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fix: 触控接口及循环外输出参数引用

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This commit is contained in:
stream 2026-03-18 10:45:46 +08:00
parent cdaae95289
commit 195937bdf2
6 changed files with 66 additions and 14 deletions
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13
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/hlc/EdgeTouchVO.java Normal file
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@ -0,0 +1,13 @@
package com.cmvr.edge.client.model.hlc;
import com.cmvr.edge.client.model.EdgeCommonVO;
import lombok.Data;
import java.util.List;
@Data
public class EdgeTouchVO extends EdgeCommonVO {
private int x;
private int y;
private double maxForce;
}

7
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHlcService.java
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@ -1,6 +1,8 @@
package com.cmvr.edge.client.service;
import com.cmvr.edge.client.model.hlc.EdgeTouchVO;
import java.io.File;
public interface EdgeHlcService {
@ -13,4 +15,9 @@ public interface EdgeHlcService {
* 图片标注
*/
public void markPoint(File image, int x, int y);
/**
* 触控
*/
public String touch(EdgeTouchVO edgeTouchVO);
}

13
cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHlcServiceImpl.java
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@ -4,6 +4,7 @@ import cmvr.api.HlcCommand;
import cmvr.api.HlcServiceGrpc;
import com.alibaba.fastjson2.JSON;
import com.cmvr.edge.client.manage.GrpcServiceManager;
import com.cmvr.edge.client.model.hlc.EdgeTouchVO;
import com.cmvr.edge.client.service.EdgeHlcService;
import com.cmvr.edge.client.utils.EdgeCommonUtil;
import lombok.RequiredArgsConstructor;
@ -81,4 +82,16 @@ public class EdgeHlcServiceImpl implements EdgeHlcService {
}
log.info("图片标注成功:{}", outPath);
}
@Override
public String touch(EdgeTouchVO edgeTouchVO) {
HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getTerminalId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
.setHeader(EdgeCommonUtil.buildRequest(edgeTouchVO.getDeviceId()))
.setU(edgeTouchVO.getX())
.setV(edgeTouchVO.getY())
.setMaxForce(edgeTouchVO.getMaxForce())
.build();
return JSON.toJSONString(stub.touch(request).getHeader());
}
}

36
cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContext.java
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@ -1,5 +1,6 @@
package com.cmvr.test.flow.context;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.util.ObjUtil;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.test.enums.RunModeEnum;
@ -76,6 +77,11 @@ public class TaskContext {
*/
private final Map<String, JSONObject> nodeOutputs = new ConcurrentHashMap<>();
/**
* 存储节点输入参数（暂时覆盖存入）
*/
private final Map<String, JSONObject> nodeInputs = new ConcurrentHashMap<>();
/**
* 运行任务时的初始参数
*/
@ -116,15 +122,29 @@ public class TaskContext {
* 获取节点输出
*/
public JSONObject getNodeOutput(String nodeId, List<Integer> iterations) {
// 1. 精确匹配：带循环层级
String keyWithIterations = TaskKeyBuilder.buildKey(nodeId, iterations);
JSONObject result = nodeOutputs.get(keyWithIterations);
if (ObjUtil.isNotEmpty(result)) {
return result;
if (CollUtil.isEmpty(iterations)) {
return nodeOutputs.get(TaskKeyBuilder.buildKey(nodeId, Collections.emptyList()));
}
// 2. 回退匹配：循环外（全局）
String keyWithoutIterations = TaskKeyBuilder.buildKey(nodeId, Collections.emptyList());
return nodeOutputs.get(keyWithoutIterations);
// 从完整 iterations 开始逐级回退
for (int i = iterations.size(); i >= 0; i--) {
List<Integer> subIterations = iterations.subList(0, i);
String key = TaskKeyBuilder.buildKey(nodeId, subIterations);
JSONObject result = nodeOutputs.get(key);
if (ObjUtil.isNotEmpty(result)) {
return result;
}
}
return null;
}
/**
* 保存节点输入
*/
public void setNodeInput(String nodeId, JSONObject outputParams) {
nodeOutputs.put(nodeId, outputParams != null ? outputParams : new JSONObject());
updateTimestamp();
}
}

1
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/support/FlowNodeParamPreparer.java
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@ -30,7 +30,6 @@ public class FlowNodeParamPreparer {
FlowNodeWrapper node,
TaskNodeExecuteMessage rootMessage) {
JSONObject input = new JSONObject();
TaskContext ctx = taskInstHolder.getContext(rootMessage.getInstId());

10
cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java
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@ -6,10 +6,10 @@ import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.model.biohead.EdgeFacialExpressionVO;
import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
import com.cmvr.edge.client.model.hlc.EdgeTouchVO;
import com.cmvr.edge.client.service.EdgeBioHeadService;
import com.cmvr.edge.client.service.EdgeCameraService;
import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
import com.cmvr.edge.client.service.EdgeHlcService;
import com.cmvr.edge.client.service.EdgeMicrophoneService;
import com.cmvr.edge.client.service.EdgeSpeakerService;
import com.cmvr.test.enums.ActionEnum;
@ -26,7 +26,7 @@ public class FlowActionExecutorService {
private final EdgeBioHeadService edgeBioHeadService;
private final EdgeMicrophoneService edgeMicrophoneService;
private final EdgeSpeakerService edgeSpeakerService;
private final EdgeHumanoidRobotService edgeHumanoidRobotService;
private final EdgeHlcService edgeHlcService;
public String actionExecute(FlowActionRequestVO req) {
@ -81,8 +81,8 @@ public class FlowActionExecutorService {
// ==== 触控 ====
case TOUCH:
EdgeMoveJVO edgeMoveJVO = payload.to(EdgeMoveJVO.class);
return edgeHumanoidRobotService.moveJ(edgeMoveJVO);
EdgeTouchVO edgeTouchVO = payload.to(EdgeTouchVO.class);
return edgeHlcService.touch(edgeTouchVO);
// ==== 语料 ====
case VI_PLAY_CORPUS: