feat(flow): 添加流程失败清理服务和机械臂使能枚举

- 新增 FlowFailureCleanupService 用于清理设备端和后端媒体状态
- 添加 ARM_ENABLE 和 ARM_DISABLE 枚举值支持机械臂使能控制
- 在 TaskInstHolder 中集成失败清理逻辑
- 实现机器人录音、录像和系统状态的异常清理功能
- 添加 FlowFailureCleanupService 单元测试验证清理逻辑
- 注入 FlowFailureCleanupService 并在任务失败时执行清理操作

cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java

@@ -65,6 +65,10 @@ public enum ActionEnum {
     // 末端运动
     ARM_MOVE_TO_POINT("EDGE", "ARM_MOVE_TO_POINT", "运动到指定点"),
     ARM_MOVE_TO_J("EDGE", "ARM_MOVE_TO_J", "关节空间运动"),
+    // 开始使能
+    ARM_ENABLE("EDGE", "ARM_ENABLE", "使能"),
+    // 停止使能
+    ARM_DISABLE("EDGE", "ARM_DISABLE", "停止使能"),
 
     // --------------- 头部 ---------------
     BIO_HEAD_SPEAK_START("EDGE", "BIO_HEAD_SPEAK_START", "开始说话"),

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

@@ -4,12 +4,14 @@ import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.test.enums.NodeTypeEnum;
 import com.cmvr.test.enums.TaskStatusEnum;
 import com.cmvr.test.enums.TerminalStatusEnum;
+import com.cmvr.test.flow.control.FlowFailureCleanupService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEvent;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEventPublisher;
 import com.cmvr.test.service.ITeNodeInstService;
 import com.cmvr.test.service.ITeTaskInstService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -22,6 +24,9 @@ import java.util.List;
 @RequiredArgsConstructor
 public class TaskInstHolder {
 
+    @Resource
+    private FlowFailureCleanupService flowFailureCleanupService;
+
     private final ITeNodeInstService nodeInstService;
     private final TaskContextManager taskContextManager;
     private final ITeTaskInstService taskInstService;
@@ -123,6 +128,9 @@ 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);
         String moduleCode = ctx != null ? ctx.getModuleCode() : null;
+        if (ctx != null && flowFailureCleanupService != null) {
+            flowFailureCleanupService.cleanup(ctx);
+        }
         syncStatus(instId, TaskStatusEnum.FAILED);
 
         // 注销任务上下文

cmvr-iot-test/src/main/java/com/cmvr/test/flow/control/FlowFailureCleanupService.java

@@ -0,0 +1,60 @@
+package com.cmvr.test.flow.control;
+
+import com.cmvr.edge.client.service.EdgeCameraService;
+import com.cmvr.edge.client.service.EdgeMicrophoneService;
+import com.cmvr.edge.client.service.EdgeSystemService;
+import com.cmvr.test.flow.context.TaskContext;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Collections;
+import java.util.List;
+import java.util.Objects;
+
+/**
+ * Cleans device-side and backend-local media state when a flow fails unexpectedly.
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class FlowFailureCleanupService {
+
+    private final EdgeMicrophoneService edgeMicrophoneService;
+    private final EdgeCameraService edgeCameraService;
+    private final EdgeSystemService edgeSystemService;
+
+    public void cleanup(TaskContext context) {
+        if (context == null) {
+            return;
+        }
+        context.setStopped(true);
+        List<String> robotIds = context.getRobotIds() == null || context.getRobotIds().isEmpty()
+                ? Collections.singletonList(context.getRobotId())
+                : context.getRobotIds();
+        robotIds.stream()
+                .filter(Objects::nonNull)
+                .map(String::trim)
+                .filter(robotId -> !robotId.isEmpty())
+                .distinct()
+                .forEach(this::cleanupRobot);
+    }
+
+    private void cleanupRobot(String robotId) {
+        try {
+            edgeMicrophoneService.abortWorkflowRecordings(robotId);
+        } catch (RuntimeException exception) {
+            log.warn("清理失败任务录音会话失败: robotId={}, error={}", robotId, exception.getMessage());
+        }
+        try {
+            edgeCameraService.abortWorkflowRecordings(robotId);
+        } catch (RuntimeException exception) {
+            log.warn("清理失败任务录像会话失败: robotId={}, error={}", robotId, exception.getMessage());
+        }
+        try {
+            edgeSystemService.stopAll(robotId);
+        } catch (RuntimeException exception) {
+            log.warn("停止失败任务设备失败: robotId={}, error={}", robotId, exception.getMessage());
+        }
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/control/FlowFailureCleanupServiceTest.java

@@ -0,0 +1,47 @@
+package com.cmvr.test.flow.control;
+
+import com.cmvr.edge.client.service.EdgeCameraService;
+import com.cmvr.edge.client.service.EdgeMicrophoneService;
+import com.cmvr.edge.client.service.EdgeSystemService;
+import com.cmvr.test.flow.context.TaskContext;
+import org.junit.Test;
+
+import java.lang.reflect.Proxy;
+import java.util.ArrayList;
+import java.util.List;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+public class FlowFailureCleanupServiceTest {
+
+    @Test
+    public void clearsMediaAndStopsEveryRobotOnFailure() {
+        List<String> calls = new ArrayList<>();
+        EdgeMicrophoneService microphone = proxy(EdgeMicrophoneService.class, "microphone", calls);
+        EdgeCameraService camera = proxy(EdgeCameraService.class, "camera", calls);
+        EdgeSystemService system = proxy(EdgeSystemService.class, "system", calls);
+        FlowFailureCleanupService service = new FlowFailureCleanupService(microphone, camera, system);
+
+        TaskContext context = new TaskContext();
+        context.setRobotIds(List.of("robot-1", "robot-2"));
+        service.cleanup(context);
+
+        assertTrue(context.isStopped());
+        assertEquals(List.of(
+                "microphone:robot-1", "camera:robot-1", "system:robot-1",
+                "microphone:robot-2", "camera:robot-2", "system:robot-2"), calls);
+    }
+
+    @SuppressWarnings("unchecked")
+    private <T> T proxy(Class<T> type, String name, List<String> calls) {
+        return (T) Proxy.newProxyInstance(type.getClassLoader(), new Class<?>[]{type},
+                (proxy, method, args) -> {
+                    if ("abortWorkflowRecordings".equals(method.getName())
+                            || "stopAll".equals(method.getName())) {
+                        calls.add(name + ":" + args[0]);
+                    }
+                    return null;
+                });
+    }
+}