feat(edge): 新增AGV平移和机械臂使能控制功能

- 新增AGV固定距离平移功能，支持指定速度和距离移动
- 新增机械臂使能开启/关闭控制，独立于移动操作
- 新增机械臂厂商扩展JSON指令执行接口
- 新增边缘系统安全状态查询和恢复功能
- 优化任务执行监听器，支持任务终态消息推送和错误处理
- 重构音频事件分类逻辑，支持预期标签匹配验证
- 新增任务日志状态管理和终端消息推送机制

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

@@ -9,6 +9,7 @@ import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToStationVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvStartMappingVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvUploadMapVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
+import com.cmvr.edge.client.model.agv.EdgeAgvTranslateVO;
 import com.cmvr.edge.client.service.EdgeAgvService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
@@ -100,6 +101,25 @@ public class EdgeAgvController {
         return AjaxResult.ok();
     }
 
+    @ApiOperation("固定距离平移")
+    @PostMapping("/translate")
+    public AjaxResult translate(@RequestBody @Validated EdgeAgvTranslateVO vo) {
+        AgvUtils.AgvTranslationMode mode = vo.getMode() == null
+                ? AgvUtils.AgvTranslationMode.AGV_TRANSLATION_MODE_ODOMETRY
+                : AgvUtils.AgvTranslationMode.forNumber(vo.getMode());
+        if (mode == null) {
+            return AjaxResult.error("距离参考模式不合法，允许值：0=里程，1=定位");
+        }
+        AgvUtils.AgvTranslation translation = AgvUtils.AgvTranslation.newBuilder()
+                .setDistance(vo.getDistance())
+                .setVx(vo.getVx())
+                .setVy(vo.getVy())
+                .setMode(mode)
+                .build();
+        edgeAgvService.translate(vo, translation);
+        return AjaxResult.ok();
+    }
+
     /**
      * 导航到指定坐标。
      */

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

@@ -4,11 +4,13 @@ import cmvr.api.ArmCommand;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.arm.*;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.service.EdgeArmService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
 import lombok.RequiredArgsConstructor;
+import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
@@ -63,6 +65,13 @@ public class EdgeArmController {
         return AjaxResult.ok();
     }
 
+    @ApiOperation("执行机械臂厂商扩展JSON指令")
+    @PostMapping("/executeJsonCommand")
+    public AjaxResult executeJsonCommand(@RequestBody @Validated EdgeSystemJsonCommandVO request) {
+        return AjaxResult.ok(com.alibaba.fastjson2.JSON.toJSONString(
+                edgeArmService.executeJsonCommand(request)));
+    }
+
     @ApiOperation("关节空间运动")
     @PostMapping("/moveJ")
     public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) {

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

@@ -6,6 +6,7 @@ import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
 import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
+import com.cmvr.edge.client.model.system.EdgeSafetyRecoveryVO;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
@@ -16,6 +17,7 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.validation.annotation.Validated;
 
 @Api(tags = "边缘--系统功能")
 @RestController
@@ -55,6 +57,19 @@ public class EdgeSystemController extends BaseController {
         return success(JSON.toJSONString(edgeSystemService.executeActionQueue(request)));
     }
 
+    @ApiOperation("Get edge safety state")
+    @GetMapping("/safetyState")
+    public AjaxResult safetyState(@RequestParam("robotId") String robotId) {
+        return success(JSON.toJSONString(edgeSystemService.getSafetyState(robotId)));
+    }
+
+    @ApiOperation("Clear recoverable edge safety errors")
+    @PostMapping("/recoverSafetyState")
+    public AjaxResult recoverSafetyState(@RequestBody @Validated EdgeSafetyRecoveryVO request) {
+        return success(JSON.toJSONString(edgeSystemService.recoverSafetyState(
+                request.getRobotId(), request.getReason(), request.getTimeoutMs())));
+    }
+
     @ApiOperation("停止所有设备")
     @GetMapping("/stopAll")
     public AjaxResult stopAll(@RequestParam("robotId") String robotId) {

cmvr-iot-aima/src/main/java/com/cmvr/aima/listener/AimaFlowExecutionListener.java

@@ -10,6 +10,8 @@ import com.cmvr.aima.enums.AimaTaskStatusEnum;
 import com.cmvr.aima.service.IAimaTaskInstanceService;
 import com.cmvr.aima.service.IAimaTaskService;
 import com.cmvr.aima.service.IAimaTestLogService;
+import com.cmvr.aima.support.AimaLogExecutionContext;
+import com.cmvr.aima.support.AimaAnalysisVerdict;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEvent;
 import com.cmvr.test.flow.runtime.event.FlowExecutionListener;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
@@ -78,9 +80,7 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
         }
 
         // 查询任务实例
-        AimaTaskInstance taskInstance = aimaTaskInstanceService.lambdaQuery()
+        AimaTaskInstance taskInstance = findTaskInstance(instId);
-                .eq(AimaTaskInstance::getTaskInsId, instId)
-                .one();
         if (taskInstance == null) {
             log.warn("未查询到爱玛测试实例,taskInsId:{}", instId);
             return;
@@ -88,6 +88,7 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
 
         int targetStatus = AimaTaskStatusEnum.RUNNING.getCode();
         boolean needUpdateDb = false;
+        String terminalMessage = null;
         Date now = DateUtils.getNowDate();
         
