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feat: 机械臂speedJ

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This commit is contained in:
stream 2025-10-17 13:42:51 +08:00
parent 8286d36968
commit 0cd4fac52b
4 changed files with 61 additions and 11 deletions
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18
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
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@ -1,7 +1,9 @@
package com.cmvr.web.controller.api;
import com.cmvr.common.core.domain.AjaxResult;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO;
import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
@ -10,7 +12,6 @@ import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
@Api(tags = "边缘--机械臂")
@ -23,16 +24,19 @@ public class EdgeHumanoidRobotController {
@ApiOperation("moveJ")
@PostMapping("/moveJ")
public AjaxResult expression(@RequestBody EdgeMoveJVO moveJVO) {
public AjaxResult moveJ(@RequestBody EdgeMoveJVO moveJVO) {
return AjaxResult.ok(edgeHumanoidRobotService.moveJ(moveJVO));
}
@ApiOperation("speedJ")
@PostMapping("/speedJ")
public AjaxResult speedJ(@RequestBody EdgeSpeedJVO speedJVO) {
return AjaxResult.ok(edgeHumanoidRobotService.speedJ(speedJVO));
}
@ApiOperation("获取关节状态")
@GetMapping("/getJointState")
public AjaxResult status(
@RequestParam("deviceId") String deviceId,
@RequestParam("terminalId") String terminalId
) {
return AjaxResult.ok(edgeHumanoidRobotService.getJointState(terminalId, deviceId));
public AjaxResult status(EdgeCommonVO vo) {
return AjaxResult.ok(edgeHumanoidRobotService.getJointState(vo));
}
}

22
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeSpeedJVO.java Normal file
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@ -0,0 +1,22 @@
package com.cmvr.edge.client.model.humanoid;
import cmvr.api.HumanoidRobotCommand;
import com.cmvr.edge.client.model.EdgeCommonVO;
import lombok.Data;
@Data
public class EdgeSpeedJVO extends EdgeCommonVO {
/** 关节角速度 (rad/s) */
private double vel;
/** 加速度 (rad/s^2) */
private double acc;
/** 关节名称 */
private String jointName;
/**
* 角度
*/
private HumanoidRobotCommand.RobotJointIndexDirection dir;
}

8
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
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@ -1,6 +1,8 @@
package com.cmvr.edge.client.service;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO;
/**
* 边缘系统机械臂服务
@ -14,6 +16,10 @@ public interface EdgeHumanoidRobotService {
/**
* 获取关节状态
*/
public String getJointState(String terminalId, String deviceId);
public String getJointState(EdgeCommonVO vo);
/**
* 旋转关节
*/
public String speedJ(EdgeSpeedJVO vo);
}

24
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
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@ -5,7 +5,9 @@ import cmvr.api.HumanoidRobotCommand;
import cmvr.api.HumanoidRobotServiceGrpc;
import com.alibaba.fastjson2.JSON;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO;
import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import lombok.RequiredArgsConstructor;
@ -47,15 +49,31 @@ public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
}
@Override
public String getJointState(String terminalId, String deviceId) {
public String getJointState(EdgeCommonVO vo) {
HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
grpcServiceManager.getGrpcClient(terminalId, HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
HumanoidRobotCommand.JointRequest build = HumanoidRobotCommand.JointRequest.newBuilder()
.setHeader(header)
.build();
HumanoidRobotCommand.JointResponse response = stub.getJointState(build);
return JSON.toJSONString(response.getStateList());
}
@Override
public String speedJ(EdgeSpeedJVO vo) {
HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
HumanoidRobotCommand.SpeedJ.Request request = HumanoidRobotCommand.SpeedJ.Request.newBuilder()
.setHeader(header)
.setAcc(vo.getAcc())
.setVel(vo.getVel())
.setDir(vo.getDir())
.build();
HumanoidRobotCommand.SpeedJ.Response response = stub.speedJ(request);
return JSON.toJSONString(response.getHeader());
}
}