fix: 触控接口及循环外输出参数引用

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/hlc/EdgeTouchVO.java

@@ -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;
+}

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

@@ -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);
 }

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

@@ -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());
+    }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContext.java

@@ -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
+        if (CollUtil.isEmpty(iterations)) {
-        String keyWithIterations = TaskKeyBuilder.buildKey(nodeId, iterations);
+            return nodeOutputs.get(TaskKeyBuilder.buildKey(nodeId, Collections.emptyList()));
-        JSONObject result = nodeOutputs.get(keyWithIterations);
-        if (ObjUtil.isNotEmpty(result)) {
-            return result;
         }
 
-        // 2. 回退匹配：循环外（全局）
+        // 从完整 iterations 开始逐级回退
-        String keyWithoutIterations = TaskKeyBuilder.buildKey(nodeId, Collections.emptyList());
+        for (int i = iterations.size(); i >= 0; i--) {
-        return nodeOutputs.get(keyWithoutIterations);
+            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();
     }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/support/FlowNodeParamPreparer.java

@@ -30,7 +30,6 @@ public class FlowNodeParamPreparer {
                               FlowNodeWrapper node,
                               TaskNodeExecuteMessage rootMessage) {
 
-
         JSONObject input = new JSONObject();
         TaskContext ctx = taskInstHolder.getContext(rootMessage.getInstId());
 

cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java

@@ -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);
+                EdgeTouchVO edgeTouchVO = payload.to(EdgeTouchVO.class);
-                return edgeHumanoidRobotService.moveJ(edgeMoveJVO);
+                return edgeHlcService.touch(edgeTouchVO);
 
             // ==== 语料 ====
             case VI_PLAY_CORPUS: