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refactor(edge): 优化边缘控制器代码结构

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- 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
This commit is contained in:
lixiaolong 2026-07-01 11:39:48 +08:00
parent ac35fd229b
commit 9ae4334421
3 changed files with 42 additions and 47 deletions
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4
cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java
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@ -32,14 +32,14 @@ public class EdgeArmController {
@ApiOperation("关闭力矩") @ApiOperation("关闭力矩")
@GetMapping("/torqueOff") @GetMapping("/torqueOff")
public AjaxResult torqueOff(EdgeCommonVO vo) { public AjaxResult torqueOff(EdgeCommonVO vo) {
Common.CommandHeader.Feedback result = edgeArmService.torqueOff(vo); edgeArmService.torqueOff(vo);
return AjaxResult.ok(); return AjaxResult.ok();
} }
@ApiOperation("开启力矩") @ApiOperation("开启力矩")
@GetMapping("/torqueOn") @GetMapping("/torqueOn")
public AjaxResult torqueOn(EdgeCommonVO vo) { public AjaxResult torqueOn(EdgeCommonVO vo) {
Common.CommandHeader.Feedback result = edgeArmService.torqueOn(vo); edgeArmService.torqueOn(vo);
return AjaxResult.ok(); return AjaxResult.ok();
} }

59
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateService.java
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@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service; import org.springframework.stereotype.Service;
import java.util.Objects;
/** /**
* 机械臂边缘操作服务 * 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 * 处理机械臂相关的设备行为，如末端运动到指定位置
@ -51,32 +53,31 @@ public class EdgeArmOperateService implements EdgeOperateService {
// 先调用开启力矩 // 先调用开启力矩
edgeArmService.torqueOn(edgeCommonVO); edgeArmService.torqueOn(edgeCommonVO);
switch (action) { if (Objects.requireNonNull(action) == ActionEnum.ARM_MOVE_TO_POINT) {
case 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);
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 // 从输入参数中获取坐标信息
Double x = inputParams.getDouble("x"); Double x = inputParams.getDouble("x");
Double y = inputParams.getDouble("y"); Double y = inputParams.getDouble("y");
Double z = inputParams.getDouble("z"); Double z = inputParams.getDouble("z");
Double rx = inputParams.getDouble("rx"); Double rx = inputParams.getDouble("rx");
Double ry = inputParams.getDouble("ry"); Double ry = inputParams.getDouble("ry");
Double rz = inputParams.getDouble("rz"); Double rz = inputParams.getDouble("rz");
String frame = inputParams.getString("frame"); String frame = inputParams.getString("frame");
Double velocity = inputParams.getDouble("velocity"); Double velocity = inputParams.getDouble("velocity");
Double acceleration = inputParams.getDouble("acceleration"); Double acceleration = inputParams.getDouble("acceleration");
Double blendRadius = inputParams.getDouble("blendRadius"); Double blendRadius = inputParams.getDouble("blendRadius");
// 参数验证 // 参数验证
if (x == null || y == null || z == null) { if (x == null || y == null || z == null) {
throw new GlobalException("X、Y、Z坐标不能为空"); throw new GlobalException("X、Y、Z坐标不能为空");
} }
if (rx == null || ry == null || rz == null) { if (rx == null || ry == null || rz == null) {
throw new GlobalException("RX、RY、RZ旋转角度不能为空"); throw new GlobalException("RX、RY、RZ旋转角度不能为空");
} }
// 直接调用边缘端机械臂服务执行笛卡尔空间直线运动 // 直接调用边缘端机械臂服务执行笛卡尔空间直线运动
ArmCommand.MoveL.Response result = edgeArmService.moveL( edgeArmService.moveL(
edgeCommonVO, edgeCommonVO,
x, x,
y, y,
@ -88,15 +89,11 @@ public class EdgeArmOperateService implements EdgeOperateService {
velocity, velocity,
acceleration, acceleration,
blendRadius blendRadius
); );
log.info("机械臂末端运动任务下发成功"); log.info("机械臂末端运动任务下发成功");
} else {
break; throw new GlobalException("不支持的机械臂操作类型: " + action);
}
default:
throw new GlobalException("不支持的机械臂操作类型: " + action);
} }
return TaskNodeExecuteResult.success(); return TaskNodeExecuteResult.success();

22
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java
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@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service; import org.springframework.stereotype.Service;
import java.util.Objects;
@Slf4j @Slf4j
@Service @Service
@ -33,13 +35,12 @@ public class EdgeTouchOperateService implements EdgeOperateService {
String deviceId = inputParams.getString("deviceId"); String deviceId = inputParams.getString("deviceId");
String touchParams = inputParams.getString("touchParams"); String touchParams = inputParams.getString("touchParams");
switch (action) { if (Objects.requireNonNull(action) == ActionEnum.TOUCH) {
case TOUCH: { EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class);
EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class); edgeArmMoveJVO.setTerminalId(terminalId);
edgeArmMoveJVO.setTerminalId(terminalId); edgeArmMoveJVO.setDeviceId(deviceId);
edgeArmMoveJVO.setDeviceId(deviceId);
edgeArmService.moveJ( edgeArmService.moveJ(
edgeArmMoveJVO, edgeArmMoveJVO,
edgeArmMoveJVO.getTarget(), edgeArmMoveJVO.getTarget(),
edgeArmMoveJVO.getVelocity(), edgeArmMoveJVO.getVelocity(),
@ -47,12 +48,9 @@ public class EdgeTouchOperateService implements EdgeOperateService {
edgeArmMoveJVO.getBlendRadius(), edgeArmMoveJVO.getBlendRadius(),
edgeArmMoveJVO.getJointVelocityLimits(), edgeArmMoveJVO.getJointVelocityLimits(),
edgeArmMoveJVO.getAsynchronous() edgeArmMoveJVO.getAsynchronous()
); );
break; } else {
} throw new GlobalException("不支持的触控操作类型: " + action);
default:
throw new GlobalException("不支持的触控操作类型: " + action);
} }
return TaskNodeExecuteResult.success(); return TaskNodeExecuteResult.success();
} }