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

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

@@ -32,14 +32,14 @@ public class EdgeArmController {
     @ApiOperation("关闭力矩")
     @GetMapping("/torqueOff")
     public AjaxResult torqueOff(EdgeCommonVO vo) {
-        Common.CommandHeader.Feedback result = edgeArmService.torqueOff(vo);
+        edgeArmService.torqueOff(vo);
         return AjaxResult.ok();
     }
 
     @ApiOperation("开启力矩")
     @GetMapping("/torqueOn")
     public AjaxResult torqueOn(EdgeCommonVO vo) {
-        Common.CommandHeader.Feedback result = edgeArmService.torqueOn(vo);
+        edgeArmService.torqueOn(vo);
         return AjaxResult.ok();
     }
 

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

@@ -12,6 +12,8 @@ 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
@@ -51,32 +53,31 @@ public class EdgeArmOperateService implements EdgeOperateService {
         // 先调用开启力矩
         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
-                Double x = inputParams.getDouble("x");
-                Double y = inputParams.getDouble("y");
-                Double z = inputParams.getDouble("z");
-                Double rx = inputParams.getDouble("rx");
-                Double ry = inputParams.getDouble("ry");
-                Double rz = inputParams.getDouble("rz");
-                String frame = inputParams.getString("frame");
-                Double velocity = inputParams.getDouble("velocity");
-                Double acceleration = inputParams.getDouble("acceleration");
-                Double blendRadius = inputParams.getDouble("blendRadius");
-                
-                // 参数验证
-                if (x == null || y == null || z == null) {
-                    throw new GlobalException("X、Y、Z坐标不能为空");
-                }
-                if (rx == null || ry == null || rz == null) {
-                    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
+            // 从输入参数中获取坐标信息
-                ArmCommand.MoveL.Response result = edgeArmService.moveL(
+            Double x = inputParams.getDouble("x");
+            Double y = inputParams.getDouble("y");
+            Double z = inputParams.getDouble("z");
+            Double rx = inputParams.getDouble("rx");
+            Double ry = inputParams.getDouble("ry");
+            Double rz = inputParams.getDouble("rz");
+            String frame = inputParams.getString("frame");
+            Double velocity = inputParams.getDouble("velocity");
+            Double acceleration = inputParams.getDouble("acceleration");
+            Double blendRadius = inputParams.getDouble("blendRadius");
+
+            // 参数验证
+            if (x == null || y == null || z == null) {
+                throw new GlobalException("X、Y、Z坐标不能为空");
+            }
+            if (rx == null || ry == null || rz == null) {
+                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
+            edgeArmService.moveL(
                     edgeCommonVO,
                     x,
                     y,
@@ -88,15 +89,11 @@ public class EdgeArmOperateService implements EdgeOperateService {
                     velocity,
                     acceleration,
                     blendRadius
-                );
+            );
-                
-                log.info("机械臂末端运动任务下发成功");
-                
-                break;
-            }
 
-            default:
+            log.info("机械臂末端运动任务下发成功");
-                throw new GlobalException("不支持的机械臂操作类型: " + action);
+        } else {
+            throw new GlobalException("不支持的机械臂操作类型: " + action);
         }
         
         return TaskNodeExecuteResult.success();

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

@@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.Objects;
+
 
 @Slf4j
 @Service
@@ -33,13 +35,12 @@ public class EdgeTouchOperateService implements EdgeOperateService {
         String deviceId = inputParams.getString("deviceId");
         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.getTarget(),
                     edgeArmMoveJVO.getVelocity(),
@@ -47,12 +48,9 @@ public class EdgeTouchOperateService implements EdgeOperateService {
                     edgeArmMoveJVO.getBlendRadius(),
                     edgeArmMoveJVO.getJointVelocityLimits(),
                     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();
     }