feat: 接入边缘系统触控，图片中指定坐标点进行标注

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

@@ -0,0 +1,43 @@
+package com.cmvr.web.controller;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.service.EdgeHlcService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RequestPart;
+import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.io.File;
+import java.io.IOException;
+
+@Api(tags = "通用--测试")
+@RestController
+@RequestMapping("/common/test")
+@RequiredArgsConstructor
+public class TestController extends BaseController {
+
+    private final EdgeHlcService edgeHlcService;
+
+    @ApiOperation("图片标注")
+    @PostMapping("/mark")
+    public AjaxResult mark(
+            @RequestPart("image") MultipartFile image,
+            @RequestParam("x") Integer x,
+            @RequestParam("y") Integer y
+    ) {
+        try {
+            File tempFile = File.createTempFile("upload_", "_" + image.getOriginalFilename());
+            image.transferTo(tempFile);
+            edgeHlcService.markPoint(tempFile,x,y);
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        return AjaxResult.ok();
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java

@@ -56,6 +56,7 @@ public class GrpcServiceManager {
         clientFactories.put(DexHandServiceGrpc.DexHandServiceStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newStub));
         // 注册机械臂服务的stub
         clientFactories.put(HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class, new GrpcClientFactory<>(HumanoidRobotServiceGrpc::newBlockingStub));
+        clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
     }
 
 
@@ -81,6 +82,7 @@ public class GrpcServiceManager {
         String grpcAddress = getGrpcServiceAddress(terminalId);
         return ManagedChannelBuilder.forTarget(grpcAddress)
                 .usePlaintext()
+                .maxInboundMessageSize(50 * 1024 * 1024) // 50MB
                 .build();
     }
 

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

@@ -0,0 +1,16 @@
+package com.cmvr.edge.client.service;
+
+
+import java.io.File;
+
+public interface EdgeHlcService {
+    /**
+     * 触控
+     */
+    public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce);
+
+    /**
+     * 图片标注
+     */
+    public void markPoint(File image, int x, int y);
+}

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

@@ -161,29 +161,29 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
         // 彩色图和深度图
         CameraCommand.FrameData frame = feedback.getColorFrame();
-        CameraCommand.FrameData depthFrame = feedback.getDepthFrame();
+//        CameraCommand.FrameData depthFrame = feedback.getDepthFrame();
         if (!feedback.hasColorFrame() || frame.getWidth() <= 0 || frame.getHeight() <= 0) {
             throw new GlobalException("响应图片数据无效");
         }
         String filePath = saveImage(frame.getData(), frame.getWidth(), frame.getHeight(), false);
-        String deepFilePath = saveImage(depthFrame.getData(), depthFrame.getWidth(), depthFrame.getHeight(), true);
+//        String deepFilePath = saveImage(depthFrame.getData(), depthFrame.getWidth(), depthFrame.getHeight(), true);
-        List<String> result = new ArrayList<>();
+//        List<String> result = new ArrayList<>();
         try {
             MultipartFile file = convertFileToMultipartFile(filePath);
-            MultipartFile deepFile = convertFileToMultipartFile(deepFilePath);
+//            MultipartFile deepFile = convertFileToMultipartFile(deepFilePath);
-            String imageUrl = sysFileService.uploadFile(file, FileType.IMAGE.code());
+            return sysFileService.uploadFile(file, FileType.IMAGE.code());
-            result.add(imageUrl);
+//            result.add(imageUrl);
-            String deepImageUrl = sysFileService.uploadFile(deepFile, FileType.IMAGE.code());
+//            String deepImageUrl = sysFileService.uploadFile(deepFile, FileType.IMAGE.code());
-            result.add(deepImageUrl);
+//            result.add(deepImageUrl);
         } catch (IOException e) {
             throw new GlobalException("图片上传失败: " + e.getMessage());
         } finally {
             deleteTempFile(filePath);
-            deleteTempFile(deepFilePath);
+//            deleteTempFile(deepFilePath);
 //             todo 暂时不关闭摄像头
 //            stop(terminalId, deviceId);
         }
-        return JSON.toJSONString(result);
+//        return JSON.toJSONString(result);
     }
 
