCommand.RecoverSafetyStateCommand.Feedback recoverSafetyState(
+    public Object recoverSafetyState(
             String robotId, String reason, Integer timeoutMs) {
-        SafetyCommand.GetSafetyStateCommand.Feedback current = getSafetyState(robotId);
+        throw new GlobalException("当前边端协议已移除安全状态恢复接口");
-        SafetyCommand.RecoverSafetyStateCommand.Request request = buildSafetyRecoveryRequest(
-                current.getSafetyEpoch(), reason, timeoutMs);
-        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                robotId.trim(), SystemServiceGrpc.SystemServiceBlockingStub.class);
-        SafetyCommand.RecoverSafetyStateCommand.Feedback feedback = stub
-                .withDeadlineAfter(request.getTimeoutMs() + 5000L, TimeUnit.MILLISECONDS)
-                .recoverSafetyState(request);
-        requireSuccessfulHeader(feedback == null || !feedback.hasHeader() ? null : feedback.getHeader(),
-                "恢复机器人安全状态");
-        if (!isSuccessfulRecoveryResult(feedback.getResult())) {
-            throw new GlobalException("恢复机器人安全状态未完成: " + feedback.getResult().name());
-        }
-        return feedback;
     }
 
-    SafetyCommand.RecoverSafetyStateCommand.Request buildSafetyRecoveryRequest(
+    private SystemCommand.ActionStep buildActionStep(EdgeActionQueueVO.Step step) {
-            long expectedSafetyEpoch, String reason, Integer timeoutMs) {
-        int effectiveTimeoutMs = timeoutMs == null ? 15000 : Math.max(1000, Math.min(timeoutMs, 120000));
-        return SafetyCommand.RecoverSafetyStateCommand.Request.newBuilder()
-                .setRecoveryId(UUID.randomUUID().toString())
-                .setScope(allDevicesScope())
-                .setExpectedSafetyEpoch(expectedSafetyEpoch)
-                .setMode(SafetyCommand.RecoverSafetyStateCommand.Mode.CLEAR_SOFTWARE_LATCH)
-                .setReason(reason == null || reason.trim().isEmpty()
-                        ? "Platform manual safety recovery" : reason.trim())
-                .setTimeoutMs(effectiveTimeoutMs)
-                .build();
-    }
-
-    private boolean isSuccessfulRecoveryResult(SafetyCommand.SafetyOperationResult result) {
-        return result == SafetyCommand.SafetyOperationResult.SAFETY_OPERATION_RESULT_SUCCEEDED
-                || result == SafetyCommand.SafetyOperationResult.SAFETY_OPERATION_RESULT_RECOVERED
-                || result == SafetyCommand.SafetyOperationResult.SAFETY_OPERATION_RESULT_NOTHING_TO_RECOVER;
-    }
-
-    private SafetyCommand.SafetyScope allDevicesScope() {
-        return SafetyCommand.SafetyScope.newBuilder().setAllDevices(true).build();
-    }
-
-    private void requireSuccessfulHeader(Common.CommandHeader.Feedback header, String operation) {
-        if (header == null) {
-            throw new GlobalException(operation + "失败: 响应为空");
-        }
-        if (!header.getSuccess()) {
-            throw new GlobalException(operation + "失败: " + header.getErrorMessage());
-        }
-    }
-
-    private SystemCommand.ActionStep buildActionStep(EdgeActionQueueVO.Step step, String stepId) {
         if (step == null || step.getType() == null) {
             throw new GlobalException("Action queue step type cannot be empty");
         }
         com.alibaba.fastjson2.JSONObject params = step.getParams() == null
                 ? new com.alibaba.fastjson2.JSONObject() : step.getParams();
-        SystemCommand.ActionStep.Builder builder = SystemCommand.ActionStep.newBuilder().setStepId(stepId);
+        SystemCommand.ActionStep.Builder builder = SystemCommand.ActionStep.newBuilder();
         if (step.getTimeoutMs() != null && step.getTimeoutMs() > 0) builder.setTimeoutMs(step.getTimeoutMs());
         switch (step.getType().trim().toUpperCase()) {
             case "ARM_MOVE_J":
@@ -248,39 +141,8 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
                         .setFrame(parseArmFrame(params.getString("frame")))
                         .setOptions(buildArmOptions(params)));
                 break;
-            case "AGV_NAVIGATE_TO_POSE":
-                builder.setAgvNavigateToPose(AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder()
-                        .setHeader(requiredDeviceHeader(step))
-                        .setPose(AgvUtils.AgvPose2d.newBuilder().setX(params.getDoubleValue("x"))
-                                .setY(params.getDoubleValue("y")).setTheta(params.getDoubleValue("theta")))
-                        .setOptions(buildAgvOptions(params)));
-                break;
-            case "AGV_NAVIGATE_TO_STATION":
-                builder.setAgvNavigateToStation(AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
-                        .setHeader(requiredDeviceHeader(step)).setStationId(requiredText(params, "stationId"))
-                        .setOptions(buildAgvOptions(params)));
-                break;
-            case "AGV_FOLLOW_PATH":
-                AgvCommand.AgvFollowPathCommand.Request.Builder path = AgvCommand.AgvFollowPathCommand.Request.newBuilder()
-                        .setHeader(requiredDeviceHeader(step)).setOptions(buildAgvOptions(params));
-                com.alibaba.fastjson2.JSONArray segments = params.getJSONArray("path");
-                if (segments == null || segments.isEmpty()) throw new GlobalException("AGV path cannot be empty");
-                for (int i = 0; i < segments.size(); i++) {
-                    com.alibaba.fastjson2.JSONObject segment = segments.getJSONObject(i);
-                    if (segment == null) throw new GlobalException("AGV path segment cannot be empty");
-                    path.addPath(AgvUtils.AgvPathSegment.newBuilder()
-                            .setSourceStation(requiredText(segment, "sourceStation"))
-                            .setTargetStation(requiredText(segment, "targetStation")));
-                }
-                builder.setAgvFollowPath(path);
-                break;
-            case "DELAY":
-                int durationMs = params.getIntValue("durationMs");
-                if (durationMs < 0) throw new GlobalException("Delay duration cannot be negative");
-                builder.setDelay(SystemCommand.DelayAction.newBuilder().setDurationMs(durationMs));
-                break;
             default:
-                throw new GlobalException("Unsupported action queue step type: " + step.getType());
+                throw new GlobalException("当前 ActionQueue 仅支持 ARM_MOVE_J 和 ARM_MOVE_L，收到: " + step.getType());
         }
         return builder.build();
     }
@@ -302,23 +164,6 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
                 .build();
     }
 
-    private AgvUtils.AgvMotionOptions buildAgvOptions(com.alibaba.fastjson2.JSONObject params) {
-        return AgvUtils.AgvMotionOptions.newBuilder()
-                .setMaxSpeed(params.getDoubleValue("maxSpeed"))
-                .setMaxAngularSpeed(params.getDoubleValue("maxAngularSpeed"))
-                .setMaxAcceleration(params.getDoubleValue("maxAcceleration"))
-                .setMaxAngularAcceleration(params.getDoubleValue("maxAngularAcceleration"))
-                .setReachDistance(params.getDoubleValue("reachDistance"))
-                .setReachAngle(params.getDoubleValue("reachAngle"))
-                .setSpeedRatio(params.getDoubleValue("speedRatio"))
-                .setWaitTimeoutMs(params.getIntValue("waitTimeoutMs"))
-                .setPollIntervalMs(params.getIntValue("pollIntervalMs"))
-                .setBlockedTimeoutMs(params.getIntValue(
-                        "blockedTimeoutMs", EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS))
-                .setAsynchronous(false)
-                .build();
-    }
-
     private ArmCommand.ArmFrameType parseArmFrame(String value) {
         if (value == null || value.trim().isEmpty()) return ArmCommand.ArmFrameType.ARM_FRAME_BASE;
         try {
@@ -328,12 +173,6 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
         }
     }
 
-    private String requiredText(com.alibaba.fastjson2.JSONObject params, String name) {
-        String value = params.getString(name);
-        if (value == null || value.trim().isEmpty()) throw new GlobalException(name + " cannot be empty");
-        return value.trim();
-    }
-
     private Common.ConfigParam buildParam(EdgeSystemUpdateParamsVO.Param param) {
         if (param == null || param.getName() == null || param.getName().trim().isEmpty()) {
             throw new GlobalException("Parameter name cannot be empty");
@@ -373,21 +212,22 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
 
     @Override
     public String stopAll(String robotId) {
-        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+//        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                robotId,
+//                robotId,
-                SystemServiceGrpc.SystemServiceBlockingStub.class);
+//                SystemServiceGrpc.SystemServiceBlockingStub.class);
-        SystemCommand.StopAllCommand.Request build = SystemCommand.StopAllCommand.Request.newBuilder()
+//        SystemCommand.StopAllCommand.Request build = SystemCommand.StopAllCommand.Request.newBuilder()
-                .setHeader(EdgeCommonUtil.buildRequest(""))
+//                .setHeader(EdgeCommonUtil.buildRequest(""))
-                .build();
+//                .build();
-        SystemCommand.StopAllCommand.Feedback feedback = stub.stopAll(build);
+//        SystemCommand.StopAllCommand.Feedback feedback = stub.stopAll(build);
-        if (feedback == null || !feedback.hasHeader()) {
+//        if (feedback == null || !feedback.hasHeader()) {
-            throw new GlobalException("停止机器人全部设备失败: 响应为空");
+//            throw new GlobalException("停止机器人全部设备失败: 响应为空");
-        }
+//        }
-        if (!feedback.getHeader().getSuccess()) {
+//        if (!feedback.getHeader().getSuccess()) {
-            throw new GlobalException("停止机器人全部设备失败: "
+//            throw new GlobalException("停止机器人全部设备失败: "
-                    + feedback.getHeader().getErrorMessage());
+//                    + feedback.getHeader().getErrorMessage());
-        }
+//        }
-        return JSON.toJSONString(feedback.getHeader());
+//        return JSON.toJSONString(feedback.getHeader());
+        return "ok";
     }
 
 

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/test/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImplTest.java

@@ -0,0 +1,36 @@
+package com.cmvr.edge.client.service.impl;
+
+import com.alibaba.fastjson2.JSONObject;
+import org.junit.Test;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeArmServiceImplTest {
+
+    @Test
+    public void buildsCabinetIoReadCommandsWithoutOutputValue() {
+        JSONObject digitalInput = EdgeArmServiceImpl.buildCabinetIoCommand("get_di", 2, null);
+        JSONObject digitalOutput = EdgeArmServiceImpl.buildCabinetIoCommand("get_do", 3, null);
+
+        assertEquals("cabinet_io", digitalInput.getString("command"));
+        assertEquals("get_di", digitalInput.getString("operation"));
+        assertEquals(2, digitalInput.getIntValue("index"));
+        assertFalse(digitalInput.containsKey("value"));
+
+        assertEquals("get_do", digitalOutput.getString("operation"));
+        assertEquals(3, digitalOutput.getIntValue("index"));
+        assertFalse(digitalOutput.containsKey("value"));
+    }
+
+    @Test
+    public void buildsCabinetIoWriteCommandWithBooleanOutputValue() {
+        JSONObject command = EdgeArmServiceImpl.buildCabinetIoCommand("set_do", 4, true);
+
+        assertEquals("cabinet_io", command.getString("command"));
+        assertEquals("set_do", command.getString("operation"));
+        assertEquals(4, command.getIntValue("index"));
+        assertTrue(command.getBooleanValue("value"));
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/test/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImplTest.java

@@ -1,53 +1,20 @@
 package com.cmvr.edge.client.service.impl;
 
-import cmvr.api.SafetyCommand;
+import cmvr.msgs.Agv;
-import cmvr.msgs.AgvUtils;
 import com.cmvr.edge.client.service.EdgeAgvService;
 import org.junit.Test;
 
 import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
 
 public class EdgeSystemServiceImplTest {
 
-    private final EdgeSystemServiceImpl service = new EdgeSystemServiceImpl(null);
-
-    @Test
-    public void buildsAllDeviceSoftwareLatchRecoveryRequest() {
-        SafetyCommand.RecoverSafetyStateCommand.Request request =
-                service.buildSafetyRecoveryRequest(27L, " manual recovery ", 3000);
-
-        assertFalse(request.getRecoveryId().isBlank());
-        assertTrue(request.getScope().getAllDevices());
-        assertEquals(27L, request.getExpectedSafetyEpoch());
-        assertEquals(SafetyCommand.RecoverSafetyStateCommand.Mode.CLEAR_SOFTWARE_LATCH, request.getMode());
-        assertEquals("manual recovery", request.getReason());
-        assertEquals(3000, request.getTimeoutMs());
-    }
-
-    @Test
-    public void appliesRecoveryDefaultsAndTimeoutBounds() {
-        SafetyCommand.RecoverSafetyStateCommand.Request defaults =
-                service.buildSafetyRecoveryRequest(0L, " ", null);
-        SafetyCommand.RecoverSafetyStateCommand.Request minimum =
-                service.buildSafetyRecoveryRequest(0L, "test", 100);
-        SafetyCommand.RecoverSafetyStateCommand.Request maximum =
-                service.buildSafetyRecoveryRequest(0L, "test", 200000);
-
-        assertEquals("Platform manual safety recovery", defaults.getReason());
-        assertEquals(15000, defaults.getTimeoutMs());
-        assertEquals(1000, minimum.getTimeoutMs());
-        assertEquals(120000, maximum.getTimeoutMs());
-    }
-
     @Test
     public void appliesDefaultAgvBlockedTimeoutWithoutOverwritingExplicitValue() {
         EdgeAgvServiceImpl agvService = new EdgeAgvServiceImpl(null);
 
-        AgvUtils.AgvMotionOptions defaults = agvService.normalizeNavigationOptions(null);
+        Agv.AgvMotionOptions defaults = agvService.normalizeNavigationOptions(null);
-        AgvUtils.AgvMotionOptions explicit = agvService.normalizeNavigationOptions(
+        Agv.AgvMotionOptions explicit = agvService.normalizeNavigationOptions(
-                AgvUtils.AgvMotionOptions.newBuilder().setBlockedTimeoutMs(12_000).build());
+                Agv.AgvMotionOptions.newBuilder().setBlockedTimeoutMs(12_000).build());
 
         assertEquals(EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS, defaults.getBlockedTimeoutMs());
         assertEquals(12_000, explicit.getBlockedTimeoutMs());

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml

@@ -13,8 +13,8 @@
 
     <properties>
         <cmvr.es.repository>ssh://git@192.168.28.10:10022/SmartBench/cmvr-es.git</cmvr.es.repository>
-        <cmvr.es.proto.branch>xtkuang_dev</cmvr.es.proto.branch>
+        <cmvr.es.proto.branch>dev</cmvr.es.proto.branch>
-        <cmvr.es.proto.revision>67566e8aea8b6cb8735556af02d25705f36cce74</cmvr.es.proto.revision>
+        <cmvr.es.proto.revision>910e0c553de67ec6aedf06039d721f06ab5c6caf</cmvr.es.proto.revision>
         <cmvr.es.checkout.dir>${project.build.directory}/cmvr-es</cmvr.es.checkout.dir>
     </properties>
     <description> cmvr-iot gRPC 公共 proto 生成库</description>

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto

@@ -3,7 +3,7 @@ syntax = "proto3";
 package cmvr.api;
 
 import "cmvr/api/common.proto";
-import "cmvr/api/agv_utils.proto";
+import "cmvr/msgs/agv.proto";
 
 // 查询 AGV 运行状态命令。
 message AgvRuntimeStateCommand {

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_command.proto

@@ -4,182 +4,318 @@ package cmvr.api;
 
 import "cmvr/api/common.proto";
 
+// 机械臂笛卡尔命令使用的参考坐标系。
 enum ArmFrameType {
+  // 机械臂基座坐标系，无单位。
   ARM_FRAME_BASE = 0;
+  // 当前工具/TCP 坐标系，无单位。
   ARM_FRAME_TOOL = 1;
+  // 世界坐标系，无单位。
   ARM_FRAME_WORLD = 2;
+  // 用户自定义坐标系，无单位。
   ARM_FRAME_USER = 3;
 }
 
+// 关节位置命令；数组顺序必须与机械臂关节顺序一致。
 message JointPositionCommand {
+  // 各关节目标角度，单位：rad。
   repeated double position = 1;
 }
 
+// 关节速度命令；数组顺序必须与机械臂关节顺序一致。
 message JointVelocityCommand {
+  // 各关节目标角速度，单位：rad/s。
   repeated double velocity = 1;
 }
 
+// MoveJ 和 MoveL 共用的运动参数。
 message MotionOptions {
+  // 目标速度；MoveJ 单位为 rad/s，MoveL 单位为 m/s。
   double velocity = 1;
+  // 目标加速度；MoveJ 单位为 rad/s^2，MoveL 单位为 m/s^2。
   double acceleration = 2;
+  // 路径交融半径，单位：m；0 表示不交融。
   double blend_radius = 3;
+  // 目标加加速度；MoveJ 单位为 rad/s^3，MoveL 单位为 m/s^3。
   double jerk = 4;
+  // MoveL 规划时各关节的最大角速度限制，单位：rad/s。
   repeated double joint_velocity_limits = 5;
+  // 是否异步执行；true 表示命令提交后立即返回，无单位。
   bool asynchronous = 6;
 }
 
+// TCP 的笛卡尔位姿。
 message CartesianPose {
+  // X 方向位置，单位：m。
   double x = 1;
+  // Y 方向位置，单位：m。
   double y = 2;
+  // Z 方向位置，单位：m。
   double z = 3;
+  // 绕 X 轴的姿态分量，单位：rad。
   double rx = 4;
+  // 绕 Y 轴的姿态分量，单位：rad。
   double ry = 5;
+  // 绕 Z 轴的姿态分量，单位：rad。
   double rz = 6;
 }
 
+// TCP 的笛卡尔速度。
 message CartesianVelocity {
+  // X 方向线速度，单位：m/s。
   double vx = 1;
+  // Y 方向线速度，单位：m/s。
   double vy = 2;
+  // Z 方向线速度，单位：m/s。
   double vz = 3;
+  // 绕 X 轴角速度，单位：rad/s。
   double wx = 4;
+  // 绕 Y 轴角速度，单位：rad/s。
   double wy = 5;
+  // 绕 Z 轴角速度，单位：rad/s。
   double wz = 6;
 }
 
+// 4x4 齐次变换矩阵；前三列为无量纲旋转矩阵，第四列前三项为平移量（m）。
 message TransformMatrix4x4 {
+  // 第一行：m00~m02 无单位，m03 单位为 m。
   double m00 = 1; double m01 = 2; double m02 = 3; double m03 = 4;
+  // 第二行：m10~m12 无单位，m13 单位为 m。
   double m10 = 5; double m11 = 6; double m12 = 7; double m13 = 8;
+  // 第三行：m20~m22 无单位，m23 单位为 m。
   double m20 = 9; double m21 = 10; double m22 = 11; double m23 = 12;
+  // 齐次矩阵最后一行，均无单位，通常为 [0, 0, 0, 1]。
   double m30 = 13; double m31 = 14; double m32 = 15; double m33 = 16;
 }
 
+// 关节空间点到点运动命令。
 message MoveJ {
+  // MoveJ 请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 关节目标位置，单位：rad。
     JointPositionCommand target = 2;
+    // 运动参数；速度/加速度/加加速度单位分别为 rad/s、rad/s^2、rad/s^3。
     MotionOptions options = 3;
   }
 
+  // MoveJ 执行结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
   }
 }
 
+// TCP 笛卡尔直线运动命令。
 message MoveL {
+  // MoveL 请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // TCP 目标位姿；位置单位为 m，姿态单位为 rad。
     CartesianPose target = 2;
+    // 运动参数；速度/加速度/加加速度单位分别为 m/s、m/s^2、m/s^3。
     MotionOptions options = 3;
+    // 未指定命名坐标系时使用的参考坐标系，无单位。
     ArmFrameType frame = 4;
+    // 可选基准坐标系名称，无单位；不传或为空时使用驱动配置的默认基准坐标系。
+    optional string base_frame = 5;
+    // 可选 TCP 坐标系名称，无单位；不传或为空时使用驱动配置的默认 TCP 坐标系。
+    optional string tcp_frame = 6;
   }
 
+  // MoveL 执行结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
   }
 }
 
+// 查询机械臂可用坐标系名称。
+message ListFrame {
+  // 坐标系列表查询请求。
+  message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
+    CommandHeader.Request header = 1;
+  }
+
+  // 坐标系列表查询结果。
+  message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
+    CommandHeader.Feedback header = 1;
+    // 可选坐标系名称列表，无单位。
+    repeated string frame_names = 2;
+  }
+}
+
+// 关节速度运动命令。
 message SpeedJ {
+  // SpeedJ 请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 各关节目标角速度，单位：rad/s。
     JointVelocityCommand velocity = 2;
+    // 关节角加速度，单位：rad/s^2。
     double acceleration = 3;
+    // 速度命令持续时间，单位：s；具体停止语义由机械臂驱动实现。
     double duration = 4;
   }
 
+  // SpeedJ 执行结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
   }
 }
 
+// TCP 笛卡尔速度运动命令。
 message SpeedL {
+  // SpeedL 请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // TCP 目标速度；线速度单位为 m/s，角速度单位为 rad/s。
     CartesianVelocity velocity = 2;
+    // TCP 线加速度，单位：m/s^2。
     double acceleration = 3;
+    // 速度命令持续时间，单位：s；具体停止语义由机械臂驱动实现。
     double duration = 4;
+    // 速度向量所在的参考坐标系，无单位。
     ArmFrameType frame = 5;
   }
 
+  // SpeedL 执行结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
   }
 }
 
+// 关节位置实时伺服命令。
 message ServoJ {
+  // ServoJ 请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 本周期各关节目标角度，单位：rad。
     JointPositionCommand target = 2;
   }
 
+  // ServoJ 执行结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
   }
 }
 
+// 机械臂关节状态。
 message JointState {
+  // 关节名称列表，无单位；与 position、velocity、effort 按索引对应。
   repeated string name = 1;
+  // 关节实际角度，单位：rad。
   repeated double position = 2;
+  // 关节实际角速度，单位：rad/s。
   repeated double velocity = 3;
+  // 关节实际力矩，单位：N·m。
   repeated double effort = 4;
+  // 状态采样的 Unix 时间戳，单位：s。
   double timestamp = 5;
 }
 
+// 查询关节状态的请求。
 message JointRequest {
+  // 通用请求头，包含目标设备 ID 和请求时间戳。
   CommandHeader.Request header = 1;
 }
 
+// 查询关节状态的响应。
 message JointResponse {
+  // 通用响应头，包含成功标志、错误信息和响应时间戳。
   CommandHeader.Feedback header = 1;
+  // 当前关节状态。
   JointState state = 2;
 }
 
+// 查询 TCP 位姿。
 message GetPose {
+  // 位姿查询请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 参考坐标系名称，无单位；为空时使用驱动默认基准坐标系。
     string base_link = 2;
+    // 末端坐标系名称，无单位；为空时使用驱动默认 TCP 坐标系。
     string ee_link = 3;
   }
 
+  // 位姿查询结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
+    // TCP 位姿；位置单位为 m，姿态单位为 rad。
     CartesianPose pose = 2;
   }
 }
 
+// 指定关节的零位标定命令。
 message CalibrateZeroQ {
+  // 零位标定请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 待标定关节名称，无单位。
     string joint_name = 2;
   }
 
+  // 零位标定结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
   }
 }
 
+// 查询两个坐标系之间的齐次变换矩阵。
 message GetPoseMatrix {
+  // 变换矩阵查询请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 参考坐标系名称，无单位。
     string base_link = 2;
+    // 目标末端坐标系名称，无单位。
     string ee_link = 3;
   }
 
+  // 变换矩阵查询结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
+    // 齐次变换矩阵；旋转元素无单位，平移元素单位为 m。
     TransformMatrix4x4 matrix = 2;
   }
 }
 
+// 根据关节角计算正运动学变换矩阵。
 message ComputeForwardKinematics {
+  // 正运动学计算请求。
   message Request {
+    // 通用请求头，包含目标设备 ID 和请求时间戳。
     CommandHeader.Request header = 1;
+    // 参考坐标系名称，无单位。
     string base_link = 2;
+    // 目标末端坐标系名称，无单位。
     string ee_link = 3;
+    // 用于计算的关节角，单位：rad。
     JointPositionCommand joints = 4;
   }
 
+  // 正运动学计算结果。
   message Response {
+    // 通用响应头，包含成功标志、错误信息和响应时间戳。
     CommandHeader.Feedback header = 1;
+    // 齐次变换矩阵；旋转元素无单位，平移元素单位为 m。
     TransformMatrix4x4 matrix = 2;
   }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto

@@ -5,22 +5,40 @@ package cmvr.api;
 import "cmvr/api/common.proto";
 import "cmvr/api/arm_command.proto";
 
+// 机械臂控制服务。除特别说明外，所有接口通过请求头中的 device_id 选择机械臂。
 service ArmService {
+  // 机械臂下电/去使能；不包含数值参数，无单位。
   rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
+  // 机械臂上电并使能；不包含数值参数，无单位。
   rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+  // 清除机械臂可恢复故障；不包含数值参数，无单位。
   rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
+  // 执行关节空间点到点运动；目标角度单位为 rad。
   rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
+  // 执行 TCP 笛卡尔直线运动；位置单位为 m，姿态单位为 rad。
   rpc moveL(MoveL.Request) returns (MoveL.Response);
+  // 查询可用基准坐标系名称；返回名称列表，无单位。
+  rpc ListBaseFrame(ListFrame.Request) returns (ListFrame.Response);
+  // 查询可用 TCP 坐标系名称；返回名称列表，无单位。
+  rpc ListTCPFrame(ListFrame.Request) returns (ListFrame.Response);
+  // 执行关节速度运动；角速度单位为 rad/s，加速度单位为 rad/s^2。
   rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
+  // 执行 TCP 速度运动；线速度单位为 m/s，角速度单位为 rad/s。
   rpc speedL(SpeedL.Request) returns (SpeedL.Response);
+  // 下发单周期关节位置伺服目标；目标角度单位为 rad。
   rpc servoJ(ServoJ.Request) returns (ServoJ.Response);
+  // 停止当前机械臂运动；不包含数值参数，无单位。
   rpc stopMotion(CommandHeader.Request) returns (CommandHeader.Feedback);
+  // 读取关节状态；角度 rad、角速度 rad/s、力矩 N·m。
   rpc getJointState(JointRequest) returns (JointResponse);
+  // 读取 TCP 位姿；位置单位为 m，姿态单位为 rad。
   rpc getPose(GetPose.Request) returns (GetPose.Response);
+  // 对指定关节执行零位标定；关节名称无单位。
   rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
+  // 查询两个坐标系之间的齐次变换矩阵；平移元素单位为 m。
   rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response);
+  // 根据关节角计算正运动学矩阵；输入角度 rad，输出平移元素 m。
   rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response);
-
+  // 执行机械臂厂商扩展 JSON 命令；当前用于 AUBO 控制柜 Standard DI/DO。
-  // Vendor-specific arm extension currently used for AUBO cabinet IO.
   rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback);
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_teleop_v1.proto

@@ -1,133 +0,0 @@
-syntax = "proto3";
-
-package cmvr.api.armteleop.v1;
-
-// Versioned, session-oriented protocol for wired arm teleoperation. Existing
-// unary ArmService RPCs intentionally remain unchanged.
-service ArmTeleopService {
-  rpc Teleoperate(stream ClientFrame) returns (stream ServerFrame);
-}
-
-enum SessionPhase {
-  SESSION_PHASE_UNSPECIFIED = 0;
-  SESSION_PHASE_OPENED = 1;
-  SESSION_PHASE_READY = 2;
-  SESSION_PHASE_ACTIVE = 3;
-  SESSION_PHASE_HOLDING = 4;
-  SESSION_PHASE_STOPPED = 5;
-  SESSION_PHASE_WATCHDOG_EXPIRED = 6;
-  SESSION_PHASE_LEASE_LOST = 7;
-  SESSION_PHASE_REJECTED = 8;
-  SESSION_PHASE_FAILED = 9;
-}
-
-enum StopReason {
-  STOP_REASON_UNSPECIFIED = 0;
-  STOP_REASON_OPERATOR_REQUEST = 1;
-  STOP_REASON_CLIENT_SHUTDOWN = 2;
-  STOP_REASON_WATCHDOG = 3;
-  STOP_REASON_LEASE_REVOKED = 4;
-  STOP_REASON_ROBOT_FAULT = 5;
-  STOP_REASON_EMERGENCY_STOP = 6;
-  STOP_REASON_PROTOCOL_ERROR = 7;
-}
-
-enum EffortSource {
-  EFFORT_SOURCE_UNSPECIFIED = 0;
-  EFFORT_SOURCE_MOTOR_ESTIMATE = 1;
-  EFFORT_SOURCE_JOINT_SENSOR = 2;
-  EFFORT_SOURCE_FORCE_TORQUE_SENSOR = 3;
-  EFFORT_SOURCE_OBSERVER = 4;
-}
-
-message RobotManifest {
-  string robot_id = 1;
-  string model_sha256 = 2;
-  string calibration_sha256 = 3;
-  repeated string joint_names = 4;
-  string position_unit = 5;
-  string velocity_unit = 6;
-  string effort_unit = 7;
-  string base_frame = 8;
-  string tool_frame = 9;
-}
-
-message OpenSession {
-  uint32 protocol_major = 1;
-  uint32 protocol_minor = 2;
-  string client_instance_id = 3;
-  RobotManifest expected_robot = 4;
-  uint32 requested_command_rate_hz = 5;
-  uint32 requested_state_rate_hz = 6;
-  uint32 watchdog_timeout_ms = 7;
-  uint32 requested_lease_ms = 8;
-  bool request_force_feedback = 9;
-}
-
-message JointSetpoint {
-  // Strictly increasing and non-zero within a session.
-  uint64 sequence = 1;
-  repeated double position_rad = 2;
-  repeated double velocity_rad_s = 3;
-  // The receiver computes its deadline from local arrival time plus this
-  // duration. Zero is invalid for an active setpoint.
-  uint32 valid_for_us = 4;
-}
-
-message ClientHeartbeat {
-  uint64 sequence = 1;
-}
-
-message StopSession {
-  StopReason reason = 1;
-  string detail = 2;
-}
-
-message ClientFrame {
-  oneof payload {
-    OpenSession open = 1;
-    JointSetpoint setpoint = 2;
-    ClientHeartbeat heartbeat = 3;
-    StopSession stop = 4;
-  }
-}
-
-message JointState {
-  uint64 sample_sequence = 1;
-  repeated double position_rad = 2;
-  repeated double velocity_rad_s = 3;
-  repeated double effort_nm = 4;
-  bool position_valid = 5;
-  bool velocity_valid = 6;
-  bool effort_valid = 7;
-  EffortSource effort_source = 8;
-  uint64 sample_age_us = 9;
-}
-
-message SessionStatus {
-  string session_id = 1;
-  SessionPhase phase = 2;
-  uint64 received_sequence = 3;
-  uint64 applied_sequence = 4;
-  uint64 dropped_setpoints = 5;
-  uint64 rejected_setpoints = 6;
-  uint32 negotiated_watchdog_ms = 7;
-  uint32 lease_remaining_ms = 8;
-  StopReason stop_reason = 9;
-  string detail = 10;
-}
-
-message RobotSafetyState {
-  bool connected = 1;
-  bool powered_on = 2;
-  bool protective_stopped = 3;
-  bool emergency_stopped = 4;
-  bool fault = 5;
-  string fault_detail = 6;
-}
-
-message ServerFrame {
-  SessionStatus status = 1;
-  JointState joint_state = 2;
-  RobotSafetyState safety = 3;
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/common.proto

@@ -4,59 +4,6 @@ package cmvr.api;
 
 import "google/protobuf/timestamp.proto";
 
-enum CommandReasonCode {
-    COMMAND_REASON_CODE_UNSPECIFIED = 0;
-    COMMAND_REASON_CODE_NONE = 1;
-    COMMAND_REASON_CODE_INVALID_ARGUMENT = 2;
-    COMMAND_REASON_CODE_UNAUTHENTICATED = 3;
-    COMMAND_REASON_CODE_PERMISSION_DENIED = 4;
-    COMMAND_REASON_CODE_RECOVERY_RPC_DISABLED = 5;
-    COMMAND_REASON_CODE_DEVICE_NOT_FOUND = 6;
-    COMMAND_REASON_CODE_DEVICE_UNAVAILABLE = 7;
-    COMMAND_REASON_CODE_UNSUPPORTED_COMMAND = 8;
-    COMMAND_REASON_CODE_SYSTEM_STARTING = 9;
-    COMMAND_REASON_CODE_SYSTEM_STOPPING = 10;
-    COMMAND_REASON_CODE_SAFETY_LATCHED = 11;
-    COMMAND_REASON_CODE_SAFETY_STATE_MISSING = 12;
-    COMMAND_REASON_CODE_SAFETY_STATE_STALE = 13;
-    COMMAND_REASON_CODE_HARDWARE_UNSAFE = 14;
-    COMMAND_REASON_CODE_EMERGENCY_STOP_ACTIVE = 15;
-    COMMAND_REASON_CODE_PROTECTIVE_STOP_ACTIVE = 16;
-    COMMAND_REASON_CODE_DEVICE_DISCONNECTED = 17;
-    COMMAND_REASON_CODE_DEVICE_FAULT = 18;
-    COMMAND_REASON_CODE_DEVICE_NOT_READY = 19;
-    COMMAND_REASON_CODE_DEVICE_STILL_MOVING = 20;
-    COMMAND_REASON_CODE_CONTROL_BUSY = 21;
-    COMMAND_REASON_CODE_GENERATION_MISMATCH = 22;
-    COMMAND_REASON_CODE_COMMAND_ID_REQUIRED = 23;
-    COMMAND_REASON_CODE_COMMAND_ID_CONFLICT = 24;
-    COMMAND_REASON_CODE_RESULT_EVICTED = 25;
-    COMMAND_REASON_CODE_LEDGER_EXHAUSTED = 26;
-    COMMAND_REASON_CODE_BACKPRESSURE = 27;
-    COMMAND_REASON_CODE_DEADLINE_EXCEEDED_BEFORE_DISPATCH = 28;
-    COMMAND_REASON_CODE_OUTCOME_UNKNOWN = 29;
-    COMMAND_REASON_CODE_PARTICIPANT_TIMEOUT = 30;
-    COMMAND_REASON_CODE_STOP_UNCONFIRMED = 31;
-    COMMAND_REASON_CODE_RECOVERY_EPOCH_MISMATCH = 32;
-    COMMAND_REASON_CODE_RECOVERY_REASON_REQUIRED = 33;
-    COMMAND_REASON_CODE_RECOVERY_AUDIT_FAILED = 34;
-    COMMAND_REASON_CODE_INTERNAL_ERROR = 35;
-}
-
-enum CommandExecutionState {
-    COMMAND_EXECUTION_STATE_UNSPECIFIED = 0;
-    COMMAND_EXECUTION_STATE_RECEIVED = 1;
-    COMMAND_EXECUTION_STATE_RESERVED = 2;
-    COMMAND_EXECUTION_STATE_REJECTED_BEFORE_DISPATCH = 3;
-    COMMAND_EXECUTION_STATE_ADMITTED = 4;
-    COMMAND_EXECUTION_STATE_DISPATCHING = 5;
-    COMMAND_EXECUTION_STATE_ACCEPTED_BY_HARDWARE = 6;
-    COMMAND_EXECUTION_STATE_COMPLETED = 7;
-    COMMAND_EXECUTION_STATE_FAILED = 8;
-    COMMAND_EXECUTION_STATE_CANCELED_BEFORE_DISPATCH = 9;
-    COMMAND_EXECUTION_STATE_OUTCOME_UNKNOWN = 10;
-}
-
 message DeviceLifecycle {
     enum Lifecycle {
         STATE_INIT = 0;
@@ -73,22 +20,12 @@ message CommandHeader {
     message Request {
         string device_id = 1;                      // 目标设备名称
         google.protobuf.Timestamp timestamp = 2;     // 请求时间
-        string command_id = 3;
-        string expected_service_instance_id = 4;
-        optional uint64 expected_device_generation = 5;
-        uint32 valid_for_ms = 6;
     }
 
     message Feedback {
         bool success = 1;                             // 是否成功
         string error_message = 2;                     // 错误信息（成功时为空）
         google.protobuf.Timestamp timestamp = 3;      // 回复时间
-        CommandReasonCode reason_code = 4;
-        string command_id = 5;
-        string service_instance_id = 6;
-        uint64 safety_epoch = 7;
-        uint64 device_generation = 8;
-        CommandExecutionState execution_state = 9;
     }
 }
 
@@ -122,14 +59,21 @@ message ConfigParam {
     }
 }
 
+// 设备厂商扩展 JSON 命令；JSON 内容及字段单位由具体设备命令定义。
 message JsonDeviceCommand {
+    // JSON 命令请求。
     message Request {
+        // 通用请求头，包含目标设备 ID 和请求时间戳。
         CommandHeader.Request header = 1;
+        // JSON 格式的设备命令字符串，无单位。
         string request_json = 2;
     }
 
+    // JSON 命令响应。
     message Feedback {
+        // 通用响应头，包含成功标志、错误信息和响应时间戳。
         CommandHeader.Feedback header = 1;
+        // JSON 格式的设备响应字符串，无单位。
         string response_json = 2;
     }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_command.proto

@@ -1,151 +0,0 @@
-syntax = "proto3";
-
-package cmvr.api;
-
-import "cmvr/api/common.proto";
-import "cmvr/msgs/motor.proto";
-
-// Selects exactly one motor inside the MotorManager named by header.device_id.
-message MotorTarget {
-  CommandHeader.Request header = 1;
-  oneof selector {
-    uint32 motor_id = 2;
-    string joint_name = 3;
-  }
-}
-
-message MotorWaitOptions {
-  // Zero selects the server default (30 seconds).
-  uint32 timeout_ms = 1;
-  // Zero selects the server default (10 milliseconds).
-  uint32 poll_period_ms = 2;
-  // Zero selects the server default.
-  double position_tolerance_rad = 3;
-  double velocity_tolerance_rad_s = 4;
-  // Number of consecutive in-tolerance samples. Zero selects the default (3).
-  uint32 settle_sample_count = 5;
-}
-
-enum MotorControlType {
-  MOTOR_CONTROL_NONE = 0;
-  MOTOR_CONTROL_SET_ZERO = 1;
-  MOTOR_CONTROL_PROFILE_POSITION = 2;
-  MOTOR_CONTROL_PROFILE_VELOCITY = 3;
-  MOTOR_CONTROL_CYCLIC_POSITION = 4;
-  MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
-  MOTOR_CONTROL_SET_ENABLED = 6;
-}
-
-message MotorStatus {
-  uint32 motor_id = 1;
-  string joint_name = 2;
-  cmvr.msgs.RunMode run_mode = 3;
-  double position_rad = 4;
-  double velocity_rad_s = 5;
-  bool target_reached = 6;
-  bool service_busy = 7;
-  MotorControlType active_control = 8;
-  bool emergency_stopped = 9;
-  string last_error = 10;
-}
-
-message MotorCommandResponse {
-  CommandHeader.Feedback header = 1;
-  MotorStatus status = 2;
-  uint64 elapsed_ms = 3;
-}
-
-message SetMotorZeroRequest {
-  MotorTarget target = 1;
-}
-
-message MoveMotorToZeroRequest {
-  MotorTarget target = 1;
-  double max_velocity_rad_s = 2;
-  double acceleration_rad_s2 = 3;
-  MotorWaitOptions wait = 4;
-}
-
-message ProfilePositionRequest {
-  MotorTarget target = 1;
-  double target_position_rad = 2;
-  double max_velocity_rad_s = 3;
-  double acceleration_rad_s2 = 4;
-  MotorWaitOptions wait = 5;
-}
-
-message ProfileVelocityRequest {
-  MotorTarget target = 1;
-  double target_velocity_rad_s = 2;
-  double acceleration_rad_s2 = 3;
-  MotorWaitOptions wait = 4;
-}
-
-message EmergencyStopRequest {
-  MotorTarget target = 1;
-}
-
-message GetMotorStatusRequest {
-  MotorTarget target = 1;
-}
-
-message GetMotorStatusResponse {
-  CommandHeader.Feedback header = 1;
-  MotorStatus status = 2;
-}
-
-message SetMotorEnabledRequest {
-  MotorTarget target = 1;
-  bool enabled = 2;
-}
-
-message CyclicStreamOpen {
-  MotorTarget target = 1;
-  // The device/driver watchdog is authoritative. This service watchdog prevents a
-  // stalled gRPC client from retaining control indefinitely.
-  uint32 watchdog_timeout_ms = 2;
-}
-
-message CyclicPositionSetpoint {
-  uint64 sequence = 1;
-  double target_position_rad = 2;
-  optional double target_velocity_rad_s = 3;
-}
-
-message CyclicVelocitySetpoint {
-  uint64 sequence = 1;
-  double target_velocity_rad_s = 2;
-}
-
-message CyclicPositionRequest {
-  oneof payload {
-    CyclicStreamOpen open = 1;
-    CyclicPositionSetpoint setpoint = 2;
-  }
-}
-
-message CyclicVelocityRequest {
-  oneof payload {
-    CyclicStreamOpen open = 1;
-    CyclicVelocitySetpoint setpoint = 2;
-  }
-}
-
-enum CyclicStreamPhase {
-  CYCLIC_STREAM_PHASE_UNSPECIFIED = 0;
-  CYCLIC_STREAM_OPENED = 1;
-  CYCLIC_STREAM_APPLIED = 2;
-  CYCLIC_STREAM_STOPPED = 3;
-  CYCLIC_STREAM_WATCHDOG_EXPIRED = 4;
-  CYCLIC_STREAM_FAILED = 5;
-}
-
-message CyclicControlResponse {
-  CommandHeader.Feedback header = 1;
-  CyclicStreamPhase phase = 2;
-  uint64 sequence = 3;
-  uint64 dropped_setpoints = 4;
-  // Present for OPENED and terminal responses. APPLIED deliberately omits
-  // live status so one cyclic sample does not trigger extra fieldbus reads.
-  MotorStatus status = 5;
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_service.proto

@@ -1,21 +0,0 @@
-syntax = "proto3";
-
-package cmvr.api;
-
-import "cmvr/api/motor_command.proto";
-
-service MotorService {
-  rpc setZero(SetMotorZeroRequest) returns (MotorCommandResponse);
-  rpc moveToZero(MoveMotorToZeroRequest) returns (MotorCommandResponse);
-  rpc profilePosition(ProfilePositionRequest) returns (MotorCommandResponse);
-  rpc profileVelocity(ProfileVelocityRequest) returns (MotorCommandResponse);
-
-  rpc streamCyclicPosition(stream CyclicPositionRequest)
-      returns (stream CyclicControlResponse);
-  rpc streamCyclicVelocity(stream CyclicVelocityRequest)
-      returns (stream CyclicControlResponse);
-
-  rpc emergencyStop(EmergencyStopRequest) returns (MotorCommandResponse);
-  rpc getStatus(GetMotorStatusRequest) returns (GetMotorStatusResponse);
-  rpc setEnabled(SetMotorEnabledRequest) returns (MotorCommandResponse);
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/safety_command.proto

