refactor(edge): 优化边缘控制器代码结构
- 移除EdgeArmController中未使用的返回值变量 - 将EdgeArmOperateService中的switch语句替换为if-else判断 - 添加Objects.requireNonNull进行空值检查 - 简化EdgeTouchOperateService中的条件判断逻辑 - 统一异常处理方式，移除多余的break语句 - 优化代码可读性和执行效率
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@ -32,14 +32,14 @@ public class EdgeArmController {
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@ApiOperation("关闭力矩")
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@GetMapping("/torqueOff")
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public AjaxResult torqueOff(EdgeCommonVO vo) {
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Common.CommandHeader.Feedback result = edgeArmService.torqueOff(vo);
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edgeArmService.torqueOff(vo);
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return AjaxResult.ok();
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}
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@ApiOperation("开启力矩")
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@GetMapping("/torqueOn")
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public AjaxResult torqueOn(EdgeCommonVO vo) {
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Common.CommandHeader.Feedback result = edgeArmService.torqueOn(vo);
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edgeArmService.torqueOn(vo);
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return AjaxResult.ok();
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}
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@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Service;
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import java.util.Objects;
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/**
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* 机械臂边缘操作服务
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* 处理机械臂相关的设备行为，如末端运动到指定位置
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@ -51,32 +53,31 @@ public class EdgeArmOperateService implements EdgeOperateService {
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// 先调用开启力矩
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edgeArmService.torqueOn(edgeCommonVO);
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switch (action) {
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case ARM_MOVE_TO_POINT: {
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log.info("执行机械臂末端运动到指定点操作，设备ID: {}", deviceId);
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// 从输入参数中获取坐标信息
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Double x = inputParams.getDouble("x");
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Double y = inputParams.getDouble("y");
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Double z = inputParams.getDouble("z");
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Double rx = inputParams.getDouble("rx");
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Double ry = inputParams.getDouble("ry");
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Double rz = inputParams.getDouble("rz");
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String frame = inputParams.getString("frame");
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Double velocity = inputParams.getDouble("velocity");
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Double acceleration = inputParams.getDouble("acceleration");
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Double blendRadius = inputParams.getDouble("blendRadius");
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// 参数验证
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if (x == null || y == null || z == null) {
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throw new GlobalException("X、Y、Z坐标不能为空");
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}
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if (rx == null || ry == null || rz == null) {
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throw new GlobalException("RX、RY、RZ旋转角度不能为空");
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}
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if (Objects.requireNonNull(action) == ActionEnum.ARM_MOVE_TO_POINT) {
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log.info("执行机械臂末端运动到指定点操作，设备ID: {}", deviceId);
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// 直接调用边缘端机械臂服务执行笛卡尔空间直线运动
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ArmCommand.MoveL.Response result = edgeArmService.moveL(
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// 从输入参数中获取坐标信息
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Double x = inputParams.getDouble("x");
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Double y = inputParams.getDouble("y");
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Double z = inputParams.getDouble("z");
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Double rx = inputParams.getDouble("rx");
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Double ry = inputParams.getDouble("ry");
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Double rz = inputParams.getDouble("rz");
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String frame = inputParams.getString("frame");
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Double velocity = inputParams.getDouble("velocity");
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Double acceleration = inputParams.getDouble("acceleration");
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Double blendRadius = inputParams.getDouble("blendRadius");
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// 参数验证
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if (x == null || y == null || z == null) {
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throw new GlobalException("X、Y、Z坐标不能为空");
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}
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if (rx == null || ry == null || rz == null) {
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throw new GlobalException("RX、RY、RZ旋转角度不能为空");
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}
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// 直接调用边缘端机械臂服务执行笛卡尔空间直线运动
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edgeArmService.moveL(
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edgeCommonVO,
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x,
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y,
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@ -88,15 +89,11 @@ public class EdgeArmOperateService implements EdgeOperateService {
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velocity,
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acceleration,
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blendRadius
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);
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log.info("机械臂末端运动任务下发成功");
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break;
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}
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);
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default:
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throw new GlobalException("不支持的机械臂操作类型: " + action);
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log.info("机械臂末端运动任务下发成功");
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} else {
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throw new GlobalException("不支持的机械臂操作类型: " + action);
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}
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return TaskNodeExecuteResult.success();
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@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Service;
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import java.util.Objects;
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@Slf4j
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@Service
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@ -33,13 +35,12 @@ public class EdgeTouchOperateService implements EdgeOperateService {
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String deviceId = inputParams.getString("deviceId");
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String touchParams = inputParams.getString("touchParams");
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switch (action) {
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case TOUCH: {
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EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class);
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edgeArmMoveJVO.setTerminalId(terminalId);
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edgeArmMoveJVO.setDeviceId(deviceId);
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if (Objects.requireNonNull(action) == ActionEnum.TOUCH) {
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EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class);
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edgeArmMoveJVO.setTerminalId(terminalId);
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edgeArmMoveJVO.setDeviceId(deviceId);
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edgeArmService.moveJ(
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edgeArmService.moveJ(
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edgeArmMoveJVO,
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edgeArmMoveJVO.getTarget(),
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edgeArmMoveJVO.getVelocity(),
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@ -47,12 +48,9 @@ public class EdgeTouchOperateService implements EdgeOperateService {
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edgeArmMoveJVO.getBlendRadius(),
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edgeArmMoveJVO.getJointVelocityLimits(),
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edgeArmMoveJVO.getAsynchronous()
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);
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break;
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}
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default:
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throw new GlobalException("不支持的触控操作类型: " + action);
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);
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} else {
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throw new GlobalException("不支持的触控操作类型: " + action);
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}
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return TaskNodeExecuteResult.success();
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}
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