feat(arm): 添加机械臂故障清除功能

- 在 ArmService 中新增 clearFault RPC 方法
- 生成对应的 gRPC 客户端和服务端方法实现
- 在 EdgeArmController 中添加 /clearFault 接口
- 实现 EdgeArmService 的 clearFault 业务逻辑
- 更新方法 ID 映射和协议缓冲区描述符
- 添加同步和异步调用支持

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

@@ -43,6 +43,16 @@ public class EdgeArmController {
         return AjaxResult.ok();
     }
 
+    /**
+     * 清除机械臂故障状态。
+     */
+    @ApiOperation("清除故障")
+    @GetMapping("/clearFault")
+    public AjaxResult clearFault(EdgeCommonVO vo) {
+        edgeArmService.clearFault(vo);
+        return AjaxResult.ok();
+    }
+
     @ApiOperation("关节空间运动")
     @PostMapping("/moveJ")
     public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) {

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

@@ -30,6 +30,14 @@ public interface EdgeArmService {
      */
     Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO);
 
+    /**
+     * 清除机械臂故障状态。
+     *
+     * @param edgeCommonVO 边缘设备通用参数，包含 terminalId 和 deviceId
+     * @return 机器人终端返回的通用反馈
+     */
+    Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO);
+
     /**
      * 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/impl/EdgeArmServiceImpl.java

@@ -44,6 +44,14 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         return executeGrpcCall(() -> stub.torqueOn(request));
     }
 
+    @Override
+    public Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        return executeGrpcCall(() -> stub.clearFault(request));
+    }
+
     @Override
     public ArmCommand.MoveJ.Response moveJ(EdgeCommonVO edgeCommonVO, double[] target, Double velocity,
                                             Double acceleration, Double blendRadius,

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceGrpc.java

@@ -77,6 +77,37 @@ public final class ArmServiceGrpc {
     return getTorqueOnMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
+      cmvr.api.Common.CommandHeader.Feedback> getClearFaultMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "clearFault",
+      requestType = cmvr.api.Common.CommandHeader.Request.class,
+      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
+      cmvr.api.Common.CommandHeader.Feedback> getClearFaultMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getClearFaultMethod;
+    if ((getClearFaultMethod = ArmServiceGrpc.getClearFaultMethod) == null) {
+      synchronized (ArmServiceGrpc.class) {
+        if ((getClearFaultMethod = ArmServiceGrpc.getClearFaultMethod) == null) {
+          ArmServiceGrpc.getClearFaultMethod = getClearFaultMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "clearFault"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("clearFault"))
+              .build();
+        }
+      }
+    }
+    return getClearFaultMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<cmvr.api.ArmCommand.MoveJ.Request,
       cmvr.api.ArmCommand.MoveJ.Response> getMoveJMethod;
 
@@ -480,6 +511,13 @@ public final class ArmServiceGrpc {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver);
     }
 
+    /**
+     */
+    public void clearFault(cmvr.api.Common.CommandHeader.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getClearFaultMethod(), responseObserver);
+    }
+
     /**
      */
     public void moveJ(cmvr.api.ArmCommand.MoveJ.Request request,
@@ -573,6 +611,13 @@ public final class ArmServiceGrpc {
                 cmvr.api.Common.CommandHeader.Request,
                 cmvr.api.Common.CommandHeader.Feedback>(
                   this, METHODID_TORQUE_ON)))
+          .addMethod(
+            getClearFaultMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.Common.CommandHeader.Request,
+                cmvr.api.Common.CommandHeader.Feedback>(
+                  this, METHODID_CLEAR_FAULT)))
           .addMethod(
             getMoveJMethod(),
             io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -684,6 +729,14 @@ public final class ArmServiceGrpc {
           getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     */
+    public void clearFault(cmvr.api.Common.CommandHeader.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getClearFaultMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      */
     public void moveJ(cmvr.api.ArmCommand.MoveJ.Request request,
@@ -801,6 +854,13 @@ public final class ArmServiceGrpc {
           getChannel(), getTorqueOnMethod(), getCallOptions(), request);
     }
 