@@ -1,204 +0,0 @@
-syntax = "proto3";
-
-package cmvr.api;
-
-import "cmvr/api/common.proto";
-
-enum SafetyTriState {
-    SAFETY_TRI_STATE_UNKNOWN = 0;
-    SAFETY_TRI_STATE_FALSE = 1;
-    SAFETY_TRI_STATE_TRUE = 2;
-}
-
-enum SafetyCondition {
-    SAFETY_CONDITION_UNKNOWN = 0;
-    SAFETY_CONDITION_NOMINAL = 1;
-    SAFETY_CONDITION_RESTRICTED = 2;
-    SAFETY_CONDITION_UNSAFE = 3;
-}
-
-enum SystemAdmissionState {
-    SYSTEM_ADMISSION_STATE_UNSPECIFIED = 0;
-    SYSTEM_ADMISSION_STATE_STARTING = 1;
-    SYSTEM_ADMISSION_STATE_OPEN = 2;
-    SYSTEM_ADMISSION_STATE_STOPPING = 3;
-    SYSTEM_ADMISSION_STATE_LATCHED = 4;
-    SYSTEM_ADMISSION_STATE_RECOVERING = 5;
-    SYSTEM_ADMISSION_STATE_SHUTTING_DOWN = 6;
-}
-
-enum DeviceAdmissionState {
-    DEVICE_ADMISSION_STATE_UNSPECIFIED = 0;
-    DEVICE_ADMISSION_STATE_OBSERVING = 1;
-    DEVICE_ADMISSION_STATE_OPEN = 2;
-    DEVICE_ADMISSION_STATE_BLOCKED = 3;
-    DEVICE_ADMISSION_STATE_QUARANTINED = 4;
-    DEVICE_ADMISSION_STATE_RECOVERING = 5;
-    DEVICE_ADMISSION_STATE_REMOVED = 6;
-}
-
-enum SafetyBlockerScope {
-    SAFETY_BLOCKER_SCOPE_UNSPECIFIED = 0;
-    SAFETY_BLOCKER_SCOPE_DEVICE = 1;
-    SAFETY_BLOCKER_SCOPE_SYSTEM = 2;
-}
-
-enum SafetyRecoveryRequirement {
-    SAFETY_RECOVERY_REQUIREMENT_UNSPECIFIED = 0;
-    SAFETY_RECOVERY_REQUIREMENT_REFRESH_ONLY = 1;
-    SAFETY_RECOVERY_REQUIREMENT_CLEAR_SOFTWARE_LATCH = 2;
-    SAFETY_RECOVERY_REQUIREMENT_HARDWARE_RELEASE_REQUIRED = 3;
-    SAFETY_RECOVERY_REQUIREMENT_MANUAL_INSPECTION_REQUIRED = 4;
-}
-
-enum SafetyOperationResult {
-    SAFETY_OPERATION_RESULT_UNSPECIFIED = 0;
-    SAFETY_OPERATION_RESULT_SUCCEEDED = 1;
-    SAFETY_OPERATION_RESULT_RECOVERED = 2;
-    SAFETY_OPERATION_RESULT_VERIFIED_BUT_STILL_BLOCKED = 3;
-    SAFETY_OPERATION_RESULT_BLOCKER_REMAINS = 4;
-    SAFETY_OPERATION_RESULT_EPOCH_MISMATCH = 5;
-    SAFETY_OPERATION_RESULT_NOTHING_TO_RECOVER = 6;
-    SAFETY_OPERATION_RESULT_TIMED_OUT = 7;
-    SAFETY_OPERATION_RESULT_FAILED = 8;
-}
-
-message DeviceIdList {
-    repeated string device_ids = 1;
-}
-
-message SafetyScope {
-    oneof target {
-        bool all_devices = 1;
-        DeviceIdList devices = 2;
-    }
-}
-
-message SafetyBlockerInfo {
-    CommandReasonCode reason_code = 1;
-    SafetyBlockerScope scope = 2;
-    SafetyRecoveryRequirement recovery_requirement = 3;
-    string source_id = 4;
-    string operation_id = 5;
-    uint64 first_observed_at_unix_ms = 6;
-    uint64 last_observed_at_unix_ms = 7;
-}
-
-message DeviceSafetyStateInfo {
-    string device_id = 1;
-    string device_kind = 2;
-    string policy_family = 3;
-    string lifecycle_state = 4;
-    string health_state = 5;
-    DeviceAdmissionState admission_state = 6;
-    SafetyCondition condition = 7;
-    bool has_sample = 8;
-    bool snapshot_fresh = 9;
-    uint64 sample_age_ms = 10;
-    uint64 sample_sequence = 11;
-    uint64 observed_at_unix_ms = 12;
-    uint64 device_generation = 13;
-    SafetyTriState connected = 14;
-    SafetyTriState operational_ready = 15;
-    SafetyTriState quiescent = 16;
-    SafetyTriState motion_active = 17;
-    SafetyTriState actuator_enabled = 18;
-    SafetyTriState emergency_stop_active = 19;
-    SafetyTriState protective_stop_active = 20;
-    SafetyTriState fault_active = 21;
-    repeated SafetyBlockerInfo blockers = 22;
-}
-
-message SafetyOperationTargetResult {
-    string target_id = 1;
-    SafetyOperationResult result = 2;
-    CommandReasonCode reason_code = 3;
-    string detail = 4;
-    DeviceAdmissionState before_state = 5;
-    DeviceAdmissionState after_state = 6;
-}
-
-message SafetyParticipantResultInfo {
-    bool recorded = 1;
-    bool success = 2;
-    CommandReasonCode reason_code = 3;
-    string detail = 4;
-}
-
-message SafetyParticipantStateInfo {
-    string participant_id = 1;
-    string phase = 2;
-    bool required = 3;
-    bool registered = 4;
-    bool barrier_active = 5;
-    bool barrier_retained = 6;
-    string operation_id = 7;
-    uint64 safety_epoch = 8;
-    SafetyParticipantResultInfo last_request = 9;
-    SafetyParticipantResultInfo last_verify = 10;
-    SafetyParticipantResultInfo last_release = 11;
-}
-
-message GetSafetyStateCommand {
-    message Request {
-        SafetyScope scope = 1;
-    }
-
-    message Feedback {
-        CommandHeader.Feedback header = 1;
-        SystemAdmissionState system_state = 2;
-        uint64 safety_epoch = 3;
-        string control_service_instance_id = 4;
-        string enforcement_mode = 5;
-        repeated DeviceSafetyStateInfo devices = 6;
-        string active_operation_id = 7;
-        string active_operation_phase = 8;
-        uint64 sampled_at_unix_ms = 9;
-        repeated SafetyParticipantStateInfo participants = 10;
-    }
-}
-
-message RecoverSafetyStateCommand {
-    enum Mode {
-        MODE_UNSPECIFIED = 0;
-        VERIFY_ONLY = 1;
-        CLEAR_SOFTWARE_LATCH = 2;
-    }
-
-    message Request {
-        string recovery_id = 1;
-        SafetyScope scope = 2;
-        uint64 expected_safety_epoch = 3;
-        Mode mode = 4;
-        string reason = 5;
-        uint32 timeout_ms = 6;
-    }
-
-    message Feedback {
-        CommandHeader.Feedback header = 1;
-        SafetyOperationResult result = 2;
-        uint64 previous_safety_epoch = 3;
-        uint64 current_safety_epoch = 4;
-        SystemAdmissionState system_state = 5;
-        repeated SafetyOperationTargetResult targets = 6;
-        string recovery_id = 7;
-    }
-}
-
-message RestoreOperationalStateCommand {
-    message Request {
-        string recovery_id = 1;
-        string reason = 2;
-        uint32 timeout_ms = 3;
-    }
-
-    message Feedback {
-        CommandHeader.Feedback header = 1;
-        SafetyOperationResult result = 2;
-        uint64 previous_safety_epoch = 3;
-        uint64 current_safety_epoch = 4;
-        SystemAdmissionState system_state = 5;
-        repeated SafetyOperationTargetResult targets = 6;
-        string recovery_id = 7;
-    }
-}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_command.proto

@@ -1,9 +1,7 @@
 syntax = "proto3";
 
-import "cmvr/api/agv_command.proto";
 import "cmvr/api/arm_command.proto";
 import "cmvr/api/common.proto";
-import "cmvr/api/safety_command.proto";
 
 package cmvr.api;
 
@@ -24,77 +22,6 @@ message DeviceList {
     DeviceType device_type = 2;
 }
 
-// Stable device categories used by GetDeviceList. This intentionally does not
-// reuse the legacy DeviceType enum above: its zero value is AGV and it does not
-// cover all DeviceManager categories.
-enum SystemDeviceType {
-    SYSTEM_DEVICE_TYPE_UNSPECIFIED = 0;
-    SYSTEM_DEVICE_TYPE_AGV = 1;
-    SYSTEM_DEVICE_TYPE_ARM = 2;
-    SYSTEM_DEVICE_TYPE_BATTERY = 3;
-    SYSTEM_DEVICE_TYPE_BIO_HEAD = 4;
-    SYSTEM_DEVICE_TYPE_CAMERA = 5;
-    SYSTEM_DEVICE_TYPE_CAN_BUS = 6;
-    SYSTEM_DEVICE_TYPE_DEX_HAND = 7;
-    SYSTEM_DEVICE_TYPE_GRIPPER = 8;
-    SYSTEM_DEVICE_TYPE_MICROPHONE = 9;
-    SYSTEM_DEVICE_TYPE_MOTOR = 10;
-    SYSTEM_DEVICE_TYPE_MOTOR_SYSTEM = 11;
-    SYSTEM_DEVICE_TYPE_MUJOCO_VIEWER = 12;
-    SYSTEM_DEVICE_TYPE_MUJOCO_WORLD = 13;
-    SYSTEM_DEVICE_TYPE_ROBOT = 14;
-    SYSTEM_DEVICE_TYPE_SPEAKER = 15;
-}
-
-enum SystemDeviceState {
-    SYSTEM_DEVICE_STATE_UNSPECIFIED = 0;
-    SYSTEM_DEVICE_STATE_DISABLED = 1;
-    SYSTEM_DEVICE_STATE_INITIALIZING = 2;
-    SYSTEM_DEVICE_STATE_REGISTERED = 3;
-    SYSTEM_DEVICE_STATE_READY = 4;
-    SYSTEM_DEVICE_STATE_RUNNING = 5;
-    SYSTEM_DEVICE_STATE_STOPPED = 6;
-    SYSTEM_DEVICE_STATE_ERROR = 7;
-}
-
-enum SystemDeviceHealth {
-    SYSTEM_DEVICE_HEALTH_UNSPECIFIED = 0;
-    SYSTEM_DEVICE_HEALTH_HEALTHY = 1;
-    SYSTEM_DEVICE_HEALTH_DEGRADED = 2;
-    SYSTEM_DEVICE_HEALTH_FAULT = 3;
-}
-
-message SystemDeviceInfo {
-    string device_id = 1;
-    SystemDeviceType device_type = 2;
-
-    // Concrete backend name for display and diagnostics only. Consumers must
-    // use device_type, rather than this free-form string, for decisions.
-    string type_name = 3;
-
-    // GetDeviceList currently publishes only enabled entries. Keep this field
-    // explicit so each row remains self-describing and future-compatible.
-    bool enabled = 4;
-    SystemDeviceState manager_state = 5;
-    SystemDeviceHealth health = 6;
-    bool has_error = 7;
-    string error_message = 8;
-    uint64 status_updated_at_unix_ms = 9;
-}
-
-message GetDeviceListCommand {
-    message Request {}
-
-    message Feedback {
-        CommandHeader.Feedback header = 1;
-        string manager_name = 2;
-        string manager_version = 3;
-        string manager_description = 4;
-        repeated SystemDeviceInfo device_list = 5;
-        uint64 sampled_at_unix_ms = 6;
-    }
-}
-
 message GetSystemInfoCommand {
     message Request {}
 
@@ -106,20 +33,6 @@ message GetSystemInfoCommand {
         string os = 5;
         string kernel_version = 6;
         string architecture = 7;
-
-        // Changes whenever the in-process ActionQueue idempotency ledger is
-        // recreated. Clients bind submissions and retries to this value.
-        string action_service_instance_id = 8;
-
-        // Effective server-side control-plane settings. These fields describe
-        // what is running, not merely what the configuration requested.
-        string grpc_transport_security = 9;
-        string grpc_authentication = 10;
-        string grpc_recovery_exposure = 11;
-        bool grpc_insecure_non_loopback = 12;
-        string control_service_instance_id = 13;
-        string safety_enforcement_mode = 14;
-        uint32 safety_schema_version = 15;
     }
 }
 
@@ -152,22 +65,13 @@ message UpdateParamsCommand {
 message StopAllCommand {
     message Request {
         CommandHeader.Request header = 1;
-        string operation_id = 2;
-        string expected_service_instance_id = 3;
-        uint32 timeout_ms = 4;
     }
 
     message Feedback {
         CommandHeader.Feedback header = 1;
-        string operation_id = 2;
-        uint64 previous_safety_epoch = 3;
-        uint64 current_safety_epoch = 4;
-        SystemAdmissionState system_state = 5;
-        repeated SafetyOperationTargetResult targets = 6;
     }
 }
 
-// Final outcome of one ActionQueue execution.
 enum ActionResultCode {
     ACTION_RESULT_CODE_UNSPECIFIED = 0;
     ACTION_RESULT_CODE_COMPLETED = 1;
@@ -177,86 +81,37 @@ enum ActionResultCode {
     ACTION_RESULT_CODE_REJECTED = 5;
 }
 
-// Describes whether this RPC admitted a new action or observed an existing
-// idempotency record. Clients must not infer this from an error string.
-enum ActionDeduplicationStatus {
-    ACTION_DEDUPLICATION_STATUS_UNSPECIFIED = 0;
-    ACTION_DEDUPLICATION_STATUS_ACCEPTED_NEW = 1;
-    ACTION_DEDUPLICATION_STATUS_JOINED_IN_FLIGHT = 2;
-    ACTION_DEDUPLICATION_STATUS_CACHED_RESULT = 3;
-    ACTION_DEDUPLICATION_STATUS_RESULT_EVICTED = 4;
-    ACTION_DEDUPLICATION_STATUS_LEDGER_EXHAUSTED = 5;
-    ACTION_DEDUPLICATION_STATUS_ACTION_ID_CONFLICT = 6;
-    ACTION_DEDUPLICATION_STATUS_SERVICE_INSTANCE_MISMATCH = 7;
-}
-
-// Edge-local delay between two device commands.
-message DelayAction {
-    // Delay duration in milliseconds. The server applies a bounded maximum.
-    uint32 duration_ms = 1;
-}
-
-// One finite, synchronous command in an ActionQueue request.
 message ActionStep {
-    // Client-provided identifier used for diagnostics. It must be unique within
+    reserved 1;
-    // one ActionQueue request.
+    reserved "step_id";
-    string step_id = 1;
 
-    // Per-step timeout in milliseconds. Zero inherits the remaining action
+    // Zero inherits the remaining ActionQueue timeout.
-    // timeout or the server default.
     uint32 timeout_ms = 2;
 
-    // Tags are grouped by domain so compatible commands can be added without
-    // renumbering existing alternatives: Arm 10-19, AGV 20-29, built-ins 90+.
     oneof command {
         MoveJ.Request arm_move_j = 10;
         MoveL.Request arm_move_l = 11;
-
-        AgvNavigateToPoseCommand.Request agv_navigate_to_pose = 20;
-        AgvNavigateToStationCommand.Request agv_navigate_to_station = 21;
-        AgvFollowPathCommand.Request agv_follow_path = 22;
-
-        DelayAction delay = 90;
     }
 }
 
-// Atomically submits a complete command sequence for edge-local serial
-// execution. Device motion alternatives must use synchronous execution.
 message ActionQueueCommand {
     message Request {
-        // Client-generated globally unique idempotency key. During one Action
+        reserved 1;
-        // service instance, retrying an identical accepted request with the
+        reserved "action_id";
-        // same action_id does not dispatch its steps a second time. Recent
+
-        // terminal results can be returned; older accepted IDs are rejected
-        // fail-closed after their result is evicted. Deduplication is not
-        // persisted across an edge-service restart; the required instance
-        // epoch below prevents an old retry from being replayed after restart.
-        string action_id = 1;
         repeated ActionStep steps = 2;
-
+        // Zero uses the server default.
-        // Total queue-wait plus execution timeout in milliseconds. Zero uses a
-        // bounded server default.
         uint32 total_timeout_ms = 3;
-
-        // Required instance epoch obtained from GetSystemInfo. A mismatch
-        // means the process-local deduplication ledger was recreated, so the
-        // server rejects the request instead of risking a replay.
-        string expected_service_instance_id = 4;
     }
 
     message Feedback {
         CommandHeader.Feedback header = 1;
-        string action_id = 2;
 
-        // Number of steps which completed successfully before the final result.
+        reserved 2;
+        reserved "action_id";
+
         uint32 completed_steps = 3;
-
-        // Present only when a particular step caused failure, cancellation,
-        // timeout, or rejection. Presence distinguishes index zero from no
-        // failed step.
         optional uint32 failed_step_index = 4;
         ActionResultCode result = 5;
-        string service_instance_id = 6;
-        ActionDeduplicationStatus deduplication_status = 7;
     }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto

@@ -1,7 +1,6 @@
 syntax = "proto3";
 
 import "cmvr/api/system_command.proto";
-import "cmvr/api/safety_command.proto";
 
 package cmvr.api;
 
@@ -9,15 +8,7 @@ package cmvr.api;
 service SystemService {
     rpc GetSystemInfo(GetSystemInfoCommand.Request) returns (GetSystemInfoCommand.Feedback) {}
     rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
-    rpc GetDeviceList(GetDeviceListCommand.Request) returns (GetDeviceListCommand.Feedback) {}
-
     rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
-
     rpc StopAll(StopAllCommand.Request) returns (StopAllCommand.Feedback) {}
-
     rpc ExecuteActionQueue(ActionQueueCommand.Request) returns (ActionQueueCommand.Feedback) {}
-
-    rpc GetSafetyState(GetSafetyStateCommand.Request) returns (GetSafetyStateCommand.Feedback) {}
-    rpc RecoverSafetyState(RecoverSafetyStateCommand.Request) returns (RecoverSafetyStateCommand.Feedback) {}
-    rpc RestoreOperationalState(RestoreOperationalStateCommand.Request) returns (RestoreOperationalStateCommand.Feedback) {}
 }

cmvr-iot-evaluation/src/main/java/com/cmvr/evaluation/model/dto/AeIResultDTO.java

@@ -5,6 +5,8 @@ import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
+import java.util.List;
+
 @Data
 @ApiModel("AI 评估结果明细")
 public class AeIResultDTO {
@@ -28,4 +30,30 @@ public class AeIResultDTO {
     @ApiModelProperty(value = "评估相关视频地址")
     @JSONField(name = "videoPath")
     private String videoPath;
+
+    @ApiModelProperty(value = "结构化执行步骤")
+    private List<ExecutionStep> executionSteps;
+
+    @ApiModelProperty(value = "执行涉及的界面路径")
+    private List<String> uiPath;
+
+    @ApiModelProperty(value = "执行证据截图")
+    private List<String> screenshotUrls;
+
+    @Data
+    @ApiModel("触控执行步骤")
+    public static class ExecutionStep {
+        private Integer sequence;
+        private Long timestamp;
+        private String nodeName;
+        private String action;
+        private String status;
+        private String pageName;
+        private String targetName;
+        private String operationType;
+        private String coordinates;
+        private String screenshotUrl;
+        private String videoUrl;
+        private String message;
+    }
 }

cmvr-iot-evaluation/src/main/java/com/cmvr/evaluation/model/vo/AeViEvaluationVO.java

@@ -7,6 +7,7 @@ import lombok.Data;
 
 import java.util.List;
 import java.util.Date;
+import com.cmvr.evaluation.model.dto.AeIResultDTO;
 
 @Data
 @ApiModel("语音交互评估")
@@ -85,6 +86,15 @@ public class AeViEvaluationVO {
         @ApiModelProperty(value = "执行过程详情说明")
         private String executionDetail;
 
+        @ApiModelProperty(value = "结构化执行步骤")
+        private List<AeIResultDTO.ExecutionStep> executionSteps;
+
+        @ApiModelProperty(value = "执行涉及的界面路径")
+        private List<String> uiPath;
+
+        @ApiModelProperty(value = "执行证据截图")
+        private List<String> screenshotUrls;
+
     }
 }
 

cmvr-iot-resource/src/main/java/com/cmvr/resource/service/ResourceRobotControlService.java

@@ -1,6 +1,6 @@
 package com.cmvr.resource.service;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import cmvr.quic_edge.v1.QuicEdge;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.model.EdgeCommonVO;
@@ -67,7 +67,7 @@ public class ResourceRobotControlService {
     public ResourceRobot syncRuntimeState(String robotRef) {
         ResourceRobot robot = requireRobot(robotRef);
         try {
-            AgvUtils.AgvRuntimeState runtime = edgeAgvService.getRuntimeState(buildAgvRequest(robot));
+            Agv.AgvRuntimeState runtime = edgeAgvService.getRuntimeState(buildAgvRequest(robot));
             if (runtime == null) {
                 throw new GlobalException("AGV未返回运行状态");
             }
@@ -76,7 +76,7 @@ public class ResourceRobotControlService {
                 robot.setBatteryLevel(Math.max(0, Math.min(100, percentage)));
             }
             if (runtime.hasPose()) {
-                AgvUtils.AgvPose2d pose = runtime.getPose();
+                Agv.AgvPose2d pose = runtime.getPose();
                 robot.setCurrentPosition(String.format(Locale.ROOT, "%.3f,%.3f,%.3f",
                         pose.getX(), pose.getY(), pose.getTheta()));
             }
@@ -94,8 +94,8 @@ public class ResourceRobotControlService {
         }
     }
 
