feat: 触控节点

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

@@ -1,16 +1,20 @@
 package com.cmvr.edge.client.model;
 
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
+import javax.validation.constraints.NotEmpty;
+
 @Data
+@ApiModel("边缘系统通用VO")
 public class EdgeCommonVO {
-    /**
+
-     * 终端ID
+    @ApiModelProperty("终端ID")
-     */
+    @NotEmpty(message = "终端ID不能为空")
     private String  terminalId;
 
-    /**
+    @ApiModelProperty("设备ID")
-     * 设备ID
+    @NotEmpty(message = "设备ID不能为空")
-     */
     private String deviceId;
 }

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

@@ -43,6 +43,9 @@ public enum ActionEnum {
     SPEAKER_PLAYAUDIO("EDGE", "SPEAKER_PLAYAUDIO", "播放音频"),
     CORPUS_PLAY("EDGE", "CORPUS_PLAY", "播放语料"),
 
+    // ---------------机械臂---------------
+    TOUCH("EDGE", "TOUCH", "触控"),
+
     // 大模型行为
     // ---------------获取触控坐标---------------
     TOUCH_COORDINATES("LLM", "TOUCH_COORDINATES", "获取触控坐标"),

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

@@ -0,0 +1,50 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO;
+import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeTouchOperateService implements EdgeOperateService {
+
+    private final EdgeHumanoidRobotService edgeHumanoidRobotService;
+
+    @Override
+    public boolean supports(ActionEnum action) {
+        return action.name().equals("TOUCH");
+    }
+
+    @Override
+    public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
+        ActionEnum action = message.getAction();
+        JSONObject inputParams = message.getInputParams();
+        String terminalId = message.getTerminalId();
+        String deviceId = inputParams.getString("deviceId");
+        String touchParams = inputParams.getString("touchParams");
+
+        switch (action) {
+            case TOUCH: {
+                EdgeMoveJVO edgeMoveJVO = JSON.parseObject(touchParams, EdgeMoveJVO.class);
+                edgeMoveJVO.setTerminalId(terminalId);
+                edgeMoveJVO.setDeviceId(deviceId);
+                edgeHumanoidRobotService.moveJ(edgeMoveJVO);
+                break;
+            }
+
+            default:
+                throw new GlobalException("不支持的触控操作类型: " + action);
+        }
+        return TaskNodeExecuteResult.success();
+    }
+
+}

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/vi/ViPlayOperateService.java

@@ -40,24 +40,24 @@ public class ViPlayOperateService implements VIOperateService {
         String deviceId = inputParams.getString("deviceId");
         String audioPath = inputParams.getString("audioPath");
         String terminalId = message.getTerminalId();
-//        log.info("播放语料成功,deviceId={},audioPath={},terminalId={}", deviceId, audioPath, terminalId);
+        log.info("播放语料成功,deviceId={},audioPath={},terminalId={}", deviceId, audioPath, terminalId);
-//        edgeSpeakerService.playAudio(terminalId, deviceId, audioPath);
+        edgeSpeakerService.playAudio(terminalId, deviceId, audioPath);
-//        // 等待播放完成
+        // 等待播放完成
-//        while (true) {
+        while (true) {
-//            try {
+            try {
-//                Thread.sleep(1000);
+                Thread.sleep(1000);
-//            } catch (InterruptedException e) {
+            } catch (InterruptedException e) {
-//                throw new RuntimeException(e);
+                throw new RuntimeException(e);
-//            }
+            }
-//            SpeakerCommand.GetSpeakerStateCommand.Feedback status = edgeSpeakerService.getStatus(terminalId, deviceId);
+            SpeakerCommand.GetSpeakerStateCommand.Feedback status = edgeSpeakerService.getStatus(terminalId, deviceId);
-//            boolean isRunning = status.getState().getIsRunning();
+            boolean isRunning = status.getState().getIsRunning();
-//            if (!isRunning) {
+            if (!isRunning) {
-//                break;
+                break;
-//            }
+            }
-//        }
+        }
 
         // todo 本机测试播放
-        playAudio(audioPath);
+//        playAudio(audioPath);
         return TaskNodeExecuteResult.success();
     }