         switch (event.getEventType()) {
@@ -95,12 +96,20 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                 targetStatus = AimaTaskStatusEnum.SUCCESS.getCode();
                 needUpdateDb = true;
                 clearCache(instId);
-                pushCompleteMsg(taskInstance.getId(), now, targetStatus);
+                terminalMessage = "任务执行完成";
                 break;
             case TASK_FAILED:
                 targetStatus = AimaTaskStatusEnum.FAILED.getCode();
                 needUpdateDb = true;
                 clearCache(instId);
+                terminalMessage = StrUtil.isBlank(event.getErrorMessage())
+                        ? "任务执行失败" : "任务执行失败：" + event.getErrorMessage();
+                break;
+            case TASK_STOPPED:
+                targetStatus = AimaTaskStatusEnum.STOPPED.getCode();
+                needUpdateDb = true;
+                clearCache(instId);
+                terminalMessage = "任务已终止";
                 break;
             case NODE_COMPLETED:
             default:
@@ -112,6 +121,10 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
             taskInstance.setEndTime(now);
             aimaTaskInstanceService.updateById(taskInstance);
         }
+        if (terminalMessage != null) {
+            pushTerminalMsg(taskInstance.getId(), now, targetStatus, terminalMessage,
+                    event.getErrorMessage());
+        }
 
         // 节点推送 - 记录日志
         if (StrUtil.isNotBlank(nodeId)) {
@@ -143,7 +156,12 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                 progress = (itemTotalRatio + innerRatio) * 100;
             }
 
-            String info = event.getEventType() == FlowExecutionEvent.EventType.NODE_STARTED ? "开始执行" : "执行完成";
+            String info = event.getEventType() == FlowExecutionEvent.EventType.NODE_STARTED
+                    ? "开始执行"
+                    : event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                    ? "执行失败" : "执行完成";
+            int nodeLogStatus = event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                    ? AimaTaskStatusEnum.FAILED.getCode() : targetStatus;
             String logId = UUID.randomUUID().toString().replace("-", "");
             // 四舍五入保留2位小数
             progress = Math.round(progress * 100) / 100.0;
@@ -166,14 +184,16 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                     .logLevel("INFO")
                     .logType("执行日志")
                     .logContent("节点【" + event.getNodeName() + "】" + info)
-                    .actualResult(outputParams == null || outputParams.isEmpty()
+                    .actualResult(AimaLogExecutionContext.attach(outputParams, itemId,
-                            ? null : outputParams.toJSONString())
+                            event.getItemOrder(), event.getItemOccurrence(),
+                            event.getEventType().name(), event.getNodeType()))
                     .screenshotUrl(imageUrl)
                     .videoUrl(videoUrl)
+                    .errorStack(event.getErrorMessage())
                     .logTime(now)
-                    .status(targetStatus)
+                    .status(nodeLogStatus)
                     .executionStep(event.getNodeName())
-                    .testStatus("0") // 0未执行
+                    .testStatus(AimaAnalysisVerdict.resolve(event.getAction(), outputParams))
                     .durationMs(0L)
                     .progress( progress)
                     .build();
@@ -208,6 +228,24 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
         return taskInsId + "|" + event.getItemId();
     }
 
+    private AimaTaskInstance findTaskInstance(String taskInsId) {
+        for (int attempt = 0; attempt < 5; attempt++) {
+            AimaTaskInstance instance = aimaTaskInstanceService.lambdaQuery()
+                    .eq(AimaTaskInstance::getTaskInsId, taskInsId)
+                    .one();
+            if (instance != null) {
+                return instance;
+            }
+            try {
+                Thread.sleep(50L);
+            } catch (InterruptedException exception) {
+                Thread.currentThread().interrupt();
+                return null;
+            }
+        }
+        return null;
+    }
+
     private String resolveTestCaseId(String taskInsId, String taskId, FlowExecutionEvent event) {
         if (event.getItemOrder() == null || event.getItemOrder() < 1) {
             return event.getItemId();
@@ -219,27 +257,29 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
     }
 
     /**
-     * 推送完成任务信息
+     * 保存并推送任务终态信息
      */
-    public void pushCompleteMsg(String dbInsId, Date now, int targetStatus) {
+    public void pushTerminalMsg(String dbInsId, Date now, int targetStatus,
+                                String message, String errorMessage) {
         String logId = UUID.randomUUID().toString().replace("-", "");
 
-        // 保存完成日志
+        // 保存终态日志
         AimaTestLog testLog = AimaTestLog.builder()
                 .id(logId)
                 .taskInstanceId(dbInsId)
                 .logLevel("INFO")
                 .logType("系统日志")
-                .logContent("任务执行完成")
+                .logContent(message)
+                .errorStack(errorMessage)
                 .logTime(now)
                 .status(targetStatus)
                 .build();
 
         try {
             aimaTestLogService.insertAimaTestLog(testLog);
-            log.info("任务完成日志保存成功,logId:{},taskInstanceId:{}", logId, dbInsId);
+            log.info("任务终态日志保存成功,logId:{},taskInstanceId:{},status:{}", logId, dbInsId, targetStatus);
         } catch (Exception e) {
-            log.error("任务完成日志保存失败,taskInstanceId:{}", dbInsId, e);
+            log.error("任务终态日志保存失败,taskInstanceId:{},status:{}", dbInsId, targetStatus, e);
         }
         try {
             messagePushService.pushToChannel("AimaTaskInstance", testLog);

cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTestLogServiceImpl.java

@@ -10,6 +10,7 @@ import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.aima.mapper.AimaTestLogMapper;
 import com.cmvr.aima.domain.AimaTestLog;
 import com.cmvr.aima.service.IAimaTestLogService;
+import com.cmvr.aima.support.AimaLogExecutionContext;
 import org.springframework.transaction.annotation.Transactional;
 
 /**
@@ -26,12 +27,14 @@ public class AimaTestLogServiceImpl extends ServiceImpl<AimaTestLogMapper, AimaT
 