+    /**
+     */
+    public cmvr.api.Common.CommandHeader.Feedback clearFault(cmvr.api.Common.CommandHeader.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getClearFaultMethod(), getCallOptions(), request);
+    }
+
     /**
      */
     public cmvr.api.ArmCommand.MoveJ.Response moveJ(cmvr.api.ArmCommand.MoveJ.Request request) {
@@ -909,6 +969,14 @@ public final class ArmServiceGrpc {
           getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request);
     }
 
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> clearFault(
+        cmvr.api.Common.CommandHeader.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getClearFaultMethod(), getCallOptions()), request);
+    }
+
     /**
      */
     public com.google.common.util.concurrent.ListenableFuture<cmvr.api.ArmCommand.MoveJ.Response> moveJ(
@@ -1000,17 +1068,18 @@ public final class ArmServiceGrpc {
 
   private static final int METHODID_TORQUE_OFF = 0;
   private static final int METHODID_TORQUE_ON = 1;
-  private static final int METHODID_MOVE_J = 2;
+  private static final int METHODID_CLEAR_FAULT = 2;
-  private static final int METHODID_MOVE_L = 3;
+  private static final int METHODID_MOVE_J = 3;
-  private static final int METHODID_SPEED_J = 4;
+  private static final int METHODID_MOVE_L = 4;
-  private static final int METHODID_SPEED_L = 5;
+  private static final int METHODID_SPEED_J = 5;
-  private static final int METHODID_SERVO_J = 6;
+  private static final int METHODID_SPEED_L = 6;
-  private static final int METHODID_STOP_MOTION = 7;
+  private static final int METHODID_SERVO_J = 7;
-  private static final int METHODID_GET_JOINT_STATE = 8;
+  private static final int METHODID_STOP_MOTION = 8;
-  private static final int METHODID_GET_POSE = 9;
+  private static final int METHODID_GET_JOINT_STATE = 9;
-  private static final int METHODID_CALIBRATE_ZERO_Q = 10;
+  private static final int METHODID_GET_POSE = 10;
-  private static final int METHODID_GET_POSE_MATRIX = 11;
+  private static final int METHODID_CALIBRATE_ZERO_Q = 11;
-  private static final int METHODID_COMPUTE_FORWARD_KINEMATICS = 12;
+  private static final int METHODID_GET_POSE_MATRIX = 12;
+  private static final int METHODID_COMPUTE_FORWARD_KINEMATICS = 13;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -1037,6 +1106,10 @@ public final class ArmServiceGrpc {
           serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request,
               (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
           break;
+        case METHODID_CLEAR_FAULT:
+          serviceImpl.clearFault((cmvr.api.Common.CommandHeader.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
+          break;
         case METHODID_MOVE_J:
           serviceImpl.moveJ((cmvr.api.ArmCommand.MoveJ.Request) request,
               (io.grpc.stub.StreamObserver<cmvr.api.ArmCommand.MoveJ.Response>) responseObserver);
@@ -1144,6 +1217,7 @@ public final class ArmServiceGrpc {
               .setSchemaDescriptor(new ArmServiceFileDescriptorSupplier())
               .addMethod(getTorqueOffMethod())
               .addMethod(getTorqueOnMethod())
+              .addMethod(getClearFaultMethod())
               .addMethod(getMoveJMethod())
               .addMethod(getMoveLMethod())
               .addMethod(getSpeedJMethod())