     // 缓冲区和收集状态

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

@@ -0,0 +1,84 @@
+package com.cmvr.edge.client.service.impl;
+
+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.service.EdgeHlcService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.imageio.ImageIO;
+import java.awt.*;
+import java.awt.image.BufferedImage;
+import java.io.File;
+import java.io.IOException;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeHlcServiceImpl implements EdgeHlcService {
+
+    private final GrpcServiceManager grpcServiceManager;
+
+    @Override
+    public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce) {
+        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, HlcServiceGrpc.HlcServiceBlockingStub.class);
+        HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
+                .setHeader(EdgeCommonUtil.buildRequest(deviceId))
+                .setU(x)
+                .setV(y)
+                .setMaxForce(maxForce)
+                .build();
+        String response = JSON.toJSONString(stub.touch(request).getHeader());
+        log.info("触控调用成功，响应结果:{}", response);
+        markPoint(image,x,y);
+        return response;
+    }
+
+    /**
+     * 在图片中指定坐标点进行标注
+     *
+     * @param imageFile 原始图片文件
+     * @param x         坐标 X
+     * @param y         坐标 Y
+     */
+    @Override
+    public void markPoint(File imageFile, int x, int y) {
+        // 读入图片
+        BufferedImage image;
+        try {
+            image = ImageIO.read(imageFile);
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        Graphics2D g = image.createGraphics();
+
+        // 抗锯齿
+        g.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
+
+        // 设置画笔颜色
+        g.setColor(Color.GREEN);
+
+        // 半径
+        int radius = 5;
+        // 画实心圆
+        g.fillOval(x - radius, y - radius, radius * 2, radius * 2);
+
+        g.dispose();
+
+        // 输出文件
+        String outPath = imageFile.getParent() + File.separator +
+                "marked_" + imageFile.getName();
+        File outFile = new File(outPath);
+
+        try {
+            ImageIO.write(image, "png", outFile);
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        log.info("图片标注成功:{}", outPath);
+    }
+}