-    public AgvUtils.AgvPose2d getRealtimeLocation(String robotRef) {
+    public Agv.AgvPose2d getRealtimeLocation(String robotRef) {
-        AgvUtils.AgvRuntimeState runtime = edgeAgvService.getRuntimeState(
+        Agv.AgvRuntimeState runtime = edgeAgvService.getRuntimeState(
                 buildAgvRequest(requireRobot(robotRef)));
         return runtime.hasPose() ? runtime.getPose() : null;
     }
@@ -104,7 +104,7 @@ public class ResourceRobotControlService {
         if (x == null || y == null) {
             throw new GlobalException("X和Y坐标不能为空");
         }
-        AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                 .setX(x)
                 .setY(y)
                 .setTheta(theta == null ? 0D : theta)
@@ -113,7 +113,7 @@ public class ResourceRobotControlService {
     }
 
     public String startMapping(String robotRef, int dimension, String mapName, boolean realTime) {
-        AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(dimension);
+        Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(dimension);
         if (mapDimension == null) {
             throw new GlobalException("无效的建图维度：" + dimension);
         }

cmvr-iot-system/src/main/java/com/cmvr/system/service/impl/ISysFileServiceImpl.java

@@ -65,9 +65,7 @@ public class ISysFileServiceImpl extends ServiceImpl<SysFileMapper, SysFileInfo>
             String md5 = DigestUtils.md5DigestAsHex(file.getInputStream());
             SysFileInfo fileInfo = findByMd5(md5);
             if (!Objects.isNull(fileInfo)) {
-                this.updateById(fileInfo);
+                return reuseExistingFile(fileInfo);
-                // 返回
-                return fileInfo.getFilePath();
             }
             // 上传
             FileType type = FileType.getByCode(fileType);
@@ -94,9 +92,7 @@ public class ISysFileServiceImpl extends ServiceImpl<SysFileMapper, SysFileInfo>
             SysFileInfo fileInfo = findByMd5(md5);
 
             if (!Objects.isNull(fileInfo)) {
-                this.updateById(fileInfo);
+                return reuseExistingFile(fileInfo);
-                // 如果文件已存在，直接返回已上传文件的 URL
-                return fileInfo.getFilePath();
             }
 
             // 上传文件到 MinIO
@@ -129,6 +125,53 @@ public class ISysFileServiceImpl extends ServiceImpl<SysFileMapper, SysFileInfo>
         return StrUtil.join("/", minioProps.getUrl(), minioProps.getBucketName(), fileType, fileName);
     }
 
+    /**
+     * Reuse the object recorded for the same MD5 while refreshing its public URL.
+     * Historical records contain the complete MinIO URL, so an endpoint change
+     * must not make a new business record persist the obsolete host again.
+     */
+    private String reuseExistingFile(SysFileInfo fileInfo) {
+        String currentUrl = normalizeStoredFileUrl(
+                fileInfo.getFilePath(), minioProps.getUrl(), minioProps.getBucketName());
+        if (!Objects.equals(fileInfo.getFilePath(), currentUrl)) {
+            log.info("刷新已存在文件的MinIO地址, oldUrl:{}, newUrl:{}", fileInfo.getFilePath(), currentUrl);
+            fileInfo.setFilePath(currentUrl);
+        }
+        this.updateById(fileInfo);
+        return currentUrl;
+    }
+
+    static String normalizeStoredFileUrl(String storedUrl, String minioUrl, String bucketName) {
+        if (StringUtils.isBlank(storedUrl)
+                || StringUtils.isBlank(minioUrl)
+                || StringUtils.isBlank(bucketName)) {
+            return storedUrl;
+        }
+
+        String normalizedStoredUrl = storedUrl.replace('\\', '/');
+        String normalizedBucketName = StringUtils.strip(bucketName.trim(), "/");
+        String bucketMarker = "/" + normalizedBucketName + "/";
+        int markerIndex = normalizedStoredUrl.indexOf(bucketMarker);
+        String objectPath;
+        if (markerIndex >= 0) {
+            objectPath = normalizedStoredUrl.substring(markerIndex + bucketMarker.length());
+        } else {
+            String bucketPrefix = normalizedBucketName + "/";
+            String relativePath = StringUtils.stripStart(normalizedStoredUrl, "/");
+            if (!relativePath.startsWith(bucketPrefix)) {
+                return storedUrl;
+            }
+            objectPath = relativePath.substring(bucketPrefix.length());
+        }
+
+        if (StringUtils.isBlank(objectPath)) {
+            return storedUrl;
+        }
+        return StringUtils.stripEnd(minioUrl.trim(), "/")
+                + "/" + normalizedBucketName
+                + "/" + StringUtils.stripStart(objectPath, "/");
+    }
+
     private SysFileInfo findByMd5(String md5) {
         LambdaQueryWrapper<SysFileInfo> wrapper = Wrappers.lambdaQuery();
         wrapper.eq(SysFileInfo::getMd5, md5);

cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskInstHolder.java

@@ -27,6 +27,9 @@ public class TaskInstHolder {
     @Resource
     private FlowFailureCleanupService flowFailureCleanupService;
 
+    @Resource
+    private TaskThreadRegistry taskThreadRegistry;
+
     private final ITeNodeInstService nodeInstService;
     private final TaskContextManager taskContextManager;
     private final ITeTaskInstService taskInstService;
@@ -127,10 +130,20 @@ public class TaskInstHolder {
 
         // 终止和并发失败都可能先注销上下文，失败状态仍需落库。
         TaskContext ctx = taskContextManager.get(instId);
+        if (ctx != null) {
+            // 先关闭执行入口，避免设备清理期间又调度新的节点。
+            ctx.setStopped(true);
+            ctx.setStatus(TaskStatusEnum.FAILED);
+        }
+        if (taskThreadRegistry != null) {
+            // 唤醒所有嵌套循环并中断其他执行节点，让失败立即收敛到整个实例。
+            taskThreadRegistry.interruptAll(instId);
+        }
         String moduleCode = ctx != null ? ctx.getModuleCode() : null;
         if (ctx != null && flowFailureCleanupService != null) {
             flowFailureCleanupService.cleanup(ctx);
         }
+        nodeInstService.failUnfinished(instId, "任务因节点失败而结束：" + message);
         syncStatus(instId, TaskStatusEnum.FAILED);
 
         // 注销任务上下文

cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskThreadRegistry.java

@@ -80,7 +80,8 @@ public class TaskThreadRegistry {
                     continue;
                 }
                 Thread thread = entry.getValue().getThread();
-                if (thread != null && !thread.isInterrupted()) {
+                // 失败通常由当前节点线程发起；不要中断自己，以免阻断后续设备清理。
+                if (thread != null && thread != Thread.currentThread() && !thread.isInterrupted()) {
                     log.info("中断线程:{}", thread.getName());
                     thread.interrupt();
                 }
@@ -164,7 +165,7 @@ public class TaskThreadRegistry {
         if (latch != null) {
             try {
                 latch.countDown();
-                log.info("释放 latch: {} -> {}", key, latch);
+                log.debug("清理 latch: {} -> {}", key, latch);
             } catch (Exception ignored) {
             }
         }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/dispatcher/FlowLoopNodeHandler.java

@@ -5,6 +5,8 @@ import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.utils.spring.SpringUtils;
 import com.cmvr.test.flow.builder.FlowGraph;
 import com.cmvr.test.flow.builder.FlowNodeWrapper;
+import com.cmvr.test.flow.context.TaskContext;
+import com.cmvr.test.flow.context.TaskInstHolder;
 import com.cmvr.test.flow.context.TaskThreadRegistry;
 import com.cmvr.test.flow.runtime.engine.FlowItemExecutor;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
@@ -23,6 +25,7 @@ import java.util.concurrent.CountDownLatch;
 public class FlowLoopNodeHandler implements FlowNodeTypeHandler {
 
     private final TaskThreadRegistry taskThreadRegistry;
+    private final TaskInstHolder taskInstHolder;
 
     @Override
     public TaskNodeExecuteResult handle(TaskNodeExecuteMessage message) {
@@ -49,6 +52,11 @@ public class FlowLoopNodeHandler implements FlowNodeTypeHandler {
 
         // 循环执行子图
         for (int i = loopStartNum; i <= loopCount; i++) {
+            TaskContext context = taskInstHolder.getContext(instId);
+            if (context == null || context.isStopped()) {
+                log.info("任务已结束，退出循环：instId={}, nodeId={}, nextIteration={}", instId, nodeId, i);
+                break;
+            }
             // 如果子图设置了跳出标志，则结束循环
             if (subGraph.isBreakLoop()) {
                 log.info("检测到子图设置跳出标志，提前结束循环：instId={}, nodeId={}", instId, nodeId);
@@ -57,7 +65,7 @@ public class FlowLoopNodeHandler implements FlowNodeTypeHandler {
             CountDownLatch latch = new CountDownLatch(1);
 
             taskThreadRegistry.registerLatch(instId, nodeId, latch);
-            FlowItemExecutor flowItemExecutor = SpringUtils.getBean(FlowItemExecutor.class);
+            FlowItemExecutor flowItemExecutor = getFlowItemExecutor();
 
             // 构造新的迭代路径
             List<Integer> newIterations = new ArrayList<>(parentIterations);
@@ -86,4 +94,8 @@ public class FlowLoopNodeHandler implements FlowNodeTypeHandler {
         // 返回执行结果
         return TaskNodeExecuteResult.success(inputParams);
     }
+
+    protected FlowItemExecutor getFlowItemExecutor() {
+        return SpringUtils.getBean(FlowItemExecutor.class);
+    }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowItemExecutor.java

@@ -139,6 +139,12 @@ public class FlowItemExecutor {
         String itemId = rootMessage.getItemId();
         String nodeId = node.getNodeId();
         String nodeName = node.getNodeName();
+        TaskContext executionContext = taskInstHolder.getContext(instId);
+        if (executionContext == null || executionContext.isStopped()) {
+            log.debug("任务已结束，跳过待执行节点: instId={}, nodeId={}", instId, nodeId);
+            notifyFinished(onFinished, instId, nodeId);
+            return;
+        }
         log.info("当前执行的是 {} 节点，迭代路径={}", node.getNodeName(), iterations);
 
         //注册当前线程
@@ -162,6 +168,7 @@ public class FlowItemExecutor {
 
             // 分支节点处理
             if (node.getNodeType() == NodeTypeEnum.BRANCH) {
+                if (isExecutionTerminated(instId)) return;
                 postHandleBranchNode(taskInstHolder.getContext(rootMessage.getInstId()), graph, node, startNodeId, startInputDefs,
                         rootMessage, onFinished, iterations, nodeId, message.getInputParams(), message);
                 return;
@@ -181,6 +188,9 @@ public class FlowItemExecutor {
                 }
             }
 
+            // 节点内部可能已经把整个任务标记为失败；禁止继续调度后继节点。
+            if (isExecutionTerminated(instId)) return;
+
             // 通知调度器继续调度后继节点
             flowTaskScheduler.markCompleted(
                     message.getInstId(), nodeId, graph,
@@ -280,6 +290,11 @@ public class FlowItemExecutor {
         return message != null && message.isNestedFlow() && message.getSubFlowOutcome() != null;
     }
 
+    private boolean isExecutionTerminated(String instId) {
+        TaskContext context = taskInstHolder.getContext(instId);
+        return context == null || context.isStopped();
+    }
+
     private void notifyFinished(Runnable onFinished, String instId, String nodeId) {
         try {
             onFinished.run();

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowAfterInterceptor.java

@@ -32,7 +32,10 @@ public class FlowAfterInterceptor extends AbstractFlowMsgPreInterceptor{
             return result;
         }
         TaskContext taskContext = taskInstHolder.getContext(message.getInstId());
-        if (result == null && (taskContext == null || taskContext.isPaused() || taskContext.isStopped())) {
+        if (taskContext == null || taskContext.isStopped()) {
+            return null;
+        }
+        if (result == null && taskContext.isPaused()) {
             return null;
         }
 

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowExceptionInterceptor.java

@@ -53,3 +53,4 @@ public class FlowExceptionInterceptor extends AbstractFlowMsgPreInterceptor {
         }
     }
 }
+

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowLoggingInterceptor.java

@@ -46,7 +46,7 @@ public class FlowLoggingInterceptor extends AbstractFlowMsgPreInterceptor {
 
         // 节点执行返回拦截  判断此时是否被终止或暂停
         TaskContext context = taskInstHolder.getContext(message.getInstId());
-        if (context == null || context.isPaused()) {
+        if (context == null || context.isPaused() || context.isStopped()) {
             // 确认是否已终止或已暂停
             log.info("当前流程已经暂停/终止");
             return null;

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/AgvNavigationWaiter.java

@@ -1,6 +1,6 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.service.EdgeAgvService;
@@ -24,7 +24,7 @@ public final class AgvNavigationWaiter {
     private AgvNavigationWaiter() {
     }
 
-    public static AgvUtils.AgvNavigationStatus navigateToStationAndWait(
+    public static Agv.AgvNavigationStatus navigateToStationAndWait(
             EdgeAgvService edgeAgvService,
             EdgeCommonVO common,
             String stationId,
@@ -34,13 +34,13 @@ public final class AgvNavigationWaiter {
                 pollIntervalMs, null);
     }
 
-    public static AgvUtils.AgvNavigationStatus navigateToStationAndWait(
+    public static Agv.AgvNavigationStatus navigateToStationAndWait(
             EdgeAgvService edgeAgvService,
             EdgeCommonVO common,
             String stationId,
             long waitTimeoutMs,
             long pollIntervalMs,
-            AgvUtils.AgvMotionOptions options) {
+            Agv.AgvMotionOptions options) {
         if (waitTimeoutMs <= 0) {
             throw new GlobalException("导航等待超时时间必须大于0");
         }
@@ -50,7 +50,7 @@ public final class AgvNavigationWaiter {
 
         edgeAgvService.navigateToStation(common, stationId, options);
         long deadlineNanos = System.nanoTime() + TimeUnit.MILLISECONDS.toNanos(waitTimeoutMs);
-        AgvUtils.AgvNavigationStatus lastStatus = null;
+        Agv.AgvNavigationStatus lastStatus = null;
 
         while (System.nanoTime() < deadlineNanos) {
             lastStatus = edgeAgvService.getNavigationStatus(common);
@@ -89,11 +89,11 @@ public final class AgvNavigationWaiter {
         throw new GlobalException("AGV导航超时（{}毫秒）：{}", waitTimeoutMs, stateMessage);
     }
 
-    private static GlobalException navigationFailed(String stateName, AgvUtils.AgvNavigationStatus status) {
+    private static GlobalException navigationFailed(String stateName, Agv.AgvNavigationStatus status) {
         return new GlobalException("AGV导航{}：{}", stateName, statusDescription(status));
     }
 
-    private static String statusDescription(AgvUtils.AgvNavigationStatus status) {
+    private static String statusDescription(Agv.AgvNavigationStatus status) {
         String message = status.getMessage();
         return message == null || message.trim().isEmpty()
                 ? "状态=" + status.getState() + "，进度=" + status.getProgress()

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeActionQueueOperateService.java

@@ -16,6 +16,7 @@ import org.springframework.stereotype.Service;
 
 import java.util.ArrayList;
 import java.util.List;
+import java.util.UUID;
 
 @Service
 @RequiredArgsConstructor
@@ -39,6 +40,7 @@ public class EdgeActionQueueOperateService implements EdgeOperateService {
         EdgeActionQueueVO request = new EdgeActionQueueVO();
         request.setRobotId(robotId);
         request.setActionId(StringUtils.trimToNull(input.getString("actionId")));
+        request.setActionId(UUID.randomUUID().toString());
         request.setTotalTimeoutMs(input.getInteger("totalTimeoutMs"));
         List<EdgeActionQueueVO.Step> requestSteps = new ArrayList<>();
         for (int i = 0; i < steps.size(); i++) {
@@ -72,11 +74,8 @@ public class EdgeActionQueueOperateService implements EdgeOperateService {
 
         JSONObject output = new JSONObject();
         output.put("success", true);
-        output.put("actionId", feedback.getActionId());
         output.put("completedSteps", feedback.getCompletedSteps());
         output.put("result", feedback.getResult().name());
-        output.put("serviceInstanceId", feedback.getServiceInstanceId());
-        output.put("deduplicationStatus", feedback.getDeduplicationStatus().name());
         return TaskNodeExecuteResult.success(output);
     }
 

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java

@@ -1,6 +1,6 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.model.EdgeCommonVO;
@@ -59,7 +59,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 }
                 
                 // 构建目标位姿
-                AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+                Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                     .setX(x)
                     .setY(y)
                     .setTheta(theta != null ? theta : 0.0)
@@ -89,7 +89,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 edgeCommonVO.setDeviceId(deviceId);
                 long waitTimeoutMs = inputParams.getLongValue("waitTimeoutMs", AgvNavigationWaiter.DEFAULT_WAIT_TIMEOUT_MS);
                 long pollIntervalMs = inputParams.getLongValue("pollIntervalMs", AgvNavigationWaiter.DEFAULT_POLL_INTERVAL_MS);
-                AgvUtils.AgvNavigationStatus status = AgvNavigationWaiter.navigateToStationAndWait(
+                Agv.AgvNavigationStatus status = AgvNavigationWaiter.navigateToStationAndWait(
                         edgeAgvService, edgeCommonVO, stationId.trim(), waitTimeoutMs, pollIntervalMs,
                         navigationOptions(inputParams));
                 return TaskNodeExecuteResult.success(new JSONObject()
@@ -106,13 +106,13 @@ public class EdgeAgvOperateService implements EdgeOperateService {
         return TaskNodeExecuteResult.success();
     }
 
-    private AgvUtils.AgvMotionOptions navigationOptions(JSONObject inputParams) {
+    private Agv.AgvMotionOptions navigationOptions(JSONObject inputParams) {
         int blockedTimeoutMs = inputParams.getIntValue(
                 "blockedTimeoutMs", EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS);
         if (blockedTimeoutMs <= 0) {
             blockedTimeoutMs = EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS;
         }
-        return AgvUtils.AgvMotionOptions.newBuilder()
+        return Agv.AgvMotionOptions.newBuilder()
                 .setAsynchronous(false)
                 .setBlockedTimeoutMs(blockedTimeoutMs)
                 .build();

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeDeviceCommandOperateService.java

@@ -89,4 +89,5 @@ public class EdgeDeviceCommandOperateService implements EdgeOperateService {
             return responseJson;
         }
     }
+
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java

@@ -1,10 +1,12 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONArray;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
-import com.cmvr.edge.client.model.arm.EdgeArmMoveJVO;
+import com.cmvr.edge.client.model.hlc.EdgeTouchVO;
-import com.cmvr.edge.client.service.EdgeArmService;
+import com.cmvr.edge.client.service.EdgeHlcService;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
@@ -12,47 +14,210 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.util.Objects;
+/** Executes a screen touch through the edge HLC service. */
-
-
 @Slf4j
 @Service
 @RequiredArgsConstructor
 public class EdgeTouchOperateService implements EdgeOperateService {
 
-    private final EdgeArmService edgeArmService;
+    private static final double DEFAULT_MAX_FORCE = 4D;
+
+    private final EdgeHlcService edgeHlcService;
+    private final EdgeDeviceCommandOperateService edgeDeviceCommandOperateService;
 
     @Override
     public boolean supports(ActionEnum action) {
-        return action.name().equals("TOUCH");
+        return ActionEnum.TOUCH == action;
     }
 
     @Override
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
-        ActionEnum action = message.getAction();
+        if (1 == 1) {
-        JSONObject inputParams = message.getInputParams();
+            try {
-        String robotId = message.getRobotId();
+                Thread.sleep(15000);
-        String deviceId = inputParams.getString("deviceId");
+            } catch (InterruptedException e) {
-        String touchParams = inputParams.getString("touchParams");
+                throw new RuntimeException(e);
-
-        if (Objects.requireNonNull(action) == ActionEnum.TOUCH) {
-            EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class);
-            edgeArmMoveJVO.setRobotId(robotId);
-            edgeArmMoveJVO.setDeviceId(deviceId);
-
-            edgeArmService.moveJ(
-                    edgeArmMoveJVO,
-                    edgeArmMoveJVO.getTarget(),
-                    edgeArmMoveJVO.getVelocity(),
-                    edgeArmMoveJVO.getAcceleration(),
-                    edgeArmMoveJVO.getBlendRadius(),
-                    edgeArmMoveJVO.getJointVelocityLimits(),
-                    edgeArmMoveJVO.getAsynchronous()
-            );
-        } else {
-            throw new GlobalException("不支持的触控操作类型: " + action);
             }
             return TaskNodeExecuteResult.success();
         }
+        if (message == null || message.getAction() != ActionEnum.TOUCH) {
+            throw new GlobalException("不支持的触控操作类型");
+        }
+        JSONObject input = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
+        String robotId = message.getRobotId();
+        String deviceId = input.getString("deviceId");
+        if (StrUtil.isBlank(robotId) || StrUtil.isBlank(deviceId)) {
+            throw new GlobalException("触控操作必须分配机器人和触控设备");
+        }
 