     @Override
     public AimaTestLog selectAimaTestLogById(String id) {
-        return aimaTestLogMapper.selectAimaTestLogById(id);
+        return AimaLogExecutionContext.hydrate(aimaTestLogMapper.selectAimaTestLogById(id));
     }
 
     @Override
     public List<AimaTestLog> selectAimaTestLogList(AimaTestLog aimaTestLog) {
-        return aimaTestLogMapper.selectAimaTestLogList(aimaTestLog);
+        List<AimaTestLog> logs = aimaTestLogMapper.selectAimaTestLogList(aimaTestLog);
+        logs.forEach(AimaLogExecutionContext::hydrate);
+        return logs;
     }
 
     @Override

cmvr-iot-aima/src/main/java/com/cmvr/aima/support/AimaAnalysisVerdict.java

@@ -0,0 +1,36 @@
+package com.cmvr.aima.support;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.test.enums.ActionEnum;
+
+/**
+ * Converts media-analysis output to the existing Aima test_status protocol.
+ */
+public final class AimaAnalysisVerdict {
+
+    public static final String PASSED = "1";
+    public static final String NOT_PASSED = "2";
+
+    private AimaAnalysisVerdict() {
+    }
+
+    public static String resolve(ActionEnum action, JSONObject output) {
+        if (!isAnalysisAction(action) || output == null || output.isEmpty()) {
+            return null;
+        }
+        String analysisStatus = output.getString("analysisStatus");
+        if ("FAILED".equalsIgnoreCase(analysisStatus) || "ERROR".equalsIgnoreCase(analysisStatus)) {
+            return NOT_PASSED;
+        }
+        Boolean passed = output.getBoolean("passed");
+        if (passed != null) {
+            return passed ? PASSED : NOT_PASSED;
+        }
+        Boolean matched = output.getBoolean("matched");
+        return Boolean.TRUE.equals(matched) ? PASSED : NOT_PASSED;
+    }
+
+    private static boolean isAnalysisAction(ActionEnum action) {
+        return action == ActionEnum.AUDIO_EVENT_CLASSIFY || action == ActionEnum.VIDEO_ANALYZE;
+    }
+}

cmvr-iot-aima/src/main/java/com/cmvr/aima/support/AimaLogExecutionContext.java

@@ -0,0 +1,53 @@
+package com.cmvr.aima.support;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.aima.domain.AimaTestLog;
+
+/**
+ * Persists flow item identity inside the existing actual_result column.
+ */
+public final class AimaLogExecutionContext {
+
+    private static final String CONTEXT_KEY = "_executionContext";
+
+    private AimaLogExecutionContext() {
+    }
+
+    public static String attach(JSONObject outputParams, String itemId,
+                                Integer itemOrder, Integer itemOccurrence) {
+        return attach(outputParams, itemId, itemOrder, itemOccurrence, null, null);
+    }
+
+    public static String attach(JSONObject outputParams, String itemId,
+                                Integer itemOrder, Integer itemOccurrence,
+                                String eventType, String nodeType) {
+        JSONObject result = outputParams == null
+                ? new JSONObject()
+                : JSONObject.parseObject(outputParams.toJSONString());
+        JSONObject context = new JSONObject();
+        context.put("itemId", itemId);
+        context.put("itemOrder", itemOrder);
+        context.put("itemOccurrence", itemOccurrence);
+        context.put("eventType", eventType);
+        context.put("nodeType", nodeType);
+        result.put(CONTEXT_KEY, context);
+        return result.toJSONString();
+    }
+
+    public static AimaTestLog hydrate(AimaTestLog log) {
+        if (log == null || log.getActualResult() == null || log.getActualResult().isBlank()) {
+            return log;
+        }
+        try {
+            JSONObject context = JSONObject.parseObject(log.getActualResult()).getJSONObject(CONTEXT_KEY);
+            if (context != null) {
+                log.setItemId(context.getString("itemId"));
+                log.setItemOrder(context.getInteger("itemOrder"));
+                log.setItemOccurrence(context.getInteger("itemOccurrence"));
+            }
+        } catch (RuntimeException ignored) {
+            // Historical actual_result values are not guaranteed to be JSON.
+        }
+        return log;
+    }
+}

cmvr-iot-aima/src/test/java/com/cmvr/aima/listener/AimaFlowExecutionListenerTest.java

@@ -0,0 +1,54 @@
+package com.cmvr.aima.listener;
+
+import com.cmvr.aima.domain.AimaTestLog;
+import com.cmvr.aima.service.IAimaTestLogService;
+import com.cmvr.framework.websocket.service.MessagePushService;
+import org.junit.Test;
+
+import java.lang.reflect.Proxy;
+import java.util.Date;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertSame;
+
+public class AimaFlowExecutionListenerTest {
+
+    @Test
+    public void failedTerminalLogIsPersistedAndPushed() {
+        AtomicReference<AimaTestLog> inserted = new AtomicReference<>();
+        IAimaTestLogService logService = (IAimaTestLogService) Proxy.newProxyInstance(
+                IAimaTestLogService.class.getClassLoader(),
+                new Class<?>[]{IAimaTestLogService.class},
+                (proxy, method, args) -> {
+                    if ("insertAimaTestLog".equals(method.getName())) {
+                        inserted.set((AimaTestLog) args[0]);
+                        return 1;
+                    }
+                    return null;
+                });
+        CapturingMessagePushService messagePushService = new CapturingMessagePushService();
+        AimaFlowExecutionListener listener = new AimaFlowExecutionListener(
+                null, logService, null, messagePushService);
+
+        listener.pushTerminalMsg("instance-1", new Date(), 2,
+                "任务执行失败：机械臂异常", "机械臂异常");
+
+        assertEquals(Integer.valueOf(2), inserted.get().getStatus());
+        assertEquals("任务执行失败：机械臂异常", inserted.get().getLogContent());
+        assertEquals("机械臂异常", inserted.get().getErrorStack());
+        assertEquals("AimaTaskInstance", messagePushService.channel);
+        assertSame(inserted.get(), messagePushService.payload);
+    }
+
+    private static class CapturingMessagePushService extends MessagePushService {
+        private String channel;
+        private Object payload;
+
+        @Override
+        public void pushToChannel(String channel, Object payload) {
+            this.channel = channel;
+            this.payload = payload;
+        }
+    }
+}