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

@@ -0,0 +1,276 @@
+package cmvr.api;
+
+import static io.grpc.MethodDescriptor.generateFullMethodName;
+
+/**
+ */
+@javax.annotation.Generated(
+    value = "by gRPC proto compiler (version 1.52.0)",
+    comments = "Source: cmvr/api/hlc_service.proto")
+@io.grpc.stub.annotations.GrpcGenerated
+public final class HlcServiceGrpc {
+
+  private HlcServiceGrpc() {}
+
+  public static final String SERVICE_NAME = "cmvr.api.HlcService";
+
+  // Static method descriptors that strictly reflect the proto.
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.HlcCommand.Touch.Request,
+      cmvr.api.HlcCommand.Touch.Response> getTouchMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "touch",
+      requestType = cmvr.api.HlcCommand.Touch.Request.class,
+      responseType = cmvr.api.HlcCommand.Touch.Response.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.HlcCommand.Touch.Request,
+      cmvr.api.HlcCommand.Touch.Response> getTouchMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.HlcCommand.Touch.Request, cmvr.api.HlcCommand.Touch.Response> getTouchMethod;
+    if ((getTouchMethod = HlcServiceGrpc.getTouchMethod) == null) {
+      synchronized (HlcServiceGrpc.class) {
+        if ((getTouchMethod = HlcServiceGrpc.getTouchMethod) == null) {
+          HlcServiceGrpc.getTouchMethod = getTouchMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.HlcCommand.Touch.Request, cmvr.api.HlcCommand.Touch.Response>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "touch"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.HlcCommand.Touch.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.HlcCommand.Touch.Response.getDefaultInstance()))
+              .setSchemaDescriptor(new HlcServiceMethodDescriptorSupplier("touch"))
+              .build();
+        }
+      }
+    }
+    return getTouchMethod;
+  }
+
+  /**
+   * Creates a new async stub that supports all call types for the service
+   */
+  public static HlcServiceStub newStub(io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<HlcServiceStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<HlcServiceStub>() {
+        @java.lang.Override
+        public HlcServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new HlcServiceStub(channel, callOptions);
+        }
+      };
+    return HlcServiceStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
+   */
+  public static HlcServiceBlockingStub newBlockingStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<HlcServiceBlockingStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<HlcServiceBlockingStub>() {
+        @java.lang.Override
+        public HlcServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new HlcServiceBlockingStub(channel, callOptions);
+        }
+      };
+    return HlcServiceBlockingStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new ListenableFuture-style stub that supports unary calls on the service
+   */
+  public static HlcServiceFutureStub newFutureStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<HlcServiceFutureStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<HlcServiceFutureStub>() {
+        @java.lang.Override
+        public HlcServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new HlcServiceFutureStub(channel, callOptions);
+        }
+      };
+    return HlcServiceFutureStub.newStub(factory, channel);
+  }
+
+  /**
+   */
+  public static abstract class HlcServiceImplBase implements io.grpc.BindableService {
+
+    /**
+     */
+    public void touch(cmvr.api.HlcCommand.Touch.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.HlcCommand.Touch.Response> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTouchMethod(), responseObserver);
+    }
+
+    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
+      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
+          .addMethod(
+            getTouchMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.HlcCommand.Touch.Request,
+                cmvr.api.HlcCommand.Touch.Response>(
+                  this, METHODID_TOUCH)))
+          .build();
+    }
+  }
+
+  /**
+   */
+  public static final class HlcServiceStub extends io.grpc.stub.AbstractAsyncStub<HlcServiceStub> {
+    private HlcServiceStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected HlcServiceStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new HlcServiceStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public void touch(cmvr.api.HlcCommand.Touch.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.HlcCommand.Touch.Response> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getTouchMethod(), getCallOptions()), request, responseObserver);
+    }
+  }
+
+  /**
+   */
+  public static final class HlcServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<HlcServiceBlockingStub> {
+    private HlcServiceBlockingStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected HlcServiceBlockingStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new HlcServiceBlockingStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public cmvr.api.HlcCommand.Touch.Response touch(cmvr.api.HlcCommand.Touch.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getTouchMethod(), getCallOptions(), request);
+    }
+  }
+
+  /**
+   */
+  public static final class HlcServiceFutureStub extends io.grpc.stub.AbstractFutureStub<HlcServiceFutureStub> {
+    private HlcServiceFutureStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected HlcServiceFutureStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new HlcServiceFutureStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HlcCommand.Touch.Response> touch(
+        cmvr.api.HlcCommand.Touch.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getTouchMethod(), getCallOptions()), request);
+    }
+  }
+
+  private static final int METHODID_TOUCH = 0;
+
+  private static final class MethodHandlers<Req, Resp> implements
+      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
+    private final HlcServiceImplBase serviceImpl;
+    private final int methodId;
+
+    MethodHandlers(HlcServiceImplBase serviceImpl, int methodId) {
+      this.serviceImpl = serviceImpl;
+      this.methodId = methodId;
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
+      switch (methodId) {
+        case METHODID_TOUCH:
+          serviceImpl.touch((cmvr.api.HlcCommand.Touch.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.HlcCommand.Touch.Response>) responseObserver);
+          break;
+        default:
+          throw new AssertionError();
+      }
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public io.grpc.stub.StreamObserver<Req> invoke(
+        io.grpc.stub.StreamObserver<Resp> responseObserver) {
+      switch (methodId) {
+        default:
+          throw new AssertionError();
+      }
+    }
+  }
+
+  private static abstract class HlcServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
+    HlcServiceBaseDescriptorSupplier() {}
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
+      return cmvr.api.HlcServiceOuterClass.getDescriptor();
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
+      return getFileDescriptor().findServiceByName("HlcService");
+    }
+  }
+
+  private static final class HlcServiceFileDescriptorSupplier
+      extends HlcServiceBaseDescriptorSupplier {
+    HlcServiceFileDescriptorSupplier() {}
+  }
+
+  private static final class HlcServiceMethodDescriptorSupplier
+      extends HlcServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
+    private final String methodName;
+
+    HlcServiceMethodDescriptorSupplier(String methodName) {
+      this.methodName = methodName;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
+      return getServiceDescriptor().findMethodByName(methodName);
+    }
+  }
+
+  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
+
+  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
+    io.grpc.ServiceDescriptor result = serviceDescriptor;
+    if (result == null) {
+      synchronized (HlcServiceGrpc.class) {
+        result = serviceDescriptor;
+        if (result == null) {
+          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
+              .setSchemaDescriptor(new HlcServiceFileDescriptorSupplier())
+              .addMethod(getTouchMethod())
+              .build();
+        }
+      }
+    }
+    return result;
+  }
+}