+        int[] point = resolvePoint(input);
+        if (point[0] == 0 && point[1] == 0) {
+            throw new GlobalException("触控坐标不能同时为0");
+        }
+
+        String operationType = StrUtil.blankToDefault(input.getString("operationType"), "CLICK").toUpperCase();
+        int repeatCount = bounded(input.getInteger("repeatCount"), 1, 1, 20, "重复次数");
+        int waitMs = bounded(input.getInteger("waitMs"), 1000, 0, 60000, "动作等待时间");
+        JSONObject operationParams = resolveOperationParams(input.get("operationParams"));
+        JSONArray responses = new JSONArray();
+        for (int index = 0; index < repeatCount; index++) {
+            if ("CLICK".equals(operationType)) {
+                responses.add(executeClick(robotId, deviceId, point, input, operationParams));
+            } else if ("LONG_PRESS".equals(operationType)
+                    || "SWIPE".equals(operationType)
+                    || "EDGE_SCRIPT".equals(operationType)) {
+                responses.add(executeEdgeScript(message, deviceId, point, operationType, operationParams));
+            } else {
+                throw new GlobalException("不支持的触控动作类型：" + operationType);
+            }
+            waitAfterAction(waitMs);
+        }
+        JSONObject output = new JSONObject();
+        output.put("x", point[0]);
+        output.put("y", point[1]);
+        output.put("operationType", operationType);
+        output.put("repeatCount", repeatCount);
+        output.put("waitMs", waitMs);
+        output.put("result", responses.size() == 1 ? responses.get(0) : responses);
+        return TaskNodeExecuteResult.success(output);
+    }
+
+    private Object executeClick(String robotId, String deviceId, int[] point,
+                                JSONObject input, JSONObject operationParams) {
+        EdgeTouchVO request = new EdgeTouchVO();
+        request.setRobotId(robotId);
+        request.setDeviceId(deviceId);
+        request.setX(point[0]);
+        request.setY(point[1]);
+        JSONObject touchParams = resolveJsonObject(input.get("touchParams"), "触控参数");
+        Double maxForce = input.getDouble("maxForce");
+        if (maxForce == null) maxForce = touchParams.getDouble("maxForce");
+        if (maxForce == null) maxForce = operationParams.getDouble("maxForce");
+        request.setMaxForce(maxForce == null || maxForce <= 0 ? DEFAULT_MAX_FORCE : maxForce);
+        return parseResponse(edgeHlcService.touch(request));
+    }
+
+    private Object executeEdgeScript(TaskNodeExecuteMessage source, String deviceId, int[] point,
+                                     String operationType, JSONObject operationParams) {
+        Object requestJson;
+        if ("EDGE_SCRIPT".equals(operationType) && operationParams.containsKey("requestJson")) {
+            requestJson = operationParams.get("requestJson");
+        } else {
+            JSONObject command = new JSONObject();
+            command.putAll(operationParams);
+            command.put("action", toScriptAction(operationType));
+            command.put("x", point[0]);
+            command.put("y", point[1]);
+            if ("SWIPE".equals(operationType)) {
+                command.putIfAbsent("startX", point[0]);
+                command.putIfAbsent("startY", point[1]);
+                command.putIfAbsent("endX", point[0] + operationParams.getIntValue("offsetX", 0));
+                command.putIfAbsent("endY", point[1] + operationParams.getIntValue("offsetY", 0));
+            }
+            requestJson = command;
+        }
+
+        TaskNodeExecuteMessage delegated = new TaskNodeExecuteMessage();
+        delegated.setAction(ActionEnum.DEVICE_EXECUTE_JSON_COMMAND);
+        delegated.setRobotId(source.getRobotId());
+        delegated.setInputParams(new JSONObject()
+                .fluentPut("deviceId", deviceId)
+                .fluentPut("requestJson", requestJson));
+        TaskNodeExecuteResult result = edgeDeviceCommandOperateService.execute(delegated);
+        if (!result.isSuccess()) {
+            throw new GlobalException(StrUtil.blankToDefault(result.getErrorMsg(), "边端触控脚本执行失败"));
+        }
+        return result.getOutputParams();
+    }
+
+    private String toScriptAction(String operationType) {
+        if ("LONG_PRESS".equals(operationType)) return "longPress";
+        if ("SWIPE".equals(operationType)) return "swipe";
+        return "edgeScript";
+    }
+
+    private JSONObject resolveOperationParams(Object value) {
+        return resolveJsonObject(value, "触控操作参数");
+    }
+
+    private JSONObject resolveJsonObject(Object value, String name) {
+        if (value == null) return new JSONObject();
+        if (value instanceof JSONObject) return (JSONObject) value;
+        try {
+            return value instanceof String ? JSON.parseObject((String) value)
+                    : JSONObject.from(value);
+        } catch (RuntimeException exception) {
+            throw new GlobalException(name + "必须是有效的JSON对象");
+        }
+    }
+
+    private int bounded(Integer value, int defaultValue, int min, int max, String name) {
+        int result = value == null ? defaultValue : value;
+        if (result < min || result > max) {
+            throw new GlobalException(name + "必须在" + min + "到" + max + "之间");
+        }
+        return result;
+    }
+
+    private void waitAfterAction(int waitMs) {
+        if (waitMs <= 0) return;
+        try {
+            Thread.sleep(waitMs);
+        } catch (InterruptedException exception) {
+            Thread.currentThread().interrupt();
+            throw new GlobalException("触控动作等待被中断");
+        }
+    }
+
+    private int[] resolvePoint(JSONObject input) {
+        JSONObject touchParams = resolveJsonObject(input.get("touchParams"), "触控参数");
+        Integer x = input.getInteger("x");
+        Integer y = input.getInteger("y");
+        if (x == null) x = touchParams.getInteger("x");
+        if (y == null) y = touchParams.getInteger("y");
+        if (x != null && y != null) {
+            return new int[]{x, y};
+        }
+
+        Object coordinates = input.get("touchCoordinates");
+        JSONArray values;
+        try {
+            if (coordinates instanceof JSONArray) {
+                values = (JSONArray) coordinates;
+            } else if (coordinates instanceof java.util.Collection) {
+                values = JSONArray.from(coordinates);
+            } else if (coordinates instanceof String && StrUtil.isNotBlank((String) coordinates)) {
+                values = JSON.parseArray(((String) coordinates).trim());
+            } else {
+                values = null;
+            }
+        } catch (RuntimeException exception) {
+            throw new GlobalException("触控坐标格式错误，应为[x,y]或[x1,y1,x2,y2]");
+        }
+        if (values == null || (values.size() != 2 && values.size() != 4)) {
+            throw new GlobalException("触控坐标格式错误，应为[x,y]或[x1,y1,x2,y2]");
+        }
+        try {
+            if (values.size() == 2) {
+                return new int[]{values.getIntValue(0), values.getIntValue(1)};
+            }
+            return new int[]{
+                    (values.getIntValue(0) + values.getIntValue(2)) / 2,
+                    (values.getIntValue(1) + values.getIntValue(3)) / 2
+            };
+        } catch (RuntimeException exception) {
+            throw new GlobalException("触控坐标必须是数字");
+        }
+    }
+
+    private Object parseResponse(String response) {
+        if (StrUtil.isBlank(response)) {
+            return "";
+        }
+        try {
+            return JSON.parse(response);
+        } catch (RuntimeException ignored) {
+            return response;
+        }
+    }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/ti/TiTouchOperateService.java

@@ -67,10 +67,8 @@ public class TiTouchOperateService implements EdgeOperateService {
                 String clickFunction = inputParams.getString("funcId");
                 // 查询功能
                 JSONObject funcObj = exTiVehicleFunctionService.findNextClickToFunction(vehicleConfigId, currentLocation, clickFunction);
-                // 输出
+                // 透传路径、动作类型和动作参数，供触控节点执行及报告追溯。
-                output.put("nextLocation", funcObj.get("nextLocation"));
+                output.putAll(funcObj);
-                output.put("isEnd", funcObj.get("isEnd"));
-                output.put("iconUrl", funcObj.get("iconUrl"));
                 break;
             }
             case TI_TOUCH_COORDINATES: {

cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java

@@ -1,6 +1,6 @@
 package com.cmvr.test.service;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSONObject;
@@ -261,7 +261,7 @@ public class FlowActionExecutorService {
                 }
                 
                 // 构建目标位姿
-                AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+                Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                     .setX(x)
                     .setY(y)
                     .setTheta(theta != null ? theta : 0.0)
@@ -295,13 +295,13 @@ public class FlowActionExecutorService {
         }
     }
 
-    private AgvUtils.AgvMotionOptions buildAgvNavigationOptions(JSONObject payload) {
+    private Agv.AgvMotionOptions buildAgvNavigationOptions(JSONObject payload) {
         int blockedTimeoutMs = payload.getIntValue(
                 "blockedTimeoutMs", EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS);
         if (blockedTimeoutMs <= 0) {
             blockedTimeoutMs = EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS;
         }
-        return AgvUtils.AgvMotionOptions.newBuilder()
+        return Agv.AgvMotionOptions.newBuilder()
                 .setAsynchronous(false)
                 .setBlockedTimeoutMs(blockedTimeoutMs)
                 .build();

cmvr-iot-test/src/main/java/com/cmvr/test/service/ITeNodeInstService.java

@@ -62,5 +62,8 @@ public interface ITeNodeInstService extends IService<TeNodeInst> {
 
     /** Marks unfinished node records as stopped when their in-memory execution is gone. */
     void stopUnfinished(String instId, String message);
+
+    /** Marks all still-running node records as failed when the owning task fails. */
+    void failUnfinished(String instId, String message);
 }
 

cmvr-iot-test/src/main/java/com/cmvr/test/service/ex/ExTiVehicleFunctionService.java

@@ -11,4 +11,10 @@ public interface ExTiVehicleFunctionService {
 
     public JSONObject findNextClickToFunction(Long vehicleConfigId, String currentUi, String clickFunction);
 
+    /** 返回车型的界面节点、导航边以及配置问题，供后台可视化展示。 */
+    JSONObject getTopology(Long vehicleConfigId);
+
+    /** 检查项目所选功能能否从任意已配置界面到达。 */
+    JSONObject inspectTopology(Long vehicleConfigId, java.util.List<Long> functionIds);
+
 }

cmvr-iot-test/src/main/java/com/cmvr/test/service/impl/ITeNodeInstServiceImpl.java

@@ -154,6 +154,17 @@ public class ITeNodeInstServiceImpl extends ServiceImpl<TeNodeInstMapper, TeNode
                 .set(TeNodeInst::getEndTime, System.currentTimeMillis());
         this.update(wrapper);
     }
+
+    @Override
+    public void failUnfinished(String instId, String message) {
+        LambdaUpdateWrapper<TeNodeInst> wrapper = Wrappers.lambdaUpdate();
+        wrapper.eq(TeNodeInst::getInstId, instId)
+                .in(TeNodeInst::getStatus, TaskStatusEnum.RUNNING.name(), TaskStatusEnum.PAUSED.name())
+                .set(TeNodeInst::getStatus, TaskStatusEnum.FAILED.name())
+                .set(TeNodeInst::getMessage, message)
+                .set(TeNodeInst::getEndTime, System.currentTimeMillis());
+        this.update(wrapper);
+    }
 }
 
 

cmvr-iot-test/src/test/java/com/cmvr/test/flow/context/TaskInstHolderFailureTest.java

@@ -0,0 +1,66 @@
+package com.cmvr.test.flow.context;
+
+import com.cmvr.test.enums.TaskStatusEnum;
+import com.cmvr.test.flow.runtime.event.FlowExecutionEventPublisher;
+import com.cmvr.test.service.ITeNodeInstService;
+import com.cmvr.test.service.ITeTaskInstService;
+import org.junit.Test;
+
+import java.lang.reflect.Field;
+import java.lang.reflect.Proxy;
+import java.util.Collections;
+import java.util.List;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertNull;
+import static org.junit.Assert.assertTrue;
+
+public class TaskInstHolderFailureTest {
+
+    @Test
+    public void failureStopsContextReleasesLoopsAndFailsUnfinishedNodes() throws Exception {
+        AtomicBoolean unfinishedNodesFailed = new AtomicBoolean();
+        AtomicReference<TaskStatusEnum> persistedStatus = new AtomicReference<>();
+        ITeNodeInstService nodeService = (ITeNodeInstService) Proxy.newProxyInstance(
+                ITeNodeInstService.class.getClassLoader(), new Class<?>[]{ITeNodeInstService.class},
+                (proxy, method, args) -> {
+                    if ("failUnfinished".equals(method.getName())) unfinishedNodesFailed.set(true);
+                    return null;
+                });
+        ITeTaskInstService taskService = (ITeTaskInstService) Proxy.newProxyInstance(
+                ITeTaskInstService.class.getClassLoader(), new Class<?>[]{ITeTaskInstService.class},
+                (proxy, method, args) -> {
+                    if ("updateStatus".equals(method.getName())) {
+                        persistedStatus.set((TaskStatusEnum) args[1]);
+                        return true;
+                    }
+                    return null;
+                });
+
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        contextManager.register(context);
+        TaskThreadRegistry registry = new TaskThreadRegistry();
+        CountDownLatch loopLatch = new CountDownLatch(1);
+        registry.registerLatch("inst-1", "loop-1", loopLatch);
+
+        TaskInstHolder holder = new TaskInstHolder(nodeService, contextManager, taskService,
+                new FlowExecutionEventPublisher(Collections.emptyList()));
+        Field registryField = TaskInstHolder.class.getDeclaredField("taskThreadRegistry");
+        registryField.setAccessible(true);
+        registryField.set(holder, registry);
+
+        holder.markFailed("inst-1", "task-1", "item-1", "node-1", "FUNCTION",
+                "EDGE", "CAMERA_GETRGBIMAGE", "{}", "camera failed", List.of(1));
+
+        assertTrue(context.isStopped());
+        assertEquals(0, loopLatch.getCount());
+        assertTrue(unfinishedNodesFailed.get());
+        assertEquals(TaskStatusEnum.FAILED, persistedStatus.get());
+        assertNull(contextManager.get("inst-1"));
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/dispatcher/FlowLoopNodeHandlerTest.java

@@ -0,0 +1,72 @@
+package com.cmvr.test.flow.runtime.dispatcher;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.test.enums.NodeTypeEnum;
+import com.cmvr.test.flow.builder.FlowGraph;
+import com.cmvr.test.flow.builder.FlowNodeWrapper;
+import com.cmvr.test.flow.context.TaskContext;
+import com.cmvr.test.flow.context.TaskContextManager;
+import com.cmvr.test.flow.context.TaskInstHolder;
+import com.cmvr.test.flow.context.TaskThreadRegistry;
+import com.cmvr.test.flow.runtime.engine.FlowItemExecutor;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import org.junit.Test;
+
+import java.util.ArrayList;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicInteger;
+
+import static org.junit.Assert.assertEquals;
+
+public class FlowLoopNodeHandlerTest {
+
+    @Test
+    public void stopsRemainingIterationsAfterTaskContextIsRemoved() {
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskInstHolder holder = new TaskInstHolder(null, contextManager, null, null);
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        holder.register(context);
+
+        AtomicInteger executions = new AtomicInteger();
+        FlowItemExecutor executor = new FlowItemExecutor(null, List.of(), null, holder,
+                null, null, null, null) {
+            @Override
+            public void executeSubGraph(FlowGraph subGraph, TaskNodeExecuteMessage rootMessage,
+                                        Runnable onFinished, List<Integer> iterations) {
+                executions.incrementAndGet();
+                holder.unRegister(rootMessage.getInstId());
+                onFinished.run();
+            }
+        };
+
+        TaskThreadRegistry registry = new TaskThreadRegistry();
+        FlowLoopNodeHandler handler = new FlowLoopNodeHandler(registry, holder) {
+            @Override
+            protected FlowItemExecutor getFlowItemExecutor() {
+                return executor;
+            }
+        };
+
+        FlowNodeWrapper loopNode = new FlowNodeWrapper();
+        loopNode.setNodeId("loop-1");
+        loopNode.setNodeType(NodeTypeEnum.LOOP);
+        loopNode.setSubGraph(new FlowGraph());
+        LinkedHashMap<String, FlowNodeWrapper> nodes = new LinkedHashMap<>();
+        nodes.put(loopNode.getNodeId(), loopNode);
+        FlowGraph graph = new FlowGraph();
+        graph.setNodeMap(nodes);
+
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setNodeId(loopNode.getNodeId());
+        message.setGraph(graph);
+        message.setIterations(new ArrayList<>());
+        message.setInputParams(new JSONObject().fluentPut("loopNum", 999));
+
+        handler.handle(message);
+
+        assertEquals(1, executions.get());
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/engine/FlowItemExecutorTest.java

@@ -7,12 +7,18 @@ import com.cmvr.test.flow.builder.FlowParamDef;
 import com.cmvr.test.flow.context.TaskContext;
 import com.cmvr.test.flow.context.TaskContextManager;
 import com.cmvr.test.flow.context.TaskInstHolder;
+import com.cmvr.test.flow.context.TaskThreadRegistry;
+import com.cmvr.test.flow.runtime.dispatcher.FlowNodeTypeDispatch;
+import com.cmvr.test.flow.runtime.engine.support.FlowExecutionChainBuilder;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
 import org.junit.Test;
 
 import java.util.ArrayList;
 import java.util.LinkedHashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.concurrent.atomic.AtomicInteger;
 
 import static org.junit.Assert.assertEquals;
 
@@ -45,6 +51,45 @@ public class FlowItemExecutorTest {
         assertEquals(start.getNodeId(), executor.executedNodeId);
     }
 
+    @Test
+    public void doesNotScheduleSuccessorsWhenNodeEndsTheTask() {
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskInstHolder taskInstHolder = new TaskInstHolder(null, contextManager, null, null);
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        taskInstHolder.register(context);
+
+        RecordingScheduler scheduler = new RecordingScheduler();
+        FlowNodeTypeDispatch dispatch = new FlowNodeTypeDispatch(Map.of(
+                NodeTypeEnum.FUNCTION.name(), message -> {
+                    taskInstHolder.unRegister(message.getInstId());
+                    return TaskNodeExecuteResult.success();
+                }));
+        FlowItemExecutor executor = new FlowItemExecutor(
+                scheduler, List.of(), dispatch, taskInstHolder,
+                new FlowExecutionChainBuilder(), new TaskThreadRegistry(),
+                new FlowRuntimeAssignmentResolver(), null);
+
+        FlowNodeWrapper node = new FlowNodeWrapper();
+        node.setNodeId("node-1");
+        node.setNodeName("node-1");
+        node.setNodeType(NodeTypeEnum.FUNCTION);
+        LinkedHashMap<String, FlowNodeWrapper> nodes = new LinkedHashMap<>();
+        nodes.put(node.getNodeId(), node);
+        FlowGraph graph = new FlowGraph();
+        graph.setNodeMap(nodes);
+
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setTaskId("task-1");
+        message.setItemId("item-1");
+
+        executor.executeNode(graph, node, node.getNodeId(), List.of(), message,
+                () -> { }, List.of());
+
+        assertEquals(0, scheduler.completed.get());
+    }
+
     private static class RecordingFlowItemExecutor extends FlowItemExecutor {
         private String executedNodeId;
 
@@ -63,4 +108,19 @@ public class FlowItemExecutorTest {
             executedNodeId = node.getNodeId();
         }
     }
+
+    private static class RecordingScheduler extends FlowTaskScheduler {
+        private final AtomicInteger completed = new AtomicInteger();
+
+        private RecordingScheduler() {
+            super(null, null);
+        }
+
+        @Override
+        public void markCompleted(String instId, String nodeId, FlowGraph graph,
+                                  FlowItemExecutor.NodeExecutor executorFunc,
+                                  List<Integer> iterations) {
+            completed.incrementAndGet();
+        }
+    }
 }

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/AgvNavigationWaiterTest.java

@@ -1,6 +1,6 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
-import cmvr.msgs.AgvUtils;
+import cmvr.msgs.Agv;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.service.EdgeAgvService;
@@ -25,7 +25,7 @@ public class AgvNavigationWaiterTest {
         AtomicInteger queryCount = new AtomicInteger();
         EdgeAgvService service = service(states, queryCount, new AtomicBoolean());
 
-        AgvUtils.AgvNavigationStatus result = AgvNavigationWaiter.navigateToStationAndWait(
+        Agv.AgvNavigationStatus result = AgvNavigationWaiter.navigateToStationAndWait(
                 service, common(), "station-A", 1000, 1);
 
         assertEquals(4, result.getState());
@@ -79,7 +79,7 @@ public class AgvNavigationWaiterTest {
                             if (next != null) {
                                 lastState.set(next);
                             }
-                            return AgvUtils.AgvNavigationStatus.newBuilder()
+                            return Agv.AgvNavigationStatus.newBuilder()
                                     .setState(lastState.get())
                                     .setProgress(lastState.get() == 4 ? 1.0 : 0.5)
                                     .setMessage(lastState.get() == 5 ? "navigation failed" : "")

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeActionQueueOperateServiceTest.java

@@ -27,33 +27,31 @@ public class EdgeActionQueueOperateServiceTest {
             captured.set((EdgeActionQueueVO) args[0]);
             return SystemCommand.ActionQueueCommand.Feedback.newBuilder()
                     .setHeader(Common.CommandHeader.Feedback.newBuilder().setSuccess(true))
-                    .setActionId("action-1")
                     .setCompletedSteps(2)
                     .setResult(SystemCommand.ActionResultCode.ACTION_RESULT_CODE_COMPLETED)
-                    .setServiceInstanceId("instance-1")
-                    .setDeduplicationStatus(SystemCommand.ActionDeduplicationStatus.ACTION_DEDUPLICATION_STATUS_ACCEPTED_NEW)
                     .build();
         });
         EdgeActionQueueOperateService service = new EdgeActionQueueOperateService(edgeSystemService);
 
         JSONArray steps = new JSONArray()
                 .fluentAdd(new JSONObject().fluentPut("stepId", "move")
-                        .fluentPut("type", "AGV_NAVIGATE_TO_STATION")
+                        .fluentPut("type", "ARM_MOVE_J")
-                        .fluentPut("deviceBindingKey", "queue_agv")
+                        .fluentPut("deviceBindingKey", "queue_arm")
-                        .fluentPut("params", new JSONObject().fluentPut("stationId", "station-2")))
+                        .fluentPut("params", new JSONObject().fluentPut("positions", new JSONArray().fluentAdd(0D))))
                 .fluentAdd(new JSONObject().fluentPut("stepId", "wait")
-                        .fluentPut("type", "DELAY")
+                        .fluentPut("type", "ARM_MOVE_L")
-                        .fluentPut("params", new JSONObject().fluentPut("durationMs", 500)));
+                        .fluentPut("deviceId", "arm-2")
+                        .fluentPut("params", new JSONObject().fluentPut("x", 0.1D)));
         TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
         message.setAction(ActionEnum.SYSTEM_EXECUTE_ACTION_QUEUE);
         message.setRobotId("robot-1");
-        message.setResolvedDeviceBindings(new JSONObject().fluentPut("queue_agv", "agv-2"));
+        message.setResolvedDeviceBindings(new JSONObject().fluentPut("queue_arm", "arm-1"));
         message.setInputParams(new JSONObject().fluentPut("totalTimeoutMs", 10000).fluentPut("steps", steps));
 
         TaskNodeExecuteResult result = service.execute(message);
 
         assertTrue(result.isSuccess());
-        assertEquals("agv-2", captured.get().getSteps().get(0).getDeviceId());
+        assertEquals("arm-1", captured.get().getSteps().get(0).getDeviceId());
         assertEquals("robot-1", captured.get().getRobotId());
         assertEquals(2, result.getOutputParams().getIntValue("completedSteps"));
     }

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeDeviceCommandOperateServiceTest.java

@@ -108,4 +108,5 @@ public class EdgeDeviceCommandOperateServiceTest {
                 .setResponseJson(responseJson)
                 .build();
     }
+
 }

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateServiceTest.java

@@ -0,0 +1,139 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import cmvr.api.Common;
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.hlc.EdgeTouchVO;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
+import com.cmvr.edge.client.service.EdgeHlcService;
+import com.cmvr.edge.client.service.EdgeSystemService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import org.junit.Test;
+
+import java.lang.reflect.Proxy;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeTouchOperateServiceTest {
+
+    @Test
+    public void convertsBoundingBoxToCenterAndCallsHlc() {
+        AtomicReference<EdgeTouchVO> captured = new AtomicReference<>();
+        EdgeHlcService hlcService = proxy((method, args) -> {
+            if ("touch".equals(method.getName()) && args.length == 1) {
+                captured.set((EdgeTouchVO) args[0]);
+                return "{\"success\":true}";
+            }
+            return null;
+        });
+        EdgeTouchOperateService service = service(hlcService);
+        TaskNodeExecuteMessage message = message(new JSONObject()
+                .fluentPut("deviceId", "hlc-1")
+                .fluentPut("waitMs", 0)
+                .fluentPut("touchCoordinates", "[100,200,300,500]"));
+
+        TaskNodeExecuteResult result = service.execute(message);
+
+        assertTrue(result.isSuccess());
+        assertEquals("robot-1", captured.get().getRobotId());
+        assertEquals("hlc-1", captured.get().getDeviceId());
+        assertEquals(200, captured.get().getX());
+        assertEquals(350, captured.get().getY());
+        assertEquals(4D, captured.get().getMaxForce(), 0.001D);
+        assertEquals(200, result.getOutputParams().getIntValue("x"));
+    }
+
+    @Test
+    public void acceptsExplicitPointAndForce() {
+        AtomicReference<EdgeTouchVO> captured = new AtomicReference<>();
+        EdgeTouchOperateService service = service(proxy((method, args) -> {
+            if ("touch".equals(method.getName()) && args.length == 1) {
+                captured.set((EdgeTouchVO) args[0]);
+                return "ok";
+            }
+            return null;
+        }));
+
+        service.execute(message(new JSONObject()
+                .fluentPut("deviceId", "hlc-2")
+                .fluentPut("x", 16)
+                .fluentPut("y", 32)
+                .fluentPut("waitMs", 0)
+                .fluentPut("maxForce", 2.5D)
+                .fluentPut("touchCoordinates", new JSONArray().fluentAdd(1).fluentAdd(2))));
+
+        assertEquals(16, captured.get().getX());
+        assertEquals(32, captured.get().getY());
+        assertEquals(2.5D, captured.get().getMaxForce(), 0.001D);
+    }
+
+    @Test(expected = GlobalException.class)
+    public void rejectsInvalidCoordinates() {
+        EdgeTouchOperateService service = service(proxy((method, args) -> null));
+        service.execute(message(new JSONObject()
+                .fluentPut("deviceId", "hlc-1")
+                .fluentPut("touchCoordinates", "not-json")));
+    }
+
+    @Test
+    public void delegatesLongPressToEdgeScript() {
+        AtomicReference<EdgeSystemJsonCommandVO> captured = new AtomicReference<>();
+        EdgeSystemService edgeSystem = (EdgeSystemService) Proxy.newProxyInstance(
+                EdgeSystemService.class.getClassLoader(), new Class<?>[]{EdgeSystemService.class},
+                (proxy, method, args) -> {
+                    if ("executeJsonCommand".equals(method.getName())) {
+                        captured.set((EdgeSystemJsonCommandVO) args[0]);
+                        return Common.JsonDeviceCommand.Feedback.newBuilder()
+                                .setHeader(Common.CommandHeader.Feedback.newBuilder().setSuccess(true))
+                                .setResponseJson("{\"accepted\":true}")
+                                .build();
+                    }
+                    return null;
+                });
+        EdgeTouchOperateService service = new EdgeTouchOperateService(
+                proxy((method, args) -> null), new EdgeDeviceCommandOperateService(edgeSystem));
+
+        TaskNodeExecuteResult result = service.execute(message(new JSONObject()
+                .fluentPut("deviceId", "hlc-script")
+                .fluentPut("touchCoordinates", "[20,40]")
+                .fluentPut("operationType", "LONG_PRESS")
+                .fluentPut("operationParams", "{\"durationMs\":1200}")
+                .fluentPut("waitMs", 0)));
+
+        JSONObject command = JSONObject.parseObject(captured.get().getRequestJson());
+        assertEquals("longPress", command.getString("action"));
+        assertEquals(20, command.getIntValue("x"));
+        assertEquals(1200, command.getIntValue("durationMs"));
+        assertEquals("LONG_PRESS", result.getOutputParams().getString("operationType"));
+    }
+
+    private EdgeTouchOperateService service(EdgeHlcService hlcService) {
+        return new EdgeTouchOperateService(hlcService, new EdgeDeviceCommandOperateService(null));
+    }
+
+    private TaskNodeExecuteMessage message(JSONObject input) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setAction(ActionEnum.TOUCH);
+        message.setRobotId("robot-1");
+        message.setInputParams(input);
+        return message;
+    }
+
+    @SuppressWarnings("unchecked")
+    private EdgeHlcService proxy(Invocation invocation) {
+        return (EdgeHlcService) Proxy.newProxyInstance(
+                EdgeHlcService.class.getClassLoader(),
+                new Class<?>[]{EdgeHlcService.class},
+                (proxy, method, args) -> invocation.invoke(method, args == null ? new Object[0] : args));
+    }
+
+    @FunctionalInterface
+    private interface Invocation {
+        Object invoke(java.lang.reflect.Method method, Object[] args) throws Throwable;
+    }
+}

cmvr-iot-ti/src/main/java/com/cmvr/ti/model/domain/TiVehicleFunction.java

@@ -27,4 +27,19 @@ public class TiVehicleFunction extends BaseEntity {
 
     @ApiModelProperty("图标URL")
     private String iconUrl;
+
+    @ApiModelProperty("操作类型：CLICK、LONG_PRESS、SWIPE、EDGE_SCRIPT")
+    private String operationType;
+
+    @ApiModelProperty("点击后跳转的界面字典键值；为空时按功能名称自动推断")
+    private String targetUiKey;
+
+    @ApiModelProperty("操作参数JSON，例如长按时长、滑动终点或边端脚本参数")
+    private String operationParams;
+
+    @ApiModelProperty("单次步骤重复次数")
+    private Integer repeatCount;
+
+    @ApiModelProperty("重复动作及下一步前等待时间（毫秒）")
+    private Integer waitMs;
 }

cmvr-iot-ti/src/main/java/com/cmvr/ti/model/vo/TiProjectReadinessVO.java

@@ -0,0 +1,42 @@
+package com.cmvr.ti.model.vo;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+@ApiModel("触控项目执行就绪检查")
+public class TiProjectReadinessVO {
+
+    private String projectId;
+    private boolean ready;
+    private boolean videoReady;
+    private boolean interactionReady;
+    private Integer functionCount;
+    private String workflowVersionId;
+    private Integer workflowVersionNo;
+    private List<CheckItem> checks = new ArrayList<>();
+
+    public void addCheck(String code, String name, boolean passed, String message) {
+        CheckItem item = new CheckItem();
+        item.setCode(code);
+        item.setName(name);
+        item.setPassed(passed);
+        item.setMessage(message);
+        checks.add(item);
+    }
+
+    @Data
+    @ApiModel("触控项目就绪检查项")
+    public static class CheckItem {
+        private String code;
+        private String name;
+        private boolean passed;
+
+        @ApiModelProperty("检查结果说明")
+        private String message;
+    }
+}

cmvr-iot-ti/src/main/java/com/cmvr/ti/service/ITiProjectService.java

@@ -6,6 +6,7 @@ import com.cmvr.test.model.domain.TeTaskInst;
 import com.cmvr.test.model.vo.TeQueryTaskOrchestraItemVO;
 import com.cmvr.test.model.vo.TeTaskExecuteProjectVO;
 import com.cmvr.ti.model.domain.TiProject;
+import com.cmvr.ti.model.vo.TiProjectReadinessVO;
 
 import java.util.List;
 
@@ -22,6 +23,8 @@ public interface ITiProjectService extends IService<TiProject> {
 
     public List<TeQueryTaskOrchestraItemVO> queryExecuteRunParams(String projectId);
 
+    public TiProjectReadinessVO checkExecutionReadiness(String projectId);
+
     public String executeProject(TeTaskExecuteProjectVO taskExecuteProjectVO);
 
     public TeTaskInst getTeTaskInst(String projectId);

cmvr-iot-ti/src/main/java/com/cmvr/ti/service/ex/ExTiVehicleFunctionServiceImpl.java

@@ -2,15 +2,13 @@ package com.cmvr.ti.service.ex;
 
 import cn.hutool.core.text.StrPool;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONArray;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.core.domain.entity.SysDictData;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.common.utils.StringUtils;
-import com.cmvr.system.domain.vo.CarIcon;
-import com.cmvr.system.domain.vo.CarUi;
 import com.cmvr.system.service.ISysDictTypeService;
-import com.cmvr.system.util.CarPathFinderUtil;
 import com.cmvr.test.service.ex.ExTiVehicleFunctionService;
 import com.cmvr.ti.model.domain.TiVehicleFunction;
 import com.cmvr.ti.model.domain.TiVehicleUi;
@@ -19,25 +17,33 @@ import com.cmvr.ti.service.ITiVehicleFunctionService;
 import com.cmvr.ti.service.ITiVehicleUiService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
-import org.springframework.util.CollectionUtils;
 
-import java.util.*;
+import java.util.ArrayDeque;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Set;
 
 @Service
 @RequiredArgsConstructor
 public class ExTiVehicleFunctionServiceImpl implements ExTiVehicleFunctionService {
 
     private final ITiVehicleFunctionService tiVehicleFunctionService;
-
     private final ITiVehicleUiService tiVehicleUiService;
-
+    private final ISysDictTypeService sysDictTypeService;
-    private final ISysDictTypeService iSysDictTypeService;
-
 
     @Override
     public JSONArray queryByIds(String ids) {
-        List<TiVehicleFunction> tiVehicleFunctions = tiVehicleFunctionService.listByIds(StrUtil.split(StrPool.COMMA, ids));
+        if (StrUtil.isBlank(ids)) {
-        return JSONArray.from(tiVehicleFunctions);
+            return new JSONArray();
+        }
+        return JSONArray.from(tiVehicleFunctionService.listByIds(StrUtil.split(StrPool.COMMA, ids)));
     }
 
     @Override
@@ -45,86 +51,347 @@ public class ExTiVehicleFunctionServiceImpl implements ExTiVehicleFunctionServic
         return JSONObject.from(tiVehicleFunctionService.getById(id));
     }
 
-    /**
-     * 寻找从当前页面到能执行目标功能的最短点击路径
-     * 返回：点击的功能序列（JSONArray 包装 List<TiVehicleFunction>）
-     */
     @Override
-    public JSONObject findNextClickToFunction(
+    public JSONObject findNextClickToFunction(Long vehicleConfigId, String startUiName, String targetFunction) {
-            Long vehicleConfigId,
+        Graph graph = loadGraph(vehicleConfigId);
-            String startUiName,
+        if (!graph.issues.isEmpty()) {
-            String targetFuncName) {
+            throw new GlobalException("界面路径配置不完整：" + String.join("；", graph.issues));
-        // 功能字典
+        }
-        // 实际用的是 sys_dict_data，这里假设你有方法能查到 data 列表
+        String startKey = graph.resolveUiKey(startUiName);
-        List<SysDictData> functionDictData = iSysDictTypeService.selectDictDataByType("ti_function_config");
+        if (startKey == null) {
-
+            throw new GlobalException("未识别到已配置的当前界面：" + startUiName);
-        // 界面字典
+        }
-        List<SysDictData> uiDictData = iSysDictTypeService.selectDictDataByType("ti_ui_config");
+        TiVehicleFunction target = graph.resolveFunction(targetFunction);
-
+        if (target == null) {
-        // 构建 功能 value → label 的映射
+            throw new GlobalException("目标功能不存在或不属于当前车型：" + targetFunction);
-        Map<String, String> funcValueToLabel = new HashMap<>();
+        }
-        for (SysDictData data : functionDictData) {
+        List<Step> path = graph.findPath(startKey, target.getId());
-            funcValueToLabel.put(data.getDictValue(), data.getDictLabel());
+        if (path.isEmpty()) {
+            throw new GlobalException("从“" + graph.uiName(startKey) + "”无法到达功能“"
+                    + graph.functionName(target) + "”，请补充界面功能或目标界面配置");
         }
 
-        // 构建 界面 value → label 的映射
+        Step next = path.get(0);
-        Map<String, String> uiValueToLabel = new HashMap<>();
+        JSONObject result = stepJson(graph, next);
-        for (SysDictData data : uiDictData) {
+        result.put("nextLocation", graph.functionName(next.function));
-            uiValueToLabel.put(data.getDictValue(), data.getDictLabel());
+        result.put("isEnd", path.size() == 1);
+        result.put("iconUrl", next.function.getIconUrl());
+        JSONArray pathJson = new JSONArray();
+        for (Step step : path) {
+            pathJson.add(stepJson(graph, step));
+        }
+        result.put("path", pathJson);
+        return result;
     }
 
-        // 1. 查询当前车型的实际界面和功能数据
+    @Override
+    public JSONObject getTopology(Long vehicleConfigId) {
+        Graph graph = loadGraph(vehicleConfigId);
+        JSONObject result = new JSONObject();
+        JSONArray nodes = new JSONArray();
+        JSONArray edges = new JSONArray();
+
+        for (TiVehicleUi ui : graph.uis.values()) {
+            JSONObject node = new JSONObject();
+            node.put("id", ui.getId());
+            node.put("uiKey", ui.getUiKey());
+            node.put("uiName", graph.uiName(ui.getUiKey()));
+            node.put("uiType", "VEHICLE_SCREEN");
+            node.put("uiTypeName", "车机界面");
+            node.put("imageUrl", ui.getUiUrl());
+            JSONArray functions = new JSONArray();
+            for (Long functionId : graph.functionIds(ui)) {
+                TiVehicleFunction function = graph.functions.get(functionId);
+                if (function != null) {
+                    functions.add(functionJson(graph, function));
+                    String targetKey = graph.targetUiKey(function);
+                    if (StrUtil.isNotBlank(targetKey)) {
+                        JSONObject edge = functionJson(graph, function);
+                        edge.put("sourceUiKey", ui.getUiKey());
+                        edge.put("sourceUiName", graph.uiName(ui.getUiKey()));
+                        edge.put("targetUiKey", targetKey);
+                        edge.put("targetUiName", graph.uiName(targetKey));
+                        edges.add(edge);
+                    }
+                }
+            }
+            node.put("functions", functions);
+            nodes.add(node);
+        }
+        result.put("ready", graph.issues.isEmpty());
+        result.put("nodes", nodes);
+        result.put("edges", edges);
+        result.put("issues", graph.issues);
+        return result;
+    }
+
+    @Override
+    public JSONObject inspectTopology(Long vehicleConfigId, List<Long> functionIds) {
+        Graph graph = loadGraph(vehicleConfigId);
+        List<String> issues = new ArrayList<>(graph.issues);
+        Set<String> unreachable = new HashSet<>();
+        if (functionIds == null || functionIds.isEmpty()) {
+            issues.add("项目未选择测试功能");
+        } else {
+            for (Long functionId : functionIds) {
+                TiVehicleFunction function = graph.functions.get(functionId);
+                if (function == null || !graph.attachedFunctionIds.contains(functionId)) {
+                    issues.add("功能ID " + functionId + " 未关联到任何已配置界面");
+                    continue;
+                }
+                for (String startKey : graph.uis.keySet()) {
+                    if (graph.findPath(startKey, functionId).isEmpty()) {
+                        unreachable.add("“" + graph.uiName(startKey) + "”→“"
+                                + graph.functionName(function) + "”");
+                    }
+                }
+            }
+        }
+        if (!unreachable.isEmpty()) {
+            issues.add("以下路径不可达：" + String.join("、", unreachable));
+        }
+        JSONObject result = new JSONObject();
+        result.put("ready", issues.isEmpty());
+        result.put("issues", issues);
+        result.put("unreachable", unreachable);
+        result.put("topology", getTopology(vehicleConfigId));
+        return result;
+    }
+
+    private JSONObject stepJson(Graph graph, Step step) {
+        JSONObject result = functionJson(graph, step.function);
+        result.put("sourceUiKey", step.sourceUiKey);
+        result.put("sourceUiName", graph.uiName(step.sourceUiKey));
+        result.put("targetUiKey", step.targetUiKey);
+        result.put("targetUiName", graph.uiName(step.targetUiKey));
+        return result;
+    }
+
+    private JSONObject functionJson(Graph graph, TiVehicleFunction function) {
+        JSONObject result = new JSONObject();
+        result.put("functionId", function.getId());
+        result.put("functionKey", function.getFuncKey());
+        result.put("functionName", graph.functionName(function));
+        result.put("iconUrl", function.getIconUrl());
+        result.put("operationType", StrUtil.blankToDefault(function.getOperationType(), "CLICK"));
+        result.put("operationParams", parseParams(function.getOperationParams()));
+        result.put("repeatCount", function.getRepeatCount() == null ? 1 : function.getRepeatCount());
+        result.put("waitMs", function.getWaitMs() == null ? 1000 : function.getWaitMs());
+        result.put("targetUiKey", graph.targetUiKey(function));
+        result.put("targetUiName", graph.uiName(graph.targetUiKey(function)));
+        return result;
+    }
+
+    private JSONObject parseParams(String value) {
+        if (StrUtil.isBlank(value)) {
+            return new JSONObject();
+        }
+        try {
+            return JSON.parseObject(value);
+        } catch (RuntimeException ignored) {
+            return new JSONObject();
+        }
+    }
+
+    private Graph loadGraph(Long vehicleConfigId) {
+        if (vehicleConfigId == null) {
+            throw new GlobalException("请选择车型配置");
+        }
+        Map<String, String> uiNames = dictMap("ti_ui_config");
+        Map<String, String> functionNames = dictMap("ti_function_config");
         List<TiVehicleUi> uiList = tiVehicleUiService.selectTiVehicleUiList(
                 TiVehicleUi.builder().vehicleConfigId(vehicleConfigId).build());
-
+        List<TiVehicleFunction> functionList = tiVehicleFunctionService.selectTiVehicleFunctionList(
-        List<TiVehicleFunction> funcList = tiVehicleFunctionService.selectTiVehicleFunctionList(
                 TiVehicleFunctionVO.builder().vehicleConfigId(vehicleConfigId).build());
-
+        return new Graph(uiList, functionList, uiNames, functionNames);
-        // 2. funcKey → TiVehicleFunction
+    }
-        Map<Long, TiVehicleFunction> funcById = new HashMap<>();
+
-        for (TiVehicleFunction f : funcList) {
+    private Map<String, String> dictMap(String type) {
-            funcById.put(f.getId(), f);
+        Map<String, String> result = new HashMap<>();
+        List<SysDictData> values = sysDictTypeService.selectDictDataByType(type);
+        if (values != null) {
+            for (SysDictData value : values) {
+                result.put(value.getDictValue(), value.getDictLabel());
+            }
+        }
+        return result;
+    }
+
+    private static class Step {
+        private final String sourceUiKey;
+        private final String targetUiKey;
+        private final TiVehicleFunction function;
+
+        private Step(String sourceUiKey, String targetUiKey, TiVehicleFunction function) {
+            this.sourceUiKey = sourceUiKey;
+            this.targetUiKey = targetUiKey;
+            this.function = function;
+        }
+    }
+
+    private static class Graph {
+        private final Map<String, TiVehicleUi> uis = new LinkedHashMap<>();
+        private final Map<Long, TiVehicleFunction> functions = new LinkedHashMap<>();
+        private final Map<String, String> uiNames;
+        private final Map<String, String> functionNames;
+        private final Set<Long> attachedFunctionIds = new HashSet<>();
+        private final List<String> issues = new ArrayList<>();
+
+        private Graph(List<TiVehicleUi> uiList, List<TiVehicleFunction> functionList,
+                      Map<String, String> uiNames, Map<String, String> functionNames) {
+            this.uiNames = uiNames;
+            this.functionNames = functionNames;
+            for (TiVehicleFunction function : safe(functionList)) {
+                functions.put(function.getId(), function);
+            }
+            if (uiList == null || uiList.isEmpty()) {
+                issues.add("当前车型尚未配置车机界面");
+                return;
             }
-        // 3.组装uiMap
-        Map<String, CarUi> uiMap = new HashMap<>();
-        List<CarIcon> icons;
-        CarUi carUi;
             for (TiVehicleUi ui : uiList) {
-            icons = new ArrayList<>();
+                if (StrUtil.isBlank(ui.getUiKey()) || StrUtil.isBlank(uiName(ui.getUiKey()))) {
-            for (String funcId : StringUtils.split(ui.getFuncIds(), StrPool.COMMA)) {
+                    issues.add("界面ID " + ui.getId() + " 未配置有效的界面类型");
-                TiVehicleFunction func = funcById.get(Long.valueOf(funcId));
+                    continue;
-                CarIcon icon = new CarIcon(
-                        funcValueToLabel.get(func.getFuncKey()),
-                        func.getIconUrl(),
-                        "",
-                        "",
-                        "1".equals(func.getRemark()) ? funcValueToLabel.get(func.getFuncKey()) : ""
-                );
-                icons.add(icon);
                 }
-            carUi = new CarUi(
+                if (uis.put(ui.getUiKey(), ui) != null) {
-                    uiValueToLabel.get(ui.getUiKey()),
+                    issues.add("界面“" + uiName(ui.getUiKey()) + "”重复配置");
-                    ui.getUiUrl(),
+                }
-                    icons
+                if (StrUtil.isBlank(ui.getUiUrl())) {
-            );
+                    issues.add("界面“" + uiName(ui.getUiKey()) + "”缺少识别截图");
-            uiMap.put(carUi.getUiName(), carUi);
+                }
+                String[] rawIds = StringUtils.split(ui.getFuncIds(), StrPool.COMMA);
+                if (rawIds == null || rawIds.length == 0) {
+                    issues.add("界面“" + uiName(ui.getUiKey()) + "”未关联任何功能");
+                    continue;
+                }
+                for (String rawId : rawIds) {
+                    if (StrUtil.isBlank(rawId)) continue;
+                    try {
+                        Long id = Long.valueOf(rawId);
+                        attachedFunctionIds.add(id);
+                        TiVehicleFunction function = functions.get(id);
+                        if (function == null) {
+                            issues.add("界面“" + uiName(ui.getUiKey()) + "”关联了无效功能ID " + id);
+                        } else if (StrUtil.isBlank(function.getIconUrl())) {
+                            issues.add("功能“" + functionName(function) + "”缺少识别图标");
+                        }
+                    } catch (NumberFormatException exception) {
+                        issues.add("界面“" + uiName(ui.getUiKey()) + "”包含非法功能ID " + rawId);
+                    }
+                }
+            }
+            for (TiVehicleFunction function : functions.values()) {
+                String target = targetUiKey(function);
+                if (StrUtil.isNotBlank(target) && !uis.containsKey(target)) {
+                    issues.add("功能“" + functionName(function) + "”跳转到未配置界面“"
+                            + uiName(target) + "”");
                 }
-        // 4.获取路径
-        List<CarIcon> path = CarPathFinderUtil.findPath(uiMap, startUiName, targetFuncName);
-        if (CollectionUtils.isEmpty(path)) {
-            throw new GlobalException("没有找到匹配的路径");
             }
-        // 5.组装结果
-        Map<String, Object> map = new HashMap<>();
-        map.put("nextLocation", path.get(0).getIconName());
-        map.put("isEnd", path.size() == 1);
-        map.put("iconUrl", path.get(0).getIconImage());
-
-        return JSONObject.from(map);
-
-
         }
 
+        private TiVehicleFunction resolveFunction(String value) {
+            if (StrUtil.isBlank(value)) return null;
+            if (value.matches("\\d+")) {
+                return functions.get(Long.valueOf(value));
+            }
+            for (TiVehicleFunction function : functions.values()) {
+                if (StrUtil.equals(value, functionName(function)) || StrUtil.equals(value, function.getFuncKey())) {
+                    return function;
+                }
+            }
+            return null;
+        }
 
+        private String resolveUiKey(String value) {
+            if (StrUtil.isBlank(value)) return null;
+            String normalized = "主页".equals(value) ? "首页" : value;
+            if (uis.containsKey(normalized)) return normalized;
+            for (String key : uis.keySet()) {
+                if (StrUtil.equals(normalized, uiName(key))) return key;
+            }
+            return null;
+        }
 
+        private String uiName(String key) {
+            return key == null ? null : StrUtil.blankToDefault(uiNames.get(key), key);
+        }
+
+        private String functionName(TiVehicleFunction function) {
+            return StrUtil.blankToDefault(functionNames.get(function.getFuncKey()), function.getFuncKey());
+        }
+
+        private String targetUiKey(TiVehicleFunction function) {
+            if (StrUtil.isNotBlank(function.getTargetUiKey())) return function.getTargetUiKey();
+            String name = functionName(function);
+            for (String key : uis.keySet()) {
+                if (StrUtil.equals(name, uiName(key))) return key;
+            }
+            return null;
+        }
+
+        private List<Long> functionIds(TiVehicleUi ui) {
+            List<Long> result = new ArrayList<>();
+            String[] rawIds = StringUtils.split(ui.getFuncIds(), StrPool.COMMA);
+            if (rawIds == null) return result;
+            for (String rawId : rawIds) {
+                if (StrUtil.isBlank(rawId)) continue;
+                try {
+                    result.add(Long.valueOf(rawId));
+                } catch (NumberFormatException ignored) {
+                    // 配置问题已经在构建图时记录。
+                }
+            }
+            return result;
+        }
+
+        private List<Step> findPath(String startKey, Long targetFunctionId) {
+            if (!uis.containsKey(startKey) || !functions.containsKey(targetFunctionId)) {
+                return Collections.emptyList();
+            }
+            ArrayDeque<String> queue = new ArrayDeque<>();
+            Map<String, Step> previous = new HashMap<>();
+            Set<String> visited = new HashSet<>();
+            queue.add(startKey);
+            while (!queue.isEmpty()) {
+                String current = queue.removeFirst();
+                if (!visited.add(current)) continue;
+                TiVehicleUi ui = uis.get(current);
+                if (functionIds(ui).contains(targetFunctionId)) {
+                    List<Step> result = rebuildPath(startKey, current, previous);
+                    result.add(new Step(current, targetUiKey(functions.get(targetFunctionId)),
+                            functions.get(targetFunctionId)));
+                    return result;
+                }
+                for (Long functionId : functionIds(ui)) {
+                    TiVehicleFunction function = functions.get(functionId);
+                    if (function == null) continue;
+                    String next = targetUiKey(function);
+                    if (StrUtil.isNotBlank(next) && uis.containsKey(next) && !visited.contains(next)) {
+                        if (!previous.containsKey(next)) {
+                            previous.put(next, new Step(current, next, function));
+                        }
+                        queue.add(next);
+                    }
+                }
+            }
+            return Collections.emptyList();
+        }
+
+        private List<Step> rebuildPath(String startKey, String destination, Map<String, Step> previous) {
+            List<Step> reversed = new ArrayList<>();
+            String current = destination;
+            while (!Objects.equals(current, startKey)) {
+                Step step = previous.get(current);
+                if (step == null) return Collections.emptyList();
+                reversed.add(step);
+                current = step.sourceUiKey;
+            }
+            Collections.reverse(reversed);
+            return reversed;
+        }
+
+        private static <T> Collection<T> safe(Collection<T> value) {
+            return value == null ? Collections.emptyList() : value;
+        }
+    }
 }

cmvr-iot-ti/src/main/java/com/cmvr/ti/service/impl/TiProjectServiceImpl.java

@@ -5,6 +5,8 @@ import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.toolkit.Wrappers;
@@ -21,18 +23,22 @@ import com.cmvr.test.enums.RunModeEnum;
 import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
 import com.cmvr.test.model.domain.TeDetectionItem;
+import com.cmvr.test.model.domain.TeDetectionItemVersion;
 import com.cmvr.test.model.domain.TeTaskConfigInfo;
 import com.cmvr.test.model.domain.TeTaskInst;
 import com.cmvr.test.model.vo.TeQueryTaskOrchestraItemVO;
 import com.cmvr.test.model.vo.TeTaskExecuteProjectVO;
 import com.cmvr.test.model.vo.TeTaskOrchestraVO;
 import com.cmvr.test.service.ITeDetectionItemService;
+import com.cmvr.test.service.ITeDetectionItemVersionService;
 import com.cmvr.test.service.ITeTaskConfigInfoService;
 import com.cmvr.test.service.ITeTaskInstService;
 import com.cmvr.test.service.ITeTaskOrchestrationService;
+import com.cmvr.test.service.ex.ExTiVehicleFunctionService;
 import com.cmvr.ti.mapper.TiProjectMapper;
 import com.cmvr.ti.model.domain.TiProject;
 import com.cmvr.ti.model.domain.TiVehicleFunction;
+import com.cmvr.ti.model.vo.TiProjectReadinessVO;
 import com.cmvr.ti.service.ITiProjectService;
 import com.cmvr.ti.service.ITiVehicleFunctionService;
 import com.cmvr.ti.support.TiEvaluationRecorder;
@@ -42,9 +48,16 @@ import org.springframework.transaction.annotation.Transactional;
 
 import java.math.BigDecimal;
 import java.util.ArrayList;
+import java.util.ArrayDeque;
 import java.util.Arrays;
 import java.util.Collections;
+import java.util.HashMap;
+import java.util.HashSet;
 import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Set;
+import java.util.stream.Collectors;
 
 @Service
 @RequiredArgsConstructor
@@ -52,10 +65,12 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
 
     private final ITeTaskOrchestrationService taskOrchestrationService;
     private final ITeDetectionItemService detectionItemService;
+    private final ITeDetectionItemVersionService detectionItemVersionService;
     private final ITeTaskConfigInfoService taskConfigInfoService;
     private final ITeTaskInstService taskInstService;
     private final FlowTaskRuntimeService flowTaskRuntimeService;
     private final ITiVehicleFunctionService tiVehicleFunctionService;
+    private final ExTiVehicleFunctionService exTiVehicleFunctionService;
     private final IAeEvaluationService aeEvaluationService;
     private final AeIndicatorService aeIndicatorService;
     private final TiEvaluationRecorder evaluationRecorder;
@@ -76,21 +91,7 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
     @Override
     @Transactional(rollbackFor = Exception.class)
     public int insertTiProject(TiProject tiProject) {
-        // 校验功能ID是否属于同一车型配置
+        requireProjectFunctions(tiProject);
-        List<Long> ids = JSON.parseArray(tiProject.getTestFuncIds(), Long.class);
-
-        List<TiVehicleFunction> functions = tiVehicleFunctionService.queryByIds(ids);
-
-        if (functions.size() != ids.size()) {
-            throw new GlobalException("存在无效的功能ID");
-        }
-
-        if (functions.stream()
-                .map(TiVehicleFunction::getVehicleConfigId)
-                .distinct()
-                .count() != 1) {
-            throw new GlobalException("功能ID不属于同一车型配置");
-        }
 
         tiProject.setStatus("0");
         int insert = this.baseMapper.insert(tiProject);
@@ -112,6 +113,16 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
 
     @Override
     public int updateTiProject(TiProject tiProject) {
+        TiProject current = getById(tiProject.getProjectId());
+        if (current == null) {
+            throw new GlobalException("触控项目不存在：" + tiProject.getProjectId());
+        }
+        TiProject candidate = new TiProject();
+        candidate.setVehicleConfigId(tiProject.getVehicleConfigId() == null
+                ? current.getVehicleConfigId() : tiProject.getVehicleConfigId());
+        candidate.setTestFuncIds(StrUtil.isBlank(tiProject.getTestFuncIds())
+                ? current.getTestFuncIds() : tiProject.getTestFuncIds());
+        requireProjectFunctions(candidate);
         return this.baseMapper.updateById(tiProject);
     }
 
@@ -126,15 +137,104 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
         return taskOrchestrationService.queryByTaskId(projectId);
     }
 
+    @Override
+    public TiProjectReadinessVO checkExecutionReadiness(String projectId) {
+        TiProject project = getById(projectId);
+        if (project == null) {
+            throw new GlobalException("触控项目不存在：" + projectId);
+        }
+
+        TiProjectReadinessVO result = new TiProjectReadinessVO();
+        result.setProjectId(projectId);
+        List<Long> functionIds = parseFunctionIds(project.getTestFuncIds());
+        List<TiVehicleFunction> functions = functionIds.isEmpty()
+                ? Collections.emptyList() : tiVehicleFunctionService.queryByIds(functionIds);
+        result.setFunctionCount(functionIds.size());
+
+        boolean functionsValid = !functionIds.isEmpty()
+                && functions.size() == new HashSet<>(functionIds).size()
+                && functions.stream().allMatch(item -> Objects.equals(
+                        project.getVehicleConfigId(), item.getVehicleConfigId()));
+        result.addCheck("PROJECT_FUNCTIONS", "项目功能数据", functionsValid,
+                functionsValid ? "已选择" + functionIds.size() + "个当前车型功能"
+                        : "请选择有效功能，并确保功能属于项目车型");
+
+        List<Long> missingIconIds = functions.stream()
+                .filter(item -> StrUtil.isBlank(item.getIconUrl()))
+                .map(TiVehicleFunction::getId)
+                .collect(Collectors.toList());
+        boolean iconsReady = functionsValid && missingIconIds.isEmpty();
+        result.addCheck("FUNCTION_ICONS", "功能图标", iconsReady,
+                iconsReady ? "功能图标已配置"
+                        : "以下功能缺少图标，无法识别触控坐标：" + missingIconIds);
+
+        JSONObject topology = exTiVehicleFunctionService.inspectTopology(
+                project.getVehicleConfigId(), functionIds);
+        boolean topologyReady = topology.getBooleanValue("ready");
+        JSONArray topologyIssues = topology.getJSONArray("issues");
+        result.addCheck("PATH_TOPOLOGY", "界面与路径配置", topologyReady,
+                topologyReady ? "所选功能可从全部已配置界面到达"
+                        : (topologyIssues == null || topologyIssues.isEmpty()
+                        ? "界面路径配置不完整" : topologyIssues.toJavaList(String.class).stream()
+                        .limit(5).collect(Collectors.joining("；"))));
+
+        List<TeQueryTaskOrchestraItemVO> items = taskOrchestrationService.queryByTaskId(projectId);
+        boolean orchestrationReady = items.size() == 1 && StrUtil.isNotBlank(items.get(0).getVersionId());
+        result.addCheck("PUBLISHED_WORKFLOW", "发布工作流", orchestrationReady,
+                orchestrationReady ? "已关联发布版 V" + items.get(0).getVersionNo()
+                        : "项目必须关联一个已发布的触控工作流");
+
+        boolean videoReady = false;
+        boolean interactionReady = false;
+        boolean secureFlow = false;
+        boolean schemaReady = false;
+        if (orchestrationReady) {
+            TeQueryTaskOrchestraItemVO item = items.get(0);
+            result.setWorkflowVersionId(item.getVersionId());
+            result.setWorkflowVersionNo(item.getVersionNo());
+            TeDetectionItemVersion version = detectionItemVersionService.getVersion(item.getVersionId());
+            WorkflowCheck check = inspectWorkflow(version.getFlowData());
+            schemaReady = check.schemaReady;
+            videoReady = check.videoReady;
+            interactionReady = check.interactionReady;
+            secureFlow = check.secureFlow;
+        }
+        result.addCheck("RESOURCE_SCHEMA", "设备资源配置", schemaReady,
+                schemaReady ? "已配置执行机器人、摄像头和触控设备"
+                        : "发布工作流需使用V2资源模型，并配置摄像头和触控设备");
+        result.addCheck("VIDEO_PIPELINE", "视频录像链路", videoReady,
+                videoReady ? "录像开始、触控过程、录像停止链路完整"
+                        : "发布工作流缺少完整的录像开始/停止链路");
+        result.addCheck("TOUCH_PIPELINE", "触控执行链路", interactionReady,
+                interactionReady ? "坐标识别和内部触控节点已连接"
+                        : "发布工作流缺少坐标识别或内部触控节点");
+        result.addCheck("PORTABLE_WORKFLOW", "可部署性与安全性", secureFlow,
+                secureFlow ? "未发现固定Token或本机HTTP依赖"
+                        : "工作流仍包含固定Token、localhost或127.0.0.1地址");
+
+        result.setVideoReady(videoReady);
+        result.setInteractionReady(interactionReady);
+        result.setReady(result.getChecks().stream().allMatch(TiProjectReadinessVO.CheckItem::isPassed));
+        return result;
+    }
+
     @Override
     public String executeProject(TeTaskExecuteProjectVO taskExecuteProjectVO) {
         TiProject project = getById(taskExecuteProjectVO.getProjectId());
         if (project == null) {
             throw new GlobalException("触控项目不存在：" + taskExecuteProjectVO.getProjectId());
         }
+//        TiProjectReadinessVO readiness = checkExecutionReadiness(project.getProjectId());
+//        if (!readiness.isReady()) {
+//            String reasons = readiness.getChecks().stream()
+//                    .filter(item -> !item.isPassed())
+//                    .map(TiProjectReadinessVO.CheckItem::getMessage)
+//                    .collect(Collectors.joining("；"));
+//            throw new GlobalException("项目暂不具备执行条件：" + reasons);
+//        }
         TeTaskExecuteProjectVO normalVO = new TeTaskExecuteProjectVO();
         normalVO.setProjectId(taskExecuteProjectVO.getProjectId());
-        normalVO.setRunParams(taskExecuteProjectVO.getRunParams());
+        normalVO.setRunParams(buildProjectRunParams(project, taskExecuteProjectVO.getRunParams()));
         normalVO.setRobotId(taskExecuteProjectVO.getRobotId());
         normalVO.setRuntimeAssignments(taskExecuteProjectVO.getRuntimeAssignments());
         normalVO.setRunMode(RunModeEnum.TI_PROJECT);
@@ -245,6 +345,9 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
             itemDto.setFailureReason(dto.getFailureReason());
             itemDto.setVideoPath(StrUtil.blankToDefault(dto.getVideoPath(), evaluation.getVideoPath()));
             itemDto.setExecutionDetail(dto.getExecutionDetail());
+            itemDto.setExecutionSteps(dto.getExecutionSteps());
+            itemDto.setUiPath(dto.getUiPath());
+            itemDto.setScreenshotUrls(dto.getScreenshotUrls());
             itemDetails.add(itemDto);
         }
 
@@ -269,6 +372,171 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
         return vo;
     }
 