cmvr-iot-aima/src/test/java/com/cmvr/aima/support/AimaAnalysisVerdictTest.java

@@ -0,0 +1,26 @@
+package com.cmvr.aima.support;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.test.enums.ActionEnum;
+import org.junit.Test;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertNull;
+
+public class AimaAnalysisVerdictTest {
+
+    @Test
+    public void resolvesOnlyAnalysisNodeResults() {
+        assertEquals(AimaAnalysisVerdict.PASSED,
+                AimaAnalysisVerdict.resolve(ActionEnum.VIDEO_ANALYZE,
+                        new JSONObject().fluentPut("passed", true)));
+        assertEquals(AimaAnalysisVerdict.NOT_PASSED,
+                AimaAnalysisVerdict.resolve(ActionEnum.AUDIO_EVENT_CLASSIFY,
+                        new JSONObject().fluentPut("matched", false)));
+        assertEquals(AimaAnalysisVerdict.NOT_PASSED,
+                AimaAnalysisVerdict.resolve(ActionEnum.VIDEO_ANALYZE,
+                        new JSONObject().fluentPut("analysisStatus", "FAILED")));
+        assertNull(AimaAnalysisVerdict.resolve(ActionEnum.SLEEP,
+                new JSONObject().fluentPut("passed", true)));
+    }
+}

cmvr-iot-aima/src/test/java/com/cmvr/aima/support/AimaLogExecutionContextTest.java

@@ -0,0 +1,24 @@
+package com.cmvr.aima.support;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.aima.domain.AimaTestLog;
+import org.junit.Test;
+
+import static org.junit.Assert.assertEquals;
+
+public class AimaLogExecutionContextTest {
+
+    @Test
+    public void preservesOutputAndHydratesRepeatedItemIdentity() {
+        JSONObject output = new JSONObject().fluentPut("videoUrl", "/media/result.mp4");
+        String actualResult = AimaLogExecutionContext.attach(output, "case-1", 4, 2);
+        AimaTestLog log = AimaTestLog.builder().actualResult(actualResult).build();
+
+        AimaLogExecutionContext.hydrate(log);
+
+        assertEquals("/media/result.mp4", JSONObject.parseObject(actualResult).getString("videoUrl"));
+        assertEquals("case-1", log.getItemId());
+        assertEquals(Integer.valueOf(4), log.getItemOrder());
+        assertEquals(Integer.valueOf(2), log.getItemOccurrence());
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/pom.xml

@@ -64,6 +64,13 @@
             <version>0.14.0</version>
         </dependency>
 
+        <dependency>
+            <groupId>junit</groupId>
+            <artifactId>junit</artifactId>
+            <version>4.13.2</version>
+            <scope>test</scope>
+        </dependency>
+
 
     </dependencies>
 </project>

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvTranslateVO.java

@@ -0,0 +1,27 @@
+package com.cmvr.edge.client.model.agv;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import jakarta.validation.constraints.DecimalMin;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("AGV fixed-distance translation request")
+public class EdgeAgvTranslateVO extends EdgeCommonVO {
+
+    @DecimalMin(value = "0.0", inclusive = false, message = "平移距离必须大于0")
+    @ApiModelProperty(value = "平移距离绝对值，单位：米", required = true)
+    private double distance;
+
+    @ApiModelProperty(value = "车体X方向速度，单位：米/秒", required = true)
+    private double vx;
+
+    @ApiModelProperty(value = "车体Y方向速度，单位：米/秒", required = true)
+    private double vy;
+
+    @ApiModelProperty("距离参考模式：0=里程，1=定位")
+    private Integer mode;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSafetyRecoveryVO.java

@@ -0,0 +1,25 @@
+package com.cmvr.edge.client.model.system;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import jakarta.validation.constraints.Max;
+import jakarta.validation.constraints.Min;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+
+@Data
+@ApiModel("Edge safety recovery request")
+public class EdgeSafetyRecoveryVO {
+
+    @NotBlank(message = "机器人ID不能为空")
+    @ApiModelProperty(value = "机器人ID", required = true)
+    private String robotId;
+
+    @ApiModelProperty("恢复原因")
+    private String reason;
+
+    @Min(value = 1000, message = "超时时间不能小于1000毫秒")
+    @Max(value = 120000, message = "超时时间不能大于120000毫秒")
+    @ApiModelProperty("超时时间，单位毫秒")
+    private Integer timeoutMs;
+}

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

@@ -45,6 +45,11 @@ public interface EdgeAgvService {
      */
     void clearFault(EdgeCommonVO edgeCommonVO);
 
+    /**
+     * 按指定速度平移固定距离。
+     */
+    void translate(EdgeCommonVO edgeCommonVO, AgvUtils.AgvTranslation translation);
+
     /**
      * 导航到指定位置
      *

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

@@ -3,6 +3,7 @@ package com.cmvr.edge.client.service;
 import cmvr.api.ArmCommand;
 import cmvr.api.Common;
 import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 
 /**
  * 边缘系统机械臂服务
@@ -38,6 +39,11 @@ public interface EdgeArmService {
      */
     Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO);
 
+    /**
+     * 执行机械臂厂商扩展 JSON 指令。
+     */
+    Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
+
     /**
      * 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/EdgeSystemService.java

@@ -1,6 +1,7 @@
 package com.cmvr.edge.client.service;
 
 import cmvr.api.Common;
+import cmvr.api.SafetyCommand;
 import cmvr.api.SystemCommand;
 import com.cmvr.device.domain.DeDeviceRegistration;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
@@ -27,6 +28,11 @@ public interface EdgeSystemService {
 
     SystemCommand.ActionQueueCommand.Feedback executeActionQueue(EdgeActionQueueVO request);
 
+    SafetyCommand.GetSafetyStateCommand.Feedback getSafetyState(String robotId);
+
+    SafetyCommand.RecoverSafetyStateCommand.Feedback recoverSafetyState(
+            String robotId, String reason, Integer timeoutMs);
+
 
     public List<DeDeviceRegistration> deviceList(String robotId);
 

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

@@ -65,6 +65,20 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         executeGrpcCall(() -> stub.clearFault(request));
     }
 
+    @Override
+    public void translate(EdgeCommonVO edgeCommonVO, AgvUtils.AgvTranslation translation) {
+        if (translation == null || translation.getDistance() <= 0) {
+            throw new GlobalException("平移距离必须大于0");
+        }
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvTranslateCommand.Request request = AgvCommand.AgvTranslateCommand.Request.newBuilder()
+                .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                .setTranslation(translation)
+                .build();
+        executeGrpcCall(() -> stub.translate(request));
+    }
+
     @Override
     public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
         if (pose == null) {

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

@@ -7,6 +7,7 @@ import cn.hutool.core.util.StrUtil;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.service.EdgeArmService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;
 import lombok.RequiredArgsConstructor;
@@ -52,6 +53,17 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         return executeGrpcCall(() -> stub.clearFault(request));
     }
 
+    @Override
+    public Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request) {
+        ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                request.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+        Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder()
+                .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId()))
+                .setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson())
+                .build();
+        return executeGrpcCall(() -> stub.executeJsonCommand(grpcRequest));
+    }
+
     @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-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java

@@ -7,6 +7,7 @@ import cmvr.api.AgvCommand;
 import cmvr.msgs.AgvUtils;
 import cmvr.api.SystemCommand;
 import cmvr.api.SystemServiceGrpc;
+import cmvr.api.SafetyCommand;
 import com.alibaba.fastjson2.JSON;
 import com.cmvr.device.domain.DeDeviceRegistration;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
@@ -116,6 +117,75 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
         return stub.withDeadlineAfter(deadlineMs, TimeUnit.MILLISECONDS).executeActionQueue(builder.build());
     }
 
+    @Override
+    public SafetyCommand.GetSafetyStateCommand.Feedback getSafetyState(String robotId) {
+        if (robotId == null || robotId.trim().isEmpty()) {
+            throw new GlobalException("机器人ID不能为空");
+        }
+        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                robotId.trim(), SystemServiceGrpc.SystemServiceBlockingStub.class);
+        SafetyCommand.GetSafetyStateCommand.Request request =
+                SafetyCommand.GetSafetyStateCommand.Request.newBuilder()
+                        .setScope(allDevicesScope())
+                        .build();
+        SafetyCommand.GetSafetyStateCommand.Feedback feedback = stub.getSafetyState(request);
+        requireSuccessfulHeader(feedback == null || !feedback.hasHeader() ? null : feedback.getHeader(),
+                "获取机器人安全状态");
+        return feedback;
+    }
+
+    @Override
+    public SafetyCommand.RecoverSafetyStateCommand.Feedback recoverSafetyState(
+            String robotId, String reason, Integer timeoutMs) {
+        SafetyCommand.GetSafetyStateCommand.Feedback current = getSafetyState(robotId);
+        SafetyCommand.RecoverSafetyStateCommand.Request request = buildSafetyRecoveryRequest(
+                current.getSafetyEpoch(), reason, timeoutMs);
+        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                robotId.trim(), SystemServiceGrpc.SystemServiceBlockingStub.class);
+        SafetyCommand.RecoverSafetyStateCommand.Feedback feedback = stub
+                .withDeadlineAfter(request.getTimeoutMs() + 5000L, TimeUnit.MILLISECONDS)
+                .recoverSafetyState(request);
+        requireSuccessfulHeader(feedback == null || !feedback.hasHeader() ? null : feedback.getHeader(),
+                "恢复机器人安全状态");
+        if (!isSuccessfulRecoveryResult(feedback.getResult())) {
+            throw new GlobalException("恢复机器人安全状态未完成: " + feedback.getResult().name());
+        }
+        return feedback;
+    }
+
+    SafetyCommand.RecoverSafetyStateCommand.Request buildSafetyRecoveryRequest(
+            long expectedSafetyEpoch, String reason, Integer timeoutMs) {
+        int effectiveTimeoutMs = timeoutMs == null ? 15000 : Math.max(1000, Math.min(timeoutMs, 120000));
+        return SafetyCommand.RecoverSafetyStateCommand.Request.newBuilder()
+                .setRecoveryId(UUID.randomUUID().toString())
+                .setScope(allDevicesScope())
+                .setExpectedSafetyEpoch(expectedSafetyEpoch)
+                .setMode(SafetyCommand.RecoverSafetyStateCommand.Mode.CLEAR_SOFTWARE_LATCH)
+                .setReason(reason == null || reason.trim().isEmpty()
+                        ? "Platform manual safety recovery" : reason.trim())
+                .setTimeoutMs(effectiveTimeoutMs)
+                .build();
+    }
+
+    private boolean isSuccessfulRecoveryResult(SafetyCommand.SafetyOperationResult result) {
+        return result == SafetyCommand.SafetyOperationResult.SAFETY_OPERATION_RESULT_SUCCEEDED
+                || result == SafetyCommand.SafetyOperationResult.SAFETY_OPERATION_RESULT_RECOVERED
+                || result == SafetyCommand.SafetyOperationResult.SAFETY_OPERATION_RESULT_NOTHING_TO_RECOVER;
+    }
+
+    private SafetyCommand.SafetyScope allDevicesScope() {
+        return SafetyCommand.SafetyScope.newBuilder().setAllDevices(true).build();
+    }
+
+    private void requireSuccessfulHeader(Common.CommandHeader.Feedback header, String operation) {
+        if (header == null) {
+            throw new GlobalException(operation + "失败: 响应为空");
+        }
+        if (!header.getSuccess()) {
+            throw new GlobalException(operation + "失败: " + header.getErrorMessage());
+        }
+    }
+
     private SystemCommand.ActionStep buildActionStep(EdgeActionQueueVO.Step step, String stepId) {
         if (step == null || step.getType() == null) {
             throw new GlobalException("Action queue step type cannot be empty");