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

@@ -0,0 +1,40 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/hlc_service.proto
+
+package cmvr.api;
+
+public final class HlcServiceOuterClass {
+  private HlcServiceOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/api/hlc_service.proto\022\010cmvr.api\032\032" +
+      "cmvr/api/hlc_command.proto2H\n\nHlcService" +
+      "\022:\n\005touch\022\027.cmvr.api.Touch.Request\032\030.cmv" +
+      "r.api.Touch.Responseb\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.HlcCommand.getDescriptor(),
+        });
+    cmvr.api.HlcCommand.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}

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

@@ -0,0 +1,24 @@
+syntax = "proto3";
+
+import "cmvr/api/common.proto";
+
+package cmvr.api;
+
+
+message Touch{
+  message Request{
+    CommandHeader.Request header = 1;
+    // 触点坐标，unit: ms
+    int32 u = 2;   // 水平坐标
+    int32 v = 3;   // 垂直坐标
+
+    // 触控时允许的最大作用力，unit: N
+    double max_force = 4;
+  }
+
+  message Response{
+    CommandHeader.Feedback header= 1;
+  }
+
+}
+

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

@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+import "cmvr/api/hlc_command.proto";
+
+package cmvr.api;
+
+service HlcService{
+  rpc touch(Touch.Request) returns (Touch.Response);
+}

cmvr-iot-api/cmvr-iot-llm/src/main/java/com/cmvr/llm/service/impl/LLMTouchServiceImpl.java

@@ -1,6 +1,8 @@
 package com.cmvr.llm.service.impl;
 
 import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.io.IoUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONObject;
@@ -8,12 +10,14 @@ import com.cmvr.common.exception.GlobalException;
 import com.cmvr.common.utils.http.CallAPIUtil;
 import com.cmvr.llm.config.APIProperties;
 import com.cmvr.llm.service.LLMTouchService;
+import com.cmvr.llm.util.LargeModelFileUploadUtil;
 import com.cmvr.system.domain.vo.CarIcon;
 import com.cmvr.system.service.CarPathFinderService;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
 import java.io.File;
+import java.io.InputStream;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -95,26 +99,29 @@ public class LLMTouchServiceImpl implements LLMTouchService {
         String iconName = nextStepIcon.getIconName();
         try {
             // 上传截图
-//            byte[] imageBytes = FileUtil.readBytes(image);
+            byte[] imageBytes = FileUtil.readBytes(image);
-//            imageUrl = LargeModelFileUploadUtil.uploadFile(imageBytes);
+            imageUrl = LargeModelFileUploadUtil.uploadFile(imageBytes);
-//
+
-//            // 拼接图标路径，例如 icons/honda/sedan/空调控制.png
+            // 拼接图标路径，例如 icons/honda/sedan/空调控制.png
-//            String iconPath = StrUtil.format("icon/{}/{}/{}.png", manufacturer, vehType, iconName);
+            String iconPath = StrUtil.format("icon/{}/{}/{}.png", manufacturer, vehType, iconName);
-//
+
-//            // 从 resources 加载图标文件
+            // 从 resources 加载图标文件
-//            InputStream iconStream = this.getClass().getClassLoader().getResourceAsStream(iconPath);
+            InputStream iconStream = this.getClass().getClassLoader().getResourceAsStream(iconPath);
-//            if (iconStream == null) {
+            if (iconStream == null) {
-//                throw new GlobalException("未找到图标资源文件：" + iconPath);
+                throw new GlobalException("未找到图标资源文件：" + iconPath);
-//            }
+            }
-//
+
-//            // 上传图标
+            // 上传图标
-//            byte[] iconBytes = IoUtil.readBytes(iconStream);
+            byte[] iconBytes = IoUtil.readBytes(iconStream);
-//            iconImageUrl = LargeModelFileUploadUtil.uploadFile(iconBytes);
+            // 设置的icon
-            imageUrl = "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload/full/5d/a3/07244360c69636d5c146e5470d8d5ddf12ceed2643ffd892b7b7a5c4aaeb&IsAnonymous=true";
+//            iconImageUrl = "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload%2Ffull%2F8f%2F1a%2F1b0b791926b89d1c748c9cb1280bb3e4697543b3a715e692565107442c9c&IsAnonymous=true";
-            iconImageUrl =
+            iconImageUrl = LargeModelFileUploadUtil.uploadFile(iconBytes);
-                    iconName.equals("驾驶偏好") ?
+//            imageUrl = "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload%2Ffull%2F88%2F99%2Fe4452191c9706d107c17b27dc0a08e13a3a1a85a261eec802ae85c11f26c&IsAnonymous=true";
-                            "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload/full/a4/1b/6a7319709844c0f483a1d7adcfdbbff478ff5e34bed9ecff5d8fd407f3ac&IsAnonymous=true"
+//            imageUrl = "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload/full/5d/a3/07244360c69636d5c146e5470d8d5ddf12ceed2643ffd892b7b7a5c4aaeb&IsAnonymous=true";
-                            : "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload%2Ffull%2Ff1%2Fb9%2F8fb5f96f0299ccef60511eb8f7cfdcec890e563bc8e00854e63484086953&IsAnonymous=true";
+//            iconImageUrl =
+//                    iconName.equals("驾驶偏好") ?
+//                            "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload/full/a4/1b/6a7319709844c0f483a1d7adcfdbbff478ff5e34bed9ecff5d8fd407f3ac&IsAnonymous=true"
+//                            : "https://aiagentplatform.cmft.com/api/proxy/down?Action=Download&Version=2022-01-01&Path=upload%2Ffull%2Ff1%2Fb9%2F8fb5f96f0299ccef60511eb8f7cfdcec890e563bc8e00854e63484086953&IsAnonymous=true";
         } catch (Exception e) {
             throw new GlobalException("上传图标或截图失败：" + e.getMessage());
         }
@@ -128,7 +135,7 @@ public class LLMTouchServiceImpl implements LLMTouchService {
         }
 