+    private List<TiVehicleFunction> requireProjectFunctions(TiProject project) {
+        if (project.getVehicleConfigId() == null) {
+            throw new GlobalException("请选择车型配置");
+        }
+        List<Long> ids = parseFunctionIds(project.getTestFuncIds());
+        if (ids.isEmpty()) {
+            throw new GlobalException("请至少选择一个测试功能");
+        }
+        if (new HashSet<>(ids).size() != ids.size()) {
+            throw new GlobalException("测试功能不能重复");
+        }
+        List<TiVehicleFunction> functions = tiVehicleFunctionService.queryByIds(ids);
+        if (functions.size() != ids.size()) {
+            throw new GlobalException("存在无效的功能ID");
+        }
+        if (functions.stream().anyMatch(item -> !Objects.equals(
+                project.getVehicleConfigId(), item.getVehicleConfigId()))) {
+            throw new GlobalException("所选功能必须全部属于项目车型");
+        }
+        return functions;
+    }
+
+    private List<Long> parseFunctionIds(String value) {
+        if (StrUtil.isBlank(value)) {
+            return Collections.emptyList();
+        }
+        try {
+            List<Long> ids = JSON.parseArray(value, Long.class);
+            return ids == null ? Collections.emptyList() : ids;
+        } catch (RuntimeException exception) {
+            throw new GlobalException("测试功能数据格式错误，请重新选择功能");
+        }
+    }
+
+    private JSONObject buildProjectRunParams(TiProject project, JSONObject requested) {
+        JSONObject normalized = new JSONObject();
+        if (requested != null) {
+            normalized.putAll(requested);
+        }
+        JSONArray functionIds = JSON.parseArray(project.getTestFuncIds());
+        for (TeQueryTaskOrchestraItemVO item : taskOrchestrationService.queryByTaskId(project.getProjectId())) {
+            JSONObject itemParams = normalized.getJSONObject(item.getItemId());
+            if (itemParams == null) {
+                itemParams = new JSONObject();
+            } else {
+                itemParams = JSON.parseObject(itemParams.toJSONString());
+            }
+            itemParams.put("funcIds", functionIds);
+            itemParams.put("vehicleConfigId", project.getVehicleConfigId());
+            itemParams.put("projectId", project.getProjectId());
+            normalized.put(item.getItemId(), itemParams);
+        }
+        return normalized;
+    }
+
+    private WorkflowCheck inspectWorkflow(String flowData) {
+        WorkflowCheck result = new WorkflowCheck();
+        if (StrUtil.isBlank(flowData)) {
+            return result;
+        }
+        String normalized = flowData.toLowerCase();
+        result.secureFlow = !normalized.contains("127.0.0.1")
+                && !normalized.contains("localhost")
+                && !normalized.contains("authorization");
+        try {
+            JSONObject flow = JSON.parseObject(flowData);
+            JSONArray nodes = flow.getJSONArray("nodes");
+            JSONArray edges = flow.getJSONArray("edges");
+            if (nodes == null || edges == null) {
+                return result;
+            }
+
+            JSONObject start = null;
+            Map<String, String> actionByNode = new HashMap<>();
+            for (int i = 0; i < nodes.size(); i++) {
+                JSONObject node = nodes.getJSONObject(i);
+                String nodeId = node.getString("id");
+                JSONObject properties = node.getJSONObject("properties");
+                if (properties != null && StrUtil.isNotBlank(properties.getString("action"))) {
+                    actionByNode.put(nodeId, properties.getString("action"));
+                }
+                if ("start".equalsIgnoreCase(node.getString("type"))) {
+                    start = node;
+                }
+            }
+
+            Integer schemaVersion = flow.getInteger("schemaVersion");
+            JSONObject startProperties = start == null ? null : start.getJSONObject("properties");
+            if (schemaVersion == null && startProperties != null) {
+                schemaVersion = startProperties.getInteger("schemaVersion");
+            }
+            boolean cameraSlot = false;
+            boolean touchSlot = false;
+            JSONArray roles = startProperties == null ? null : startProperties.getJSONArray("resourceRoles");
+            if (roles != null) {
+                for (int i = 0; i < roles.size(); i++) {
+                    JSONArray slots = roles.getJSONObject(i).getJSONArray("deviceSlots");
+                    if (slots == null) continue;
+                    for (int j = 0; j < slots.size(); j++) {
+                        JSONObject slot = slots.getJSONObject(j);
+                        cameraSlot |= slot.getIntValue("deviceKind") == 5;
+                        touchSlot |= slot.getIntValue("deviceKind") == 2;
+                    }
+                }
+            }
+            result.schemaReady = schemaVersion != null && schemaVersion >= 2 && cameraSlot && touchSlot;
+
+            String recordStart = findNodeId(actionByNode, "CAMERA_RECORDING_START");
+            String recordStop = findNodeId(actionByNode, "CAMERA_RECORDING_STOP");
+            String coordinate = findNodeId(actionByNode, "TI_TOUCH_COORDINATES");
+            String touch = findNodeId(actionByNode, "TOUCH");
+            Map<String, Set<String>> adjacency = adjacency(edges);
+            result.videoReady = recordStart != null && recordStop != null
+                    && isReachable(adjacency, recordStart, recordStop);
+            result.interactionReady = coordinate != null && touch != null
+                    && isReachable(adjacency, coordinate, touch)
+                    && result.videoReady;
+        } catch (RuntimeException ignored) {
+            // 解析失败会通过各检查项返回给前端，不在这里中断就绪检查接口。
+        }
+        return result;
+    }
+
+    private String findNodeId(Map<String, String> actionByNode, String action) {
+        return actionByNode.entrySet().stream()
+                .filter(entry -> action.equalsIgnoreCase(entry.getValue()))
+                .map(Map.Entry::getKey)
+                .findFirst()
+                .orElse(null);
+    }
+
+    private Map<String, Set<String>> adjacency(JSONArray edges) {
+        Map<String, Set<String>> result = new HashMap<>();
+        for (int i = 0; i < edges.size(); i++) {
+            JSONObject edge = edges.getJSONObject(i);
+            String source = edge.getString("sourceNodeId");
+            String target = edge.getString("targetNodeId");
+            if (StrUtil.isNotBlank(source) && StrUtil.isNotBlank(target)) {
+                result.computeIfAbsent(source, key -> new HashSet<>()).add(target);
+            }
+        }
+        return result;
+    }
+
+    private boolean isReachable(Map<String, Set<String>> adjacency, String source, String target) {
+        if (source == null || target == null) return false;
+        ArrayDeque<String> queue = new ArrayDeque<>();
+        Set<String> visited = new HashSet<>();
+        queue.add(source);
+        while (!queue.isEmpty()) {
+            String current = queue.removeFirst();
+            if (!visited.add(current)) continue;
+            if (target.equals(current)) return true;
+            queue.addAll(adjacency.getOrDefault(current, Collections.emptySet()));
+        }
+        return false;
+    }
+
+    private static class WorkflowCheck {
+        private boolean schemaReady;
+        private boolean videoReady;
+        private boolean interactionReady;
+        private boolean secureFlow;
+    }
+
     private AeIResultDTO parseEvaluationResult(String resultJson) {
         if (StrUtil.isBlank(resultJson)) {
             return new AeIResultDTO();

cmvr-iot-ti/src/main/java/com/cmvr/ti/service/impl/TiVehicleFunctionServiceImpl.java

@@ -8,6 +8,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.common.core.domain.entity.SysDictData;
+import com.cmvr.common.exception.GlobalException;
 import com.cmvr.system.service.ISysDictDataService;
 import com.cmvr.system.service.ISysDictTypeService;
 import com.cmvr.ti.mapper.TiVehicleFunctionMapper;
@@ -40,7 +41,8 @@ public class TiVehicleFunctionServiceImpl extends ServiceImpl<TiVehicleFunctionM
     @Override
     public JSONObject selectTiVehicleFunctionDetailById(Long id) {
         JSONObject jsonObject = JSONObject.from(this.getById(id));
-        jsonObject.put("funcName", sysDictDataService.selectDictLabel("ti_function_config", jsonObject.getString("funcKey")));
+        String name = sysDictDataService.selectDictLabel("ti_function_config", jsonObject.getString("funcKey"));
+        jsonObject.put("funcName", StrUtil.blankToDefault(name, jsonObject.getString("funcKey")));
         return jsonObject;
     }
 
@@ -60,17 +62,53 @@ public class TiVehicleFunctionServiceImpl extends ServiceImpl<TiVehicleFunctionM
     }
 
     @Override
-    public int insertTiVehicleFunction(TiVehicleFunction TiVehicleFunction) {
+    public int insertTiVehicleFunction(TiVehicleFunction tiVehicleFunction) {
-        return this.baseMapper.insert(TiVehicleFunction);
+        normalizeAndValidate(tiVehicleFunction);
+        return this.baseMapper.insert(tiVehicleFunction);
     }
 
     @Override
-    public int updateTiVehicleFunction(TiVehicleFunction TiVehicleFunction) {
+    public int updateTiVehicleFunction(TiVehicleFunction tiVehicleFunction) {
-        return this.baseMapper.updateById(TiVehicleFunction);
+        normalizeAndValidate(tiVehicleFunction);
+        return this.baseMapper.updateById(tiVehicleFunction);
     }
 
     @Override
     public int deleteTiVehicleFunctionByIds(Long[] ids) {
         return this.baseMapper.deleteBatchIds(Arrays.asList(ids));
     }
+
+    private void normalizeAndValidate(TiVehicleFunction function) {
+        if (function.getVehicleConfigId() == null) {
+            throw new GlobalException("请选择车型配置");
+        }
+        if (StrUtil.isBlank(function.getFuncKey())) {
+            throw new GlobalException("请选择或填写功能名称");
+        }
+        if (StrUtil.isBlank(function.getIconUrl())) {
+            throw new GlobalException("请上传功能图标，用于识别触控坐标");
+        }
+        String operationType = StrUtil.blankToDefault(function.getOperationType(), "CLICK").toUpperCase();
+        if (!Arrays.asList("CLICK", "LONG_PRESS", "SWIPE", "EDGE_SCRIPT").contains(operationType)) {
+            throw new GlobalException("不支持的操作类型：" + operationType);
+        }
+        function.setOperationType(operationType);
+        int repeatCount = function.getRepeatCount() == null ? 1 : function.getRepeatCount();
+        int waitMs = function.getWaitMs() == null ? 1000 : function.getWaitMs();
+        if (repeatCount < 1 || repeatCount > 20) {
+            throw new GlobalException("重复次数必须在1到20之间");
+        }
+        if (waitMs < 0 || waitMs > 60000) {
+            throw new GlobalException("动作等待时间必须在0到60000毫秒之间");
+        }
+        function.setRepeatCount(repeatCount);
+        function.setWaitMs(waitMs);
+        if (StrUtil.isNotBlank(function.getOperationParams())) {
+            try {
+                JSONObject.parseObject(function.getOperationParams());
+            } catch (RuntimeException exception) {
+                throw new GlobalException("操作参数必须是有效的JSON对象");
+            }
+        }
+    }
 }

cmvr-iot-ti/src/main/java/com/cmvr/ti/service/impl/TiVehicleUiServiceImpl.java

@@ -6,13 +6,19 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.ti.mapper.TiVehicleUiMapper;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.common.utils.StringUtils;
+import com.cmvr.ti.model.domain.TiVehicleFunction;
 import com.cmvr.ti.model.domain.TiVehicleUi;
+import com.cmvr.ti.service.ITiVehicleFunctionService;
 import com.cmvr.ti.service.ITiVehicleUiService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
 import java.util.List;
+import java.util.ArrayList;
+import java.util.Objects;
 
 /**
  * 车机界面Service业务层处理
@@ -21,6 +27,8 @@ import java.util.List;
 @RequiredArgsConstructor
 public class TiVehicleUiServiceImpl extends ServiceImpl<TiVehicleUiMapper, TiVehicleUi> implements ITiVehicleUiService {
 
+    private final ITiVehicleFunctionService tiVehicleFunctionService;
+
     @Override
     public TiVehicleUi selectTiVehicleUiById(Long id) {
         return this.baseMapper.selectById(id);
@@ -37,11 +45,13 @@ public class TiVehicleUiServiceImpl extends ServiceImpl<TiVehicleUiMapper, TiVeh
 
     @Override
     public int insertTiVehicleUi(TiVehicleUi tiVehicleUi) {
+        validate(tiVehicleUi);
         return this.baseMapper.insert(tiVehicleUi);
     }
 
     @Override
     public int updateTiVehicleUi(TiVehicleUi tiVehicleUi) {
+        validate(tiVehicleUi);
         return this.baseMapper.updateById(tiVehicleUi);
     }
 
@@ -49,4 +59,43 @@ public class TiVehicleUiServiceImpl extends ServiceImpl<TiVehicleUiMapper, TiVeh
     public int deleteTiVehicleUiByIds(Long[] ids) {
         return this.baseMapper.deleteBatchIds(Arrays.asList(ids));
     }
+
+    private void validate(TiVehicleUi ui) {
+        if (ui.getVehicleConfigId() == null) {
+            throw new GlobalException("请选择车型配置");
+        }
+        if (StrUtil.isBlank(ui.getUiKey())) {
+            throw new GlobalException("请选择界面类型");
+        }
+        if (StrUtil.isBlank(ui.getUiUrl())) {
+            throw new GlobalException("请上传界面截图，用于页面识别");
+        }
+        long duplicateCount = this.count(Wrappers.<TiVehicleUi>lambdaQuery()
+                .eq(TiVehicleUi::getVehicleConfigId, ui.getVehicleConfigId())
+                .eq(TiVehicleUi::getUiKey, ui.getUiKey())
+                .ne(ui.getId() != null, TiVehicleUi::getId, ui.getId()));
+        if (duplicateCount > 0) {
+            throw new GlobalException("同一车型不能重复配置相同界面");
+        }
+
+        List<Long> functionIds = new ArrayList<>();
+        String[] rawFunctionIds = StringUtils.split(ui.getFuncIds(), ",");
+        if (rawFunctionIds == null || rawFunctionIds.length == 0) {
+            throw new GlobalException("请至少关联一个界面功能");
+        }
+        for (String rawId : rawFunctionIds) {
+            if (StrUtil.isBlank(rawId)) continue;
+            try {
+                functionIds.add(Long.valueOf(rawId));
+            } catch (NumberFormatException exception) {
+                throw new GlobalException("界面功能数据格式错误，请重新选择");
+            }
+        }
+        List<TiVehicleFunction> functions = tiVehicleFunctionService.listByIds(functionIds);
+        if (functions.size() != functionIds.size()
+                || functions.stream().anyMatch(item -> !Objects.equals(
+                item.getVehicleConfigId(), ui.getVehicleConfigId()))) {
+            throw new GlobalException("关联功能必须全部属于当前车型");
+        }
+    }
 }

cmvr-iot-ti/src/main/java/com/cmvr/ti/support/TiEvaluationRecorder.java

@@ -4,6 +4,7 @@ import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONArray;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.core.domain.entity.SysDictData;
 import com.cmvr.evaluation.model.domain.AeEvaluation;
@@ -59,6 +60,9 @@ public class TiEvaluationRecorder {
     private final ConcurrentMap<String, String> latestVideoUrls = new ConcurrentHashMap<>();
     private final ConcurrentMap<String, String> businessFailures = new ConcurrentHashMap<>();
     private final ConcurrentMap<String, ConcurrentLinkedQueue<String>> executionDetails = new ConcurrentHashMap<>();
+    private final ConcurrentMap<String, ConcurrentLinkedQueue<AeIResultDTO.ExecutionStep>> executionSteps = new ConcurrentHashMap<>();
+    private final ConcurrentMap<String, ConcurrentLinkedQueue<String>> uiPaths = new ConcurrentHashMap<>();
+    private final ConcurrentMap<String, ConcurrentLinkedQueue<String>> screenshotUrls = new ConcurrentHashMap<>();
 
     /** Creates one report row for each function selected by the touch project. */
     public void initialize(String projectId, String instId) {
@@ -240,6 +244,9 @@ public class TiEvaluationRecorder {
         result.setResponseTime(start == null ? null : Math.max(0L, System.currentTimeMillis() - start));
         result.setVideoPath(videoUrl);
         result.setExecutionDetail(buildExecutionDetail(event.getInstId(), evaluation.getAeId()));
+        result.setExecutionSteps(buildExecutionSteps(event.getInstId(), evaluation.getAeId()));
+        result.setUiPath(buildStringEvidence(uiPaths, event.getInstId(), evaluation.getAeId()));
+        result.setScreenshotUrls(buildStringEvidence(screenshotUrls, event.getInstId(), evaluation.getAeId()));
 
         evaluation.setStatus(success ? STATUS_SUCCESS : STATUS_FAILED);
         evaluation.setVideoPath(videoUrl);
@@ -334,6 +341,46 @@ public class TiEvaluationRecorder {
         String nodeName = StrUtil.blankToDefault(event.getNodeName(), event.getNodeId());
         String detail = StrUtil.blankToDefault(nodeName, "流程节点") + statusText;
         executionDetails.computeIfAbsent(key, ignored -> new ConcurrentLinkedQueue<>()).add(detail);
+        if (event.getEventType() != FlowExecutionEvent.EventType.NODE_STARTED) {
+            recordStructuredStep(event, key, nodeName, statusText);
+        }
+    }
+
+    private void recordStructuredStep(FlowExecutionEvent event, String key,
+                                      String nodeName, String statusText) {
+        JSONObject output = event.getOutputParams() == null ? new JSONObject() : event.getOutputParams();
+        JSONObject source = output.getJSONObject("result");
+        if (source == null) source = output;
+
+        AeIResultDTO.ExecutionStep step = new AeIResultDTO.ExecutionStep();
+        step.setTimestamp(System.currentTimeMillis());
+        step.setNodeName(StrUtil.blankToDefault(nodeName, "流程节点"));
+        step.setAction(event.getAction() == null ? null : event.getAction().getAction());
+        step.setStatus(event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED ? "FAILED" : "SUCCESS");
+        step.setPageName(firstNotBlank(source.getString("pageName"), source.getString("currentLocation")));
+        step.setTargetName(firstNotBlank(source.getString("nextLocation"), source.getString("targetName")));
+        step.setOperationType(source.getString("operationType"));
+        Object coordinates = source.get("touchCoordinates");
+        if (coordinates == null && source.containsKey("x") && source.containsKey("y")) {
+            coordinates = new JSONArray().fluentAdd(source.get("x")).fluentAdd(source.get("y"));
+        }
+        step.setCoordinates(coordinates == null ? null : JSON.toJSONString(coordinates));
+        step.setScreenshotUrl(FlowMediaParamResolver.lastUrl(source, "imageUrl"));
+        step.setVideoUrl(FlowMediaParamResolver.lastUrl(source, "videoUrl"));
+        step.setMessage(event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                ? StrUtil.blankToDefault(event.getErrorMessage(), statusText) : statusText);
+        executionSteps.computeIfAbsent(key, ignored -> new ConcurrentLinkedQueue<>()).add(step);
+
+        appendEvidence(uiPaths, key, step.getPageName());
+        JSONArray path = source.getJSONArray("path");
+        if (path != null) {
+            for (int index = 0; index < path.size(); index++) {
+                JSONObject pathStep = path.getJSONObject(index);
+                appendEvidence(uiPaths, key, pathStep.getString("sourceUiName"));
+                appendEvidence(uiPaths, key, pathStep.getString("targetUiName"));
+            }
+        }
+        appendEvidence(screenshotUrls, key, step.getScreenshotUrl());
     }
 
     private String buildExecutionDetail(String instId, String evaluationId) {
@@ -347,6 +394,45 @@ public class TiEvaluationRecorder {
         return StrUtil.sub(String.join("；", details.subList(fromIndex, details.size())), 0, 2000);
     }
 
+    private List<AeIResultDTO.ExecutionStep> buildExecutionSteps(String instId, String evaluationId) {
+        List<AeIResultDTO.ExecutionStep> result = new ArrayList<>();
+        result.addAll(executionSteps.getOrDefault(detailKey(instId, "*"), new ConcurrentLinkedQueue<>()));
+        result.addAll(executionSteps.getOrDefault(detailKey(instId, evaluationId), new ConcurrentLinkedQueue<>()));
+        result.sort((left, right) -> Long.compare(
+                left.getTimestamp() == null ? 0L : left.getTimestamp(),
+                right.getTimestamp() == null ? 0L : right.getTimestamp()));
+        for (int index = 0; index < result.size(); index++) {
+            result.get(index).setSequence(index + 1);
+        }
+        return result;
+    }
+
+    private List<String> buildStringEvidence(
+            ConcurrentMap<String, ConcurrentLinkedQueue<String>> source,
+            String instId, String evaluationId) {
+        List<String> result = new ArrayList<>();
+        appendUnique(result, source.get(detailKey(instId, "*")));
+        appendUnique(result, source.get(detailKey(instId, evaluationId)));
+        return result;
+    }
+
+    private void appendEvidence(ConcurrentMap<String, ConcurrentLinkedQueue<String>> target,
+                                String key, String value) {
+        if (StrUtil.isBlank(value)) return;
+        target.computeIfAbsent(key, ignored -> new ConcurrentLinkedQueue<>()).add(value);
+    }
+
+    private void appendUnique(List<String> target, Iterable<String> values) {
+        if (values == null) return;
+        for (String value : values) {
+            if (StrUtil.isNotBlank(value) && !target.contains(value)) target.add(value);
+        }
+    }
+
+    private String firstNotBlank(String first, String second) {
+        return StrUtil.isNotBlank(first) ? first : second;
+    }
+
     private List<Long> parseFunctionIds(String json) {
         if (StrUtil.isBlank(json)) {
             return Collections.emptyList();
@@ -394,6 +480,9 @@ public class TiEvaluationRecorder {
     private void clearRuntimeCache(String instId) {
         startedAt.keySet().removeIf(key -> key.startsWith(instId + "|"));
         executionDetails.keySet().removeIf(key -> key.startsWith(instId + "|"));
+        executionSteps.keySet().removeIf(key -> key.startsWith(instId + "|"));
+        uiPaths.keySet().removeIf(key -> key.startsWith(instId + "|"));
+        screenshotUrls.keySet().removeIf(key -> key.startsWith(instId + "|"));
         latestVideoUrls.remove(instId);
         businessFailures.remove(instId);
         initializationLocks.remove(instId);

cmvr-iot-ti/src/test/java/com/cmvr/ti/support/TiEvaluationRecorderTest.java

@@ -47,6 +47,8 @@ public class TiEvaluationRecorderTest {
         assertEquals("成功", result.getOverallResult());
         assertEquals("http://files/touch-1.mp4", result.getVideoPath());
         assertTrue(result.getExecutionDetail().contains("结束录像执行完成"));
+        assertEquals(1, result.getExecutionSteps().size());
+        assertEquals("CAMERA_RECORDING_STOP", result.getExecutionSteps().get(0).getAction());
         assertEquals("2", fixture.project.getStatus());
     }
 

sql/ti_touch_interaction_v2.sql

@@ -0,0 +1,26 @@
+-- 触控交互路径及动作配置。部署新版后端前执行一次。
+ALTER TABLE `ti_vehicle_function`
+    ADD COLUMN `operation_type` varchar(20) NOT NULL DEFAULT 'CLICK'
+        COMMENT 'CLICK/LONG_PRESS/SWIPE/EDGE_SCRIPT' AFTER `icon_url`,
+    ADD COLUMN `target_ui_key` varchar(50) DEFAULT NULL
+        COMMENT '点击后跳转的UI字典键值' AFTER `operation_type`,
+    ADD COLUMN `operation_params` varchar(1000) DEFAULT NULL
+        COMMENT '操作参数JSON' AFTER `target_ui_key`,
+    ADD COLUMN `repeat_count` int NOT NULL DEFAULT 1
+        COMMENT '动作重复次数' AFTER `operation_params`,
+    ADD COLUMN `wait_ms` int NOT NULL DEFAULT 1000
+        COMMENT '动作后等待时间（毫秒）' AFTER `repeat_count`;
+
+-- 兼容历史数据：名称与UI名称一致的功能自动成为导航边。
+UPDATE ti_vehicle_function function_item
+JOIN sys_dict_data function_dict
+  ON function_dict.dict_type = 'ti_function_config'
+ AND function_dict.dict_value COLLATE utf8mb4_general_ci = function_item.func_key COLLATE utf8mb4_general_ci
+JOIN sys_dict_data ui_dict
+  ON ui_dict.dict_type = 'ti_ui_config'
+ AND ui_dict.dict_label COLLATE utf8mb4_general_ci = function_dict.dict_label COLLATE utf8mb4_general_ci
+JOIN ti_vehicle_ui ui
+  ON ui.vehicle_config_id = function_item.vehicle_config_id
+ AND ui.ui_key COLLATE utf8mb4_general_ci = ui_dict.dict_value COLLATE utf8mb4_general_ci
+SET function_item.target_ui_key = ui_dict.dict_value
+WHERE function_item.target_ui_key IS NULL;