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/test/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImplTest.java

@@ -0,0 +1,41 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.SafetyCommand;
+import org.junit.Test;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeSystemServiceImplTest {
+
+    private final EdgeSystemServiceImpl service = new EdgeSystemServiceImpl(null);
+
+    @Test
+    public void buildsAllDeviceSoftwareLatchRecoveryRequest() {
+        SafetyCommand.RecoverSafetyStateCommand.Request request =
+                service.buildSafetyRecoveryRequest(27L, " manual recovery ", 3000);
+
+        assertFalse(request.getRecoveryId().isBlank());
+        assertTrue(request.getScope().getAllDevices());
+        assertEquals(27L, request.getExpectedSafetyEpoch());
+        assertEquals(SafetyCommand.RecoverSafetyStateCommand.Mode.CLEAR_SOFTWARE_LATCH, request.getMode());
+        assertEquals("manual recovery", request.getReason());
+        assertEquals(3000, request.getTimeoutMs());
+    }
+
+    @Test
+    public void appliesRecoveryDefaultsAndTimeoutBounds() {
+        SafetyCommand.RecoverSafetyStateCommand.Request defaults =
+                service.buildSafetyRecoveryRequest(0L, " ", null);
+        SafetyCommand.RecoverSafetyStateCommand.Request minimum =
+                service.buildSafetyRecoveryRequest(0L, "test", 100);
+        SafetyCommand.RecoverSafetyStateCommand.Request maximum =
+                service.buildSafetyRecoveryRequest(0L, "test", 200000);
+
+        assertEquals("Platform manual safety recovery", defaults.getReason());
+        assertEquals(15000, defaults.getTimeoutMs());
+        assertEquals(1000, minimum.getTimeoutMs());
+        assertEquals(120000, maximum.getTimeoutMs());
+    }
+}

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/listener/InspectionFlowExecutionListener.java

@@ -91,18 +91,24 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
 
         int targetStatus = TaskStatusEnum.RUNNING.getCode();
         boolean needUpdateDb = false;
+        String terminalMessage = null;
         Date now = DateUtils.getNowDate();
         switch (event.getEventType()) {
             case TASK_COMPLETED:
                 targetStatus = TaskStatusEnum.SUCCESS.getCode();
                 needUpdateDb = true;
-                pushCompleteMsg(taskInstance.getId(), now, targetStatus);
+                terminalMessage = "任务执行完成";
                 break;
             case TASK_FAILED:
                 targetStatus = TaskStatusEnum.FAILED.getCode();
                 needUpdateDb = true;
+                terminalMessage = StrUtil.isBlank(event.getErrorMessage())
+                        ? "任务执行失败" : "任务执行失败：" + event.getErrorMessage();
                 break;
             case TASK_STOPPED:
+                targetStatus = TaskStatusEnum.STOPPED.getCode();
+                needUpdateDb = true;
+                terminalMessage = "任务已终止";
                 break;
             case NODE_COMPLETED:
             default:
@@ -114,6 +120,9 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
             taskInstance.setEndTime(now);
             inspectionTaskInstanceService.updateById(taskInstance);
         }
+        if (terminalMessage != null) {
+            pushTerminalMsg(taskInstance.getId(), now, targetStatus, terminalMessage);
+        }
 
         if (FlowExecutionEvent.EventType.NODE_COMPLETED == event.getEventType()) {
             try {
@@ -155,7 +164,12 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
                 progress = (itemTotalRatio + innerRatio) * 100;
             }
 
-            String info = event.getEventType() == FlowExecutionEvent.EventType.NODE_STARTED ? "开始执行" : "执行完成";
+            String info = event.getEventType() == FlowExecutionEvent.EventType.NODE_STARTED
+                    ? "开始执行"
+                    : event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                    ? "执行失败" : "执行完成";
+            int nodeLogStatus = event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                    ? TaskStatusEnum.FAILED.getCode() : targetStatus;
             String logId = UUID.randomUUID().toString().replace("-", "");
             // 四舍五入保留2位小数
             progress = Math.round(progress * 100) / 100.0;
@@ -190,7 +204,7 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
                     .mediaUrl(mediaUrl)
                     .extraInfo(outputParams == null || outputParams.isEmpty()
                             ? null : outputParams.toJSONString())
-                    .status(targetStatus)
+                    .status(nodeLogStatus)
                     .progress(progress)
                     .logTime(now)
                     .build();
@@ -247,26 +261,26 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
     }
 