         // 7) 返回
-        result.put("isFinish", false);
+        result.put("isFinish", path.size() == 1);
         result.put("coordinates", coordinates);
 
         return result;

cmvr-iot-system/src/main/java/com/cmvr/system/util/CarPathFinderUtil.java

@@ -1,5 +1,6 @@
 package com.cmvr.system.util;
 
+import cn.hutool.core.util.ObjUtil;
 import com.alibaba.fastjson2.JSONArray;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.system.domain.vo.CarIcon;
@@ -52,7 +53,7 @@ public class CarPathFinderUtil {
                 }
             }
 
-            uiMap.put(ui.getUiName(), ui);
+            uiMap.put(ui.getUiImage(), ui);
         }
 
         return uiMap;
@@ -83,7 +84,10 @@ public class CarPathFinderUtil {
             }
 
             for (CarIcon icon : currentUi.getIcons()) {
-                if (icon.getIconName().equals(targetFeature)) {
+                if (ObjUtil.isEmpty(icon.getIconImage())) {
+                    continue;
+                }
+                if (icon.getIconImage().equals(targetFeature)) {
                     currentPath.add(icon);
                     return currentPath;
                 }

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

@@ -51,14 +51,6 @@ public class FlowTaskEngine {
                 context.setRunParams(jsonObject);
             }
             flowTaskExecutor.executeGraph(message, item, latch::countDown);
-//            flowTaskExecutor.executeGraph(message, item, () -> {
-//                try {
-//                    // 可以放一些 per-item 回调逻辑
-//                } finally {
-//                    latch.countDown();
-//                }
-//            });
-
             try {
                 latch.await(); // 等待该检测项的子流程全部完成
             } catch (InterruptedException e) {
@@ -66,7 +58,6 @@ public class FlowTaskEngine {
                 log.error("检测项执行被中断：itemId={}", itemId, e);
                 break;
             }
-//            flowTaskExecutor.executeGraph(message, item, onFinished);
         }
     }
 }

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

@@ -64,7 +64,7 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
 
         try {
             // 注册上下文
-            registerTaskContext(instId, taskId, terminalId, null, RunModeEnum.NORMAL, details, taskExecuteNormalVO.getRunParams());
+            registerTaskContext(instId, taskId, terminalId, null, RunModeEnum.NORMAL, taskExecuteNormalVO.getRunParams());
 
             // 异步提交执行
             flowTaskAsyncDispatcher.submit(instId, taskId, terminalId, RunModeEnum.NORMAL, details);
@@ -115,7 +115,7 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
             List<TeQueryTaskDetailDTO> details = CollUtil.newArrayList(teQueryTaskDetailDTO);
 
             // 注册上下文
-            registerTaskContext(instId, taskId, terminalId, itemId, RunModeEnum.TRIAL, details, runParams);
+            registerTaskContext(instId, taskId, terminalId, itemId, RunModeEnum.TRIAL, runParams);
 
             // 异步调度执行（与正式任务一致，只是模式为 TRIAL）
             flowTaskAsyncDispatcher.submit(instId, taskId, terminalId, RunModeEnum.TRIAL, details);
@@ -139,7 +139,6 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
     private TeTaskInst createAndSaveTaskInstance(String taskId, String terminalId, RunModeEnum runMode) {
         TeTaskInst instance = new TeTaskInst();
         instance.setTaskId(taskId);
-//        instance.setConfig(JSON.toJSONString(taskExecuteVO.getConfig()));
         instance.setTerminalId(terminalId);
         instance.setRunMode(runMode.name());
         instance.setStatus(String.valueOf(TaskStatusEnum.RUNNING.getCode()));
@@ -154,8 +153,7 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
      * 注册上下文
      */
     private void registerTaskContext(String instId, String taskId, String terminalId,
-                                     String itemId, RunModeEnum mode, List<TeQueryTaskDetailDTO> details,
+                                     String itemId, RunModeEnum mode, JSONObject runParams) {
-                                     JSONObject runParams) {
         TaskContext ctx = new TaskContext();
         ctx.setInstId(instId);
         ctx.setTaskId(taskId);

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeCameraOperateService.java

@@ -55,16 +55,17 @@ public class EdgeCameraOperateService implements EdgeOperateService {
             }
 
             case CAMERA_GETRGBIMAGE: {
-                String imageUrl;
+//                String imageUrl;
 //                String imageUrl = StrUtil.format("id为 [{}] 的相机拍照了", deviceId);
-                if (message.getLoopNum() <= 1) {
+//                if (message.getLoopNum() <= 1) {
-                    // 车辆控制调节
+//                    // 车辆控制调节
-                    imageUrl = "http://192.168.1.100:9000/cmvr-iot/FILE/20250821/1755761816340.jpg";
+//                    imageUrl = "http://192.168.1.100:9000/cmvr-iot/FILE/20250821/1755761816340.jpg";
-                } else {
+//                } else {
-                    // 驾驶偏好
+//                    // 驾驶偏好
-                    imageUrl = "http://192.168.1.100:9000/cmvr-iot/FILE/20250822/1755849654731.jpg";
+//                    imageUrl = "http://192.168.1.100:9000/cmvr-iot/FILE/20250822/1755849654731.jpg";
-                }
+//                }
-//                 String imageUrl = edgeCameraService.getRGBImage(terminalId, deviceId);
+//                String imageUrl = "http://192.168.1.100:9000/cmvr-iot/IMAGE/20250901/1756718594725.jpg";
+                 String imageUrl = edgeCameraService.getRGBDImages(terminalId, deviceId);
 
                 JSONArray imageUrls = new JSONArray();
                 if (ObjUtil.isNotEmpty(upstreamOutput)) {

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMTouchOperateService.java

@@ -6,6 +6,7 @@ import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.config.properties.MinioProperties;
 import com.cmvr.common.core.minio.MinioService;
 import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.service.EdgeHlcService;
 import com.cmvr.llm.service.LLMTouchService;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.builder.FlowNodeWrapper;
@@ -27,6 +28,7 @@ public class LLMTouchOperateService implements LLMOperateService {
     private final MinioService minioService;
     private final MinioProperties minioProps;
     private final LLMTouchService llmTouchService;
+    private final EdgeHlcService edgeHlcService;
 
     @Override
     public boolean supports(ActionEnum action) {
@@ -38,6 +40,8 @@ public class LLMTouchOperateService implements LLMOperateService {
         ActionEnum action = message.getAction();
         String instId = message.getInstId();
         JSONObject inputParams = message.getInputParams();
+        String deviceId = inputParams.getString("deviceId");
+        String terminalId = message.getTerminalId();
 
         JSONObject output = new JSONObject();
         switch (action) {
@@ -76,6 +80,7 @@ public class LLMTouchOperateService implements LLMOperateService {
                     output.put("coordinates", cal);
 
                     // todo 获取坐标后调用边缘系统
+                    edgeHlcService.touch(image, terminalId, "hlc01", x, y, 100d);
                 } catch (Exception e) {
                     throw new RuntimeException(e);
                 }