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feat(arm): 添加机械臂故障清除功能

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- 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
This commit is contained in:
lixiaolong 2026-07-21 10:19:19 +08:00
parent 9f462e41fc
commit 152cae0323
6 changed files with 137 additions and 34 deletions
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10
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java
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@ -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) {

8
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java
View File

@ -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

8
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java
View File

@ -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,

96
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceGrpc.java
View File

@ -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_MOVE_L = 3;
private static final int METHODID_SPEED_J = 4;
private static final int METHODID_SPEED_L = 5;
private static final int METHODID_SERVO_J = 6;
private static final int METHODID_STOP_MOTION = 7;
private static final int METHODID_GET_JOINT_STATE = 8;
private static final int METHODID_GET_POSE = 9;
private static final int METHODID_CALIBRATE_ZERO_Q = 10;
private static final int METHODID_GET_POSE_MATRIX = 11;
private static final int METHODID_COMPUTE_FORWARD_KINEMATICS = 12;
private static final int METHODID_CLEAR_FAULT = 2;
private static final int METHODID_MOVE_J = 3;
private static final int METHODID_MOVE_L = 4;
private static final int METHODID_SPEED_J = 5;
private static final int METHODID_SPEED_L = 6;
private static final int METHODID_SERVO_J = 7;
private static final int METHODID_STOP_MOTION = 8;
private static final int METHODID_GET_JOINT_STATE = 9;
private static final int METHODID_GET_POSE = 10;
private static final int METHODID_CALIBRATE_ZERO_Q = 11;
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())

48
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java
View File

@ -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." +
"api.MoveJ.Request\032\030.cmvr.api.MoveJ.Respo" +
"nse\022:\n\005moveL\022\027.cmvr.api.MoveL.Request\032\030." +
"cmvr.api.MoveL.Response\022=\n\006speedJ\022\030.cmvr" +
".api.SpeedJ.Request\032\031.cmvr.api.SpeedJ.Re" +
"sponse\022=\n\006speedL\022\030.cmvr.api.SpeedL.Reque" +
"st\032\031.cmvr.api.SpeedL.Response\022=\n\006servoJ\022" +
"\030.cmvr.api.ServoJ.Request\032\031.cmvr.api.Ser" +
"voJ.Response\022O\n\nstopMotion\022\037.cmvr.api.Co" +
"mmandHeader.Request\032 .cmvr.api.CommandHe" +
"ader.Feedback\022@\n\rgetJointState\022\026.cmvr.ap" +
"i.JointRequest\032\027.cmvr.api.JointResponse\022" +
"@\n\007getPose\022\031.cmvr.api.GetPose.Request\032\032." +
"cmvr.api.GetPose.Response\022U\n\016calibrateZe" +
"roQ\022 .cmvr.api.CalibrateZeroQ.Request\032!." +
"cmvr.api.CalibrateZeroQ.Response\022R\n\rgetP" +
"oseMatrix\022\037.cmvr.api.GetPoseMatrix.Reque" +
"st\032 .cmvr.api.GetPoseMatrix.Response\022s\n\030" +
"computeForwardKinematics\022*.cmvr.api.Comp" +
"uteForwardKinematics.Request\032+.cmvr.api." +
"ComputeForwardKinematics.Responseb\006proto" +
"3"
".CommandHeader.Feedback\022O\n\nclearFault\022\037." +
"cmvr.api.CommandHeader.Request\032 .cmvr.ap" +
"i.CommandHeader.Feedback\022:\n\005moveJ\022\027.cmvr" +
".api.MoveJ.Request\032\030.cmvr.api.MoveJ.Resp" +
"onse\022:\n\005moveL\022\027.cmvr.api.MoveL.Request\032\030" +
".cmvr.api.MoveL.Response\022=\n\006speedJ\022\030.cmv" +
"r.api.SpeedJ.Request\032\031.cmvr.api.SpeedJ.R" +
"esponse\022=\n\006speedL\022\030.cmvr.api.SpeedL.Requ" +
"est\032\031.cmvr.api.SpeedL.Response\022=\n\006servoJ" +
"\022\030.cmvr.api.ServoJ.Request\032\031.cmvr.api.Se" +
"rvoJ.Response\022O\n\nstopMotion\022\037.cmvr.api.C" +
"ommandHeader.Request\032 .cmvr.api.CommandH" +
"eader.Feedback\022@\n\rgetJointState\022\026.cmvr.a" +
"pi.JointRequest\032\027.cmvr.api.JointResponse" +
"\022@\n\007getPose\022\031.cmvr.api.GetPose.Request\032\032" +
".cmvr.api.GetPose.Response\022U\n\016calibrateZ" +
"eroQ\022 .cmvr.api.CalibrateZeroQ.Request\032!" +
".cmvr.api.CalibrateZeroQ.Response\022R\n\rget" +
"PoseMatrix\022\037.cmvr.api.GetPoseMatrix.Requ" +
"est\032 .cmvr.api.GetPoseMatrix.Response\022s\n" +
"\030computeForwardKinematics\022*.cmvr.api.Com" +
"puteForwardKinematics.Request\032+.cmvr.api" +
".ComputeForwardKinematics.Responseb\006prot" +
"o3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,

1
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto
View File

@ -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);