     /**
-     * 推送完成任务信息（参数dbInsId为数据库主键ID）
+     * 保存并推送任务终态信息（参数dbInsId为数据库主键ID）
      */
-    public void pushCompleteMsg(String dbInsId, Date now, int targetStatus) {
+    public void pushTerminalMsg(String dbInsId, Date now, int targetStatus, String message) {
         String logId = UUID.randomUUID().toString().replace("-", "");
 
-        // 保存完成日志
+        // 保存终态日志
         InspectionTaskLog taskLog = InspectionTaskLog.builder()
                 .id(logId)
                 .taskInstanceId(dbInsId)
                 .logType(InspectionLogTypeEnum.TEXT.getCode())
-                .logContent("任务执行完成")
+                .logContent(message)
                 .status(targetStatus)
                 .logTime(now)
                 .build();
 
         try {
             inspectionTaskLogService.insertInspectionTaskLog(taskLog);
-            log.info("任务完成日志保存成功,logId:{},taskInstanceId:{}", logId, dbInsId);
+            log.info("任务终态日志保存成功,logId:{},taskInstanceId:{},status:{}", logId, dbInsId, targetStatus);
         } catch (Exception e) {
-            log.error("任务完成日志保存失败,taskInstanceId:{}", dbInsId, e);
+            log.error("任务终态日志保存失败,taskInstanceId:{},status:{}", dbInsId, targetStatus, e);
         }
         try {
             messagePushService.pushToChannel("InspectionTaskInstance", taskLog);

cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java

@@ -88,7 +88,7 @@ public enum ActionEnum {
     INSPECTION_METER_RECOGNIZE("LLM", "INSPECTION_METER_RECOGNIZE", "巡检仪表读数识别"),
     AI_TTS("LLM", "AI_TTS", "tts语音播放"),
     GET_CURRENT_PAGE("LLM", "GET_CURRENT_PAGE", "获取当前页面名称"),
-    AUDIO_EVENT_CLASSIFY("LLM", "AUDIO_EVENT_CLASSIFY", "声音事件识别"),
+    AUDIO_EVENT_CLASSIFY("LLM", "AUDIO_EVENT_CLASSIFY", "声音类型检测"),
     VIDEO_ANALYZE("LLM", "VIDEO_ANALYZE", "视频智能分析"),
 
     // 触控交互

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowBeforeInterceptor.java

@@ -46,6 +46,7 @@ public class FlowBeforeInterceptor extends AbstractFlowMsgPreInterceptor{
                 .nodeCount(message.getGraph().allNodeIds().size())
                 .nodeName(message.getNodeName())
                 .nodeType(message.getNodeType())
+                .action(message.getAction())
                 .build();
 
         eventPublisher.publishEvent(event);

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

@@ -13,8 +13,6 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.util.Objects;
-
 /**
  * 机械臂边缘操作服务
  * 处理机械臂相关的设备行为，如末端运动到指定位置
@@ -51,10 +49,18 @@ public class EdgeArmOperateService implements EdgeOperateService {
         edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
 
-        // 先调用开启力矩
+        // Power state changes are explicit workflow actions; move actions never enable automatically.
-        edgeArmService.torqueOn(edgeCommonVO);
+        if (action == null) {
+            throw new GlobalException("机械臂动作不能为空");
+        }
 
-        if (Objects.requireNonNull(action) == ActionEnum.ARM_MOVE_TO_POINT) {
+        if (action == ActionEnum.ARM_ENABLE) {
+            log.info("开启机械臂使能，设备ID: {}", deviceId);
+            edgeArmService.torqueOn(edgeCommonVO);
+        } else if (action == ActionEnum.ARM_DISABLE) {
+            log.info("关闭机械臂使能，设备ID: {}", deviceId);
+            edgeArmService.torqueOff(edgeCommonVO);
+        } else if (action == ActionEnum.ARM_MOVE_TO_POINT) {
             log.info("执行机械臂末端运动到指定点操作，设备ID: {}", deviceId);
 
             // 从输入参数中获取坐标信息

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

@@ -49,7 +49,16 @@ public class LLMMediaAnalysisOperateService implements LLMOperateService {
         context.put("trial", message.isTrial());
 
         JSONObject options = new JSONObject();
-        if (!audio) {
+        String expectedLabel = null;
+        String expectedLabelName = null;
+        if (audio) {
+            expectedLabel = StringUtils.trimToNull(input.getString("expectedLabel"));
+            expectedLabelName = StringUtils.trimToNull(input.getString("expectedLabelName"));
+            if (expectedLabel != null) {
+                options.put("expectedLabel", expectedLabel);
+                options.put("expectedLabelName", StringUtils.defaultIfBlank(expectedLabelName, expectedLabel));
+            }
+        } else {
             options.put("instruction", StringUtils.defaultString(input.getString("instruction")));
             String analysisMode = StringUtils.defaultIfBlank(input.getString("analysisMode"), "AUTO")
                     .trim().toUpperCase();
@@ -85,9 +94,34 @@ public class LLMMediaAnalysisOperateService implements LLMOperateService {
         output.put("analysisModel", response.getJSONObject("model"));
         output.put("analysisTimingMs", response.getLong("timingMs"));
         output.put("mediaUrl", mediaUrl);
+        if (audio) {
+            applyAudioVerdict(output, expectedLabel, expectedLabelName);
+        }
         return TaskNodeExecuteResult.success(output);
     }
 
