feat: 机械臂speedJ

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

@@ -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(
+    public AjaxResult status(EdgeCommonVO vo) {
-            @RequestParam("deviceId") String deviceId,
+        return AjaxResult.ok(edgeHumanoidRobotService.getJointState(vo));
-            @RequestParam("terminalId") String terminalId
-    ) {
-        return AjaxResult.ok(edgeHumanoidRobotService.getJointState(terminalId, deviceId));
     }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeSpeedJVO.java

@@ -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;
+}

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

@@ -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);
 }

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

@@ -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());
+    }
 }