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java

@@ -25,32 +25,34 @@ public final class ArmServiceOuterClass {
     java.lang.String[] descriptorData = {
       "\n\032cmvr/api/arm_service.proto\022\010cmvr.api\032\025" +
       "cmvr/api/common.proto\032\032cmvr/api/arm_comm" +
-      "and.proto2\325\007\n\nArmService\022N\n\ttorqueOff\022\037." +
+      "and.proto2\246\010\n\nArmService\022N\n\ttorqueOff\022\037." +
       "cmvr.api.CommandHeader.Request\032 .cmvr.ap" +
       "i.CommandHeader.Feedback\022M\n\010torqueOn\022\037.c" +
       "mvr.api.CommandHeader.Request\032 .cmvr.api" +
-      ".CommandHeader.Feedback\022:\n\005moveJ\022\027.cmvr." +
+      ".CommandHeader.Feedback\022O\n\nclearFault\022\037." +
-      "api.MoveJ.Request\032\030.cmvr.api.MoveJ.Respo" +
+      "cmvr.api.CommandHeader.Request\032 .cmvr.ap" +
-      "nse\022:\n\005moveL\022\027.cmvr.api.MoveL.Request\032\030." +
+      "i.CommandHeader.Feedback\022:\n\005moveJ\022\027.cmvr" +
-      "cmvr.api.MoveL.Response\022=\n\006speedJ\022\030.cmvr" +
+      ".api.MoveJ.Request\032\030.cmvr.api.MoveJ.Resp" +
-      ".api.SpeedJ.Request\032\031.cmvr.api.SpeedJ.Re" +
+      "onse\022:\n\005moveL\022\027.cmvr.api.MoveL.Request\032\030" +
-      "sponse\022=\n\006speedL\022\030.cmvr.api.SpeedL.Reque" +
+      ".cmvr.api.MoveL.Response\022=\n\006speedJ\022\030.cmv" +
-      "st\032\031.cmvr.api.SpeedL.Response\022=\n\006servoJ\022" +
+      "r.api.SpeedJ.Request\032\031.cmvr.api.SpeedJ.R" +
-      "\030.cmvr.api.ServoJ.Request\032\031.cmvr.api.Ser" +
+      "esponse\022=\n\006speedL\022\030.cmvr.api.SpeedL.Requ" +
-      "voJ.Response\022O\n\nstopMotion\022\037.cmvr.api.Co" +
+      "est\032\031.cmvr.api.SpeedL.Response\022=\n\006servoJ" +
-      "mmandHeader.Request\032 .cmvr.api.CommandHe" +
+      "\022\030.cmvr.api.ServoJ.Request\032\031.cmvr.api.Se" +
-      "ader.Feedback\022@\n\rgetJointState\022\026.cmvr.ap" +
+      "rvoJ.Response\022O\n\nstopMotion\022\037.cmvr.api.C" +
-      "i.JointRequest\032\027.cmvr.api.JointResponse\022" +
+      "ommandHeader.Request\032 .cmvr.api.CommandH" +
-      "@\n\007getPose\022\031.cmvr.api.GetPose.Request\032\032." +
+      "eader.Feedback\022@\n\rgetJointState\022\026.cmvr.a" +
-      "cmvr.api.GetPose.Response\022U\n\016calibrateZe" +
+      "pi.JointRequest\032\027.cmvr.api.JointResponse" +
-      "roQ\022 .cmvr.api.CalibrateZeroQ.Request\032!." +
+      "\022@\n\007getPose\022\031.cmvr.api.GetPose.Request\032\032" +
-      "cmvr.api.CalibrateZeroQ.Response\022R\n\rgetP" +
+      ".cmvr.api.GetPose.Response\022U\n\016calibrateZ" +
-      "oseMatrix\022\037.cmvr.api.GetPoseMatrix.Reque" +
+      "eroQ\022 .cmvr.api.CalibrateZeroQ.Request\032!" +
-      "st\032 .cmvr.api.GetPoseMatrix.Response\022s\n\030" +
+      ".cmvr.api.CalibrateZeroQ.Response\022R\n\rget" +
-      "computeForwardKinematics\022*.cmvr.api.Comp" +
+      "PoseMatrix\022\037.cmvr.api.GetPoseMatrix.Requ" +
-      "uteForwardKinematics.Request\032+.cmvr.api." +
+      "est\032 .cmvr.api.GetPoseMatrix.Response\022s\n" +
-      "ComputeForwardKinematics.Responseb\006proto" +
+      "\030computeForwardKinematics\022*.cmvr.api.Com" +
-      "3"
+      "puteForwardKinematics.Request\032+.cmvr.api" +
+      ".ComputeForwardKinematics.Responseb\006prot" +
+      "o3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,

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

@@ -8,6 +8,7 @@ import "cmvr/api/arm_command.proto";
 service ArmService {
   rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+  rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
   rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
   rpc moveL(MoveL.Request) returns (MoveL.Response);
   rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);