+    private void applyAudioVerdict(JSONObject output, String expectedLabel, String expectedLabelName) {
+        boolean classified = Boolean.TRUE.equals(output.getBoolean("matched"));
+        if (expectedLabel == null) {
+            // Existing workflows did not define a target type. Preserve their old
+            // "recognized any known sound" semantics until they are edited and saved.
+            output.put("passed", classified);
+            output.put("decisionReason", classified ? "已识别到已知声音类型" : "未识别到已知声音类型");
+            return;
+        }
+        String actualLabel = StringUtils.trimToEmpty(output.getString("label"));
+        String actualLabelName = StringUtils.trimToEmpty(output.getString("labelName"));
+        boolean passed = classified && (expectedLabel.equalsIgnoreCase(actualLabel)
+                || expectedLabel.equalsIgnoreCase(actualLabelName));
+        String displayName = StringUtils.defaultIfBlank(expectedLabelName, expectedLabel);
+        output.put("expectedLabel", expectedLabel);
+        output.put("expectedLabelName", displayName);
+        output.put("passed", passed);
+        output.put("decisionReason", passed
+                ? "检测到目标声音：" + displayName
+                : "未检测到目标声音：" + displayName);
+    }
+
     private JSONObject buildVideoTuning(JSONObject source) {
         JSONObject tuning = new JSONObject();
         if (source == null || source.isEmpty()) {

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

@@ -198,10 +198,18 @@ public class FlowActionExecutorService {
 
             // ==== 机械臂 ====
             case ARM_MOVE_TO_POINT:
-            case ARM_MOVE_TO_J: {
+            case ARM_MOVE_TO_J:
+            case ARM_ENABLE:
+            case ARM_DISABLE: {
                 TaskNodeExecuteMessage message = buildSingleNodeMessage(action, payload);
                 message.setRobotId(robotId);
                 edgeArmOperateService.execute(message);
+                if (action == ActionEnum.ARM_ENABLE) {
+                    return "机械臂使能开启成功";
+                }
+                if (action == ActionEnum.ARM_DISABLE) {
+                    return "机械臂使能关闭成功";
+                }
                 return action == ActionEnum.ARM_MOVE_TO_J
                         ? "机械臂关节空间运动任务下发成功"
                         : "机械臂末端运动任务下发成功";

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

@@ -0,0 +1,54 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.edge.client.service.EdgeArmService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import org.junit.Test;
+
+import java.lang.reflect.Proxy;
+import java.util.ArrayList;
+import java.util.List;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeArmPowerControlTest {
+
+    @Test
+    public void powerIsExplicitAndMoveDoesNotEnableAutomatically() {
+        List<String> methods = new ArrayList<>();
+        EdgeArmService edgeArmService = (EdgeArmService) Proxy.newProxyInstance(
+                EdgeArmService.class.getClassLoader(),
+                new Class<?>[]{EdgeArmService.class},
+                (proxy, method, args) -> {
+                    methods.add(method.getName());
+                    return null;
+                });
+        EdgeArmOperateService service = new EdgeArmOperateService(edgeArmService);
+
+        assertTrue(service.execute(message(ActionEnum.ARM_ENABLE, baseParams())).isSuccess());
+        assertTrue(service.execute(message(ActionEnum.ARM_MOVE_TO_POINT, moveParams())).isSuccess());
+        assertTrue(service.execute(message(ActionEnum.ARM_DISABLE, baseParams())).isSuccess());
+
+        assertEquals(List.of("torqueOn", "moveL", "torqueOff"), methods);
+    }
+
+    private TaskNodeExecuteMessage message(ActionEnum action, JSONObject input) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setAction(action);
+        message.setRobotId("robot-1");
+        message.setInputParams(input);
+        return message;
+    }
+
+    private JSONObject baseParams() {
+        return new JSONObject().fluentPut("deviceId", "arm-1");
+    }
+
+    private JSONObject moveParams() {
+        return baseParams()
+                .fluentPut("x", 0.1).fluentPut("y", 0.2).fluentPut("z", 0.3)
+                .fluentPut("rx", 0.4).fluentPut("ry", 0.5).fluentPut("rz", 0.6);
+    }
+}

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

@@ -45,6 +45,36 @@ public class LLMMediaAnalysisOperateServiceTest {
         assertEquals("https://files.example/latest.wav", captured.get().getString("mediaUrl"));
         assertEquals("AUDIO_CLASSIFICATION", captured.get().getString("analysisType"));
         assertEquals("SUCCEEDED", result.getOutputParams().getString("analysisStatus"));
+        assertTrue(result.getOutputParams().getBooleanValue("passed"));
+    }
+
+    @Test
+    public void comparesRecognizedAudioWithExpectedType() {
+        AtomicReference<JSONObject> captured = new AtomicReference<>();
+        MediaAnalysisClient client = request -> {
+            captured.set(request);
+            return new JSONObject()
+                    .fluentPut("status", "SUCCEEDED")
+                    .fluentPut("analysisType", "AUDIO_CLASSIFICATION")
+                    .fluentPut("profileCode", "aima.power_state.v1")
+                    .fluentPut("result", new JSONObject()
+                            .fluentPut("label", "POWER_OFF")
+                            .fluentPut("labelName", "关机")
+                            .fluentPut("matched", true));
+        };
+        LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
+        JSONObject input = new JSONObject()
+                .fluentPut("profileCode", "aima.power_state.v1")
+                .fluentPut("expectedLabel", "POWER_ON")
+                .fluentPut("expectedLabelName", "开机")
+                .fluentPut("audioUrl", "https://files.example/audio.wav");
+
+        TaskNodeExecuteResult result = service.execute(message(ActionEnum.AUDIO_EVENT_CLASSIFY, input));
+
+        assertEquals("POWER_ON", captured.get().getJSONObject("options").getString("expectedLabel"));
+        assertEquals("POWER_ON", result.getOutputParams().getString("expectedLabel"));
+        assertEquals("开机", result.getOutputParams().getString("expectedLabelName"));
+        assertEquals(false, result.getOutputParams().getBooleanValue("passed"));
     }
 
     @Test